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

#ifndef _IEC_STD_LIB_H

    30

#define _IEC_STD_LIB_H

    31

    32

    33

#include <limits.h>

    34

#include <float.h>

    35

#include <math.h>

    36

#include <stdint.h>

    37

#include <ctype.h>

    38

    39

#include <stdio.h>

    40

#include <stdlib.h>

    41

#include <string.h>

    42

#include <stdarg.h>

    43

    44

#ifdef DEBUG_IEC

    45

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

    46

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

    47

#else

    48

#define DBG(...)

    49

#define DBG_TYPE(TYPENAME, name)

    50

#endif

    51

    52

/*

    53

 * Include type defs.

    54

 */

    55

#include "iec_types_all.h"

    56

    57

extern TIME __CURRENT_TIME;

    58

extern BOOL __DEBUG;

    59

    60

/* TODO

    61

typedef struct {

    62

    __strlen_t len;

    63

    u_int16_t body[STR_MAX_LEN];

    64

} WSTRING;

    65

*/

    66

/*

    67

# if __WORDSIZE == 64

    68

#define __32b_sufix

    69

#define __64b_sufix L

    70

#else

    71

#define __32b_sufix L

    72

#define __64b_sufix LL

    73

#endif

    74

*/

    75

    76

# if __WORDSIZE == 64

    77

#define __32b_sufix

    78

#define __64b_sufix L

    79

#else

    80

#define __32b_sufix L

    81

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

    82

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

    83

 */

    84

#define __64b_sufix L   

    85

#endif

    86

    87

    88

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

    89

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

    90

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

    91

    92

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

    93

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

    94

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

    95

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

    96

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

    97

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

    98

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

    99

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

   100

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

   101

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

   102

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

   103

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

   104

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

   105

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

   106

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

   107

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

   108

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

   109

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

   110

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

   111

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

   112

   113

   114

typedef union __IL_DEFVAR_T {

   115

    BOOL    BOOLvar;

   116

   117

    SINT    SINTvar;

   118

    INT     INTvar;

   119

    DINT    DINTvar;

   120

    LINT    LINTvar;

   121

   122

    USINT   USINTvar;

   123

    UINT    UINTvar;

   124

    UDINT   UDINTvar;

   125

    ULINT   ULINTvar;

   126

   127

    BYTE    BYTEvar;

   128

    WORD    WORDvar;

   129

    DWORD   DWORDvar;

   130

    LWORD   LWORDvar;

   131

   132

    REAL    REALvar;

   133

    LREAL   LREALvar;

   134

   135

    TIME    TIMEvar;

   136

    TOD TODvar;

   137

    DT  DTvar;

   138

    DATE    DATEvar;

   139

} __IL_DEFVAR_T;

   140

   141

   142

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

   143

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

   144

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

   145

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

   146

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

   147

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

   148

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

   149

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

   150

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

   151

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

   152

   153

   154

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

   155

/* Notify IEC runtime error */

   156

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

   157

   158

/* function that generates an IEC runtime error */

   159

static inline void __iec_error(void) {

   160

  /* TODO... */

   161

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

   162

  /*exit(1);*/

   163

}

   164

   165

   166

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

   167

/* Math Operations */

   168

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

   169

   170

static inline double __expt(double in1, double in2) {

   171

  return pow(in1, in2);

   172

}

   173

   174

   175

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

   176

/* Time normalization function */

   177

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

   178

   179

static inline void __normalize_timespec (IEC_TIMESPEC *ts) {

   180

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

   181

    ts->tv_sec--;

   182

    ts->tv_nsec += 1000000000;

   183

  }

   184

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

   185

    ts->tv_sec++;

   186

    ts->tv_nsec -= 1000000000;

   187

  }

   188

}

   189

   190

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

   191

/* Time conversion to/from timespec functions */

   192

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

   193

/* NOTE: The following function was turned into a macro, so it could be used to initialize the initial value of TIME variables.

   194

 *       Since each macro parameter is evaluated several times, the macro may result in multiple function invocations if an expression

   195

 *       containing a function invocation is passed as a parameter. However, currently matiec only uses this conversion macro with 

   196

 *       constant literals, so it is safe to change it into a macro.

   197

 */

   198

/* NOTE: I (Mario - msousa@fe.up.pt) believe that the following function contains a bug when handling negative times.

   199

 *       The equivalent macro has this bug fixed.

   200

 *       e.g.;

   201

 *          T#3.8s

   202

 *       using the function, will result in a timespec of 3.8s !!!: 

   203

 *          tv_sec  =  4               <-----  1 *  3.8           is rounded up when converting a double to an int!

   204

 *          tv_nsec = -200 000 000     <-----  1 * (3.8 - 4)*1e9

   205

 * 

   206

 *         -T#3.8s

   207

 *       using the function, will result in a timespec of -11.8s !!!: 

   208

 *          tv_sec  = -4                 <-----  -1 *  3.8 is rounded down when converting a double to an int!

   209

 *          tv_nsec = -7 800 000 000     <-----  -1 * (3.8 - -4)*1e9

   210

 */

   211

/* NOTE: Due to the fact that the C compiler may round a tv_sec number away from zero, 

   212

 *       the following macro may result in a timespec that is not normalized, i.e. with a tv_sec > 0, and a tv_nsec < 0 !!!!

   213

 *       This is due to the rounding that C compiler applies when converting a (long double) to a (long int).

   214

 *       To produce normalized timespec's we need to use floor(), but we cannot call any library functions since we want this macro to be 

   215

 *       useable as a variable initializer.

   216

 *       VAR x : TIME = T#3.5h; END_VAR --->  IEC_TIME x = __time_to_timespec(1, 0, 0, 0, 3.5, 0);

   217

 */

   218

/*

   219

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

   220

  IEC_TIMESPEC ts;

   221

   222

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

   223

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

   224

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

   225

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

   226

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

   227

   228

  return ts;

   229

}

   230

*/

   231

/* NOTE: Unfortunately older versions of ANSI C (e.g. C99) do not allow explicit identification of elements in initializers

   232

 *         e.g.  {tv_sec = 1, tv_nsec = 300}

   233

 *       They are therefore commented out. This however means that any change to the definition of IEC_TIMESPEC may require this

   234

 *       macro to be updated too!

   235

 */

   236

#define __time_to_timespec(sign,mseconds,seconds,minutes,hours,days) \

   237

          ((IEC_TIMESPEC){\

   238

              /*tv_sec  =*/ ((long int)   (((sign>=0)?1:-1)*((((long double)days*24 + (long double)hours)*60 + (long double)minutes)*60 + (long double)seconds + (long double)mseconds/1e3))), \

   239

              /*tv_nsec =*/ ((long int)(( \

   240

                            ((long double)(((sign>=0)?1:-1)*((((long double)days*24 + (long double)hours)*60 + (long double)minutes)*60 + (long double)seconds + (long double)mseconds/1e3))) - \

   241

                            ((long int)   (((sign>=0)?1:-1)*((((long double)days*24 + (long double)hours)*60 + (long double)minutes)*60 + (long double)seconds + (long double)mseconds/1e3)))   \

   242

                            )*1e9))\

   243

        })

   244

   245

   246

   247

   248

/* NOTE: The following function was turned into a macro, so it could be used to initialize the initial value of TOD (TIME_OF_DAY) variables */

   249

/* NOTE: many (but not all) of the same comments made regarding __time_to_timespec() are also valid here, so go and read those comments too!*/

   250

/*

   251

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

   252

  IEC_TIMESPEC ts;

   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

  return ts;

   259

}

   260

*/

   261

#define __tod_to_timespec(seconds,minutes,hours) \

   262

          ((IEC_TIMESPEC){\

   263

              /*tv_sec  =*/ ((long int)   ((((long double)hours)*60 + (long double)minutes)*60 + (long double)seconds)), \

   264

              /*tv_nsec =*/ ((long int)(( \

   265

                            ((long double)((((long double)hours)*60 + (long double)minutes)*60 + (long double)seconds)) - \

   266

                            ((long int)   ((((long double)hours)*60 + (long double)minutes)*60 + (long double)seconds))   \

   267

                            )*1e9))\

   268

        })

   269

   270

   271

#define EPOCH_YEAR 1970

   272

#define SECONDS_PER_MINUTE 60

   273

#define SECONDS_PER_HOUR (60 * SECONDS_PER_MINUTE)

   274

#define SECONDS_PER_DAY (24 * SECONDS_PER_HOUR)

   275

#define __isleap(year) \

   276

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

   277

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

   278

{

   279

  /* Normal years.  */

   280

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

   281

  /* Leap years.  */

   282

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

   283

};

   284

   285

typedef struct {

   286

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

   287

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

   288

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

   289

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

   290

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

   291

	int tm_year;			/* Year	*/

   292

} tm;

   293

   294

static inline tm convert_seconds_to_date_and_time(long int seconds) {

   295

  tm dt;

   296

  long int days, rem;

   297

  days = seconds / SECONDS_PER_DAY;

   298

  rem = seconds % SECONDS_PER_DAY;

   299

  if (rem < 0) {

   300

	  rem += SECONDS_PER_DAY;

   301

	  days--;

   302

  }

   303

   304

  // time of day

   305

  dt.tm_hour = rem / SECONDS_PER_HOUR;

   306

  rem %= SECONDS_PER_HOUR;

   307

  dt.tm_min = rem / 60;

   308

  dt.tm_sec = rem % 60;

   309

   310

  // date

   311

  dt.tm_year = EPOCH_YEAR;

   312

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

   313

	  dt.tm_year++;

   314

	  days -= rem;

   315

  }

   316

  while (days < 0) {

   317

	  dt.tm_year--;

   318

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

   319

  }

   320

  dt.tm_mon = 1;

   321

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

   322

	  dt.tm_mon += 1;

   323

  }

   324

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

   325

   326

  return dt;

   327

}

   328

   329

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

   330

  IEC_TIMESPEC ts;

   331

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

   332

  int yday;

   333

  int intervening_leap_days;

   334

   335

  if (month < 1 || month > 12)

   336

	 __iec_error();

   337

   338

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

   339

   340

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

   341

	  __iec_error();

   342

   343

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

   344

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

   345

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

   346

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

   347

  a400 = a100 >> 2;

   348

  b400 = b100 >> 2;

   349

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

   350

   351

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

   352

  ts.tv_nsec = 0;

   353

   354

  return ts;

   355

}

   356

   357

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

   358

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

   359

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

   360

   361

  ts.tv_sec += ts_date.tv_sec;

   362

   363

  return ts;

   364

}

   365

   366

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

   367

/* Time operations */

   368

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

   369

   370

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

   371

   372

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

   373

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

   374

             IN1.tv_nsec + IN2.tv_nsec };

   375

  __normalize_timespec(&res);

   376

  return res;

   377

}

   378

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

   379

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

   380

             IN1.tv_nsec - IN2.tv_nsec };

   381

  __normalize_timespec(&res);

   382

  return res;

   383

}

   384

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

   385

  LREAL s_f = IN1.tv_sec * IN2;

   386

  time_t s = (time_t)s_f;

   387

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

   388

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

   389

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

   390

  __normalize_timespec(&res);

   391

  return res;

   392

}

   393

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

   394

  LREAL s_f = IN1.tv_sec / IN2;

   395

  time_t s = (time_t)s_f;

   396

  TIME res = {(long)s,

   397

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

   398

  __normalize_timespec(&res);

   399

  return res;

   400

}

   401

   402

   403

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

   404

/* Convertions */

   405

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

   406

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

   407

    /*  REAL_TO_INT  */

   408

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

   409

static inline LINT __real_round(LREAL IN) {

   410

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

   411

}

   412

static inline LINT __preal_to_sint(LREAL IN) {

   413

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

   414

}

   415

static inline LINT __preal_to_uint(LREAL IN) {

   416

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

   417

}

   418

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

   419

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

   420

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

   421

   422

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

   423

    /*  TO_STRING  */

   424

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

   425

static inline STRING __bool_to_string(BOOL IN) {

   426

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

   427

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

   428

}

   429

static inline STRING __bit_to_string(LWORD IN) {

   430

    STRING res;

   431

    res = __INIT_STRING;

   432

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

   433

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

   434

    return res;

   435

}

   436

static inline STRING __real_to_string(LREAL IN) {

   437

    STRING res;

   438

    res = __INIT_STRING;

   439

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

   440

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

   441

    return res;

   442

}

   443

static inline STRING __sint_to_string(LINT IN) {

   444

    STRING res;

   445

    res = __INIT_STRING;

   446

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

   447

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

   448

    return res;

   449

}

   450

static inline STRING __uint_to_string(ULINT IN) {

   451

    STRING res;

   452

    res = __INIT_STRING;

   453

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

   454

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

   455

    return res;

   456

}

   457

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

   458

    /* FROM_STRING */

   459

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

   460

static inline BOOL __string_to_bool(STRING IN) {

   461

    int i;

   462

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

   463

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

   464

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

   465

}

   466

   467

static inline LINT __pstring_to_sint(STRING* IN) {

   468

    LINT res = 0;

   469

    __strlen_t l;

   470

    unsigned int shift = 0;

   471

   472

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

   473

        /* 2#0101_1010_1011_1111 */

   474

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

   475

        {

   476

            char c = IN->body[l];

   477

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

   478

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

   479

                shift += 1;

   480

            }

   481

        }

   482

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

   483

        /* 8#1234_5665_4321 */

   484

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

   485

        {

   486

            char c = IN->body[l];

   487

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

   488

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

   489

                shift += 3;

   490

            }

   491

        }

   492

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

   493

        /* 16#1234_5678_9abc_DEFG */

   494

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

   495

        {

   496

            char c = IN->body[l];

   497

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

   498