beremiz

Merged default in wxPython4 branch
wxPython4
2023-02-17, Edouard Tisserant
743a384f1bbb
Parents ad3a05cf2066265fc8001d0a
Children 1bd62761a8f6
Merged default in wxPython4 branch
1 files changed, 79 insertions(+), 65 deletions(-)
  • +79 -65
    targets/Linux/plc_Linux_main.c
    • --- a/targets/Linux/plc_Linux_main.c Tue Feb 14 19:46:27 2023 +0100
    +++ b/targets/Linux/plc_Linux_main.c Fri Feb 17 13:41:10 2023 +0100
    @@ -7,11 +7,20 @@
    #include <time.h>
    #include <signal.h>
    #include <stdlib.h>
    +#include <errno.h>
    #include <pthread.h>
    #include <locale.h>
    #include <semaphore.h>
    -static sem_t Run_PLC;
    +static unsigned long __debug_tick;
    +
    +static pthread_t PLC_thread;
    +static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER;
    +static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER;
    +static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER;
    +static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER;
    +
    +static int PLC_shutdown = 0;
    long AtomicCompareExchange(long* atomicvar,long compared, long exchange)
    {
    @@ -30,39 +39,34 @@
    CURRENT_TIME->tv_nsec = tmp.tv_nsec;
    }
    -void PLC_timer_notify(sigval_t val)
    +static long long period_ns = 0;
    +struct timespec next_abs_time;
    +
    +static void inc_timespec(struct timespec *ts, unsigned long long value_ns)
    {
    - PLC_GetTime(&__CURRENT_TIME);
    - sem_post(&Run_PLC);
    + long long next_ns = ((long long) ts->tv_sec * 1000000000) + ts->tv_nsec + value_ns;
    +#ifdef __lldiv_t_defined
    + lldiv_t next_div = lldiv(next_ns, 1000000000);
    + ts->tv_sec = next_div.quot;
    + ts->tv_nsec = next_div.rem;
    +#else
    + ts->tv_sec = next_ns / 1000000000;
    + ts->tv_nsec = next_ns % 1000000000;
    +#endif
    }
    -timer_t PLC_timer;
    -
    void PLC_SetTimer(unsigned long long next, unsigned long long period)
    {
    - struct itimerspec timerValues;
    - /*
    - printf("SetTimer(%lld,%lld)\n",next, period);
    - */
    - memset (&timerValues, 0, sizeof (struct itimerspec));
    - {
    -#ifdef __lldiv_t_defined
    - lldiv_t nxt_div = lldiv(next, 1000000000);
    - lldiv_t period_div = lldiv(period, 1000000000);
    - timerValues.it_value.tv_sec = nxt_div.quot;
    - timerValues.it_value.tv_nsec = nxt_div.rem;
    - timerValues.it_interval.tv_sec = period_div.quot;
    - timerValues.it_interval.tv_nsec = period_div.rem;
    -#else
    - timerValues.it_value.tv_sec = next / 1000000000;
    - timerValues.it_value.tv_nsec = next % 1000000000;
    - timerValues.it_interval.tv_sec = period / 1000000000;
    - timerValues.it_interval.tv_nsec = period % 1000000000;
    -#endif
    - }
    - timer_settime (PLC_timer, 0, &timerValues, NULL);
    + /*
    + printf("SetTimer(%lld,%lld)\n",next, period);
    + */
    + period_ns = period;
    + clock_gettime(CLOCK_MONOTONIC, &next_abs_time);
    + inc_timespec(&next_abs_time, next);
    + // interrupt clock_nanpsleep
    + pthread_kill(PLC_thread, SIGUSR1);
    }
    -//
    +
    void catch_signal(int sig)
    {
    // signal(SIGTERM, catch_signal);
    @@ -71,16 +75,11 @@
    exit(0);
    }
    -
    -static unsigned long __debug_tick;
    -
    -pthread_t PLC_thread;
    -static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER;
    -static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER;
    -static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER;
    -static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER;
    -
    -int PLC_shutdown = 0;
    +void PLCThreadSignalHandler(int sig)
    +{
    + if (sig == SIGUSR2)
    + pthread_exit(NULL);
    +}
    int ForceSaveRetainReq(void) {
    return PLC_shutdown;
    @@ -89,8 +88,19 @@
    void PLC_thread_proc(void *arg)
    {
    while (!PLC_shutdown) {
    - sem_wait(&Run_PLC);
    + // Sleep until next PLC run
    + // TODO check result of clock_nanosleep and wait again or exit eventually
    + int res = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_abs_time, NULL);
    + if(res==EINTR){
    + continue;
    + }
    + if(res!=0){
    + printf("PLC thread died with error %d \n", res);
    + return;
    + }
    + PLC_GetTime(&__CURRENT_TIME);
    __run();
    + inc_timespec(&next_abs_time, period_ns);
    }
    pthread_exit(0);
    }
    @@ -98,21 +108,10 @@
    #define maxval(a,b) ((a>b)?a:b)
    int startPLC(int argc,char **argv)
    {
    - struct sigevent sigev;
    setlocale(LC_NUMERIC, "C");
    PLC_shutdown = 0;
    - sem_init(&Run_PLC, 0, 0);
    -
    - pthread_create(&PLC_thread, NULL, (void*) &PLC_thread_proc, NULL);
    -
    - memset (&sigev, 0, sizeof (struct sigevent));
    - sigev.sigev_value.sival_int = 0;
    - sigev.sigev_notify = SIGEV_THREAD;
    - sigev.sigev_notify_attributes = NULL;
    - sigev.sigev_notify_function = PLC_timer_notify;
    -
    pthread_mutex_init(&debug_wait_mutex, NULL);
    pthread_mutex_init(&debug_mutex, NULL);
    pthread_mutex_init(&python_wait_mutex, NULL);
    @@ -121,12 +120,20 @@
    pthread_mutex_lock(&debug_wait_mutex);
    pthread_mutex_lock(&python_wait_mutex);
    - timer_create (CLOCK_MONOTONIC, &sigev, &PLC_timer);
    if( __init(argc,argv) == 0 ){
    - PLC_SetTimer(common_ticktime__,common_ticktime__);
    + /* Signal to wakeup PLC thread when period changes */
    + signal(SIGUSR1, PLCThreadSignalHandler);
    + /* Signal to end PLC thread */
    + signal(SIGUSR2, PLCThreadSignalHandler);
    /* install signal handler for manual break */
    signal(SIGINT, catch_signal);
    +
    + /* initialize next occurence and period */
    + period_ns = common_ticktime__;
    + clock_gettime(CLOCK_MONOTONIC, &next_abs_time);
    +
    + pthread_create(&PLC_thread, NULL, (void*) &PLC_thread_proc, NULL);
    }else{
    return 1;
    }
    @@ -154,11 +161,9 @@
    {
    /* Stop the PLC */
    PLC_shutdown = 1;
    - sem_post(&Run_PLC);
    - PLC_SetTimer(0,0);
    - pthread_join(PLC_thread, NULL);
    - sem_destroy(&Run_PLC);
    - timer_delete (PLC_timer);
    + /* Order PLCThread to exit */
    + pthread_kill(PLC_thread, SIGUSR2);
    + pthread_join(PLC_thread, NULL);
    __cleanup();
    pthread_mutex_destroy(&debug_wait_mutex);
    pthread_mutex_destroy(&debug_mutex);
    @@ -196,7 +201,7 @@
    /*__DEBUG is protected by this mutex */
    __DEBUG = !disable;
    if (disable)
    - pthread_mutex_unlock(&debug_mutex);
    + pthread_mutex_unlock(&debug_mutex);
    return 0;
    }
    @@ -237,6 +242,7 @@
    }
    struct RT_to_nRT_signal_s {
    + int used;
    pthread_cond_t WakeCond;
    pthread_mutex_t WakeCondLock;
    };
    @@ -245,7 +251,7 @@
    #define _LogAndReturnNull(text) \
    {\
    - char mstr[256] = text " for ";\
    + char mstr[256] = text " for ";\
    strncat(mstr, name, 255);\
    LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\
    return NULL;\
    @@ -254,9 +260,10 @@
    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");
    + if(!sig)
    + _LogAndReturnNull("Failed allocating memory for RT_to_nRT signal");
    + sig->used = 1;
    pthread_cond_init(&sig->WakeCond, NULL);
    pthread_mutex_init(&sig->WakeCondLock, NULL);
    @@ -266,10 +273,10 @@
    void delete_RT_to_nRT_signal(void* handle){
    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
    - pthread_cond_destroy(&sig->WakeCond);
    - pthread_mutex_destroy(&sig->WakeCondLock);
    -
    - free(sig);
    + pthread_mutex_lock(&sig->WakeCondLock);
    + sig->used = 0;
    + pthread_cond_signal(&sig->WakeCond);
    + pthread_mutex_unlock(&sig->WakeCondLock);
    }
    int wait_RT_to_nRT_signal(void* handle){
    @@ -277,7 +284,14 @@
    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
    pthread_mutex_lock(&sig->WakeCondLock);
    ret = pthread_cond_wait(&sig->WakeCond, &sig->WakeCondLock);
    + if(!sig->used) ret = -EINVAL;
    pthread_mutex_unlock(&sig->WakeCondLock);
    +
    + if(!sig->used){
    + pthread_cond_destroy(&sig->WakeCond);
    + pthread_mutex_destroy(&sig->WakeCondLock);
    + free(sig);
    + }
    return ret;
    }