beremiz

Replacing Debug rt_sem by rt_pipe

2009-05-04, greg
80e5876bc53b
Parents d3ae1f0e0220
Children fe2d1936b546
Replacing Debug rt_sem by rt_pipe
1 files changed, 63 insertions(+), 25 deletions(-)
  • +63 -25
    targets/Xenomai/plc_Xenomai_main.c
    • --- a/targets/Xenomai/plc_Xenomai_main.c Mon May 04 09:31:59 2009 +0200
    +++ b/targets/Xenomai/plc_Xenomai_main.c Mon May 04 10:12:35 2009 +0200
    @@ -8,18 +8,25 @@
    #include <signal.h>
    #include <stdlib.h>
    #include <sys/mman.h>
    +#include <sys/fcntl.h>
    #include <native/task.h>
    #include <native/timer.h>
    #include <native/mutex.h>
    #include <native/sem.h>
    +#include <native/pipe.h>
    unsigned int PLC_state = 0;
    #define PLC_STATE_TASK_CREATED 1
    #define PLC_STATE_PYTHON_MUTEX_CREATED 2
    #define PLC_STATE_PYTHON_WAIT_SEM_CREATED 4
    #define PLC_STATE_DEBUG_MUTEX_CREATED 8
    -#define PLC_STATE_DEBUG_WAIT_SEM_CREATED 16
    +#define PLC_STATE_DEBUG_FILE_OPENED 16
    +#define PLC_STATE_DEBUG_PIPE_CREATED 32
    +
    +#define WAITDEBUG_PIPE_DEVICE "/dev/rtp0"
    +#define WAITDEBUG_PIPE_MINOR 0
    +#define WAITDEBUG_PIPE_SIZE 500
    /* provided by POUS.C */
    extern int common_ticktime__;
    @@ -37,12 +44,16 @@
    }
    RT_TASK PLC_task;
    -RT_TASK WaitDebug_task;
    +RT_PIPE WaitDebug_pipe;
    +RT_TASK SuspendDebug_task;
    +RT_TASK ResumeDebug_task;
    RT_TASK WaitPythonCommand_task;
    RT_TASK UnLockPython_task;
    RT_TASK LockPython_task;
    int PLC_shutdown = 0;
    +int WaitDebug_pipe_fd = -1;
    +
    void PLC_SetTimer(long long next, long long period)
    {
    RTIME current_time = rt_timer_read();
    @@ -65,7 +76,6 @@
    RT_SEM python_wait_sem;
    RT_MUTEX python_mutex;
    -RT_SEM debug_wait_sem;
    RT_MUTEX debug_mutex;
    void PLC_cleanup_all(void)
    @@ -76,6 +86,7 @@
    }
    if (PLC_state & PLC_STATE_PYTHON_WAIT_SEM_CREATED) {
    + rt_sem_v(&python_wait_sem);
    rt_sem_delete(&python_wait_sem);
    PLC_state &= ~ PLC_STATE_PYTHON_WAIT_SEM_CREATED;
    }
    @@ -85,9 +96,14 @@
    PLC_state &= ~ PLC_STATE_PYTHON_MUTEX_CREATED;
    }
    - if (PLC_state & PLC_STATE_DEBUG_WAIT_SEM_CREATED) {
    - rt_sem_delete(&debug_wait_sem);
    - PLC_state &= ~ PLC_STATE_DEBUG_WAIT_SEM_CREATED;
    + if (PLC_state & PLC_STATE_DEBUG_PIPE_CREATED) {
    + rt_pipe_delete(&WaitDebug_pipe);
    + PLC_state &= ~PLC_STATE_DEBUG_PIPE_CREATED;
    + }
    +
    + if (PLC_state & PLC_STATE_DEBUG_FILE_OPENED) {
    + close(WaitDebug_pipe_fd);
    + PLC_state &= ~PLC_STATE_DEBUG_FILE_OPENED;
    }
    if (PLC_state & PLC_STATE_DEBUG_MUTEX_CREATED) {
    @@ -101,11 +117,9 @@
    PLC_shutdown = 1;
    /* Stop the PLC */
    PLC_SetTimer(0, 0);
    + __cleanup();
    PLC_cleanup_all();
    - __cleanup();
    __debug_tick = -1;
    - rt_sem_v(&debug_wait_sem);
    - rt_sem_v(&python_wait_sem);
    }
    //
    @@ -141,10 +155,19 @@
    if (ret) goto error;
    PLC_state |= PLC_STATE_PYTHON_MUTEX_CREATED;
    - /* create debug_wait_sem */
    - ret = rt_sem_create(&debug_wait_sem, "debug_wait_sem", 0, S_FIFO);
    + /* create WaitDebug_pipe */
    + ret = rt_pipe_create(&WaitDebug_pipe, "WaitDebug_pipe", WAITDEBUG_PIPE_MINOR,
    + WAITDEBUG_PIPE_SIZE * sizeof(char));
    if (ret) goto error;
    - PLC_state |= PLC_STATE_DEBUG_WAIT_SEM_CREATED;
    + PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED;
    +
    + /* open WaitDebug_pipe*/
    + WaitDebug_pipe_fd = open(WAITDEBUG_PIPE_DEVICE, O_RDWR);
    + if (WaitDebug_pipe_fd == -1) {
    + ret = -EBADF;
    + goto error;
    + }
    + PLC_state |= PLC_STATE_DEBUG_FILE_OPENED;
    /* create debug_mutex */
    ret = rt_mutex_create(&debug_mutex, "debug_mutex");
    @@ -184,9 +207,10 @@
    /* from plc_debugger.c */
    int WaitDebugData()
    {
    - rt_task_shadow(&WaitDebug_task, "WaitDebug_task", 0, 0);
    + char message;
    /* Wait signal from PLC thread */
    - rt_sem_p(&debug_wait_sem, TM_INFINITE);
    + if (PLC_state & PLC_STATE_DEBUG_FILE_OPENED)
    + read(WaitDebug_pipe_fd, &message, sizeof(char));
    return __debug_tick;
    }
    @@ -194,32 +218,42 @@
    * This is supposed to unlock debugger thread in WaitDebugData*/
    void InitiateDebugTransfer()
    {
    + char message = 1;
    /* remember tick */
    __debug_tick = __tick;
    /* signal debugger thread it can read data */
    - rt_sem_v(&debug_wait_sem);
    + if (PLC_state & PLC_STATE_DEBUG_PIPE_CREATED)
    + rt_pipe_write(&WaitDebug_pipe, &message, sizeof(char), P_NORMAL);
    }
    void suspendDebug(void)
    {
    __DEBUG = 0;
    - /* Prevent PLC to enter debug code */
    - rt_mutex_acquire(&debug_mutex, TM_INFINITE);
    + if (PLC_state & PLC_STATE_DEBUG_MUTEX_CREATED) {
    + rt_task_shadow(&SuspendDebug_task, "SuspendDebug_task", 0, 0);
    + /* Prevent PLC to enter debug code */
    + rt_mutex_acquire(&debug_mutex, TM_INFINITE);
    + }
    }
    void resumeDebug(void)
    {
    __DEBUG = 1;
    - /* Let PLC enter debug code */
    - rt_mutex_release(&debug_mutex);
    + if (PLC_state & PLC_STATE_DEBUG_MUTEX_CREATED) {
    + rt_task_shadow(&ResumeDebug_task, "ResumeDebug_task", 0, 0);
    + /* Let PLC enter debug code */
    + rt_mutex_release(&debug_mutex);
    + }
    }
    /* from plc_python.c */
    int WaitPythonCommands(void)
    {
    - rt_task_shadow(&WaitPythonCommand_task, "WaitPythonCommand_task", 0, 0);
    /* Wait signal from PLC thread */
    - rt_sem_p(&python_wait_sem, TM_INFINITE);
    + if (PLC_state & PLC_STATE_PYTHON_WAIT_SEM_CREATED) {
    + rt_task_shadow(&WaitPythonCommand_task, "WaitPythonCommand_task", 0, 0);
    + rt_sem_p(&python_wait_sem, TM_INFINITE);
    + }
    }
    /* Called by PLC thread on each new python command*/
    @@ -236,12 +270,16 @@
    void UnLockPython(void)
    {
    - rt_task_shadow(&UnLockPython_task, "UnLockPython_task", 0, 0);
    - rt_mutex_release(&python_mutex);
    + if (PLC_state & PLC_STATE_PYTHON_MUTEX_CREATED) {
    + rt_task_shadow(&UnLockPython_task, "UnLockPython_task", 0, 0);
    + rt_mutex_release(&python_mutex);
    + }
    }
    void LockPython(void)
    {
    - rt_task_shadow(&LockPython_task, "LockPython_task", 0, 0);
    - rt_mutex_acquire(&python_mutex, TM_INFINITE);
    + if (PLC_state & PLC_STATE_PYTHON_MUTEX_CREATED) {
    + rt_task_shadow(&LockPython_task, "LockPython_task", 0, 0);
    + rt_mutex_acquire(&python_mutex, TM_INFINITE);
    + }
    }