beremiz

Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.

2009-04-10, greg
ae3488c79283
Parents c5f3f71e7260
Children 9d1d9323374a
Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
4 files changed, 45 insertions(+), 37 deletions(-)
  • +2 -1
    plugins/canfestival/canfestival.py
  • +26 -21
    plugins/canfestival/cf_runtime.c
  • +3 -1
    runtime/PLCObject.py
  • +14 -14
    targets/Xenomai/plc_Xenomai_main.c
    • --- a/plugins/canfestival/canfestival.py Fri Apr 10 07:53:42 2009 +0200
    +++ b/plugins/canfestival/canfestival.py Fri Apr 10 07:55:55 2009 +0200
    @@ -278,6 +278,7 @@
    "board_decls" : "",
    "nodes_init" : "",
    "nodes_open" : "",
    + "nodes_stop" : "",
    "nodes_close" : "",
    "nodes_send_sync" : "",
    "nodes_proceed_sync" : "",
    @@ -361,7 +362,7 @@
    child_data.getCAN_Baudrate())
    format_dict["nodes_open"] += 'NODE_OPEN(%s)\n '%(nodename)
    format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n '%(nodename)
    -
    + format_dict["nodes_stop"] += 'NODE_STOP(%s)\n '%(nodename)
    if sys.platform == 'win32':
    if self.CanFestivalInstance.getDebug_mode() and os.path.isfile(os.path.join("%s"%(format_dict["candriver"] + '_DEBUG.dll'))):
    format_dict["candriver"] += '_DEBUG.dll'
    --- a/plugins/canfestival/cf_runtime.c Fri Apr 10 07:53:42 2009 +0200
    +++ b/plugins/canfestival/cf_runtime.c Fri Apr 10 07:55:55 2009 +0200
    @@ -20,7 +20,7 @@
    {
    /* Put the master in operational mode */
    setState(d, Operational);
    -
    +
    /* Ask slave node to go in operational mode */
    masterSendNMTstateChange (d, 0, NMT_Start_Node);
    }
    @@ -30,7 +30,7 @@
    %(slavebootups)s
    /* One slave node post_sync callback.
    - * Used to align PLC tick-time on CANopen SYNC
    + * Used to align PLC tick-time on CANopen SYNC
    */
    %(post_sync)s
    @@ -48,42 +48,47 @@
    setState(&nodename##_Data, Initialisation);
    #define NODE_MASTER_INIT(nodename, nodeid) \
    - NODE_FORCE_SYNC(nodename) \
    - NODE_INIT(nodename, nodeid)
    + NODE_FORCE_SYNC(nodename) \
    + NODE_INIT(nodename, nodeid)
    #define NODE_SLAVE_INIT(nodename, nodeid) \
    - NODE_INIT(nodename, nodeid)
    + NODE_INIT(nodename, nodeid)
    void InitNodes(CO_Data* d, UNS32 id)
    {
    - %(slavebootup_register)s
    - %(post_sync_register)s
    + %(slavebootup_register)s
    + %(post_sync_register)s
    %(nodes_init)s
    }
    +#define NODE_STOP(nodename) \
    + if(init_level-- > 0)\
    + {\
    + masterSendNMTstateChange(&nodename##_Data, 0, NMT_Reset_Node);\
    + setState(&nodename##_Data, Stopped);\
    + }
    +
    void Exit(CO_Data* d, UNS32 id)
    {
    + %(nodes_stop)s
    }
    #define NODE_CLOSE(nodename) \
    - if(init_level-- > 0)\
    + if(init_level_c-- > 0)\
    {\
    - EnterMutex();\
    - masterSendNMTstateChange(&nodename##_Data, 0, NMT_Reset_Node);\
    - setState(&nodename##_Data, Stopped);\
    - LeaveMutex();\
    - canClose(&nodename##_Data);\
    + canClose(&nodename##_Data);\
    }
    void __cleanup_%(locstr)s()
    {
    // Stop timer thread
    if(init_level-- > 0){
    + int init_level_c = init_level;
    StopTimerLoop(&Exit);
    %(nodes_close)s
    - }
    + }
    #if !defined(WIN32) || defined(__CYGWIN__)
    - TimerCleanup();
    + TimerCleanup();
    #endif
    }
    @@ -104,11 +109,11 @@
    fflush(stderr);
    return -1;
    }
    -#endif
    - #if !defined(WIN32) || defined(__CYGWIN__)
    - TimerInit();
    - #endif
    -
    +#endif
    + #if !defined(WIN32) || defined(__CYGWIN__)
    + TimerInit();
    + #endif
    +
    %(nodes_open)s
    // Start timer thread
    @@ -123,7 +128,7 @@
    void __retrieve_%(locstr)s()
    {
    /* Locks the stack, so that no changes occurs while PLC access variables
    - * TODO : implement buffers to avoid such a big lock
    + * TODO : implement buffers to avoid such a big lock
    * */
    EnterMutex();
    /* Send Sync */
    --- a/runtime/PLCObject.py Fri Apr 10 07:53:42 2009 +0200
    +++ b/runtime/PLCObject.py Fri Apr 10 07:55:55 2009 +0200
    @@ -226,7 +226,9 @@
    runtime_begin()
    def FinishRuntimePy(self):
    - runtime_cleanup = self.python_threads_vars.get("_runtime_cleanup",None)
    + runtime_cleanup = None
    + if self.python_threads_vars is not None:
    + runtime_cleanup = self.python_threads_vars.get("_runtime_cleanup",None)
    if runtime_cleanup is not None:
    runtime_cleanup()
    if self.hmi_frame is not None:
    --- a/targets/Xenomai/plc_Xenomai_main.c Fri Apr 10 07:53:42 2009 +0200
    +++ b/targets/Xenomai/plc_Xenomai_main.c Fri Apr 10 07:55:55 2009 +0200
    @@ -1,6 +1,6 @@
    /**
    * Linux specific code
    - **/
    + **/
    #include <stdio.h>
    #include <string.h>
    @@ -52,7 +52,7 @@
    void PLC_task_proc(void *arg)
    {
    PLC_SetTimer(Ttick, Ttick);
    -
    +
    while (1) {
    PLC_GetTime(&__CURRENT_TIME);
    __run();
    @@ -84,7 +84,7 @@
    rt_mutex_delete(&python_mutex);
    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;
    @@ -122,40 +122,40 @@
    int startPLC(int argc,char **argv)
    {
    int ret = 0;
    -
    +
    signal(SIGINT, catch_signal);
    -
    +
    /* ne-memory-swapping for this program */
    mlockall(MCL_CURRENT | MCL_FUTURE);
    -
    +
    /* Translate PLC's microseconds to Ttick nanoseconds */
    Ttick = 1000000 * max_val(common_ticktime__,1);
    -
    +
    /* create python_wait_sem */
    ret = rt_sem_create(&python_wait_sem, "python_wait_sem", 0, S_FIFO);
    if (ret) goto error;
    PLC_state |= PLC_STATE_PYTHON_WAIT_SEM_CREATED;
    -
    +
    /* create python_mutex */
    ret = rt_mutex_create(&python_mutex, "python_mutex");
    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);
    if (ret) goto error;
    PLC_state |= PLC_STATE_DEBUG_WAIT_SEM_CREATED;
    -
    +
    /* create debug_mutex */
    ret = rt_mutex_create(&debug_mutex, "debug_mutex");
    if (ret) goto error;
    PLC_state |= PLC_STATE_DEBUG_MUTEX_CREATED;
    -
    +
    /* create can_driver_task */
    ret = rt_task_create(&PLC_task, "PLC_task", 0, 50, 0);
    if (ret) goto error;
    PLC_state |= PLC_STATE_TASK_CREATED;
    -
    +
    ret = __init(argc,argv);
    if (ret) goto error;
    @@ -189,7 +189,7 @@
    rt_sem_p(&debug_wait_sem, TM_INFINITE);
    return __debug_tick;
    }
    -
    +
    /* Called by PLC thread when debug_publish finished
    * This is supposed to unlock debugger thread in WaitDebugData*/
    void InitiateDebugTransfer()
    @@ -221,7 +221,7 @@
    /* Wait signal from PLC thread */
    rt_sem_p(&python_wait_sem, TM_INFINITE);
    }
    -
    +
    /* Called by PLC thread on each new python command*/
    void UnBlockPythonCommands(void)
    {