1

/*

     2

 * copyright 2008 Edouard TISSERANT

     3

 * copyright 2011 Mario de Sousa (msousa@fe.up.pt)

     4

 *

     5

 * Offered to the public under the terms of the GNU Lesser General Public

     6

 * License as published by the Free Software Foundation; either version 2

     7

 * of the License, or (at your option) any later version.

     8

 *

     9

 * This program is distributed in the hope that it will be useful, but

    10

 * WITHOUT ANY WARRANTY; without even the implied warranty of

    11

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser

    12

 * General Public License for more details.

    13

 *

    14

 * This code is made available on the understanding that it will not be

    15

 * used in safety-critical situations without a full and competent review.

    16

 */

    17

    18

/****

    19

 * IEC 61131-3 standard function library

    20

 */

    21

    22

/* NOTE: This file is full of (what may seem at first) very strange macros.

    23

 *       If you want to know what all these strange macros are doing,

    24

 *       just parse this file through a C preprocessor (e.g. cpp), 

    25

 *       and analyse the output!

    26

 *       $gcc -E iec_std_lib.h 

    27

 */

    28

    29

#include <limits.h>

    30

#include <float.h>

    31

#include <math.h>

    32

#include <time.h>

    33

#include <stdint.h>

    34

    35

#include <stdio.h>

    36

#include <stdlib.h>

    37

#include <string.h>

    38

#include <stdarg.h>

    39

    40

#ifdef DEBUG_IEC

    41

#define DBG(...) printf(__VA_ARGS__);

    42

#define DBG_TYPE(TYPENAME, name) __print_##TYPENAME(name);

    43

#else

    44

#define DBG(...)

    45

#define DBG_TYPE(TYPENAME, name)

    46

#endif

    47

    48

/*

    49

 * Include type defs.

    50

 */

    51

#include "iec_types_all.h"

    52

    53

extern TIME __CURRENT_TIME;

    54

extern BOOL __DEBUG;

    55

    56

/* TODO

    57

typedef struct {

    58

    __strlen_t len;

    59

    u_int16_t body[STR_MAX_LEN];

    60

} WSTRING;

    61

*/

    62

/*

    63

# if __WORDSIZE == 64

    64

#define __32b_sufix

    65

#define __64b_sufix L

    66

#else

    67

#define __32b_sufix L

    68

#define __64b_sufix LL

    69

#endif

    70

*/

    71

    72

# if __WORDSIZE == 64

    73

#define __32b_sufix

    74

#define __64b_sufix L

    75

#else

    76

#define __32b_sufix L

    77

/* changed this from LL to L temporarily. It was causing a bug when compiling resulting code with gcc.

    78

 * I have other things to worry about at the moment.. 

    79

 */

    80

#define __64b_sufix L   

    81

#endif

    82

    83

    84

#define __lit(type,value,sfx) (type)value##sfx

    85

// Keep this macro expention step to let sfx change into L or LL

    86

#define __literal(type,value,sfx) __lit(type,value,sfx)

    87

    88

#define __BOOL_LITERAL(value) __literal(BOOL,value,)

    89

#define __SINT_LITERAL(value) __literal(SINT,value,)

    90

#define __INT_LITERAL(value) __literal(INT,value,)

    91

#define __DINT_LITERAL(value) __literal(DINT,value,__32b_sufix)

    92

#define __LINT_LITERAL(value) __literal(LINT,value,__64b_sufix)

    93

#define __USINT_LITERAL(value) __literal(USINT,value,)

    94

#define __UINT_LITERAL(value) __literal(UINT,value,)

    95

#define __UDINT_LITERAL(value) __literal(UDINT,value,__32b_sufix)

    96

#define __ULINT_LITERAL(value) __literal(ULINT,value,__64b_sufix)

    97

#define __REAL_LITERAL(value) __literal(REAL,value,__32b_sufix)

    98

#define __LREAL_LITERAL(value) __literal(LREAL,value,__64b_sufix)

    99

#define __TIME_LITERAL(value) __literal(TIME,value,)

   100

#define __DATE_LITERAL(value) __literal(DATE,value,)

   101

#define __TOD_LITERAL(value) __literal(TOD,value,)

   102

#define __DT_LITERAL(value) __literal(DT,value,)

   103

#define __STRING_LITERAL(count,value) (STRING){count,value}

   104

#define __BYTE_LITERAL(value) __literal(BYTE,value,)

   105

#define __WORD_LITERAL(value) __literal(WORD,value,)

   106

#define __DWORD_LITERAL(value) __literal(DWORD,value,__32b_sufix)

   107

#define __LWORD_LITERAL(value) __literal(LWORD,value,__64b_sufix)

   108

   109

   110

   111

#define __INIT_REAL 0

   112

#define __INIT_LREAL 0

   113

#define __INIT_SINT 0

   114

#define __INIT_INT 0

   115

#define __INIT_DINT 0

   116

#define __INIT_LINT 0

   117

#define __INIT_USINT 0

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#define __INIT_UINT 0

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#define __INIT_UDINT 0

   120

#define __INIT_ULINT 0

   121

#define __INIT_TIME (TIME){0,0}

   122

#define __INIT_BOOL 0

   123

#define __INIT_BYTE 0

   124

#define __INIT_WORD 0

   125

#define __INIT_DWORD 0

   126

#define __INIT_LWORD 0

   127

#define __INIT_STRING (STRING){0,""}

   128

//#define __INIT_WSTRING

   129

#define __INIT_DATE (DATE){0,0}

   130

#define __INIT_TOD (TOD){0,0}

   131

#define __INIT_DT (DT){0,0}

   132

   133

typedef union __IL_DEFVAR_T {

   134

    BOOL    BOOLvar;

   135

   136

    SINT    SINTvar;

   137

    INT     INTvar;

   138

    DINT    DINTvar;

   139

    LINT    LINTvar;

   140

   141

    USINT   USINTvar;

   142

    UINT    UINTvar;

   143

    UDINT   UDINTvar;

   144

    ULINT   ULINTvar;

   145

   146

    BYTE    BYTEvar;

   147

    WORD    WORDvar;

   148

    DWORD   DWORDvar;

   149

    LWORD   LWORDvar;

   150

   151

    REAL    REALvar;

   152

    LREAL   LREALvar;

   153

   154

    TIME    TIMEvar;

   155

    TOD TODvar;

   156

    DT  DTvar;

   157

    DATE    DATEvar;

   158

} __IL_DEFVAR_T;

   159

   160

   161

/**********************************************************************/

   162

/**********************************************************************/

   163

/*****                                                            *****/

   164

/*****      Some helper functions...                              *****/

   165

/*****                     ...used later:                         *****/

   166

/*****    - when declaring the IEC 61131-3 standard functions     *****/

   167

/*****    - in the C source code itself in SFC and ST expressions *****/

   168

/*****                                                            *****/

   169

/**********************************************************************/

   170

/**********************************************************************/

   171

   172

   173

/****************************/

   174

/* Notify IEC runtime error */

   175

/****************************/

   176

   177

/* function that generates an IEC runtime error */

   178

static inline void __iec_error(void) {

   179

  /* TODO... */

   180

  fprintf(stderr, "IEC 61131-3 runtime error.\n");

   181

  /*exit(1);*/

   182

}

   183

   184

/*******************************/

   185

/* Time normalization function */

   186

/*******************************/

   187

   188

static inline void __normalize_timespec (IEC_TIMESPEC *ts) {

   189

  if( ts->tv_nsec < -1000000000 || (( ts->tv_sec > 0 ) && ( ts->tv_nsec < 0 ))){

   190

    ts->tv_sec--;

   191

    ts->tv_nsec += 1000000000;

   192

  }

   193

  if( ts->tv_nsec > 1000000000 || (( ts->tv_sec < 0 ) && ( ts->tv_nsec > 0 ))){

   194

    ts->tv_sec++;

   195

    ts->tv_nsec -= 1000000000;

   196

  }

   197

}

   198

   199

/**********************************************/

   200

/* Time conversion to/from timespec functions */

   201

/**********************************************/

   202

   203

static inline IEC_TIMESPEC __time_to_timespec(int sign, double mseconds, double seconds, double minutes, double hours, double days) {

   204

  IEC_TIMESPEC ts;

   205

   206

  /* sign is 1 for positive values, -1 for negative time... */

   207

  long double total_sec = ((days*24 + hours)*60 + minutes)*60 + seconds + mseconds/1e3;

   208

  if (sign >= 0) sign = 1; else sign = -1;

   209

  ts.tv_sec = sign * (long int)total_sec;

   210

  ts.tv_nsec = sign * (long int)((total_sec - ts.tv_sec)*1e9);

   211

   212

  return ts;

   213

}

   214

   215

   216

static inline IEC_TIMESPEC __tod_to_timespec(double seconds, double minutes, double hours) {

   217

  IEC_TIMESPEC ts;

   218

   219

  long double total_sec = (hours*60 + minutes)*60 + seconds;

   220

  ts.tv_sec = (long int)total_sec;

   221

  ts.tv_nsec = (long int)((total_sec - ts.tv_sec)*1e9);

   222

   223

  return ts;

   224

}

   225

   226

static inline IEC_TIMESPEC __date_to_timespec(int day, int month, int year) {

   227

  IEC_TIMESPEC ts;

   228

  struct tm broken_down_time;

   229

  time_t epoch_seconds;

   230

   231

  broken_down_time.tm_sec = 0;

   232

  broken_down_time.tm_min = 0;

   233

  broken_down_time.tm_hour = 0;

   234

  broken_down_time.tm_mday = day;  /* day of month, from 1 to 31 */

   235

  broken_down_time.tm_mon = month - 1;   /* month since January, in the range 0 to 11 */

   236

  broken_down_time.tm_year = year - 1900;  /* number of years since 1900 */

   237

   238

  epoch_seconds = mktime(&broken_down_time); /* determine number of seconds since the epoch, i.e. Jan 1st 1970 */

   239

   240

  if ((time_t)(-1) == epoch_seconds)

   241

    __iec_error();

   242

   243

  ts.tv_sec = epoch_seconds;

   244

  ts.tv_nsec = 0;

   245

   246

  return ts;

   247

}

   248

   249

static inline IEC_TIMESPEC __dt_to_timespec(double seconds,  double minutes, double hours, int day, int month, int year) {

   250

  IEC_TIMESPEC ts;

   251

  struct tm broken_down_time;

   252

  time_t epoch_seconds;

   253

   254

  long double total_sec = (hours*60 + minutes)*60 + seconds;

   255

  ts.tv_sec = (long int)total_sec;

   256

  ts.tv_nsec = (long int)((total_sec - ts.tv_sec)*1e9);

   257

   258

  broken_down_time.tm_sec = 0;

   259

  broken_down_time.tm_min = 0;

   260

  broken_down_time.tm_hour = 0;

   261

  broken_down_time.tm_mday = day;  /* day of month, from 1 to 31 */

   262

  broken_down_time.tm_mon = month - 1;   /* month since January, in the range 0 to 11 */

   263

  broken_down_time.tm_year = year - 1900;  /* number of years since 1900 */

   264

  broken_down_time.tm_isdst = 0; /* disable daylight savings time */

   265

   266

  epoch_seconds = mktime(&broken_down_time); /* determine number of seconds since the epoch, i.e. Jan 1st 1970 */

   267

  if ((time_t)(-1) == epoch_seconds)

   268

    __iec_error();

   269

   270

  ts.tv_sec += epoch_seconds;

   271

  if (ts.tv_sec < epoch_seconds)

   272

    /* since the TOD is always positive, if the above happens then we had an overflow */

   273

    __iec_error();

   274

   275

  return ts;

   276

}

   277

   278

/*******************/

   279

/* Time operations */

   280

/*******************/

   281

   282

#define __time_cmp(t1, t2) (t2.tv_sec == t1.tv_sec ? t1.tv_nsec - t2.tv_nsec : t1.tv_sec - t2.tv_sec)

   283

   284

static inline TIME __time_add(TIME IN1, TIME IN2){

   285

  TIME res ={IN1.tv_sec + IN2.tv_sec,

   286

             IN1.tv_nsec + IN2.tv_nsec };

   287

  __normalize_timespec(&res);

   288

  return res;

   289

}

   290

static inline TIME __time_sub(TIME IN1, TIME IN2){

   291

  TIME res ={IN1.tv_sec - IN2.tv_sec,

   292

             IN1.tv_nsec - IN2.tv_nsec };

   293

  __normalize_timespec(&res);

   294

  return res;

   295

}

   296

static inline TIME __time_mul(TIME IN1, LREAL IN2){

   297

  LREAL s_f = IN1.tv_sec * IN2;

   298

  time_t s = s_f;

   299

  div_t ns = div((LREAL)IN1.tv_nsec * IN2, 1000000000);

   300

  TIME res = {s + ns.quot,

   301

              ns.rem + (s_f - s) * 1000000000 };

   302

  __normalize_timespec(&res);

   303

  return res;

   304

}

   305

static inline TIME __time_div(TIME IN1, LREAL IN2){

   306

  LREAL s_f = IN1.tv_sec / IN2;

   307

  time_t s = s_f;

   308

  TIME res = {s,

   309

              IN1.tv_nsec / IN2 + (s_f - s) * 1000000000 };

   310

  __normalize_timespec(&res);

   311

  return res;

   312

}

   313

   314

   315

/***************/

   316

/* Convertions */

   317

/***************/

   318

    /*****************/

   319

    /*  REAL_TO_INT  */

   320

    /*****************/

   321

static inline LINT __real_round(LREAL IN) {

   322

	return fmod(IN, 1) == 0 ? ((LINT)IN / 2) * 2 : (LINT)IN;

   323

}

   324

static inline LINT __preal_to_sint(LREAL IN) {

   325

   return IN >= 0 ? __real_round(IN + 0.5) : __real_round(IN - 0.5);

   326

}

   327

static inline LINT __preal_to_uint(LREAL IN) {

   328

   return IN >= 0 ? __real_round(IN + 0.5) : 0;

   329

}

   330

static inline LINT __real_to_sint(LREAL IN)  {return (LINT)__preal_to_sint(IN);}

   331

static inline LWORD __real_to_bit(LREAL IN)  {return (LWORD)__preal_to_uint(IN);}

   332

static inline ULINT __real_to_uint(LREAL IN) {return (ULINT)__preal_to_uint(IN);}

   333

   334

    /***************/

   335

    /*  TO_STRING  */

   336

    /***************/

   337

static inline STRING __bool_to_string(BOOL IN) {

   338

    if(IN) return (STRING){4, "TRUE"};

   339

    return (STRING){5,"FALSE"};

   340

}

   341

static inline STRING __bit_to_string(LWORD IN) {

   342

    STRING res;

   343

    res = __INIT_STRING;

   344

    res.len = snprintf((char*)res.body, STR_MAX_LEN, "16#%llx",(long long unsigned int)IN);

   345

    if(res.len > STR_MAX_LEN) res.len = STR_MAX_LEN;

   346

    return res;

   347

}

   348

static inline STRING __real_to_string(LREAL IN) {

   349

    STRING res;

   350

    res = __INIT_STRING;

   351

    res.len = snprintf((char*)res.body, STR_MAX_LEN, "%.10g", IN);

   352

    if(res.len > STR_MAX_LEN) res.len = STR_MAX_LEN;

   353

    return res;

   354

}

   355

static inline STRING __sint_to_string(LINT IN) {

   356

    STRING res;

   357

    res = __INIT_STRING;

   358

    res.len = snprintf((char*)res.body, STR_MAX_LEN, "%lld", (long long int)IN);

   359

    if(res.len > STR_MAX_LEN) res.len = STR_MAX_LEN;

   360

    return res;

   361

}

   362

static inline STRING __uint_to_string(ULINT IN) {

   363

    STRING res;

   364

    res = __INIT_STRING;

   365

    res.len = snprintf((char*)res.body, STR_MAX_LEN, "%llu", (long long unsigned int)IN);

   366

    if(res.len > STR_MAX_LEN) res.len = STR_MAX_LEN;

   367

    return res;

   368

}

   369

    /***************/

   370

    /* FROM_STRING */

   371

    /***************/

   372

static inline BOOL __string_to_bool(STRING IN) {

   373

    return IN.len == 5 ? !memcmp(&IN.body,"TRUE", IN.len) : 0;

   374

}

   375

   376

static inline LINT __pstring_to_sint(STRING* IN) {

   377

    LINT res = 0;

   378

    __strlen_t l;

   379

    unsigned int shift = 0;

   380

   381

    if(IN->body[0]=='2' && IN->body[1]=='#'){

   382

        /* 2#0101_1010_1011_1111 */

   383

        for(l = IN->len - 1; l >= 2 && shift < 64; l--)

   384

        {

   385

            char c = IN->body[l];

   386

            if( c >= '0' && c <= '1'){

   387

                res |= ( c - '0') << shift;

   388

                shift += 1;

   389

            }

   390

        }

   391

    }else if(IN->body[0]=='8' && IN->body[1]=='#'){

   392

        /* 8#1234_5665_4321 */

   393

        for(l = IN->len - 1; l >= 2 && shift < 64; l--)

   394

        {

   395

            char c = IN->body[l];

   396

            if( c >= '0' && c <= '7'){

   397

                res |= ( c - '0') << shift;

   398

                shift += 3;

   399

            }

   400

        }

   401

    }else if(IN->body[0]=='1' && IN->body[1]=='6' && IN->body[2]=='#'){

   402

        /* 16#1234_5678_9abc_DEFG */

   403

        for(l = IN->len - 1; l >= 3 && shift < 64; l--)

   404

        {

   405

            char c = IN->body[l];

   406

            if( c >= '0' && c <= '9'){

   407

                res |= (LWORD)( c - '0') << shift;

   408

                shift += 4;

   409

            }else if( c >= 'a' && c <= 'f'){

   410

                res |= (LWORD)( c - 'a' + 10 ) << shift;

   411

                shift += 4;

   412

            }else if( c >= 'A' && c <= 'F'){

   413

                res |= (LWORD)( c - 'A' + 10 ) << shift;

   414

                shift += 4;

   415

            }

   416

        }

   417

    }else{

   418

        /* -123456789 */

   419

        LINT fac = IN->body[0] == '-' ? -1 : 1;

   420

        for(l = IN->len - 1; l >= 0 && shift < 20; l--)

   421

        {

   422

            char c = IN->body[l];

   423

            if( c >= '0' && c <= '9'){

   424

                res += ( c - '0') * fac;

   425

                fac *= 10;

   426

                shift += 1;

   427

            }else if( c >= '.' ){ /* reset value */

   428

                res = 0;

   429

                fac = IN->body[0] == '-' ? -1 : 1;

   430

                shift = 0;

   431

            }

   432

        }

   433

    }

   434

    return res;

   435

}

   436

   437

static inline LINT  __string_to_sint(STRING IN) {return (LINT)__pstring_to_sint(&IN);}

   438

static inline LWORD __string_to_bit (STRING IN) {return (LWORD)__pstring_to_sint(&IN);}

   439

static inline ULINT __string_to_uint(STRING IN) {return (ULINT)__pstring_to_sint(&IN);}

   440

static inline LREAL __string_to_real(STRING IN) {

   441

    __strlen_t l;

   442

    l = IN.len;

   443

    /* search the dot */

   444

    while(--l > 0 && IN.body[l] != '.');

   445

    if(l != 0){

   446

        return atof((const char *)&IN.body);

   447

    }else{

   448

        return (LREAL)__pstring_to_sint(&IN);

   449

    }

   450

}

   451

   452

    /***************/

   453

    /*   TO_TIME   */

   454

    /***************/

   455

static inline TIME    __int_to_time(LINT IN)  {return (TIME){IN, 0};}

   456

static inline TIME   __real_to_time(LREAL IN) {return (TIME){IN, (IN - (LINT)IN) * 1000000000};}

   457

static inline TIME __string_to_time(STRING IN){

   458

    __strlen_t l;

   459

    /* TODO :

   460

     *

   461

     *  Duration literals without underlines: T#14ms    T#-14ms   T#14.7s   T#14.7m

   462

     *                short prefix            T#14.7h    t#14.7d   t#25h15m

   463

     *                                        t#5d14h12m18s3.5ms

   464

     *                long prefix             TIME#14ms    TIME#-14ms   time#14.7s

   465

     *  Duration literals with underlines:

   466

     *                short prefix            t#25h_15m t#5d_14h_12m_18s_3.5ms

   467

     *                long prefix             TIME#25h_15m

   468

     *                                        time#5d_14h_12m_18s_3.5ms

   469

     *

   470

     *  Long prefix notation                 Short prefix notation

   471

     *  DATE#1984-06-25                      D#1984-06-25

   472

     *  date#1984-06-25                      d#1984-06-25

   473

     *  TIME_OF_DAY#15:36:55.36              TOD#15:36:55.36

   474

     *  time_of_day#15:36:55.36              tod#15:36:55.36

   475

     *  DATE_AND_TIME#1984-06-25-15:36:55.36 DT#1984-06-25-15:36:55.36

   476

     *  date_and_time#1984-06-25-15:36:55.36 dt#1984-06-25-15:36:55.36

   477

     *

   478

     */

   479

    /* Quick hack : only transform seconds */

   480

    /* search the dot */

   481

    l = IN.len;

   482

    while(--l > 0 && IN.body[l] != '.');

   483

    if(l != 0){

   484

        LREAL IN_val = atof((const char *)&IN.body);

   485

        return  (TIME){IN_val, (IN_val - (LINT)IN_val)*1000000000};

   486

    }else{

   487

        return  (TIME){__pstring_to_sint(&IN), 0};

   488

    }

   489

}

   490

   491

    /***************/

   492

    /*  FROM_TIME  */

   493

    /***************/

   494

static inline LREAL __time_to_real(TIME IN){

   495

    return (LREAL)IN.tv_sec + ((LREAL)IN.tv_nsec/1000000000);

   496

}

   497

static inline LINT __time_to_int(TIME IN) {return IN.tv_sec;}

   498

static inline STRING __time_to_string(TIME IN){

   499

    STRING res;

   500

    div_t days;

   501

    /*t#5d14h12m18s3.5ms*/

   502

    res = __INIT_STRING;

   503

    days = div(IN.tv_sec ,86400);

   504

    if(!days.rem && IN.tv_nsec == 0){

   505

        res.len = snprintf((char*)&res.body, STR_MAX_LEN, "T#%dd", days.quot);