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This commit is contained in:
Tiago Batista Cardoso
2025-11-14 11:13:23 +01:00
commit de544a9632
21 changed files with 2089 additions and 0 deletions
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motor/build/plc_debugger.c Normal file
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/*
* 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 <string.h>
#include <stdio.h>
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