yo
This commit is contained in:
Tiago Batista Cardoso
980
motor/build/plc_main.c
Normal file
980
motor/build/plc_main.c
Normal file
@@ -0,0 +1,980 @@
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/**
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* Head of code common to all C targets
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**/
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#include "beremiz.h"
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#include <string.h>
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/*
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* Prototypes of functions provided by generated C softPLC
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**/
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void config_run__(unsigned long tick);
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void config_init__(void);
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/*
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* Prototypes of functions provided by generated target C code
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* */
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long long AtomicCompareExchange64(long long*, long long, long long);
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void __init_debug(void);
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void __cleanup_debug(void);
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/*void __retrieve_debug(void);*/
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void __publish_debug(void);
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/*
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* Variables used by generated C softPLC and plugins
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**/
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IEC_TIME __CURRENT_TIME;
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IEC_BOOL __DEBUG = 0;
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unsigned long __tick = 0;
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char *PLC_ID = NULL;
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/*
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* Variable generated by C softPLC and plugins
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**/
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extern unsigned long greatest_tick_count__;
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/* Help to quit cleanly when init fail at a certain level */
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static int init_level = 0;
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/*
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* Prototypes of functions exported by plugins
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**/
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/*
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* Retrieve input variables, run PLC and publish output variables
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**/
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void __run(void)
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{
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__tick++;
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if (greatest_tick_count__)
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__tick %= greatest_tick_count__;
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/*__retrieve_debug();*/
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config_run__(__tick);
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__publish_debug();
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}
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/*
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* Initialize variables according to PLC's default values,
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* and then init plugins with that values
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**/
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int __init(int argc,char **argv)
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{
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int res = 0;
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init_level = 0;
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/* Effective tick time with 1ms default value */
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if(!common_ticktime__)
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common_ticktime__ = 1000000;
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config_init__();
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__init_debug();
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return res;
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}
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/*
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* Calls plugin cleanup proc.
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**/
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void __cleanup(void)
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{
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__cleanup_debug();
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}
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void PLC_GetTime(IEC_TIME *CURRENT_TIME);
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void PLC_SetTimer(unsigned long long next, unsigned long long period);
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/**
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* Win32 specific code
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**/
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#include <stdio.h>
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#include <sys/timeb.h>
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#include <time.h>
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#include <windows.h>
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#include <locale.h>
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long AtomicCompareExchange(long* atomicvar, long compared, long exchange)
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{
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return InterlockedCompareExchange(atomicvar, exchange, compared);
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}
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CRITICAL_SECTION Atomic64CS;
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long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange)
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{
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long long res;
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EnterCriticalSection(&Atomic64CS);
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res=*atomicvar;
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if(*atomicvar == compared){
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*atomicvar = exchange;
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}
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LeaveCriticalSection(&Atomic64CS);
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return res;
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}
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struct timeb timetmp;
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void PLC_GetTime(IEC_TIME *CURRENT_TIME)
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{
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ftime(&timetmp);
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(*CURRENT_TIME).tv_sec = timetmp.time;
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(*CURRENT_TIME).tv_nsec = timetmp.millitm * 1000000;
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}
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HANDLE PLC_timer = NULL;
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void PLC_SetTimer(unsigned long long next, unsigned long long period)
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{
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LARGE_INTEGER liDueTime;
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/* arg 2 of SetWaitableTimer take 100 ns interval*/
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liDueTime.QuadPart = next / (-100);
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if (!SetWaitableTimer(PLC_timer, &liDueTime, period<1000000?1:period/1000000, NULL, NULL, 0))
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{
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printf("SetWaitableTimer failed (%d)\n", GetLastError());
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}
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}
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int PLC_shutdown;
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int ForceSaveRetainReq(void) {
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return PLC_shutdown;
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}
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/* Variable used to stop plcloop thread */
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void PlcLoop()
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{
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PLC_shutdown = 0;
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while(!PLC_shutdown) {
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if (WaitForSingleObject(PLC_timer, INFINITE) != WAIT_OBJECT_0){
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PLC_shutdown = 1;
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break;
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}
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PLC_GetTime(&__CURRENT_TIME);
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__run();
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}
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}
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HANDLE PLC_thread;
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HANDLE debug_sem;
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HANDLE debug_wait_sem;
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HANDLE python_sem;
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HANDLE python_wait_sem;
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#define maxval(a,b) ((a>b)?a:b)
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int startPLC(int argc,char **argv)
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{
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unsigned long thread_id = 0;
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BOOL tmp;
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debug_sem = CreateSemaphore(
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NULL, // default security attributes
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1, // initial count
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1, // maximum count
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NULL); // unnamed semaphore
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if (debug_sem == NULL)
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{
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printf("startPLC CreateSemaphore debug_sem error: %d\n", GetLastError());
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return 1;
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}
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debug_wait_sem = CreateSemaphore(
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NULL, // default security attributes
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0, // initial count
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1, // maximum count
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NULL); // unnamed semaphore
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if (debug_wait_sem == NULL)
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{
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printf("startPLC CreateSemaphore debug_wait_sem error: %d\n", GetLastError());
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return 1;
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}
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python_sem = CreateSemaphore(
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NULL, // default security attributes
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1, // initial count
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1, // maximum count
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NULL); // unnamed semaphore
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if (python_sem == NULL)
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{
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printf("startPLC CreateSemaphore python_sem error: %d\n", GetLastError());
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return 1;
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}
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python_wait_sem = CreateSemaphore(
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NULL, // default security attributes
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0, // initial count
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1, // maximum count
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NULL); // unnamed semaphore
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if (python_wait_sem == NULL)
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{
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printf("startPLC CreateSemaphore python_wait_sem error: %d\n", GetLastError());
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return 1;
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}
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/* Create a waitable timer */
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timeBeginPeriod(1);
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PLC_timer = CreateWaitableTimer(NULL, FALSE, "WaitableTimer");
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if(NULL == PLC_timer)
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{
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printf("CreateWaitableTimer failed (%d)\n", GetLastError());
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return 1;
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}
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if( __init(argc,argv) == 0 )
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{
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PLC_SetTimer(common_ticktime__,common_ticktime__);
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PLC_thread = CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)PlcLoop, NULL, 0, &thread_id);
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}
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else{
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return 1;
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}
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return 0;
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}
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static unsigned long __debug_tick;
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int TryEnterDebugSection(void)
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{
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//printf("TryEnterDebugSection\n");
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if(WaitForSingleObject(debug_sem, 0) == WAIT_OBJECT_0){
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/* Only enter if debug active */
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if(__DEBUG){
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return 1;
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}
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ReleaseSemaphore(debug_sem, 1, NULL);
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}
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return 0;
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}
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void LeaveDebugSection(void)
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{
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ReleaseSemaphore(debug_sem, 1, NULL);
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//printf("LeaveDebugSection\n");
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}
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int stopPLC()
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{
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PLC_shutdown = 1;
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// force last wakeup of PLC thread
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SetWaitableTimer(PLC_timer, 0, 0, NULL, NULL, 0);
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// wait end of PLC thread
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WaitForSingleObject(PLC_thread, INFINITE);
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__cleanup();
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CloseHandle(PLC_timer);
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CloseHandle(debug_wait_sem);
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CloseHandle(debug_sem);
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CloseHandle(python_wait_sem);
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CloseHandle(python_sem);
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CloseHandle(PLC_thread);
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}
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/* from plc_debugger.c */
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int WaitDebugData(unsigned long *tick)
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{
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DWORD res;
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res = WaitForSingleObject(debug_wait_sem, INFINITE);
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*tick = __debug_tick;
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/* Wait signal from PLC thread */
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return res != WAIT_OBJECT_0;
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}
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/* Called by PLC thread when debug_publish finished
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* This is supposed to unlock debugger thread in WaitDebugData*/
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void InitiateDebugTransfer()
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{
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/* remember tick */
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__debug_tick = __tick;
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/* signal debugger thread it can read data */
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ReleaseSemaphore(debug_wait_sem, 1, NULL);
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}
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int suspendDebug(int disable)
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{
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/* Prevent PLC to enter debug code */
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WaitForSingleObject(debug_sem, INFINITE);
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__DEBUG = !disable;
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if(disable)
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ReleaseSemaphore(debug_sem, 1, NULL);
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return 0;
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}
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void resumeDebug()
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{
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__DEBUG = 1;
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/* Let PLC enter debug code */
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ReleaseSemaphore(debug_sem, 1, NULL);
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}
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/* from plc_python.c */
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int WaitPythonCommands(void)
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{
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/* Wait signal from PLC thread */
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return WaitForSingleObject(python_wait_sem, INFINITE);
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}
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/* Called by PLC thread on each new python command*/
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void UnBlockPythonCommands(void)
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{
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/* signal debugger thread it can read data */
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ReleaseSemaphore(python_wait_sem, 1, NULL);
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}
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int TryLockPython(void)
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{
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return WaitForSingleObject(python_sem, 0) == WAIT_OBJECT_0;
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}
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void UnLockPython(void)
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{
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ReleaseSemaphore(python_sem, 1, NULL);
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}
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void LockPython(void)
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{
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WaitForSingleObject(python_sem, INFINITE);
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}
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static void __attribute__((constructor))
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beremiz_dll_init(void)
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{
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InitializeCriticalSection(&Atomic64CS);
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}
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static void __attribute__((destructor))
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beremiz_dll_destroy(void)
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{
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DeleteCriticalSection(&Atomic64CS);
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}
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struct RT_to_nRT_signal_s {
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HANDLE sem;
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};
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typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t;
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#define _LogAndReturnNull(text) \
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{\
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char mstr[256] = text " for ";\
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strncat(mstr, name, 255);\
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LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\
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return NULL;\
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}
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void *create_RT_to_nRT_signal(char* name){
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RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)malloc(sizeof(RT_to_nRT_signal_t));
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if(!sig)
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_LogAndReturnNull("Failed allocating memory for RT_to_nRT signal");
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sig->sem = CreateSemaphore(
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NULL, // default security attributes
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1, // initial count
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1, // maximum count
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NULL); // unnamed semaphore
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if(sig->sem == NULL)
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{
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char mstr[256];
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snprintf(mstr, 255, "startPLC CreateSemaphore %s error: %d\n", name, GetLastError());
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LogMessage(LOG_CRITICAL, mstr, strlen(mstr));
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return NULL;
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}
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return (void*)sig;
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}
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void delete_RT_to_nRT_signal(void* handle){
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RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
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CloseHandle(python_sem);
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free(sig);
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}
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int wait_RT_to_nRT_signal(void* handle){
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int ret;
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RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
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return WaitForSingleObject(sig->sem, INFINITE);
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}
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int unblock_RT_to_nRT_signal(void* handle){
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RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
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return ReleaseSemaphore(sig->sem, 1, NULL);
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}
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void nRT_reschedule(void){
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SwitchToThread();
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}
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||||
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/*
|
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This file is part of Beremiz, a Integrated Development Environment for
|
||||
programming IEC 61131-3 automates supporting plcopen standard and CanFestival.
|
||||
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||||
See COPYING.runtime
|
||||
|
||||
Copyright (C) 2018: Sergey Surkov <surkov.sv@summatechnology.ru>
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||||
Copyright (C) 2018: Andrey Skvortsov <andrej.skvortzov@gmail.com>
|
||||
|
||||
*/
|
||||
|
||||
#ifndef HAVE_RETAIN
|
||||
#include <stdio.h>
|
||||
#include <stdint.h>
|
||||
#include <unistd.h>
|
||||
#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<LOG_LEVELS;level++){
|
||||
LogCursor[level] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/* Store one log message of give size */
|
||||
int LogMessage(uint8_t level, char* buf, uint32_t size){
|
||||
if(size < LOG_BUFFER_SIZE - sizeof(mTail)){
|
||||
uint32_t buffpos;
|
||||
uint64_t new_cursor, old_cursor;
|
||||
|
||||
mTail tail;
|
||||
tail.msgsize = size;
|
||||
tail.tick = __tick;
|
||||
PLC_GetTime(&tail.time);
|
||||
|
||||
/* We cannot increment both msg index and string pointer
|
||||
in a single atomic operation but we can detect having been interrupted.
|
||||
So we can try with atomic compare and swap in a loop until operation
|
||||
succeeds non interrupted */
|
||||
do{
|
||||
old_cursor = LogCursor[level];
|
||||
buffpos = (uint32_t)old_cursor;
|
||||
tail.msgidx = (old_cursor >> 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
|
||||
Reference in New Issue
Block a user