beremiz

Moved template C code to targets dir. Cleaned up some forgotten print.

2008-08-21, etisserant
08dc3d064cb5
Parents dd630979f628
Children ca3bfcf61192
Moved template C code to targets dir. Cleaned up some forgotten print.
8 files changed, 354 insertions(+), 360 deletions(-)
  • +3 -8
    plugger.py
  • +14 -11
    runtime/PLCObject.py
  • +0 -7
    runtime/__init__.py
  • +0 -177
    runtime/plc_common_main.c
  • +0 -151
    runtime/plc_debug.c
  • +9 -6
    targets/__init__.py
  • +177 -0
    targets/plc_common_main.c
  • +151 -0
    targets/plc_debug.c
    • --- a/plugger.py Thu Aug 21 13:21:37 2008 +0200
    +++ b/plugger.py Thu Aug 21 17:17:36 2008 +0200
    @@ -613,7 +613,6 @@
    DebugTypes = [t for t in zip(*TypeHierarchy_list)[0] if not t.startswith("ANY")] + \
    ["STEP","TRANSITION","ACTION"]
    -import runtime
    import re
    import targets
    import connectors
    @@ -1039,7 +1038,7 @@
    self.GetIECProgramsAndVariables()
    # prepare debug code
    - debug_code = runtime.code("plc_debug") % {
    + debug_code = targets.code("plc_debug") % {
    "programs_declarations":
    "\n".join(["extern %(type)s %(C_path)s;"%p for p in self._ProgramList]),
    "extern_variables_declarations":"\n".join([
    @@ -1100,7 +1099,7 @@
    [loc for loc,Cfiles,DoCalls in self.LocationCFilesAndCFLAGS if loc and DoCalls])
    # Generate main, based on template
    - plc_main_code = runtime.code("plc_common_main") % {
    + plc_main_code = targets.code("plc_common_main") % {
    "calls_prototypes":"\n".join([(
    "int __init_%(s)s(int argc,char **argv);\n"+
    "void __cleanup_%(s)s();\n"+
    @@ -1121,7 +1120,7 @@
    }
    target_name = self.BeremizRoot.getTargetType().getcontent()["name"]
    - plc_main_code += targets.code(target_name)
    + plc_main_code += targets.targetcode(target_name)
    return plc_main_code
    @@ -1176,7 +1175,6 @@
    os.mkdir(extrafilespath)
    # Then write the files
    for fname,fobject in ExtraFiles:
    - print fname,fobject
    fpath = os.path.join(extrafilespath,fname)
    open(fpath, "wb").write(fobject.read())
    # Now we can forget ExtraFiles (will close files object)
    @@ -1439,9 +1437,6 @@
    for name in os.listdir(extrafilespath) \
    if not name=="CVS"]
    - for filename, unused in extrafiles:
    - print filename
    -
    # Send PLC on target
    builder = self.GetBuilder()
    if builder is not None:
    --- a/runtime/PLCObject.py Thu Aug 21 13:21:37 2008 +0200
    +++ b/runtime/PLCObject.py Thu Aug 21 17:17:36 2008 +0200
    @@ -24,9 +24,7 @@
    import Pyro.core as pyro
    from threading import Timer
    -import ctypes, os, dl, commands
    -#, sys
    -#sys.setdlopenflags(dl.RTLD_NOW | dl.RTLD_GLOBAL)
    +import ctypes, os, commands
    if os.name == ("nt", "ce"):
    from _ctypes import LoadLibrary as dlopen
    @@ -42,8 +40,9 @@
    }.get(sys.platform, "")
    class PLCObject(pyro.ObjBase):
    - def __init__(self, workingdir, daemon):
    + def __init__(self, workingdir, daemon, argv):
    pyro.ObjBase.__init__(self)
    + self.argv=argv
    self.workingdir = workingdir
    self.PLCStatus = "Stopped"
    self.PLClibraryHandle = None
    @@ -142,7 +141,7 @@
    "libpan",
    "libX11",
    ]:
    - badhandle = dlopen(badlib, dl.RTLD_NOLOAD)
    + #badhandle = dlopen(badlib, dl.RTLD_NOLOAD)
    print "Dirty lib detected :" + badlib
    #dlclose(badhandle)
    return True
    @@ -153,20 +152,24 @@
    print "StartPLC"
    if self.CurrentPLCFilename is not None and self.PLCStatus == "Stopped":
    c_argv = ctypes.c_char_p * len(sys.argv)
    - if self._LoadNewPLC() and self._startPLC(len(sys.argv),c_argv(*sys.argv)) == 0:
    + if self._LoadNewPLC() and self._startPLC(len(self.argv),c_argv(*self.argv)) == 0:
    self.PLCStatus = "Started"
    return True
    else:
    print "_StartPLC did not return 0 !"
    + self._DoStopPLC()
    return False
    + def _DoStopPLC(self):
    + self._stopPLC()
    + self.PLCStatus = "Stopped"
    + if self._FreePLC():
    + self.PLCStatus = "Dirty"
    + return True
    +
    def StopPLC(self):
    if self.PLCStatus == "Started":
    - self._stopPLC()
    - self.PLCStatus = "Stopped"
    - if self._FreePLC():
    - self.PLCStatus = "Dirty"
    - return True
    + self._DoStopPLC()
    return False
    def _Reload(self):
    --- a/runtime/__init__.py Thu Aug 21 13:21:37 2008 +0200
    +++ b/runtime/__init__.py Thu Aug 21 17:17:36 2008 +0200
    @@ -2,12 +2,5 @@
    import os
    -def code(name):
    - filename = os.path.join(os.path.split(__file__)[0],name + ".c")
    - if os.path.exists(filename):
    - return open(filename).read()
    - else:
    - return "#error %s target not implemented !!!\n"%name
    -
    from PLCObject import PLCObject
    import ServicePublisher
    --- a/runtime/plc_common_main.c Thu Aug 21 13:21:37 2008 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,177 +0,0 @@
    -/*
    - * Prototypes for function provided by arch-specific code (main)
    - * concatained after this template
    - ** /
    -
    -
    -/*
    - * Functions and variables provied by generated C softPLC
    - **/
    -extern int common_ticktime__;
    -
    -/*
    - * Functions and variables provied by plc.c
    - **/
    -void run(long int tv_sec, long int tv_nsec);
    -
    -#define maxval(a,b) ((a>b)?a:b)
    -
    -#include "iec_types.h"
    -/*#include "stdio.h" /* For debug */
    -
    -/*
    - * Functions and variables provied by generated C softPLC
    - **/
    -void config_run__(int tick);
    -void config_init__(void);
    -
    -/*
    - * Functions and variables to export to generated C softPLC and plugins
    - **/
    -
    -IEC_TIME __CURRENT_TIME;
    -int __tick = 0;
    -
    -static int init_level = 0;
    -static int Debugging = 1;
    -
    -/*
    - * Prototypes of functions exported by plugins
    - **/
    -%(calls_prototypes)s
    -
    -/*
    - * Retrieve input variables, run PLC and publish output variables
    - **/
    -void __run()
    -{
    - %(retrieve_calls)s
    -
    - if(Debugging) __retrieve_debug();
    -
    - config_run__(__tick);
    -
    - if(Debugging) __publish_debug();
    -
    - %(publish_calls)s
    -
    - __tick++;
    -}
    -
    -/*
    - * Initialize variables according to PLC's defalut values,
    - * and then init plugins with that values
    - **/
    -int __init(int argc,char **argv)
    -{
    - int res;
    - config_init__();
    - %(init_calls)s
    - return 0;
    -}
    -/*
    - * Calls plugin cleanup proc.
    - **/
    -void __cleanup()
    -{
    - %(cleanup_calls)s
    -}
    -
    -
    -void PLC_GetTime(IEC_TIME *CURRENT_TIME);
    -void PLC_SetTimer(long long next, long long period);
    -
    -#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 int last_tick = 0;
    -static long long Ttick = 0;
    -#define mod %%
    -/*
    - * Call this on each 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 / Ttick)) > 0){
    - FreqCorr = (Tsync mod Ttick); /* to be divided by Nticks */
    - }else{
    - FreqCorr = Tsync - (Ttick mod 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 - (Ttick + FreqCorr/Nticks)*sync_align_ratio/100; /* to be divided by Nticks */
    - Tcorr = Ttick + (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 = Ttick + FreqCorr / Nticks;
    - }else{
    - PeriodicTcorr = Tcorr;
    - }
    - }else if(__tick > last_tick){
    - last_tick = __tick;
    - PhaseCorr = elapsed - (Tsync*sync_align_ratio/100);
    - PeriodicTcorr = Tcorr = Ttick + PhaseCorr + FreqCorr;
    - }else{
    - /*PLC did not run meanwhile. Nothing to do*/
    - return;
    - }
    - /* DO ALIGNEMENT */
    - PLC_SetTimer(Tcorr - elapsed, PeriodicTcorr);
    - }
    - }
    -}
    -
    -int suspendDebug()
    -{
    - /* Prevent PLC to enter debug code */
    - Debugging = 0;
    -}
    -
    -int resumeDebug()
    -{
    - /* Let PLC enter debug code */
    - Debugging = 1;
    -}
    --- a/runtime/plc_debug.c Thu Aug 21 13:21:37 2008 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,151 +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.
    - *
    - *
    - * */
    -#include "iec_types_all.h"
    -#include "POUS.h"
    -/*for memcpy*/
    -#include <string.h>
    -
    -#define BUFFER_SIZE 1024
    -#define MAX_SUBSCRIBTION %(subscription_table_count)d
    -
    -/* Atomically accessed variable for buffer state */
    -#define BUFFER_FREE 0
    -#define BUFFER_BUSY 1
    -static long buffer_state = BUFFER_FREE;
    -
    -/* The buffer itself */
    -char debug_buffer[BUFFER_SIZE];
    -
    -/* Buffer's cursor*/
    -static char* buffer_cursor = debug_buffer;
    -
    -typedef struct{
    - void* ptrvalue;
    - __IEC_types_enum type;
    -}struct_plcvar;
    -
    -/***
    - * Declare programs
    - **/
    -%(programs_declarations)s
    -
    -/***
    - * Declare global variables from resources and conf
    - **/
    -%(extern_variables_declarations)s
    -
    -static int subscription_table[MAX_SUBSCRIBTION];
    -static int* latest_subscription = subscription_table;
    -static int* subscription_cursor = subscription_table;
    -
    -struct_plcvar variable_table[%(variables_pointer_type_table_count)d];
    -
    -void __init_debug()
    -{
    -%(variables_pointer_type_table_initializer)s
    -};
    -
    -void __cleanup_debug()
    -{
    -}
    -
    -void __retrieve_debug()
    -{
    -}
    -
    -void __publish_debug()
    -{
    - /* Lock buffer */
    - long latest_state = AtomicCompareExchange(
    - &buffer_state,
    - BUFFER_FREE,
    - BUFFER_BUSY);
    -
    - /* If buffer was free */
    - if(latest_state == BUFFER_FREE)
    - {
    - int* subscription;
    -
    - /* Reset buffer cursor */
    - buffer_cursor = debug_buffer;
    -
    - /* iterate over subscriptions */
    - for(subscription=subscription_table;
    - subscription < latest_subscription;
    - subscription++)
    - {
    - /* get variable descriptor */
    - struct_plcvar* my_var = &variable_table[*subscription];
    - char* next_cursor;
    - /* get variable size*/
    - USINT size = __get_type_enum_size(my_var->type);
    - /* compute next cursor positon*/
    - next_cursor = buffer_cursor + size;
    - /* if buffer not full */
    - if(next_cursor < debug_buffer + BUFFER_SIZE)
    - {
    - /* copy data to the buffer */
    - memcpy(buffer_cursor, my_var->ptrvalue, size);
    - /* increment cursor according size*/
    - buffer_cursor = next_cursor;
    - }else{
    - /*TODO : signal overflow*/
    - }
    - }
    -
    - /* Reset buffer cursor again (for IterDebugData)*/
    - buffer_cursor = debug_buffer;
    - subscription_cursor = subscription_table;
    -
    - /* Trigger asynchronous transmission (returns immediately) */
    - InitiateDebugTransfer(); /* size */
    - }
    -}
    -
    -void RegisterDebugVariable(int idx)
    -{
    - /*If subscription table not full */
    - if(latest_subscription - subscription_table < MAX_SUBSCRIBTION)
    - {
    - *(latest_subscription++) = idx;
    - /* TODO pre-calc buffer size and signal overflow*/
    - }else{
    - /*TODO : signal subscription overflow*/
    - }
    -}
    -
    -void ResetDebugVariables(void)
    -{
    - latest_subscription = subscription_table;
    -}
    -
    -void FreeDebugData()
    -{
    - /* atomically mark buffer as free */
    - long latest_state = AtomicCompareExchange(
    - &buffer_state,
    - BUFFER_BUSY,
    - BUFFER_FREE);
    -}
    -
    -void* IterDebugData(int* idx, const char **type_name)
    -{
    - if(subscription_cursor < latest_subscription){
    - *idx = *subscription_cursor;
    - struct_plcvar* my_var = &variable_table[*subscription_cursor++];
    - *type_name = __get_type_enum_name(my_var->type);
    - return my_var->ptrvalue;
    - }
    - return NULL;
    -}
    -
    --- a/targets/__init__.py Thu Aug 21 13:21:37 2008 +0200
    +++ b/targets/__init__.py Thu Aug 21 17:17:36 2008 +0200
    @@ -64,11 +64,14 @@
    for target in DictXSD_target.keys():
    targetchoices += DictXSD_target[target]
    -def code(target_name):
    - filename = path.join(path.split(__file__)[0], target_name, "plc_%s_main.c"%target_name)
    - if path.exists(filename):
    - return open(filename).read()
    - else:
    - return "#error %s target not implemented !!!\n"%target_name
    +def targetcode(target_name, code_name=None):
    + if code_name is None:
    + code_name="plc_%s_main.c"%target_name
    + filename = path.join(path.split(__file__)[0], target_name, code_name)
    + return open(filename).read()
    +
    +def code(name):
    + filename = path.join(path.split(__file__)[0],name + ".c")
    + return open(filename).read()
    from toolchain_gcc import toolchain_gcc
    \ No newline at end of file
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/targets/plc_common_main.c Thu Aug 21 17:17:36 2008 +0200
    @@ -0,0 +1,177 @@
    +/*
    + * Prototypes for function provided by arch-specific code (main)
    + * concatained after this template
    + ** /
    +
    +
    +/*
    + * Functions and variables provied by generated C softPLC
    + **/
    +extern int common_ticktime__;
    +
    +/*
    + * Functions and variables provied by plc.c
    + **/
    +void run(long int tv_sec, long int tv_nsec);
    +
    +#define maxval(a,b) ((a>b)?a:b)
    +
    +#include "iec_types.h"
    +/*#include "stdio.h" /* For debug */
    +
    +/*
    + * Functions and variables provied by generated C softPLC
    + **/
    +void config_run__(int tick);
    +void config_init__(void);
    +
    +/*
    + * Functions and variables to export to generated C softPLC and plugins
    + **/
    +
    +IEC_TIME __CURRENT_TIME;
    +int __tick = 0;
    +
    +static int init_level = 0;
    +static int Debugging = 1;
    +
    +/*
    + * Prototypes of functions exported by plugins
    + **/
    +%(calls_prototypes)s
    +
    +/*
    + * Retrieve input variables, run PLC and publish output variables
    + **/
    +void __run()
    +{
    + %(retrieve_calls)s
    +
    + if(Debugging) __retrieve_debug();
    +
    + config_run__(__tick);
    +
    + if(Debugging) __publish_debug();
    +
    + %(publish_calls)s
    +
    + __tick++;
    +}
    +
    +/*
    + * Initialize variables according to PLC's defalut values,
    + * and then init plugins with that values
    + **/
    +int __init(int argc,char **argv)
    +{
    + int res;
    + config_init__();
    + %(init_calls)s
    + return 0;
    +}
    +/*
    + * Calls plugin cleanup proc.
    + **/
    +void __cleanup()
    +{
    + %(cleanup_calls)s
    +}
    +
    +
    +void PLC_GetTime(IEC_TIME *CURRENT_TIME);
    +void PLC_SetTimer(long long next, long long period);
    +
    +#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 int last_tick = 0;
    +static long long Ttick = 0;
    +#define mod %%
    +/*
    + * Call this on each 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 / Ttick)) > 0){
    + FreqCorr = (Tsync mod Ttick); /* to be divided by Nticks */
    + }else{
    + FreqCorr = Tsync - (Ttick mod 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 - (Ttick + FreqCorr/Nticks)*sync_align_ratio/100; /* to be divided by Nticks */
    + Tcorr = Ttick + (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 = Ttick + FreqCorr / Nticks;
    + }else{
    + PeriodicTcorr = Tcorr;
    + }
    + }else if(__tick > last_tick){
    + last_tick = __tick;
    + PhaseCorr = elapsed - (Tsync*sync_align_ratio/100);
    + PeriodicTcorr = Tcorr = Ttick + PhaseCorr + FreqCorr;
    + }else{
    + /*PLC did not run meanwhile. Nothing to do*/
    + return;
    + }
    + /* DO ALIGNEMENT */
    + PLC_SetTimer(Tcorr - elapsed, PeriodicTcorr);
    + }
    + }
    +}
    +
    +int suspendDebug()
    +{
    + /* Prevent PLC to enter debug code */
    + Debugging = 0;
    +}
    +
    +int resumeDebug()
    +{
    + /* Let PLC enter debug code */
    + Debugging = 1;
    +}
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/targets/plc_debug.c Thu Aug 21 17:17:36 2008 +0200
    @@ -0,0 +1,151 @@
    +/*
    + * 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.
    + *
    + *
    + * */
    +#include "iec_types_all.h"
    +#include "POUS.h"
    +/*for memcpy*/
    +#include <string.h>
    +
    +#define BUFFER_SIZE 1024
    +#define MAX_SUBSCRIBTION %(subscription_table_count)d
    +
    +/* Atomically accessed variable for buffer state */
    +#define BUFFER_FREE 0
    +#define BUFFER_BUSY 1
    +static long buffer_state = BUFFER_FREE;
    +
    +/* The buffer itself */
    +char debug_buffer[BUFFER_SIZE];
    +
    +/* Buffer's cursor*/
    +static char* buffer_cursor = debug_buffer;
    +
    +typedef struct{
    + void* ptrvalue;
    + __IEC_types_enum type;
    +}struct_plcvar;
    +
    +/***
    + * Declare programs
    + **/
    +%(programs_declarations)s
    +
    +/***
    + * Declare global variables from resources and conf
    + **/
    +%(extern_variables_declarations)s
    +
    +static int subscription_table[MAX_SUBSCRIBTION];
    +static int* latest_subscription = subscription_table;
    +static int* subscription_cursor = subscription_table;
    +
    +struct_plcvar variable_table[%(variables_pointer_type_table_count)d];
    +
    +void __init_debug()
    +{
    +%(variables_pointer_type_table_initializer)s
    +};
    +
    +void __cleanup_debug()
    +{
    +}
    +
    +void __retrieve_debug()
    +{
    +}
    +
    +void __publish_debug()
    +{
    + /* Lock buffer */
    + long latest_state = AtomicCompareExchange(
    + &buffer_state,
    + BUFFER_FREE,
    + BUFFER_BUSY);
    +
    + /* If buffer was free */
    + if(latest_state == BUFFER_FREE)
    + {
    + int* subscription;
    +
    + /* Reset buffer cursor */
    + buffer_cursor = debug_buffer;
    +
    + /* iterate over subscriptions */
    + for(subscription=subscription_table;
    + subscription < latest_subscription;
    + subscription++)
    + {
    + /* get variable descriptor */
    + struct_plcvar* my_var = &variable_table[*subscription];
    + char* next_cursor;
    + /* get variable size*/
    + USINT size = __get_type_enum_size(my_var->type);
    + /* compute next cursor positon*/
    + next_cursor = buffer_cursor + size;
    + /* if buffer not full */
    + if(next_cursor < debug_buffer + BUFFER_SIZE)
    + {
    + /* copy data to the buffer */
    + memcpy(buffer_cursor, my_var->ptrvalue, size);
    + /* increment cursor according size*/
    + buffer_cursor = next_cursor;
    + }else{
    + /*TODO : signal overflow*/
    + }
    + }
    +
    + /* Reset buffer cursor again (for IterDebugData)*/
    + buffer_cursor = debug_buffer;
    + subscription_cursor = subscription_table;
    +
    + /* Trigger asynchronous transmission (returns immediately) */
    + InitiateDebugTransfer(); /* size */
    + }
    +}
    +
    +void RegisterDebugVariable(int idx)
    +{
    + /*If subscription table not full */
    + if(latest_subscription - subscription_table < MAX_SUBSCRIBTION)
    + {
    + *(latest_subscription++) = idx;
    + /* TODO pre-calc buffer size and signal overflow*/
    + }else{
    + /*TODO : signal subscription overflow*/
    + }
    +}
    +
    +void ResetDebugVariables(void)
    +{
    + latest_subscription = subscription_table;
    +}
    +
    +void FreeDebugData()
    +{
    + /* atomically mark buffer as free */
    + long latest_state = AtomicCompareExchange(
    + &buffer_state,
    + BUFFER_BUSY,
    + BUFFER_FREE);
    +}
    +
    +void* IterDebugData(int* idx, const char **type_name)
    +{
    + if(subscription_cursor < latest_subscription){
    + *idx = *subscription_cursor;
    + struct_plcvar* my_var = &variable_table[*subscription_cursor++];
    + *type_name = __get_type_enum_name(my_var->type);
    + return my_var->ptrvalue;
    + }
    + return NULL;
    +}
    +