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 <stdint.h>

    33

#include <ctype.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,...) (type)value##__VA_ARGS__

    85

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

    86

#define __literal(type,value,...) __lit(type,value,__VA_ARGS__)

    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

   118

#define __INIT_UINT 0

   119

#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

#define EPOCH_YEAR 1970

   229

#define SECONDS_PER_DAY (24 * SECONDS_PER_HOUR)

   230

#define __isleap(year) \

   231

  ((year) % 4 == 0 && ((year) % 100 != 0 || (year) % 400 == 0))

   232

static const unsigned short int __mon_yday[2][13] =

   233

{

   234

  /* Normal years.  */

   235

  { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365},

   236

  /* Leap years.  */

   237

  { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366}

   238

};

   239

   240

typedef struct {

   241

	int tm_sec;			/* Seconds.	[0-60] (1 leap second) */

   242

	int tm_min;			/* Minutes.	[0-59] */

   243

	int tm_hour;		/* Hours.	[0-23] */

   244

	int tm_day;			/* Day.		[1-31] */

   245

	int tm_mon;			/* Month.	[0-11] */

   246

	int tm_year;		/* Year	*/

   247

} tm;

   248

   249

static inline tm convert_seconds_to_date_and_time(long int seconds) {

   250

  tm dt;

   251

  long int days, rem;

   252

  days = seconds / SECONDS_PER_DAY;

   253

  rem = seconds % SECONDS_PER_DAY;

   254

  if (rem < 0) {

   255

	  rem += SECONDS_PER_DAY;

   256

	  days--;

   257

  }

   258

   259

  // time of day

   260

  dt.tm_hour = rem / SECONDS_PER_HOUR;

   261

  rem %= SECONDS_PER_HOUR;

   262

  dt.tm_min = rem / 60;

   263

  dt.tm_sec = rem % 60;

   264

   265

  // date

   266

  dt.tm_year = EPOCH_YEAR;

   267

  while (days >= (rem = __isleap(dt.tm_year) ? 366 : 365)) {

   268

	  dt.tm_year++;

   269

	  days -= rem;

   270

  }

   271

  while (days < 0) {

   272

	  dt.tm_year--;

   273

	  days += __isleap(dt.tm_year) ? 366 : 365;

   274

  }

   275

  dt.tm_mon = 1;

   276

  while (days > __mon_yday[__isleap(dt.tm_year)][dt.tm_mon]) {

   277

	  dt.tm_mon += 1;

   278

  }

   279

  dt.tm_day = days - __mon_yday[__isleap(dt.tm_year)][dt.tm_mon - 1] + 1;

   280

   281

  return dt;

   282

}

   283

   284

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

   285

  IEC_TIMESPEC ts;

   286

  int a4, b4, a100, b100, a400, b400;

   287

  int yday;

   288

  int intervening_leap_days;

   289

   290

  if (month < 1 || month > 12)

   291

	 __iec_error();

   292

   293

  yday = __mon_yday[__isleap(year)][month - 1] + day;

   294

   295

  if (yday > __mon_yday[__isleap(year)][month])

   296

	  __iec_error();

   297

   298

  a4 = (year >> 2) - ! (year & 3);

   299

  b4 = (EPOCH_YEAR >> 2) - ! (EPOCH_YEAR & 3);

   300

  a100 = a4 / 25 - (a4 % 25 < 0);

   301

  b100 = b4 / 25 - (b4 % 25 < 0);

   302

  a400 = a100 >> 2;

   303

  b400 = b100 >> 2;

   304

  intervening_leap_days = (a4 - b4) - (a100 - b100) + (a400 - b400);

   305

   306

  ts.tv_sec = ((year - EPOCH_YEAR) * 365 + intervening_leap_days + yday - 1) * 24 * 60 * 60;

   307

  ts.tv_nsec = 0;

   308

   309

  return ts;

   310

}

   311

   312

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

   313

  IEC_TIMESPEC ts_date = __date_to_timespec(day, month, year);

   314

  IEC_TIMESPEC ts = __tod_to_timespec(seconds, minutes, hours);

   315

   316

  ts.tv_sec += ts_date.tv_sec;

   317

   318

  return ts;

   319

}

   320

   321

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

   322

/* Time operations */

   323

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

   324

   325

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

   326

   327

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

   328

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

   329

             IN1.tv_nsec + IN2.tv_nsec };

   330

  __normalize_timespec(&res);

   331

  return res;

   332

}

   333

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

   334

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

   335

             IN1.tv_nsec - IN2.tv_nsec };

   336

  __normalize_timespec(&res);

   337

  return res;

   338

}

   339

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

   340

  LREAL s_f = IN1.tv_sec * IN2;

   341

  time_t s = (time_t)s_f;

   342

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

   343

  TIME res = {(long)s + ns.quot,

   344

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

   345

  __normalize_timespec(&res);

   346

  return res;

   347

}

   348

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

   349

  LREAL s_f = IN1.tv_sec / IN2;

   350

  time_t s = (time_t)s_f;

   351

  TIME res = {(long)s,

   352

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

   353

  __normalize_timespec(&res);

   354

  return res;

   355

}

   356

   357

   358

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

   359

/* Convertions */

   360

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

   361

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

   362

    /*  REAL_TO_INT  */

   363

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

   364

static inline LINT __real_round(LREAL IN) {

   365

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

   366

}

   367

static inline LINT __preal_to_sint(LREAL IN) {

   368

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

   369

}

   370

static inline LINT __preal_to_uint(LREAL IN) {

   371

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

   372

}

   373

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

   374

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

   375

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

   376

   377

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

   378

    /*  TO_STRING  */

   379

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

   380

static inline STRING __bool_to_string(BOOL IN) {

   381

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

   382

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

   383

}

   384

static inline STRING __bit_to_string(LWORD IN) {

   385

    STRING res;

   386

    res = __INIT_STRING;

   387

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

   388

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

   389

    return res;

   390

}

   391

static inline STRING __real_to_string(LREAL IN) {

   392

    STRING res;

   393

    res = __INIT_STRING;

   394

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

   395

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

   396

    return res;

   397

}

   398

static inline STRING __sint_to_string(LINT IN) {

   399

    STRING res;

   400

    res = __INIT_STRING;

   401

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

   402

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

   403

    return res;

   404

}

   405

static inline STRING __uint_to_string(ULINT IN) {

   406

    STRING res;

   407

    res = __INIT_STRING;

   408

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

   409

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

   410

    return res;

   411

}

   412

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

   413

    /* FROM_STRING */

   414

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

   415

static inline BOOL __string_to_bool(STRING IN) {

   416

    int i;

   417

    if (IN.len == 1) return !memcmp(&IN.body,"1", IN.len);

   418

    for (i = 0; i < IN.len; i++) IN.body[i] = toupper(IN.body[i]);

   419

    return IN.len == 4 ? !memcmp(&IN.body,"TRUE", IN.len) : 0;

   420

}

   421

   422

static inline LINT __pstring_to_sint(STRING* IN) {

   423

    LINT res = 0;

   424

    __strlen_t l;

   425

    unsigned int shift = 0;

   426

   427

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

   428

        /* 2#0101_1010_1011_1111 */

   429

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

   430

        {

   431

            char c = IN->body[l];

   432

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

   433

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

   434

                shift += 1;

   435

            }

   436

        }

   437

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

   438

        /* 8#1234_5665_4321 */

   439

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

   440

        {

   441

            char c = IN->body[l];

   442

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

   443

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

   444

                shift += 3;

   445

            }

   446

        }

   447

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

   448

        /* 16#1234_5678_9abc_DEFG */

   449

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

   450

        {

   451

            char c = IN->body[l];

   452

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

   453

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

   454

                shift += 4;

   455

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

   456

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

   457

                shift += 4;

   458

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

   459

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

   460

                shift += 4;

   461

            }

   462

        }

   463

    }else{

   464

        /* -123456789 */

   465

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

   466

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

   467

        {

   468

            char c = IN->body[l];

   469

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

   470

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

   471

                fac *= 10;

   472

                shift += 1;

   473

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

   474

                res = 0;

   475

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

   476

                shift = 0;

   477

            }

   478

        }

   479

    }

   480

    return res;

   481

}

   482

   483

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

   484

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

   485

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

   486

static inline LREAL __string_to_real(STRING IN) {

   487

    __strlen_t l;

   488

    l = IN.len;

   489

    /* search the dot */

   490

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

   491

    if(l != 0){

   492

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

   493

    }else{

   494

        return (LREAL)__pstring_to_sint(&IN);

   495

    }

   496

}

   497

   498

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

   499

    /*   TO_TIME   */

   500

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