beremiz

Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.

2018-04-16, Edouard Tisserant
2e0fbdd152de
Parents 9b5c712f4488
Children cbf0a9ffc782
Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
2 files changed, 29 insertions(+), 9 deletions(-)
  • +8 -5
    runtime/PLCObject.py
  • +21 -4
    targets/Xenomai/plc_Xenomai_main.c
    • --- a/runtime/PLCObject.py Mon Apr 16 11:00:04 2018 +0200
    +++ b/runtime/PLCObject.py Mon Apr 16 16:11:18 2018 +0200
    @@ -459,10 +459,8 @@
    res, cmd, blkid = "None", "None", ctypes.c_void_p()
    compile_cache = {}
    while True:
    - # print "_PythonIterator(", res, ")",
    cmd = self._PythonIterator(res, blkid)
    FBID = blkid.value
    - # print " -> ", cmd, blkid
    if cmd is None:
    break
    try:
    @@ -655,13 +653,18 @@
    buff = ctypes.c_void_p()
    TraceBuffer = None
    if self.PLClibraryLock.acquire(False):
    - if self._GetDebugData(ctypes.byref(tick),
    - ctypes.byref(size),
    - ctypes.byref(buff)) == 0:
    + res = self._GetDebugData(ctypes.byref(tick),
    + ctypes.byref(size),
    + ctypes.byref(buff))
    + if res == 0:
    if size.value:
    TraceBuffer = ctypes.string_at(buff.value, size.value)
    self._FreeDebugData()
    self.PLClibraryLock.release()
    +
    + if res != 0:
    + break
    +
    if TraceBuffer is not None:
    self._TracesPush((tick.value, TraceBuffer))
    self._TracesAutoSuspend()
    --- a/targets/Xenomai/plc_Xenomai_main.c Mon Apr 16 11:00:04 2018 +0200
    +++ b/targets/Xenomai/plc_Xenomai_main.c Mon Apr 16 16:11:18 2018 +0200
    @@ -37,6 +37,15 @@
    #define PYTHON_PIPE_MINOR 3
    #define PIPE_SIZE 1
    +// rt-pipes commands
    +
    +#define PYTHON_PENDING_COMMAND 1
    +#define PYTHON_FINISH 2
    +
    +#define DEBUG_FINISH 2
    +
    +#define DEBUG_PENDING_DATA 1
    +#define DEBUG_UNLOCK 1
    long AtomicCompareExchange(long* atomicvar,long compared, long exchange)
    {
    @@ -82,6 +91,18 @@
    if (PLC_shutdown) break;
    rt_task_wait_period(NULL);
    }
    + /* since xenomai 3 it is not enough to close()
    + file descriptor to unblock read()... */
    + {
    + /* explicitely finish python thread */
    + char msg = PYTHON_FINISH;
    + rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);
    + }
    + {
    + /* explicitely finish debug thread */
    + char msg = DEBUG_FINISH;
    + rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);
    + }
    }
    static unsigned long __debug_tick;
    @@ -256,7 +277,6 @@
    return 0;
    }
    -#define DEBUG_UNLOCK 1
    void LeaveDebugSection(void)
    {
    if(AtomicCompareExchange( &debug_state,
    @@ -269,7 +289,6 @@
    extern unsigned long __tick;
    -#define DEBUG_PENDING_DATA 1
    int WaitDebugData(unsigned long *tick)
    {
    char cmd;
    @@ -319,8 +338,6 @@
    AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
    }
    -#define PYTHON_PENDING_COMMAND 1
    -
    #define PYTHON_FREE 0
    #define PYTHON_BUSY 1
    static long python_state = PYTHON_FREE;