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1 /** |
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2 * Mac OSX specific code |
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3 **/ |
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4 |
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5 #include <stdio.h> |
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6 #include <string.h> |
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7 #include <time.h> |
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8 #include <signal.h> |
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9 #include <stdlib.h> |
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10 #include <pthread.h> |
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11 #include <locale.h> |
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12 #include <semaphore.h> |
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13 #include <dispatch/dispatch.h> |
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14 |
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15 static sem_t Run_PLC; |
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16 |
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17 long AtomicCompareExchange(long *atomicvar, long compared, long exchange) |
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18 { |
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19 return __sync_val_compare_and_swap(atomicvar, compared, exchange); |
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20 } |
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21 |
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22 long long AtomicCompareExchange64(long long *atomicvar, long long compared, |
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23 long long exchange) |
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24 { |
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25 return __sync_val_compare_and_swap(atomicvar, compared, exchange); |
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26 } |
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27 |
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28 void PLC_GetTime(IEC_TIME * CURRENT_TIME) |
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29 { |
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30 struct timespec tmp; |
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31 clock_gettime(CLOCK_REALTIME, &tmp); |
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32 CURRENT_TIME->tv_sec = tmp.tv_sec; |
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33 CURRENT_TIME->tv_nsec = tmp.tv_nsec; |
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34 } |
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35 |
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36 dispatch_queue_t queue; |
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37 dispatch_source_t PLC_timer; |
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38 |
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39 static inline void PLC_timer_cancel(void *arg) |
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40 { |
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41 dispatch_release(PLC_timer); |
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42 dispatch_release(queue); |
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43 exit(0); |
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44 } |
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45 |
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46 static inline void PLC_timer_notify(void *arg) |
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47 { |
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48 PLC_GetTime(&__CURRENT_TIME); |
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49 sem_post(&Run_PLC); |
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50 } |
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51 |
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52 void PLC_SetTimer(unsigned long long next, unsigned long long period) |
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53 { |
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54 if (next == period && next == 0) { |
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55 dispatch_suspend(PLC_timer); |
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56 } else { |
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57 dispatch_time_t start; |
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58 start = dispatch_time(DISPATCH_TIME_NOW, next); |
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59 dispatch_source_set_timer(PLC_timer, start, period, 0); |
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60 dispatch_resume(PLC_timer); |
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61 } |
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62 } |
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63 |
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64 void catch_signal(int sig) |
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65 { |
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66 signal(SIGINT, catch_signal); |
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67 printf("Got Signal %d\n", sig); |
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68 dispatch_source_cancel(PLC_timer); |
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69 exit(0); |
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70 } |
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71 |
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72 static unsigned long __debug_tick; |
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73 |
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74 pthread_t PLC_thread; |
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75 static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER; |
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76 static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER; |
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77 static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER; |
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78 static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER; |
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79 |
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80 int PLC_shutdown = 0; |
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81 |
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82 int ForceSaveRetainReq(void) |
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83 { |
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84 return PLC_shutdown; |
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85 } |
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86 |
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87 void PLC_thread_proc(void *arg) |
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88 { |
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89 while (!PLC_shutdown) { |
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90 sem_wait(&Run_PLC); |
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91 __run(); |
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92 } |
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93 pthread_exit(0); |
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94 } |
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95 |
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96 #define maxval(a,b) ((a>b)?a:b) |
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97 int startPLC(int argc, char **argv) |
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98 { |
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99 setlocale(LC_NUMERIC, "C"); |
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100 |
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101 PLC_shutdown = 0; |
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102 |
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103 sem_init(&Run_PLC, 0, 0); |
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104 |
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105 pthread_create(&PLC_thread, NULL, (void *)&PLC_thread_proc, NULL); |
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106 |
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107 pthread_mutex_init(&debug_wait_mutex, NULL); |
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108 pthread_mutex_init(&debug_mutex, NULL); |
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109 pthread_mutex_init(&python_wait_mutex, NULL); |
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110 pthread_mutex_init(&python_mutex, NULL); |
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111 |
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112 pthread_mutex_lock(&debug_wait_mutex); |
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113 pthread_mutex_lock(&python_wait_mutex); |
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114 |
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115 queue = dispatch_queue_create("timerQueue", 0); |
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116 PLC_timer = dispatch_source_create(DISPATCH_SOURCE_TYPE_TIMER, 0, 0, queue); |
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117 |
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118 dispatch_set_context(PLC_timer, &PLC_timer); |
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119 dispatch_source_set_event_handler_f(PLC_timer, PLC_timer_notify); |
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120 dispatch_source_set_cancel_handler_f(PLC_timer, PLC_timer_cancel); |
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121 |
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122 if (__init(argc, argv) == 0) { |
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123 PLC_SetTimer(common_ticktime__, common_ticktime__); |
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124 |
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125 /* install signal handler for manual break */ |
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126 signal(SIGINT, catch_signal); |
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127 } else { |
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128 return 1; |
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129 } |
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130 return 0; |
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131 } |
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132 |
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133 int TryEnterDebugSection(void) |
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134 { |
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135 if (pthread_mutex_trylock(&debug_mutex) == 0) { |
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136 /* Only enter if debug active */ |
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137 if (__DEBUG) { |
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138 return 1; |
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139 } |
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140 pthread_mutex_unlock(&debug_mutex); |
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141 } |
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142 return 0; |
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143 } |
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144 |
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145 void LeaveDebugSection(void) |
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146 { |
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147 pthread_mutex_unlock(&debug_mutex); |
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148 } |
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149 |
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150 int stopPLC() |
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151 { |
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152 /* Stop the PLC */ |
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153 PLC_shutdown = 1; |
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154 sem_post(&Run_PLC); |
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155 PLC_SetTimer(0, 0); |
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156 pthread_join(PLC_thread, NULL); |
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157 sem_destroy(&Run_PLC); |
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158 dispatch_source_cancel(PLC_timer); |
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159 __cleanup(); |
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160 pthread_mutex_destroy(&debug_wait_mutex); |
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161 pthread_mutex_destroy(&debug_mutex); |
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162 pthread_mutex_destroy(&python_wait_mutex); |
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163 pthread_mutex_destroy(&python_mutex); |
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164 return 0; |
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165 } |
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166 |
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167 extern unsigned long __tick; |
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168 |
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169 int WaitDebugData(unsigned long *tick) |
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170 { |
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171 int res; |
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172 if (PLC_shutdown) |
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173 return 1; |
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174 /* Wait signal from PLC thread */ |
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175 res = pthread_mutex_lock(&debug_wait_mutex); |
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176 *tick = __debug_tick; |
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177 return res; |
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178 } |
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179 |
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180 /* Called by PLC thread when debug_publish finished |
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181 * This is supposed to unlock debugger thread in WaitDebugData*/ |
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182 void InitiateDebugTransfer() |
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183 { |
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184 /* remember tick */ |
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185 __debug_tick = __tick; |
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186 /* signal debugger thread it can read data */ |
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187 pthread_mutex_unlock(&debug_wait_mutex); |
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188 } |
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189 |
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190 int suspendDebug(int disable) |
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191 { |
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192 /* Prevent PLC to enter debug code */ |
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193 pthread_mutex_lock(&debug_mutex); |
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194 /*__DEBUG is protected by this mutex */ |
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195 __DEBUG = !disable; |
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196 if (disable) |
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197 pthread_mutex_unlock(&debug_mutex); |
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198 return 0; |
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199 } |
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200 |
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201 void resumeDebug(void) |
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202 { |
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203 __DEBUG = 1; |
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204 /* Let PLC enter debug code */ |
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205 pthread_mutex_unlock(&debug_mutex); |
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206 } |
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207 |
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208 /* from plc_python.c */ |
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209 int WaitPythonCommands(void) |
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210 { |
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211 /* Wait signal from PLC thread */ |
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212 return pthread_mutex_lock(&python_wait_mutex); |
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213 } |
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214 |
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215 /* Called by PLC thread on each new python command*/ |
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216 void UnBlockPythonCommands(void) |
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217 { |
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218 /* signal python thread it can read data */ |
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219 pthread_mutex_unlock(&python_wait_mutex); |
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220 } |
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221 |
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222 int TryLockPython(void) |
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223 { |
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224 return pthread_mutex_trylock(&python_mutex) == 0; |
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225 } |
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226 |
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227 void UnLockPython(void) |
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228 { |
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229 pthread_mutex_unlock(&python_mutex); |
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230 } |
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231 |
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232 void LockPython(void) |
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233 { |
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234 pthread_mutex_lock(&python_mutex); |
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235 } |
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236 |
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237 struct RT_to_nRT_signal_s { |
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238 pthread_cond_t WakeCond; |
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239 pthread_mutex_t WakeCondLock; |
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240 }; |
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241 |
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242 typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t; |
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243 |
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244 #define _LogAndReturnNull(text) \ |
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245 {\ |
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246 char mstr[256] = text " for ";\ |
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247 strncat(mstr, name, 255);\ |
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248 LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\ |
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249 return NULL;\ |
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250 } |
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251 |
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252 void *create_RT_to_nRT_signal(char *name) |
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253 { |
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254 RT_to_nRT_signal_t *sig = |
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255 (RT_to_nRT_signal_t *) malloc(sizeof(RT_to_nRT_signal_t)); |
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256 |
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257 if (!sig) |
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258 _LogAndReturnNull("Failed allocating memory for RT_to_nRT signal"); |
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259 |
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260 pthread_cond_init(&sig->WakeCond, NULL); |
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261 pthread_mutex_init(&sig->WakeCondLock, NULL); |
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262 |
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263 return (void *)sig; |
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264 } |
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265 |
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266 void delete_RT_to_nRT_signal(void *handle) |
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267 { |
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268 RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t *) handle; |
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269 |
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270 pthread_cond_destroy(&sig->WakeCond); |
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271 pthread_mutex_destroy(&sig->WakeCondLock); |
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272 |
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273 free(sig); |
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274 } |
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275 |
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276 int wait_RT_to_nRT_signal(void *handle) |
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277 { |
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278 int ret; |
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279 RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t *) handle; |
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280 pthread_mutex_lock(&sig->WakeCondLock); |
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281 ret = pthread_cond_wait(&sig->WakeCond, &sig->WakeCondLock); |
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282 pthread_mutex_unlock(&sig->WakeCondLock); |
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283 return ret; |
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284 } |
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285 |
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286 int unblock_RT_to_nRT_signal(void *handle) |
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287 { |
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288 RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t *) handle; |
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289 return pthread_cond_signal(&sig->WakeCond); |
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290 } |
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291 |
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292 void nRT_reschedule(void) |
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293 { |
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294 sched_yield(); |
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295 } |