diff --git a/motor/build/Config0.c b/motor/build/Config0.c deleted file mode 100644 index a824b83..0000000 --- a/motor/build/Config0.c +++ /dev/null @@ -1,29 +0,0 @@ -/*******************************************/ -/* FILE GENERATED BY iec2c */ -/* Editing this file is not recommended... */ -/*******************************************/ - -#include "iec_std_lib.h" - -#include "accessor.h" - -#include "POUS.h" - -// CONFIGURATION CONFIG0 - -void RES0_init__(void); - -void config_init__(void) { - BOOL retain; - retain = 0; - - RES0_init__(); -} - -void RES0_run__(unsigned long tick); - -void config_run__(unsigned long tick) { - RES0_run__(tick); -} -unsigned long long common_ticktime__ = 20000000ULL; /*ns*/ -unsigned long greatest_tick_count__ = (unsigned long)0UL; /*tick*/ diff --git a/motor/build/Config0.h b/motor/build/Config0.h deleted file mode 100644 index 680f75c..0000000 --- a/motor/build/Config0.h +++ /dev/null @@ -1,2 +0,0 @@ -#include "beremiz.h" - diff --git a/motor/build/Config0.o b/motor/build/Config0.o deleted file mode 100644 index c907a24..0000000 Binary files a/motor/build/Config0.o and /dev/null differ diff --git a/motor/build/LOCATED_VARIABLES.h b/motor/build/LOCATED_VARIABLES.h deleted file mode 100644 index e69de29..0000000 diff --git a/motor/build/POUS.c b/motor/build/POUS.c deleted file mode 100644 index 3592cb6..0000000 --- a/motor/build/POUS.c +++ /dev/null @@ -1,74 +0,0 @@ -void LOGGER_init__(LOGGER *data__, BOOL retain) { - __INIT_VAR(data__->EN,__BOOL_LITERAL(TRUE),retain) - __INIT_VAR(data__->ENO,__BOOL_LITERAL(TRUE),retain) - __INIT_VAR(data__->TRIG,__BOOL_LITERAL(FALSE),retain) - __INIT_VAR(data__->MSG,__STRING_LITERAL(0,""),retain) - __INIT_VAR(data__->LEVEL,LOGLEVEL__INFO,retain) - __INIT_VAR(data__->TRIG0,__BOOL_LITERAL(FALSE),retain) -} - -// Code part -void LOGGER_body__(LOGGER *data__) { - // Control execution - if (!__GET_VAR(data__->EN)) { - __SET_VAR(data__->,ENO,,__BOOL_LITERAL(FALSE)); - return; - } - else { - __SET_VAR(data__->,ENO,,__BOOL_LITERAL(TRUE)); - } - // Initialise TEMP variables - - if ((__GET_VAR(data__->TRIG,) && !(__GET_VAR(data__->TRIG0,)))) { - #define GetFbVar(var,...) __GET_VAR(data__->var,__VA_ARGS__) - #define SetFbVar(var,val,...) __SET_VAR(data__->,var,__VA_ARGS__,val) - - LogMessage(GetFbVar(LEVEL),(char*)GetFbVar(MSG, .body),GetFbVar(MSG, .len)); - - #undef GetFbVar - #undef SetFbVar -; - }; - __SET_VAR(data__->,TRIG0,,__GET_VAR(data__->TRIG,)); - - goto __end; - -__end: - return; -} // LOGGER_body__() - - - - - -void MOTOR_init__(MOTOR *data__, BOOL retain) { - __INIT_VAR(data__->START,__BOOL_LITERAL(FALSE),retain) - __INIT_VAR(data__->STOP,__BOOL_LITERAL(FALSE),retain) - __INIT_VAR(data__->DELAY,__time_to_timespec(1, 100, 0, 0, 0, 0),retain) - __INIT_VAR(data__->RUNNING,__BOOL_LITERAL(FALSE),retain) - RS_init__(&data__->RS0,retain); - TON_init__(&data__->TON0,retain); -} - -// Code part -void MOTOR_body__(MOTOR *data__) { - // Initialise TEMP variables - - __SET_VAR(data__->TON0.,IN,,__GET_VAR(data__->START,)); - __SET_VAR(data__->TON0.,PT,,__GET_VAR(data__->DELAY,)); - TON_body__(&data__->TON0); - __SET_VAR(data__->RS0.,S,,__GET_VAR(data__->TON0.Q,)); - __SET_VAR(data__->RS0.,R1,,__GET_VAR(data__->STOP,)); - RS_body__(&data__->RS0); - __SET_VAR(data__->,RUNNING,,__GET_VAR(data__->RS0.Q1,)); - - goto __end; - -__end: - return; -} // MOTOR_body__() - - - - - diff --git a/motor/build/POUS.h b/motor/build/POUS.h deleted file mode 100644 index 10a17cf..0000000 --- a/motor/build/POUS.h +++ /dev/null @@ -1,50 +0,0 @@ -#include "beremiz.h" -#ifndef __POUS_H -#define __POUS_H - -#include "accessor.h" -#include "iec_std_lib.h" - -__DECLARE_ENUMERATED_TYPE(LOGLEVEL, - LOGLEVEL__CRITICAL, - LOGLEVEL__WARNING, - LOGLEVEL__INFO, - LOGLEVEL__DEBUG -) -// FUNCTION_BLOCK LOGGER -// Data part -typedef struct { - // FB Interface - IN, OUT, IN_OUT variables - __DECLARE_VAR(BOOL,EN) - __DECLARE_VAR(BOOL,ENO) - __DECLARE_VAR(BOOL,TRIG) - __DECLARE_VAR(STRING,MSG) - __DECLARE_VAR(LOGLEVEL,LEVEL) - - // FB private variables - TEMP, private and located variables - __DECLARE_VAR(BOOL,TRIG0) - -} LOGGER; - -void LOGGER_init__(LOGGER *data__, BOOL retain); -// Code part -void LOGGER_body__(LOGGER *data__); -// PROGRAM MOTOR -// Data part -typedef struct { - // PROGRAM Interface - IN, OUT, IN_OUT variables - - // PROGRAM private variables - TEMP, private and located variables - __DECLARE_VAR(BOOL,START) - __DECLARE_VAR(BOOL,STOP) - __DECLARE_VAR(TIME,DELAY) - __DECLARE_VAR(BOOL,RUNNING) - RS RS0; - TON TON0; - -} MOTOR; - -void MOTOR_init__(MOTOR *data__, BOOL retain); -// Code part -void MOTOR_body__(MOTOR *data__); -#endif //__POUS_H diff --git a/motor/build/Res0.c b/motor/build/Res0.c deleted file mode 100644 index 61156b7..0000000 --- a/motor/build/Res0.c +++ /dev/null @@ -1,37 +0,0 @@ -/*******************************************/ -/* FILE GENERATED BY iec2c */ -/* Editing this file is not recommended... */ -/*******************************************/ - -#include "iec_std_lib.h" - -// RESOURCE RES0 - -extern unsigned long long common_ticktime__; - -#include "accessor.h" -#include "POUS.h" - -#include "Config0.h" - -#include "POUS.c" - -BOOL TASK0; -MOTOR RES0__INSTANCE0; -#define INSTANCE0 RES0__INSTANCE0 - -void RES0_init__(void) { - BOOL retain; - retain = 0; - - TASK0 = __BOOL_LITERAL(FALSE); - MOTOR_init__(&INSTANCE0,retain); -} - -void RES0_run__(unsigned long tick) { - TASK0 = !(tick % 1); - if (TASK0) { - MOTOR_body__(&INSTANCE0); - } -} - diff --git a/motor/build/Res0.o b/motor/build/Res0.o deleted file mode 100644 index 2191f0f..0000000 Binary files a/motor/build/Res0.o and /dev/null differ diff --git a/motor/build/VARIABLES.csv b/motor/build/VARIABLES.csv deleted file mode 100644 index d7ad373..0000000 --- a/motor/build/VARIABLES.csv +++ /dev/null @@ -1,30 +0,0 @@ -// Programs -0;CONFIG0.RES0.INSTANCE0;MOTOR; - -// Variables -0;FB;CONFIG0.RES0.INSTANCE0;CONFIG0.RES0.INSTANCE0;MOTOR; -1;VAR;CONFIG0.RES0.INSTANCE0.START;CONFIG0.RES0.INSTANCE0.START;BOOL; -2;VAR;CONFIG0.RES0.INSTANCE0.STOP;CONFIG0.RES0.INSTANCE0.STOP;BOOL; -3;VAR;CONFIG0.RES0.INSTANCE0.DELAY;CONFIG0.RES0.INSTANCE0.DELAY;TIME; -4;VAR;CONFIG0.RES0.INSTANCE0.RUNNING;CONFIG0.RES0.INSTANCE0.RUNNING;BOOL; -5;FB;CONFIG0.RES0.INSTANCE0.RS0;CONFIG0.RES0.INSTANCE0.RS0;RS; -6;VAR;CONFIG0.RES0.INSTANCE0.RS0.EN;CONFIG0.RES0.INSTANCE0.RS0.EN;BOOL; -7;VAR;CONFIG0.RES0.INSTANCE0.RS0.ENO;CONFIG0.RES0.INSTANCE0.RS0.ENO;BOOL; -8;VAR;CONFIG0.RES0.INSTANCE0.RS0.S;CONFIG0.RES0.INSTANCE0.RS0.S;BOOL; -9;VAR;CONFIG0.RES0.INSTANCE0.RS0.R1;CONFIG0.RES0.INSTANCE0.RS0.R1;BOOL; -10;VAR;CONFIG0.RES0.INSTANCE0.RS0.Q1;CONFIG0.RES0.INSTANCE0.RS0.Q1;BOOL; -11;FB;CONFIG0.RES0.INSTANCE0.TON0;CONFIG0.RES0.INSTANCE0.TON0;TON; -12;VAR;CONFIG0.RES0.INSTANCE0.TON0.EN;CONFIG0.RES0.INSTANCE0.TON0.EN;BOOL; -13;VAR;CONFIG0.RES0.INSTANCE0.TON0.ENO;CONFIG0.RES0.INSTANCE0.TON0.ENO;BOOL; -14;VAR;CONFIG0.RES0.INSTANCE0.TON0.IN;CONFIG0.RES0.INSTANCE0.TON0.IN;BOOL; -15;VAR;CONFIG0.RES0.INSTANCE0.TON0.PT;CONFIG0.RES0.INSTANCE0.TON0.PT;TIME; -16;VAR;CONFIG0.RES0.INSTANCE0.TON0.Q;CONFIG0.RES0.INSTANCE0.TON0.Q;BOOL; -17;VAR;CONFIG0.RES0.INSTANCE0.TON0.ET;CONFIG0.RES0.INSTANCE0.TON0.ET;TIME; -18;VAR;CONFIG0.RES0.INSTANCE0.TON0.STATE;CONFIG0.RES0.INSTANCE0.TON0.STATE;SINT; -19;VAR;CONFIG0.RES0.INSTANCE0.TON0.PREV_IN;CONFIG0.RES0.INSTANCE0.TON0.PREV_IN;BOOL; -20;VAR;CONFIG0.RES0.INSTANCE0.TON0.CURRENT_TIME;CONFIG0.RES0.INSTANCE0.TON0.CURRENT_TIME;TIME; -21;VAR;CONFIG0.RES0.INSTANCE0.TON0.START_TIME;CONFIG0.RES0.INSTANCE0.TON0.START_TIME;TIME; - - -// Ticktime -20000000 diff --git a/motor/build/beremiz.h b/motor/build/beremiz.h deleted file mode 100644 index 89f7b4b..0000000 --- a/motor/build/beremiz.h +++ /dev/null @@ -1,44 +0,0 @@ -#ifndef _BEREMIZ_H_ -#define _BEREMIZ_H_ - -/* Beremiz' header file for use by extensions */ - -#include "iec_types.h" - -#define LOG_LEVELS 4 -#define LOG_CRITICAL 0 -#define LOG_WARNING 1 -#define LOG_INFO 2 -#define LOG_DEBUG 3 - -extern unsigned long long common_ticktime__; - -#ifdef TARGET_LOGGING_DISABLE -static inline int LogMessage(uint8_t level, char* buf, uint32_t size) -{ - (void)level; - (void)buf; - (void)size; - return 0; -} -#else -int LogMessage(uint8_t level, char* buf, uint32_t size); -#endif - -long AtomicCompareExchange(long* atomicvar,long compared, long exchange); -void *create_RT_to_nRT_signal(char* name); -void delete_RT_to_nRT_signal(void* handle); -int wait_RT_to_nRT_signal(void* handle); -int unblock_RT_to_nRT_signal(void* handle); -void nRT_reschedule(void); - - -#ifdef REALTIME_LINUX - -#ifndef PLC_THREAD_PRIORITY -#define PLC_THREAD_PRIORITY 80 -#endif - -#endif - -#endif diff --git a/motor/build/generated_plc.st b/motor/build/generated_plc.st index 0cefef6..2c32d01 100644 --- a/motor/build/generated_plc.st +++ b/motor/build/generated_plc.st @@ -13,6 +13,90 @@ PROGRAM motor RUNNING := RS0.Q1; END_PROGRAM +PROGRAM traffic_light + VAR + RED : BOOL; + RED0 : BOOL; + ORANGE : BOOL; + GREEN : BOOL; + DELAY : TIME := T#30s; + TON0 : TON; + TON1 : TON; + TON2 : TON; + WAIT : BOOL := 1; + TON3 : TON; + DELAY2 : TIME := T#1s; + DELAY3 : TIME := T#10s; + END_VAR + + INITIAL_STEP Step0: + GREEN(N); + COMPUTE_FUNCTION_BLOCKS(S); + END_STEP + + ACTION COMPUTE_FUNCTION_BLOCKS: + TON0(IN := WAIT, PT := DELAY); + TON4(IN := WAIT, PT := DELAY3); + TON3(IN := WAIT, PT := DELAY2); + END_ACTION + + TRANSITION FROM Step0 TO Step1 + := TON0.Q; + END_TRANSITION + + STEP Step1: + ORANGE(N); + END_STEP + + TRANSITION FROM Step1 TO Step2 + := TON3.Q; + END_TRANSITION + + STEP Step2: + RED(N); + END_STEP + + TRANSITION FROM Step2 TO Step0 + := TON4.Q; + END_TRANSITION + +END_PROGRAM + +PROGRAM automate_controle_commande_ld + VAR + P1_enc : BOOL; + P1_run : BOOL; + P2_enc : BOOL; + P2_run : BOOL; + P3_enc : BOOL; + P3_run : BOOL; + Pump_def : BOOL; + WAIT7 : TIME; + secours : BOOL; + only_one_run : BOOL; + TON0 : TON; + WAIT13 : TIME; + TON1 : TON; + secours_c_ok : BOOL; + CTU0 : CTU; + R_TRIG1 : R_TRIG; + _TMP_GT33_ENO : BOOL; + _TMP_GT33_OUT : BOOL; + END_VAR + + Pump_def := NOT(P1_run) AND P1_enc OR NOT(P2_run) AND P2_enc OR NOT(P3_run) AND P3_enc; + Pump_def := TRUE; + TON0(IN := TRUE, PT := WAIT7); + secours := TON0.Q; + only_one_run := NOT(P3_run) AND NOT(P2_run) AND P1_run OR NOT(P3_run) AND P2_run AND NOT(P1_run) OR P3_run AND NOT(P2_enc) AND NOT(P1_run); + Pump_def := TRUE; + TON1(IN := TRUE, PT := WAIT13); + R_TRIG1(CLK := ); + CTU0(CU := R_TRIG1.Q, R := true); + _TMP_GT33_OUT := GT(EN := TON1.Q, IN1 := CTU0.Q, IN2 := 1, ENO => _TMP_GT33_ENO); + secours_c_ok := _TMP_GT33_OUT; +END_PROGRAM + CONFIGURATION Config0 diff --git a/motor/build/lastbuildPLC.md5 b/motor/build/lastbuildPLC.md5 deleted file mode 100644 index a72dd3c..0000000 --- a/motor/build/lastbuildPLC.md5 +++ /dev/null @@ -1 +0,0 @@ -533fc3297d0bbb235fea6b21736971d0 \ No newline at end of file diff --git a/motor/build/motor.dll b/motor/build/motor.dll deleted file mode 100644 index f59ed90..0000000 Binary files a/motor/build/motor.dll and /dev/null differ diff --git a/motor/build/plc.st b/motor/build/plc.st index 8bc6c81..58e2df4 100644 --- a/motor/build/plc.st +++ b/motor/build/plc.st @@ -36,6 +36,90 @@ PROGRAM motor RUNNING := RS0.Q1; END_PROGRAM +PROGRAM traffic_light + VAR + RED : BOOL; + RED0 : BOOL; + ORANGE : BOOL; + GREEN : BOOL; + DELAY : TIME := T#30s; + TON0 : TON; + TON1 : TON; + TON2 : TON; + WAIT : BOOL := 1; + TON3 : TON; + DELAY2 : TIME := T#1s; + DELAY3 : TIME := T#10s; + END_VAR + + INITIAL_STEP Step0: + GREEN(N); + COMPUTE_FUNCTION_BLOCKS(S); + END_STEP + + ACTION COMPUTE_FUNCTION_BLOCKS: + TON0(IN := WAIT, PT := DELAY); + TON4(IN := WAIT, PT := DELAY3); + TON3(IN := WAIT, PT := DELAY2); + END_ACTION + + TRANSITION FROM Step0 TO Step1 + := TON0.Q; + END_TRANSITION + + STEP Step1: + ORANGE(N); + END_STEP + + TRANSITION FROM Step1 TO Step2 + := TON3.Q; + END_TRANSITION + + STEP Step2: + RED(N); + END_STEP + + TRANSITION FROM Step2 TO Step0 + := TON4.Q; + END_TRANSITION + +END_PROGRAM + +PROGRAM automate_controle_commande_ld + VAR + P1_enc : BOOL; + P1_run : BOOL; + P2_enc : BOOL; + P2_run : BOOL; + P3_enc : BOOL; + P3_run : BOOL; + Pump_def : BOOL; + WAIT7 : TIME; + secours : BOOL; + only_one_run : BOOL; + TON0 : TON; + WAIT13 : TIME; + TON1 : TON; + secours_c_ok : BOOL; + CTU0 : CTU; + R_TRIG1 : R_TRIG; + _TMP_GT33_ENO : BOOL; + _TMP_GT33_OUT : BOOL; + END_VAR + + Pump_def := NOT(P1_run) AND P1_enc OR NOT(P2_run) AND P2_enc OR NOT(P3_run) AND P3_enc; + Pump_def := TRUE; + TON0(IN := TRUE, PT := WAIT7); + secours := TON0.Q; + only_one_run := NOT(P3_run) AND NOT(P2_run) AND P1_run OR NOT(P3_run) AND P2_run AND NOT(P1_run) OR P3_run AND NOT(P2_enc) AND NOT(P1_run); + Pump_def := TRUE; + TON1(IN := TRUE, PT := WAIT13); + R_TRIG1(CLK := ); + CTU0(CU := R_TRIG1.Q, R := true); + _TMP_GT33_OUT := GT(EN := TON1.Q, IN1 := CTU0.Q, IN2 := 1, ENO => _TMP_GT33_ENO); + secours_c_ok := _TMP_GT33_OUT; +END_PROGRAM + CONFIGURATION Config0 diff --git a/motor/build/plc_debugger.c b/motor/build/plc_debugger.c deleted file mode 100644 index 078388c..0000000 --- a/motor/build/plc_debugger.c +++ /dev/null @@ -1,548 +0,0 @@ -/* - * DEBUGGER code - * - * On "publish", when buffer is free, debugger stores arbitrary variables - * content into, and mark this buffer as filled - * - * - * Buffer content is read asynchronously, (from non real time part), - * and then buffer marked free again. - * - * - * */ -#ifdef TARGET_DEBUG_AND_RETAIN_DISABLE - -void __init_debug (void){} -void __cleanup_debug (void){} -void __retrieve_debug(void){} -void __publish_debug (void){} - -#else - -#include "iec_types_all.h" -#include "POUS.h" -/*for memcpy*/ -#include -#include - -typedef unsigned int dbgvardsc_index_t; -typedef unsigned short trace_buf_offset_t; - -#define BUFFER_EMPTY 0 -#define BUFFER_FULL 1 - -#ifndef TARGET_ONLINE_DEBUG_DISABLE - -#define TRACE_BUFFER_SIZE 4096 -#define TRACE_LIST_SIZE 1024 - -/* Atomically accessed variable for buffer state */ -static long trace_buffer_state = BUFFER_EMPTY; - -typedef struct trace_item_s { - dbgvardsc_index_t dbgvardsc_index; -} trace_item_t; - -trace_item_t trace_list[TRACE_LIST_SIZE]; -char trace_buffer[TRACE_BUFFER_SIZE]; - -/* Trace's cursor*/ -static trace_item_t *trace_list_collect_cursor = trace_list; -static trace_item_t *trace_list_addvar_cursor = trace_list; -static const trace_item_t *trace_list_end = - &trace_list[TRACE_LIST_SIZE-1]; -static char *trace_buffer_cursor = trace_buffer; -static const char *trace_buffer_end = trace_buffer + TRACE_BUFFER_SIZE; - - - -#define FORCE_BUFFER_SIZE 1024 -#define FORCE_LIST_SIZE 256 - -typedef struct force_item_s { - dbgvardsc_index_t dbgvardsc_index; - void *value_pointer_backup; -} force_item_t; - -force_item_t force_list[FORCE_LIST_SIZE]; -char force_buffer[FORCE_BUFFER_SIZE]; - -/* Force's cursor*/ -static force_item_t *force_list_apply_cursor = force_list; -static force_item_t *force_list_addvar_cursor = force_list; -static const force_item_t *force_list_end = - &force_list[FORCE_LIST_SIZE-1]; -static char *force_buffer_cursor = force_buffer; -static const char *force_buffer_end = force_buffer + FORCE_BUFFER_SIZE; - - -#endif - -/*** - * Declare programs - **/ -extern MOTOR RES0__INSTANCE0; - -/*** - * Declare global variables from resources and conf - **/ -extern MOTOR RES0__INSTANCE0; - -typedef const struct { - void *ptr; - __IEC_types_enum type; -} dbgvardsc_t; - -static const dbgvardsc_t dbgvardsc[] = { -{&(RES0__INSTANCE0.START), BOOL_ENUM}, -{&(RES0__INSTANCE0.STOP), BOOL_ENUM}, -{&(RES0__INSTANCE0.DELAY), TIME_ENUM}, -{&(RES0__INSTANCE0.RUNNING), BOOL_ENUM}, -{&(RES0__INSTANCE0.RS0.EN), BOOL_ENUM}, -{&(RES0__INSTANCE0.RS0.ENO), BOOL_ENUM}, -{&(RES0__INSTANCE0.RS0.S), BOOL_ENUM}, -{&(RES0__INSTANCE0.RS0.R1), BOOL_ENUM}, -{&(RES0__INSTANCE0.RS0.Q1), BOOL_ENUM}, -{&(RES0__INSTANCE0.TON0.EN), BOOL_ENUM}, -{&(RES0__INSTANCE0.TON0.ENO), BOOL_ENUM}, -{&(RES0__INSTANCE0.TON0.IN), BOOL_ENUM}, -{&(RES0__INSTANCE0.TON0.PT), TIME_ENUM}, -{&(RES0__INSTANCE0.TON0.Q), BOOL_ENUM}, -{&(RES0__INSTANCE0.TON0.ET), TIME_ENUM}, -{&(RES0__INSTANCE0.TON0.STATE), SINT_ENUM}, -{&(RES0__INSTANCE0.TON0.PREV_IN), BOOL_ENUM}, -{&(RES0__INSTANCE0.TON0.CURRENT_TIME), TIME_ENUM}, -{&(RES0__INSTANCE0.TON0.START_TIME), TIME_ENUM} -}; - -static const dbgvardsc_index_t retain_list[] = { - -}; -static unsigned int retain_list_collect_cursor = 0; -static const unsigned int retain_list_size = sizeof(retain_list)/sizeof(dbgvardsc_index_t); - -typedef void(*__for_each_variable_do_fp)(dbgvardsc_t*); -void __for_each_variable_do(__for_each_variable_do_fp fp) -{ - unsigned int i; - for(i = 0; i < sizeof(dbgvardsc)/sizeof(dbgvardsc_t); i++){ - dbgvardsc_t *dsc = &dbgvardsc[i]; - if(dsc->type != UNKNOWN_ENUM) - (*fp)(dsc); - } -} - -#define __Unpack_desc_type dbgvardsc_t - - -#define __Unpack_case_t(TYPENAME) \ - case TYPENAME##_ENUM : \ - if(flags) *flags = ((__IEC_##TYPENAME##_t *)varp)->flags; \ - if(value_p) *value_p = &((__IEC_##TYPENAME##_t *)varp)->value; \ - if(size) *size = sizeof(TYPENAME); \ - break; - -#define __Unpack_case_p(TYPENAME) \ - case TYPENAME##_O_ENUM : \ - case TYPENAME##_P_ENUM : \ - if(flags) *flags = ((__IEC_##TYPENAME##_p *)varp)->flags; \ - if(value_p) *value_p = ((__IEC_##TYPENAME##_p *)varp)->value; \ - if(size) *size = sizeof(TYPENAME); \ - break; - -#define __Is_a_string(dsc) (dsc->type == STRING_ENUM) ||\ - (dsc->type == STRING_P_ENUM) ||\ - (dsc->type == STRING_O_ENUM) - -static int UnpackVar(__Unpack_desc_type *dsc, void **value_p, char *flags, size_t *size) -{ - void *varp = dsc->ptr; - /* find data to copy*/ - switch(dsc->type){ - __ANY(__Unpack_case_t) - __ANY(__Unpack_case_p) - default: - return 0; /* should never happen */ - } - return 1; -} - - - -void Remind(unsigned int offset, unsigned int count, void * p); - -extern int CheckRetainBuffer(void); -extern void InitRetain(void); - -void __init_debug(void) -{ - /* init local static vars */ -#ifndef TARGET_ONLINE_DEBUG_DISABLE - trace_buffer_cursor = trace_buffer; - trace_list_addvar_cursor = trace_list; - trace_list_collect_cursor = trace_list; - trace_buffer_state = BUFFER_EMPTY; - - force_buffer_cursor = force_buffer; - force_list_addvar_cursor = force_list; - force_list_apply_cursor = force_list; -#endif - - InitRetain(); - /* Iterate over all variables to fill debug buffer */ - if(CheckRetainBuffer()){ - unsigned int retain_offset = 0; - retain_list_collect_cursor = 0; - - /* iterate over retain list */ - while(retain_list_collect_cursor < retain_list_size){ - void *value_p = NULL; - size_t size; - char* next_cursor; - - dbgvardsc_t *dsc = &dbgvardsc[ - retain_list[retain_list_collect_cursor]]; - - UnpackVar(dsc, &value_p, NULL, &size); - - /* if buffer not full */ - Remind(retain_offset, size, value_p); - /* increment cursor according size*/ - retain_offset += size; - - retain_list_collect_cursor++; - } - }else{ - char mstr[] = "RETAIN memory invalid - defaults used"; - LogMessage(LOG_WARNING, mstr, sizeof(mstr)); - } -} - -extern void InitiateDebugTransfer(void); -extern void CleanupRetain(void); - -extern unsigned long __tick; - -void __cleanup_debug(void) -{ -#ifndef TARGET_ONLINE_DEBUG_DISABLE - trace_buffer_cursor = trace_buffer; - InitiateDebugTransfer(); -#endif - - CleanupRetain(); -} - -void __retrieve_debug(void) -{ -} - -void Retain(unsigned int offset, unsigned int count, void * p); - -/* Return size of all retain variables */ -unsigned int GetRetainSize(void) -{ - unsigned int retain_size = 0; - retain_list_collect_cursor = 0; - - /* iterate over retain list */ - while(retain_list_collect_cursor < retain_list_size){ - void *value_p = NULL; - size_t size; - char* next_cursor; - - dbgvardsc_t *dsc = &dbgvardsc[ - retain_list[retain_list_collect_cursor]]; - - UnpackVar(dsc, &value_p, NULL, &size); - - retain_size += size; - retain_list_collect_cursor++; - } - - return retain_size; -} - - -extern void PLC_GetTime(IEC_TIME*); -extern int TryEnterDebugSection(void); -extern long AtomicCompareExchange(long*, long, long); -extern long long AtomicCompareExchange64(long long* , long long , long long); -extern void LeaveDebugSection(void); -extern void ValidateRetainBuffer(void); -extern void InValidateRetainBuffer(void); - -#define __ReForceOutput_case_p(TYPENAME) \ - case TYPENAME##_P_ENUM : \ - case TYPENAME##_O_ENUM : \ - { \ - char *next_cursor = force_buffer_cursor + sizeof(TYPENAME); \ - if(next_cursor <= force_buffer_end ){ \ - /* outputs real value must be systematically forced */ \ - if(vartype == TYPENAME##_O_ENUM) \ - /* overwrite value pointed by backup */ \ - *((TYPENAME *)force_list_apply_cursor->value_pointer_backup) = \ - *((TYPENAME *)force_buffer_cursor); \ - /* inc force_buffer cursor */ \ - force_buffer_cursor = next_cursor; \ - }else{ \ - stop = 1; \ - } \ - } \ - break; -void __publish_debug(void) -{ - InValidateRetainBuffer(); - -#ifndef TARGET_ONLINE_DEBUG_DISABLE - /* Check there is no running debugger re-configuration */ - if(TryEnterDebugSection()){ - /* Lock buffer */ - long latest_state = AtomicCompareExchange( - &trace_buffer_state, - BUFFER_EMPTY, - BUFFER_FULL); - - /* If buffer was free */ - if(latest_state == BUFFER_EMPTY) - { - int stop = 0; - /* Reset force list cursor */ - force_list_apply_cursor = force_list; - - /* iterate over force list */ - while(!stop && force_list_apply_cursor < force_list_addvar_cursor){ - dbgvardsc_t *dsc = &dbgvardsc[ - force_list_apply_cursor->dbgvardsc_index]; - void *varp = dsc->ptr; - __IEC_types_enum vartype = dsc->type; - switch(vartype){ - __ANY(__ReForceOutput_case_p) - default: - break; - } - force_list_apply_cursor++; - } - - /* Reset buffer cursor */ - trace_buffer_cursor = trace_buffer; - /* Reset trace list cursor */ - trace_list_collect_cursor = trace_list; - - /* iterate over trace list */ - while(trace_list_collect_cursor < trace_list_addvar_cursor){ - void *value_p = NULL; - size_t size; - char* next_cursor; - - dbgvardsc_t *dsc = &dbgvardsc[ - trace_list_collect_cursor->dbgvardsc_index]; - - UnpackVar(dsc, &value_p, NULL, &size); - - /* copy visible variable to buffer */; - if(__Is_a_string(dsc)){ - /* optimization for strings */ - /* assume NULL terminated strings */ - size = ((STRING*)value_p)->len + 1; - } - - /* compute next cursor positon.*/ - next_cursor = trace_buffer_cursor + size; - /* check for buffer overflow */ - if(next_cursor < trace_buffer_end) - /* copy data to the buffer */ - memcpy(trace_buffer_cursor, value_p, size); - else - /* stop looping in case of overflow */ - break; - /* increment cursor according size*/ - trace_buffer_cursor = next_cursor; - trace_list_collect_cursor++; - } - - /* Leave debug section, - * Trigger asynchronous transmission - * (returns immediately) */ - InitiateDebugTransfer(); /* size */ - } - LeaveDebugSection(); - } -#endif - unsigned int retain_offset = 0; - /* when not debugging, do only retain */ - retain_list_collect_cursor = 0; - - /* iterate over retain list */ - while(retain_list_collect_cursor < retain_list_size){ - void *value_p = NULL; - size_t size; - char* next_cursor; - - dbgvardsc_t *dsc = &dbgvardsc[ - retain_list[retain_list_collect_cursor]]; - - UnpackVar(dsc, &value_p, NULL, &size); - - /* if buffer not full */ - Retain(retain_offset, size, value_p); - /* increment cursor according size*/ - retain_offset += size; - - retain_list_collect_cursor++; - } - ValidateRetainBuffer(); -} - -#ifndef TARGET_ONLINE_DEBUG_DISABLE - -#define TRACE_LIST_OVERFLOW 1 -#define FORCE_LIST_OVERFLOW 2 -#define FORCE_BUFFER_OVERFLOW 3 - -#define __ForceVariable_case_t(TYPENAME) \ - case TYPENAME##_ENUM : \ - /* add to force_list*/ \ - force_list_addvar_cursor->dbgvardsc_index = idx; \ - ((__IEC_##TYPENAME##_t *)varp)->flags |= __IEC_FORCE_FLAG; \ - ((__IEC_##TYPENAME##_t *)varp)->value = *((TYPENAME *)force); \ - break; -#define __ForceVariable_case_p(TYPENAME) \ - case TYPENAME##_P_ENUM : \ - case TYPENAME##_O_ENUM : \ - { \ - char *next_cursor = force_buffer_cursor + sizeof(TYPENAME); \ - if(next_cursor <= force_buffer_end ){ \ - /* add to force_list*/ \ - force_list_addvar_cursor->dbgvardsc_index = idx; \ - /* save pointer to backup */ \ - force_list_addvar_cursor->value_pointer_backup = \ - ((__IEC_##TYPENAME##_p *)varp)->value; \ - /* store forced value in force_buffer */ \ - *((TYPENAME *)force_buffer_cursor) = *((TYPENAME *)force); \ - /* replace pointer with pointer to force_buffer */ \ - ((__IEC_##TYPENAME##_p *)varp)->value = \ - (TYPENAME *)force_buffer_cursor; \ - (((__IEC_##TYPENAME##_p *)varp)->fvalue) = *((TYPENAME *)force); \ - /* mark variable as forced */ \ - ((__IEC_##TYPENAME##_p *)varp)->flags |= __IEC_FORCE_FLAG; \ - /* inc force_buffer cursor */ \ - force_buffer_cursor = next_cursor; \ - /* outputs real value must be systematically forced */ \ - if(vartype == TYPENAME##_O_ENUM) \ - *(((__IEC_##TYPENAME##_p *)varp)->value) = *((TYPENAME *)force);\ - } else { \ - error_code = FORCE_BUFFER_OVERFLOW; \ - goto error_cleanup; \ - } \ - } \ - break; - - -void ResetDebugVariables(void); - -int RegisterDebugVariable(dbgvardsc_index_t idx, void* force) -{ - int error_code = 0; - if(idx < sizeof(dbgvardsc)/sizeof(dbgvardsc_t)){ - /* add to trace_list, inc trace_list_addvar_cursor*/ - if(trace_list_addvar_cursor <= trace_list_end){ - trace_list_addvar_cursor->dbgvardsc_index = idx; - trace_list_addvar_cursor++; - } else { - error_code = TRACE_LIST_OVERFLOW; - goto error_cleanup; - } - if(force){ - if(force_list_addvar_cursor <= force_list_end){ - dbgvardsc_t *dsc = &dbgvardsc[idx]; - void *varp = dsc->ptr; - __IEC_types_enum vartype = dsc->type; - - switch(vartype){ - __ANY(__ForceVariable_case_t) - __ANY(__ForceVariable_case_p) - default: - break; - } - /* inc force_list cursor */ - force_list_addvar_cursor++; - } else { - error_code = FORCE_LIST_OVERFLOW; - goto error_cleanup; - } - } - } - return 0; - -error_cleanup: - ResetDebugVariables(); - trace_buffer_state = BUFFER_EMPTY; - return error_code; - -} - -#define ResetForcedVariable_case_t(TYPENAME) \ - case TYPENAME##_ENUM : \ - ((__IEC_##TYPENAME##_t *)varp)->flags &= ~__IEC_FORCE_FLAG; \ - /* for local variable we don't restore original value */ \ - /* that can be added if needed, but it was like that since ever */ \ - break; - -#define ResetForcedVariable_case_p(TYPENAME) \ - case TYPENAME##_P_ENUM : \ - case TYPENAME##_O_ENUM : \ - ((__IEC_##TYPENAME##_p *)varp)->flags &= ~__IEC_FORCE_FLAG; \ - /* restore backup to pointer */ \ - ((__IEC_##TYPENAME##_p *)varp)->value = \ - force_list_apply_cursor->value_pointer_backup; \ - break; - -void ResetDebugVariables(void) -{ - /* Reset trace list */ - trace_list_addvar_cursor = trace_list; - - force_list_apply_cursor = force_list; - /* Restore forced variables */ - while(force_list_apply_cursor < force_list_addvar_cursor){ - dbgvardsc_t *dsc = &dbgvardsc[ - force_list_apply_cursor->dbgvardsc_index]; - void *varp = dsc->ptr; - switch(dsc->type){ - __ANY(ResetForcedVariable_case_t) - __ANY(ResetForcedVariable_case_p) - default: - break; - } - /* inc force_list cursor */ - force_list_apply_cursor++; - } /* else TODO: warn user about failure to force */ - - /* Reset force list */ - force_list_addvar_cursor = force_list; - /* Reset force buffer */ - force_buffer_cursor = force_buffer; -} - -void FreeDebugData(void) -{ - /* atomically mark buffer as free */ - AtomicCompareExchange( - &trace_buffer_state, - BUFFER_FULL, - BUFFER_EMPTY); -} -int WaitDebugData(unsigned long *tick); -/* Wait until debug data ready and return pointer to it */ -int GetDebugData(unsigned long *tick, unsigned long *size, void **buffer){ - int wait_error = WaitDebugData(tick); - if(!wait_error){ - *size = trace_buffer_cursor - trace_buffer; - *buffer = trace_buffer; - } - return wait_error; -} -#endif -#endif - diff --git a/motor/build/plc_debugger.o b/motor/build/plc_debugger.o deleted file mode 100644 index 7eeb5db..0000000 Binary files a/motor/build/plc_debugger.o and /dev/null differ diff --git a/motor/build/plc_main.c b/motor/build/plc_main.c deleted file mode 100644 index d5ac50a..0000000 --- a/motor/build/plc_main.c +++ /dev/null @@ -1,980 +0,0 @@ -/** - * Head of code common to all C targets - **/ - -#include "beremiz.h" -#include -/* - * Prototypes of functions provided by generated C softPLC - **/ -void config_run__(unsigned long tick); -void config_init__(void); - -/* - * Prototypes of functions provided by generated target C code - * */ -long long AtomicCompareExchange64(long long*, long long, long long); -void __init_debug(void); -void __cleanup_debug(void); -/*void __retrieve_debug(void);*/ -void __publish_debug(void); - -/* - * Variables used by generated C softPLC and plugins - **/ -IEC_TIME __CURRENT_TIME; -IEC_BOOL __DEBUG = 0; -unsigned long __tick = 0; -char *PLC_ID = NULL; - -/* - * Variable generated by C softPLC and plugins - **/ -extern unsigned long greatest_tick_count__; - -/* Help to quit cleanly when init fail at a certain level */ -static int init_level = 0; - -/* - * Prototypes of functions exported by plugins - **/ - - - -/* - * Retrieve input variables, run PLC and publish output variables - **/ -void __run(void) -{ - __tick++; - if (greatest_tick_count__) - __tick %= greatest_tick_count__; - - - - - /*__retrieve_debug();*/ - - config_run__(__tick); - - __publish_debug(); - - - - -} - -/* - * Initialize variables according to PLC's default values, - * and then init plugins with that values - **/ -int __init(int argc,char **argv) -{ - int res = 0; - init_level = 0; - - /* Effective tick time with 1ms default value */ - if(!common_ticktime__) - common_ticktime__ = 1000000; - - config_init__(); - __init_debug(); - - - return res; -} -/* - * Calls plugin cleanup proc. - **/ -void __cleanup(void) -{ - - - __cleanup_debug(); -} - -void PLC_GetTime(IEC_TIME *CURRENT_TIME); -void PLC_SetTimer(unsigned long long next, unsigned long long period); - - - -/** - * Win32 specific code - **/ - -#include -#include -#include -#include -#include - - -long AtomicCompareExchange(long* atomicvar, long compared, long exchange) -{ - return InterlockedCompareExchange(atomicvar, exchange, compared); -} -CRITICAL_SECTION Atomic64CS; -long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange) -{ - long long res; - EnterCriticalSection(&Atomic64CS); - res=*atomicvar; - if(*atomicvar == compared){ - *atomicvar = exchange; - } - LeaveCriticalSection(&Atomic64CS); - return res; -} - -struct timeb timetmp; -void PLC_GetTime(IEC_TIME *CURRENT_TIME) -{ - ftime(&timetmp); - - (*CURRENT_TIME).tv_sec = timetmp.time; - (*CURRENT_TIME).tv_nsec = timetmp.millitm * 1000000; -} - -HANDLE PLC_timer = NULL; -void PLC_SetTimer(unsigned long long next, unsigned long long period) -{ - LARGE_INTEGER liDueTime; - /* arg 2 of SetWaitableTimer take 100 ns interval*/ - liDueTime.QuadPart = next / (-100); - - if (!SetWaitableTimer(PLC_timer, &liDueTime, period<1000000?1:period/1000000, NULL, NULL, 0)) - { - printf("SetWaitableTimer failed (%d)\n", GetLastError()); - } -} - -int PLC_shutdown; - -int ForceSaveRetainReq(void) { - return PLC_shutdown; -} - -/* Variable used to stop plcloop thread */ -void PlcLoop() -{ - PLC_shutdown = 0; - while(!PLC_shutdown) { - if (WaitForSingleObject(PLC_timer, INFINITE) != WAIT_OBJECT_0){ - PLC_shutdown = 1; - break; - } - PLC_GetTime(&__CURRENT_TIME); - __run(); - } -} - -HANDLE PLC_thread; -HANDLE debug_sem; -HANDLE debug_wait_sem; -HANDLE python_sem; -HANDLE python_wait_sem; - -#define maxval(a,b) ((a>b)?a:b) -int startPLC(int argc,char **argv) -{ - unsigned long thread_id = 0; - BOOL tmp; - - debug_sem = CreateSemaphore( - NULL, // default security attributes - 1, // initial count - 1, // maximum count - NULL); // unnamed semaphore - if (debug_sem == NULL) - { - printf("startPLC CreateSemaphore debug_sem error: %d\n", GetLastError()); - return 1; - } - - debug_wait_sem = CreateSemaphore( - NULL, // default security attributes - 0, // initial count - 1, // maximum count - NULL); // unnamed semaphore - - if (debug_wait_sem == NULL) - { - printf("startPLC CreateSemaphore debug_wait_sem error: %d\n", GetLastError()); - return 1; - } - - python_sem = CreateSemaphore( - NULL, // default security attributes - 1, // initial count - 1, // maximum count - NULL); // unnamed semaphore - - if (python_sem == NULL) - { - printf("startPLC CreateSemaphore python_sem error: %d\n", GetLastError()); - return 1; - } - python_wait_sem = CreateSemaphore( - NULL, // default security attributes - 0, // initial count - 1, // maximum count - NULL); // unnamed semaphore - - - if (python_wait_sem == NULL) - { - printf("startPLC CreateSemaphore python_wait_sem error: %d\n", GetLastError()); - return 1; - } - - - /* Create a waitable timer */ - timeBeginPeriod(1); - PLC_timer = CreateWaitableTimer(NULL, FALSE, "WaitableTimer"); - if(NULL == PLC_timer) - { - printf("CreateWaitableTimer failed (%d)\n", GetLastError()); - return 1; - } - if( __init(argc,argv) == 0 ) - { - PLC_SetTimer(common_ticktime__,common_ticktime__); - PLC_thread = CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)PlcLoop, NULL, 0, &thread_id); - } - else{ - return 1; - } - return 0; -} -static unsigned long __debug_tick; - -int TryEnterDebugSection(void) -{ - //printf("TryEnterDebugSection\n"); - if(WaitForSingleObject(debug_sem, 0) == WAIT_OBJECT_0){ - /* Only enter if debug active */ - if(__DEBUG){ - return 1; - } - ReleaseSemaphore(debug_sem, 1, NULL); - } - return 0; -} - -void LeaveDebugSection(void) -{ - ReleaseSemaphore(debug_sem, 1, NULL); - //printf("LeaveDebugSection\n"); -} - -int stopPLC() -{ - - PLC_shutdown = 1; - // force last wakeup of PLC thread - SetWaitableTimer(PLC_timer, 0, 0, NULL, NULL, 0); - // wait end of PLC thread - WaitForSingleObject(PLC_thread, INFINITE); - - __cleanup(); - - CloseHandle(PLC_timer); - CloseHandle(debug_wait_sem); - CloseHandle(debug_sem); - CloseHandle(python_wait_sem); - CloseHandle(python_sem); - CloseHandle(PLC_thread); -} - -/* from plc_debugger.c */ -int WaitDebugData(unsigned long *tick) -{ - DWORD res; - res = WaitForSingleObject(debug_wait_sem, INFINITE); - *tick = __debug_tick; - /* Wait signal from PLC thread */ - return res != WAIT_OBJECT_0; -} - -/* Called by PLC thread when debug_publish finished - * This is supposed to unlock debugger thread in WaitDebugData*/ -void InitiateDebugTransfer() -{ - /* remember tick */ - __debug_tick = __tick; - /* signal debugger thread it can read data */ - ReleaseSemaphore(debug_wait_sem, 1, NULL); -} - -int suspendDebug(int disable) -{ - /* Prevent PLC to enter debug code */ - WaitForSingleObject(debug_sem, INFINITE); - __DEBUG = !disable; - if(disable) - ReleaseSemaphore(debug_sem, 1, NULL); - return 0; -} - -void resumeDebug() -{ - __DEBUG = 1; - /* Let PLC enter debug code */ - ReleaseSemaphore(debug_sem, 1, NULL); -} - -/* from plc_python.c */ -int WaitPythonCommands(void) -{ - /* Wait signal from PLC thread */ - return WaitForSingleObject(python_wait_sem, INFINITE); -} - -/* Called by PLC thread on each new python command*/ -void UnBlockPythonCommands(void) -{ - /* signal debugger thread it can read data */ - ReleaseSemaphore(python_wait_sem, 1, NULL); -} - -int TryLockPython(void) -{ - return WaitForSingleObject(python_sem, 0) == WAIT_OBJECT_0; -} - -void UnLockPython(void) -{ - ReleaseSemaphore(python_sem, 1, NULL); -} - -void LockPython(void) -{ - WaitForSingleObject(python_sem, INFINITE); -} - -static void __attribute__((constructor)) -beremiz_dll_init(void) -{ - InitializeCriticalSection(&Atomic64CS); - -} - -static void __attribute__((destructor)) -beremiz_dll_destroy(void) -{ - DeleteCriticalSection(&Atomic64CS); -} - -struct RT_to_nRT_signal_s { - HANDLE sem; -}; - -typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t; - -#define _LogAndReturnNull(text) \ - {\ - char mstr[256] = text " for ";\ - strncat(mstr, name, 255);\ - LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\ - return NULL;\ - } - -void *create_RT_to_nRT_signal(char* name){ - RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)malloc(sizeof(RT_to_nRT_signal_t)); - - if(!sig) - _LogAndReturnNull("Failed allocating memory for RT_to_nRT signal"); - - sig->sem = CreateSemaphore( - NULL, // default security attributes - 1, // initial count - 1, // maximum count - NULL); // unnamed semaphore - - if(sig->sem == NULL) - { - char mstr[256]; - snprintf(mstr, 255, "startPLC CreateSemaphore %s error: %d\n", name, GetLastError()); - LogMessage(LOG_CRITICAL, mstr, strlen(mstr)); - return NULL; - } - - return (void*)sig; -} - -void delete_RT_to_nRT_signal(void* handle){ - RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle; - - CloseHandle(python_sem); - - free(sig); -} - -int wait_RT_to_nRT_signal(void* handle){ - int ret; - RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle; - return WaitForSingleObject(sig->sem, INFINITE); -} - -int unblock_RT_to_nRT_signal(void* handle){ - RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle; - return ReleaseSemaphore(sig->sem, 1, NULL); -} - -void nRT_reschedule(void){ - SwitchToThread(); -} - - -/* - This file is part of Beremiz, a Integrated Development Environment for - programming IEC 61131-3 automates supporting plcopen standard and CanFestival. - - See COPYING.runtime - - Copyright (C) 2018: Sergey Surkov - Copyright (C) 2018: Andrey Skvortsov - -*/ - -#ifndef HAVE_RETAIN -#include -#include -#include -#include "iec_types.h" - -int GetRetainSize(void); - -/* Retain buffer. */ -FILE *retain_buffer; -const char rb_file[] = "retain_buffer_file"; -const char rb_file_bckp[] = "retain_buffer_file.bak"; - - -/* Retain header struct. */ -struct retain_info_t { - uint32_t retain_size; - uint32_t hash_size; - uint8_t* hash; - uint32_t header_offset; - uint32_t header_crc; -}; - -/* Init retain info structure. */ -struct retain_info_t retain_info; - -/* CRC lookup table and initial state. */ -static const uint32_t crc32_table[256] = { - 0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3, - 0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91, - 0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7, - 0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5, - 0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B, - 0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59, - 0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F, - 0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D, - 0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433, - 0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01, - 0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457, - 0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65, - 0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB, - 0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9, - 0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F, - 0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD, - 0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683, - 0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1, - 0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7, - 0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5, - 0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B, - 0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79, - 0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F, - 0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D, - 0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713, - 0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21, - 0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777, - 0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45, - 0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB, - 0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9, - 0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF, - 0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D, -}; -uint32_t retain_crc; - - -/* Calculate CRC32 for len bytes from pointer buf with init starting value. */ -uint32_t GenerateCRC32Sum(const void* buf, unsigned int len, uint32_t init) -{ - uint32_t crc = ~init; - unsigned char* current = (unsigned char*) buf; - while (len--) - crc = crc32_table[(crc ^ *current++) & 0xFF] ^ (crc >> 8); - return ~crc; -} - -/* Calc CRC32 for retain file byte by byte. */ -int CheckFileCRC(FILE* file_buffer) -{ - /* Set the magic constant for one-pass CRC calc according to ZIP CRC32. */ - const uint32_t magic_number = 0x2144df1c; - - /* CRC initial state. */ - uint32_t calc_crc32 = 0; - char data_block = 0; - - while(!feof(file_buffer)){ - if (fread(&data_block, sizeof(data_block), 1, file_buffer)) - calc_crc32 = GenerateCRC32Sum(&data_block, sizeof(data_block), calc_crc32); - } - - /* Compare crc result with a magic number. */ - return (calc_crc32 == magic_number) ? 1 : 0; -} - -/* Compare current hash with hash from file byte by byte. */ -int CheckFilehash(void) -{ - unsigned int k; - int offset = sizeof(retain_info.retain_size); - - rewind(retain_buffer); - fseek(retain_buffer, offset , SEEK_SET); - - uint32_t size; - fread(&size, sizeof(size), 1, retain_buffer); - if (size != retain_info.hash_size) - return 0; - - for(k = 0; k < retain_info.hash_size; k++){ - uint8_t file_digit; - fread(&file_digit, sizeof(file_digit), 1, retain_buffer); - if (file_digit != *(retain_info.hash+k)) - return 0; - } - - return 1; -} - -void InitRetain(void) -{ - unsigned int i; - - /* Get retain size in bytes */ - retain_info.retain_size = GetRetainSize(); - - /* Hash stored in retain file as array of char in hex digits - (that's why we divide strlen in two). */ - retain_info.hash_size = PLC_ID ? strlen(PLC_ID)/2 : 0; - //retain_info.hash_size = 0; - retain_info.hash = malloc(retain_info.hash_size); - - /* Transform hash string into byte sequence. */ - for (i = 0; i < retain_info.hash_size; i++) { - int byte = 0; - sscanf((PLC_ID + i*2), "%02X", &byte); - retain_info.hash[i] = byte; - } - - /* Calc header offset. */ - retain_info.header_offset = sizeof(retain_info.retain_size) + \ - sizeof(retain_info.hash_size) + \ - retain_info.hash_size; - - /* Set header CRC initial state. */ - retain_info.header_crc = 0; - - /* Calc crc for header. */ - retain_info.header_crc = GenerateCRC32Sum( - &retain_info.retain_size, - sizeof(retain_info.retain_size), - retain_info.header_crc); - - retain_info.header_crc = GenerateCRC32Sum( - &retain_info.hash_size, - sizeof(retain_info.hash_size), - retain_info.header_crc); - - retain_info.header_crc = GenerateCRC32Sum( - retain_info.hash, - retain_info.hash_size, - retain_info.header_crc); -} - -void CleanupRetain(void) -{ - /* Free hash memory. */ - free(retain_info.hash); -} - -int CheckRetainFile(const char * file) -{ - retain_buffer = fopen(file, "rb"); - if (retain_buffer) { - /* Check CRC32 and hash. */ - if (CheckFileCRC(retain_buffer)) - if (CheckFilehash()) - return 1; - fclose(retain_buffer); - retain_buffer = NULL; - } - return 0; -} - -int CheckRetainBuffer(void) -{ - retain_buffer = NULL; - if (!retain_info.retain_size) - return 1; - - /* Check latest retain file. */ - if (CheckRetainFile(rb_file)) - return 1; - - /* Check if we have backup. */ - if (CheckRetainFile(rb_file_bckp)) - return 1; - - /* We don't have any valid retain buffer - nothing to remind. */ - return 0; -} - -#ifndef FILE_RETAIN_SAVE_PERIOD_S -#define FILE_RETAIN_SAVE_PERIOD_S 1.0 -#endif - -static double CalcDiffSeconds(IEC_TIME* t1, IEC_TIME *t2) -{ - IEC_TIME dt ={ - t1->tv_sec - t2->tv_sec, - t1->tv_nsec - t2->tv_nsec - }; - - if ((dt.tv_nsec < -1000000000) || ((dt.tv_sec > 0) && (dt.tv_nsec < 0))){ - dt.tv_sec--; - dt.tv_nsec += 1000000000; - } - if ((dt.tv_nsec > +1000000000) || ((dt.tv_sec < 0) && (dt.tv_nsec > 0))){ - dt.tv_sec++; - dt.tv_nsec -= 1000000000; - } - return dt.tv_sec + 1e-9*dt.tv_nsec; -} - - -int RetainSaveNeeded(void) -{ - int ret = 0; - static IEC_TIME last_save; - IEC_TIME now; - double diff_s; - - /* no retain */ - if (!retain_info.retain_size) - return 0; - - /* periodic retain flush to avoid high I/O load */ - PLC_GetTime(&now); - - diff_s = CalcDiffSeconds(&now, &last_save); - - if ((diff_s > FILE_RETAIN_SAVE_PERIOD_S) || ForceSaveRetainReq()) { - ret = 1; - last_save = now; - } - return ret; -} - -void ValidateRetainBuffer(void) -{ - if (!retain_buffer) - return; - - /* Add retain data CRC to the end of buffer file. */ - fseek(retain_buffer, 0, SEEK_END); - fwrite(&retain_crc, sizeof(retain_crc), 1, retain_buffer); - - /* Sync file buffer and close file. */ -#ifdef __WIN32 - fflush(retain_buffer); -#else - fsync(fileno(retain_buffer)); -#endif - - fclose(retain_buffer); - retain_buffer = NULL; -} - -void InValidateRetainBuffer(void) -{ - if (!RetainSaveNeeded()) - return; - - /* Rename old retain file into *.bak if it exists. */ - rename(rb_file, rb_file_bckp); - - /* Set file CRC initial value. */ - retain_crc = retain_info.header_crc; - - /* Create new retain file. */ - retain_buffer = fopen(rb_file, "wb+"); - if (!retain_buffer) { - fprintf(stderr, "Failed to create retain file : %s\n", rb_file); - return; - } - - /* Write header to the new file. */ - fwrite(&retain_info.retain_size, - sizeof(retain_info.retain_size), 1, retain_buffer); - fwrite(&retain_info.hash_size, - sizeof(retain_info.hash_size), 1, retain_buffer); - fwrite(retain_info.hash , - sizeof(char), retain_info.hash_size, retain_buffer); -} - -void Retain(unsigned int offset, unsigned int count, void *p) -{ - if (!retain_buffer) - return; - - /* Generate CRC 32 for each data block. */ - retain_crc = GenerateCRC32Sum(p, count, retain_crc); - - /* Save current var in file. */ - fseek(retain_buffer, retain_info.header_offset+offset, SEEK_SET); - fwrite(p, count, 1, retain_buffer); -} - -void Remind(unsigned int offset, unsigned int count, void *p) -{ - /* Remind variable from file. */ - fseek(retain_buffer, retain_info.header_offset+offset, SEEK_SET); - fread((void *)p, count, 1, retain_buffer); -} -#endif // !HAVE_RETAIN -/** - * Tail of code common to all C targets - **/ - -/** - * LOGGING - **/ -#ifndef TARGET_LOGGING_DISABLE - -#ifndef LOG_BUFFER_SIZE -#define LOG_BUFFER_SIZE (1<<14) /*16Ko*/ -#endif -#ifndef LOG_BUFFER_ATTRS -#define LOG_BUFFER_ATTRS -#endif - -#define LOG_BUFFER_MASK (LOG_BUFFER_SIZE-1) - -static char LogBuff[LOG_LEVELS][LOG_BUFFER_SIZE] LOG_BUFFER_ATTRS; -static void inline copy_to_log(uint8_t level, uint32_t buffpos, void* buf, uint32_t size){ - if(buffpos + size < LOG_BUFFER_SIZE){ - memcpy(&LogBuff[level][buffpos], buf, size); - }else{ - uint32_t remaining = LOG_BUFFER_SIZE - buffpos; - memcpy(&LogBuff[level][buffpos], buf, remaining); - memcpy(LogBuff[level], (char*)buf + remaining, size - remaining); - } -} -static void inline copy_from_log(uint8_t level, uint32_t buffpos, void* buf, uint32_t size){ - if(buffpos + size < LOG_BUFFER_SIZE){ - memcpy(buf, &LogBuff[level][buffpos], size); - }else{ - uint32_t remaining = LOG_BUFFER_SIZE - buffpos; - memcpy(buf, &LogBuff[level][buffpos], remaining); - memcpy((char*)buf + remaining, LogBuff[level], size - remaining); - } -} - -/* Log buffer structure - - |<-Tail1.msgsize->|<-sizeof(mTail)->|<--Tail2.msgsize-->|<-sizeof(mTail)->|... - | Message1 Body | Tail1 | Message2 Body | Tail2 | - -*/ -typedef struct { - uint32_t msgidx; - uint32_t msgsize; - unsigned long tick; - IEC_TIME time; -} mTail; - -/* Log cursor : 64b - |63 ... 32|31 ... 0| - | Message | Buffer | - | counter | Index | */ -static uint64_t LogCursor[LOG_LEVELS] LOG_BUFFER_ATTRS = {0x0,0x0,0x0,0x0}; - -void ResetLogCount(void) { - uint8_t level; - for(level=0;level> 32); - new_cursor = ((uint64_t)(tail.msgidx + 1)<<32) - | (uint64_t)((buffpos + size + sizeof(mTail)) & LOG_BUFFER_MASK); - }while(AtomicCompareExchange64( - (long long*)&LogCursor[level], - (long long)old_cursor, - (long long)new_cursor)!=(long long)old_cursor); - - copy_to_log(level, buffpos, buf, size); - copy_to_log(level, (buffpos + size) & LOG_BUFFER_MASK, &tail, sizeof(mTail)); - - return 1; /* Success */ - }else{ - char mstr[] = "Logging error : message too big"; - LogMessage(LOG_CRITICAL, mstr, sizeof(mstr)); - } - return 0; -} - -uint32_t GetLogCount(uint8_t level){ - return (uint64_t)LogCursor[level] >> 32; -} - -/* Return message size and content */ -uint32_t GetLogMessage(uint8_t level, uint32_t msgidx, char* buf, uint32_t max_size, uint32_t* tick, uint32_t* tv_sec, uint32_t* tv_nsec){ - uint64_t cursor = LogCursor[level]; - if(cursor){ - /* seach cursor */ - uint32_t stailpos = (uint32_t)cursor; - uint32_t smsgidx; - mTail tail; - tail.msgidx = cursor >> 32; - tail.msgsize = 0; - - /* Message search loop */ - do { - smsgidx = tail.msgidx; - stailpos = (stailpos - sizeof(mTail) - tail.msgsize ) & LOG_BUFFER_MASK; - copy_from_log(level, stailpos, &tail, sizeof(mTail)); - }while((tail.msgidx == smsgidx - 1) && (tail.msgidx > msgidx)); - - if(tail.msgidx == msgidx){ - uint32_t sbuffpos = (stailpos - tail.msgsize ) & LOG_BUFFER_MASK; - uint32_t totalsize = tail.msgsize; - *tick = tail.tick; - *tv_sec = tail.time.tv_sec; - *tv_nsec = tail.time.tv_nsec; - copy_from_log(level, sbuffpos, buf, - totalsize > max_size ? max_size : totalsize); - return totalsize; - } - } - return 0; -} - -#endif - -#ifndef TARGET_EXT_SYNC_DISABLE - -#define CALIBRATED -2 -#define NOT_CALIBRATED -1 -static int calibration_count = NOT_CALIBRATED; -static IEC_TIME cal_begin; -static long long Tsync = 0; -static long long FreqCorr = 0; -static int Nticks = 0; -static unsigned long last_tick = 0; - -/* - * Called on each external periodic sync event - * make PLC tick synchronous with external sync - * ratio defines when PLC tick occurs between two external sync - * @param sync_align_ratio - * 0->100 : align ratio - * < 0 : no align, calibrate period - **/ -void align_tick(int sync_align_ratio) -{ - /* - printf("align_tick(%d)\n", calibrate); - */ - if(sync_align_ratio < 0){ /* Calibration */ - if(calibration_count == CALIBRATED) - /* Re-calibration*/ - calibration_count = NOT_CALIBRATED; - if(calibration_count == NOT_CALIBRATED) - /* Calibration start, get time*/ - PLC_GetTime(&cal_begin); - calibration_count++; - }else{ /* do alignment (if possible) */ - if(calibration_count >= 0){ - /* End of calibration */ - /* Get final time */ - IEC_TIME cal_end; - PLC_GetTime(&cal_end); - /*adjust calibration_count*/ - calibration_count++; - /* compute mean of Tsync, over calibration period */ - Tsync = ((long long)(cal_end.tv_sec - cal_begin.tv_sec) * (long long)1000000000 + - (cal_end.tv_nsec - cal_begin.tv_nsec)) / calibration_count; - if( (Nticks = (Tsync / common_ticktime__)) > 0){ - FreqCorr = (Tsync % common_ticktime__); /* to be divided by Nticks */ - }else{ - FreqCorr = Tsync - (common_ticktime__ % Tsync); - } - /* - printf("Tsync = %ld\n", Tsync); - printf("calibration_count = %d\n", calibration_count); - printf("Nticks = %d\n", Nticks); - */ - calibration_count = CALIBRATED; - } - if(calibration_count == CALIBRATED){ - /* Get Elapsed time since last PLC tick (__CURRENT_TIME) */ - IEC_TIME now; - long long elapsed; - long long Tcorr; - long long PhaseCorr; - long long PeriodicTcorr; - PLC_GetTime(&now); - elapsed = (now.tv_sec - __CURRENT_TIME.tv_sec) * 1000000000 + now.tv_nsec - __CURRENT_TIME.tv_nsec; - if(Nticks > 0){ - PhaseCorr = elapsed - (common_ticktime__ + FreqCorr/Nticks)*sync_align_ratio/100; /* to be divided by Nticks */ - Tcorr = common_ticktime__ + (PhaseCorr + FreqCorr) / Nticks; - if(Nticks < 2){ - /* When Sync source period is near Tick time */ - /* PhaseCorr may not be applied to Periodic time given to timer */ - PeriodicTcorr = common_ticktime__ + FreqCorr / Nticks; - }else{ - PeriodicTcorr = Tcorr; - } - }else if(__tick > last_tick){ - last_tick = __tick; - PhaseCorr = elapsed - (Tsync*sync_align_ratio/100); - PeriodicTcorr = Tcorr = common_ticktime__ + PhaseCorr + FreqCorr; - }else{ - /*PLC did not run meanwhile. Nothing to do*/ - return; - } - /* DO ALIGNEMENT */ - PLC_SetTimer(Tcorr - elapsed, PeriodicTcorr); - } - } -} - -#endif diff --git a/motor/build/plc_main.o b/motor/build/plc_main.o deleted file mode 100644 index 73cddaf..0000000 Binary files a/motor/build/plc_main.o and /dev/null differ diff --git a/motor/plc.xml b/motor/plc.xml index cd0f0a1..ca960ad 100644 --- a/motor/plc.xml +++ b/motor/plc.xml @@ -1,7 +1,7 @@ - + @@ -204,21 +204,6 @@ - - - - - - - - - - - - - - - @@ -620,7 +605,7 @@ - + @@ -628,14 +613,9 @@ - + - - - - - - + @@ -663,81 +643,44 @@ + + + + + + + + + - + - - - - - - + - - - - - - - - - - - - - - - - - - - - - - - - - + - - - - - - - - - - - - - - - - + @@ -745,130 +688,201 @@ + + + + + - - - - - - + - - - - - - - - - - - - - - - - + - - - - - - + + + - + - - - - - - + + + + + + + + + + + + + + + + + + + + P1_enc + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - + - - - - - - - - - - - - - + P1_run + + + + + + + + + + + + + + + + P2_enc + + + + + + + + + + + + + + P2_run + + + + + + + + + + + + + + P3_enc + + + + + + + + + + + + + + P3_run + + + + + + + + + + + + + + + + + + + + + + + + + + Pump_def + + + + + + + + + + + + + WAIT7 + + + + + + + + + + + + + + Pump_def + + + - - - + + + - - - - - + + + + + @@ -887,211 +901,210 @@ - - - - - - not (secours) - - - - - - - WAIT1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - secours - - - - - - - WAIT1 - - - + + - + + + + + + + + + + secours + + + + + + + + + + + + + + + + + + + + + + + + + + P1_run + + + + + + + + + + + + + + P2_run + + + + + + + + + + + + + + P3_run + + + + + + + + + + + + + + + + P1_run + + + + + + + + + + + + + + + + P1_run + + + + + + + + + + + + + + P2_run + + + + + - - - - - - - - - - - - - - - - - - - - + + - + - - - - - - - - - - - + P2_enc + + + - - - - - - - - + + + + - + - - - - - - - - - - - - - + P3_run + + + - - - - - - - - - - - - - - - - - - - - - - - - - - Pump_def - - - - - + - - - - + + - - + + - - - + P3_run + + + - - - - - - + + + + + + + + + + + + + + + + - - + + - - - + only_one_run + + + + + + + + + + + + + WAIT2 + + + - - - - - + + + @@ -1099,8 +1112,10 @@ - - + + + + @@ -1119,457 +1134,117 @@ - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - WAIT2 + true - - - - - - TRUE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - secours_c - - - - - - - 0 - - - - - - - - - - - - + + - + - - + + + + + - - - + WAIT13 + + + - - - - - - - - + + + + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + Pump_def + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - TRUE - - - - - - - WAIT3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - TRUE - - - - - - - WAIT2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - secours_c - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - P1_enc - - - - - - - P2_enc - - - - - - - P3_enc - - - - - - - - - - - - + + + + - - - - - + + + + + @@ -1588,216 +1263,305 @@ - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + - TRUE - - - + secours + + + - WAIT3 + true - - + + - + - - - - - - - + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - + + + + + + + - + + + + + + - - + + - + - P1_enc + 1 - - + + + + + + + + + - + - P2_enc - - - + secours_c_ok + + + + + + + + + + - + - P3_enc - - - + secours + + + - + + + + + + + + + + + + - - - - + + + + - - - - - - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + P1_enc + + + + + + + + + + + + + + + + P2_enc + + + + + + + + + + + + + + + + P3_enc + + + - - - - - - + + + + + + + + + + + + + + + + + + + + + + @@ -1815,48 +1579,95 @@ - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + P1_enc + + + + + + + + + + + + + + + + P2_enc + + + + + + + + + + + + + + + + P3_enc + + + + + + + 1 + + + - - - - - + + + + + - - - + + + + + @@ -1870,926 +1681,70 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + 1 - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - not (only_one_run) - - - - - - - WAIT4 - - - - - - - - - - + + + + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - TRUE - - - - - - - WAIT3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - P1_enc - - - - - - - P2_enc - - - - - - - P3_enc - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - TRUE - - - - - - - WAIT3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - P1_enc - - - - - - - P2_enc - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - only_one_run - - - - - - - WAIT4 - - - - - - - - - - - - - - - - - - - - + req_enc_ok + +