beremiz

Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
svghmi
2021-08-16, Edouard Tisserant
e3db472b0dfb
Parents d2b0c768755d
Children 0375d801fff7
Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
5 files changed, 200 insertions(+), 143 deletions(-)
  • +18 -2
    svghmi/svghmi.c
  • +47 -8
    targets/Linux/plc_Linux_main.c
  • +3 -3
    targets/Xenomai/__init__.py
  • +128 -130
    targets/Xenomai/plc_Xenomai_main.c
  • +4 -0
    targets/beremiz.h
    • --- a/svghmi/svghmi.c Thu Jul 29 11:59:28 2021 +0200
    +++ b/svghmi/svghmi.c Mon Aug 16 22:49:08 2021 +0200
    @@ -208,8 +208,17 @@
    return 0;
    }
    -void SVGHMI_SuspendFromPythonThread(void);
    -void SVGHMI_WakeupFromRTThread(void);
    +static void *svghmi_handle;
    +
    +void SVGHMI_SuspendFromPythonThread(void)
    +{
    + wait_RT_to_nRT_signal(svghmi_handle);
    +}
    +
    +void SVGHMI_WakeupFromRTThread(void)
    +{
    + unblock_RT_to_nRT_signal(svghmi_handle);
    +}
    int svghmi_continue_collect;
    @@ -220,6 +229,12 @@
    svghmi_continue_collect = 1;
    + /* create svghmi_pipe */
    + svghmi_handle = create_RT_to_nRT_signal("SVGHMI_pipe");
    +
    + if(!svghmi_handle)
    + return 1;
    +
    return 0;
    }
    @@ -227,6 +242,7 @@
    {
    svghmi_continue_collect = 0;
    SVGHMI_WakeupFromRTThread();
    + delete_RT_to_nRT_signal(svghmi_handle);
    }
    void __retrieve_svghmi()
    --- a/targets/Linux/plc_Linux_main.c Thu Jul 29 11:59:28 2021 +0200
    +++ b/targets/Linux/plc_Linux_main.c Mon Aug 16 22:49:08 2021 +0200
    @@ -239,14 +239,53 @@
    static pthread_cond_t svghmi_send_WakeCond = PTHREAD_COND_INITIALIZER;
    static pthread_mutex_t svghmi_send_WakeCondLock = PTHREAD_MUTEX_INITIALIZER;
    -void SVGHMI_SuspendFromPythonThread(void)
    -{
    - pthread_mutex_lock(&svghmi_send_WakeCondLock);
    - pthread_cond_wait(&svghmi_send_WakeCond, &svghmi_send_WakeCondLock);
    - pthread_mutex_unlock(&svghmi_send_WakeCondLock);
    +struct RT_to_nRT_signal_s {
    + pthread_cond_t WakeCond;
    + pthread_mutex_t WakeCondLock;
    +};
    +
    +typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t;
    +
    +#define _LogAndReturnNull(text) \
    + {\
    + char mstr[256] = text " for ";\
    + strncat(mstr, name, 255);\
    + LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\
    + return NULL;\
    + }
    +
    +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");
    +
    + pthread_cond_init(&sig->WakeCond, NULL);
    + pthread_mutex_init(&sig->WakeCondLock, NULL);
    +
    + return (void*)sig;
    }
    -void SVGHMI_WakeupFromRTThread(void)
    -{
    - pthread_cond_signal(&svghmi_send_WakeCond);
    +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);
    }
    +
    +int wait_RT_to_nRT_signal(void* handle){
    + int ret;
    + 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);
    + pthread_mutex_unlock(&sig->WakeCondLock);
    + return ret;
    +}
    +
    +int unblock_RT_to_nRT_signal(void* handle){
    + RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
    + return pthread_cond_signal(&sig->WakeCond);
    +}
    +
    --- a/targets/Xenomai/__init__.py Thu Jul 29 11:59:28 2021 +0200
    +++ b/targets/Xenomai/__init__.py Mon Aug 16 22:49:08 2021 +0200
    @@ -37,7 +37,7 @@
    if xeno_config:
    from util.ProcessLogger import ProcessLogger
    status, result, _err_result = ProcessLogger(self.CTRInstance.logger,
    - xeno_config + " --skin=posix --skin=alchemy --no-auto-init --"+flagsname,
    + xeno_config + " --skin=posix --skin=alchemy "+flagsname,
    no_stdout=True).spin()
    if status:
    self.CTRInstance.logger.write_error(_("Unable to get Xenomai's %s \n") % flagsname)
    @@ -45,9 +45,9 @@
    return []
    def getBuilderLDFLAGS(self):
    - xeno_ldflags = self.getXenoConfig("ldflags")
    + xeno_ldflags = self.getXenoConfig("--no-auto-init --ldflags")
    return toolchain_gcc.getBuilderLDFLAGS(self) + xeno_ldflags + ["-shared"]
    def getBuilderCFLAGS(self):
    - xeno_cflags = self.getXenoConfig("cflags")
    + xeno_cflags = self.getXenoConfig("--cflags")
    return toolchain_gcc.getBuilderCFLAGS(self) + xeno_cflags + ["-fPIC"]
    --- a/targets/Xenomai/plc_Xenomai_main.c Thu Jul 29 11:59:28 2021 +0200
    +++ b/targets/Xenomai/plc_Xenomai_main.c Mon Aug 16 22:49:08 2021 +0200
    @@ -18,27 +18,11 @@
    unsigned int PLC_state = 0;
    #define PLC_STATE_TASK_CREATED 1
    -#define PLC_STATE_DEBUG_FILE_OPENED 2
    -#define PLC_STATE_DEBUG_PIPE_CREATED 4
    -#define PLC_STATE_PYTHON_FILE_OPENED 8
    -#define PLC_STATE_PYTHON_PIPE_CREATED 16
    -#define PLC_STATE_WAITDEBUG_FILE_OPENED 32
    -#define PLC_STATE_WAITDEBUG_PIPE_CREATED 64
    -#define PLC_STATE_WAITPYTHON_FILE_OPENED 128
    -#define PLC_STATE_WAITPYTHON_PIPE_CREATED 256
    -#define PLC_STATE_SVGHMI_FILE_OPENED 512
    -#define PLC_STATE_SVGHMI_PIPE_CREATED 1024
    +#define PLC_STATE_DEBUG_PIPE_CREATED 2
    +#define PLC_STATE_PYTHON_PIPE_CREATED 8
    +#define PLC_STATE_WAITDEBUG_PIPE_CREATED 16
    +#define PLC_STATE_WAITPYTHON_PIPE_CREATED 32
    -#define WAITDEBUG_PIPE_DEVICE "/dev/rtp0"
    -#define WAITDEBUG_PIPE_MINOR 0
    -#define DEBUG_PIPE_DEVICE "/dev/rtp1"
    -#define DEBUG_PIPE_MINOR 1
    -#define WAITPYTHON_PIPE_DEVICE "/dev/rtp2"
    -#define WAITPYTHON_PIPE_MINOR 2
    -#define PYTHON_PIPE_DEVICE "/dev/rtp3"
    -#define PYTHON_PIPE_MINOR 3
    -#define SVGHMI_PIPE_DEVICE "/dev/rtp4"
    -#define SVGHMI_PIPE_MINOR 4
    #define PIPE_SIZE 1
    // rt-pipes commands
    @@ -68,16 +52,36 @@
    }
    RT_TASK PLC_task;
    -RT_PIPE WaitDebug_pipe;
    -RT_PIPE WaitPython_pipe;
    -RT_PIPE Debug_pipe;
    -RT_PIPE Python_pipe;
    -RT_PIPE svghmi_pipe;
    -int WaitDebug_pipe_fd;
    -int WaitPython_pipe_fd;
    -int Debug_pipe_fd;
    -int Python_pipe_fd;
    -int svghmi_pipe_fd;
    +void *WaitDebug_handle;
    +void *WaitPython_handle;
    +void *Debug_handle;
    +void *Python_handle;
    +void *svghmi_handle;
    +
    +struct RT_to_nRT_signal_s {
    + int used;
    + RT_PIPE pipe;
    + int pipe_fd;
    + char *name;
    +};
    +typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t;
    +
    +#define max_RT_to_nRT_signals 16
    +
    +static RT_to_nRT_signal_t RT_to_nRT_signal_pool[max_RT_to_nRT_signals];
    +
    +int recv_RT_to_nRT_signal(void* handle, char* payload){
    + RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
    + if(!sig->used) return -EINVAL;
    + return read(sig->pipe_fd, payload, 1);
    +}
    +
    +int send_RT_to_nRT_signal(void* handle, char payload){
    + RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
    + if(!sig->used) return -EINVAL;
    + return rt_pipe_write(&sig->pipe, &payload, 1, P_NORMAL);
    +}
    +
    int PLC_shutdown = 0;
    @@ -102,17 +106,85 @@
    {
    /* explicitely finish python thread */
    char msg = PYTHON_FINISH;
    - rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);
    + send_RT_to_nRT_signal(WaitPython_handle, msg);
    }
    {
    /* explicitely finish debug thread */
    char msg = DEBUG_FINISH;
    - rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);
    + send_RT_to_nRT_signal(WaitDebug_handle, msg);
    }
    }
    static unsigned long __debug_tick;
    +#define _LogAndReturnNull(text) \
    + {\
    + char mstr[256] = text " for ";\
    + strncat(mstr, name, 255);\
    + LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\
    + return NULL;\
    + }
    +
    +void *create_RT_to_nRT_signal(char* name){
    + int new_index = -1;
    + RT_to_nRT_signal_t *sig;
    + char pipe_dev[64];
    +
    + /* find a free slot */
    + for(int i=0; i < max_RT_to_nRT_signals; i++){
    + sig = &RT_to_nRT_signal_pool[i];
    + if(!sig->used){
    + new_index = i;
    + break;
    + }
    + }
    +
    + /* fail if none found */
    + if(new_index == -1) {
    + _LogAndReturnNull("Maximum count of RT-PIPE reached while creating pipe");
    + }
    +
    + /* create rt pipe */
    + if(rt_pipe_create(&sig->pipe, name, new_index, PIPE_SIZE) < 0){
    + _LogAndReturnNull("Failed opening real-time end of RT-PIPE");
    + }
    +
    + /* open pipe's userland */
    + snprintf(pipe_dev, 64, "/dev/rtp%d", new_index);
    + if((sig->pipe_fd = open(pipe_dev, O_RDWR)) == -1){
    + rt_pipe_delete(&sig->pipe);
    + _LogAndReturnNull("Failed opening non-real-time end of RT-PIPE");
    + }
    +
    + sig->used = 1;
    + sig->name = name;
    +
    + return sig;
    +}
    +
    +void delete_RT_to_nRT_signal(void* handle){
    + RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
    +
    + if(!sig->used) return;
    +
    + rt_pipe_delete(&sig->pipe);
    +
    + close(sig->pipe_fd);
    +
    + sig->used = 0;
    +}
    +
    +int wait_RT_to_nRT_signal(void* handle){
    + char cmd;
    + int ret = recv_RT_to_nRT_signal(handle, &cmd);
    + return (ret == 1) ? 0 : ((ret == 0) ? ENODATA : -ret);
    +}
    +
    +int unblock_RT_to_nRT_signal(void* handle){
    + int ret = send_RT_to_nRT_signal(handle, 0);
    + return (ret == 1) ? 0 : ((ret == 0) ? EINVAL : -ret);
    +}
    +
    void PLC_cleanup_all(void)
    {
    if (PLC_state & PLC_STATE_TASK_CREATED) {
    @@ -120,56 +192,25 @@
    PLC_state &= ~PLC_STATE_TASK_CREATED;
    }
    - if (PLC_state & PLC_STATE_SVGHMI_PIPE_CREATED) {
    - rt_pipe_delete(&svghmi_pipe);
    - PLC_state &= ~PLC_STATE_SVGHMI_PIPE_CREATED;
    - }
    -
    - if (PLC_state & PLC_STATE_SVGHMI_FILE_OPENED) {
    - close(svghmi_pipe_fd);
    - PLC_state &= ~PLC_STATE_SVGHMI_FILE_OPENED;
    - }
    -
    if (PLC_state & PLC_STATE_WAITDEBUG_PIPE_CREATED) {
    - rt_pipe_delete(&WaitDebug_pipe);
    + delete_RT_to_nRT_signal(WaitDebug_handle);
    PLC_state &= ~PLC_STATE_WAITDEBUG_PIPE_CREATED;
    }
    - if (PLC_state & PLC_STATE_WAITDEBUG_FILE_OPENED) {
    - close(WaitDebug_pipe_fd);
    - PLC_state &= ~PLC_STATE_WAITDEBUG_FILE_OPENED;
    - }
    -
    if (PLC_state & PLC_STATE_WAITPYTHON_PIPE_CREATED) {
    - rt_pipe_delete(&WaitPython_pipe);
    + delete_RT_to_nRT_signal(WaitPython_handle);
    PLC_state &= ~PLC_STATE_WAITPYTHON_PIPE_CREATED;
    }
    - if (PLC_state & PLC_STATE_WAITPYTHON_FILE_OPENED) {
    - close(WaitPython_pipe_fd);
    - PLC_state &= ~PLC_STATE_WAITPYTHON_FILE_OPENED;
    - }
    -
    if (PLC_state & PLC_STATE_DEBUG_PIPE_CREATED) {
    - rt_pipe_delete(&Debug_pipe);
    + delete_RT_to_nRT_signal(Debug_handle);
    PLC_state &= ~PLC_STATE_DEBUG_PIPE_CREATED;
    }
    - if (PLC_state & PLC_STATE_DEBUG_FILE_OPENED) {
    - close(Debug_pipe_fd);
    - PLC_state &= ~PLC_STATE_DEBUG_FILE_OPENED;
    - }
    -
    if (PLC_state & PLC_STATE_PYTHON_PIPE_CREATED) {
    - rt_pipe_delete(&Python_pipe);
    + delete_RT_to_nRT_signal(Python_handle);
    PLC_state &= ~PLC_STATE_PYTHON_PIPE_CREATED;
    }
    -
    - if (PLC_state & PLC_STATE_PYTHON_FILE_OPENED) {
    - close(Python_pipe_fd);
    - PLC_state &= ~PLC_STATE_PYTHON_FILE_OPENED;
    - }
    -
    }
    int stopPLC()
    @@ -213,59 +254,28 @@
    /* no memory swapping for that process */
    mlockall(MCL_CURRENT | MCL_FUTURE);
    +
    + /* memory initialization */
    PLC_shutdown = 0;
    -
    - /*** RT Pipes creation and opening ***/
    - /* create Debug_pipe */
    - if(rt_pipe_create(&Debug_pipe, "Debug_pipe", DEBUG_PIPE_MINOR, PIPE_SIZE) < 0)
    - _startPLCLog(FO "Debug_pipe real-time end");
    - PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED;
    + bzero(RT_to_nRT_signal_pool, sizeof(RT_to_nRT_signal_pool));
    - /* open Debug_pipe*/
    - if((Debug_pipe_fd = open(DEBUG_PIPE_DEVICE, O_RDWR)) == -1)
    - _startPLCLog(FO DEBUG_PIPE_DEVICE);
    - PLC_state |= PLC_STATE_DEBUG_FILE_OPENED;
    -
    + /*** RT Pipes ***/
    + /* create Debug_pipe */
    + if(Debug_handle = create_RT_to_nRT_signal("Debug_pipe")) goto error;
    + PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED;
    +
    /* create Python_pipe */
    - if(rt_pipe_create(&Python_pipe, "Python_pipe", PYTHON_PIPE_MINOR, PIPE_SIZE) < 0)
    - _startPLCLog(FO "Python_pipe real-time end");
    + if(Python_handle = create_RT_to_nRT_signal("Python_pipe")) goto error;
    PLC_state |= PLC_STATE_PYTHON_PIPE_CREATED;
    - /* open Python_pipe*/
    - if((Python_pipe_fd = open(PYTHON_PIPE_DEVICE, O_RDWR)) == -1)
    - _startPLCLog(FO PYTHON_PIPE_DEVICE);
    - PLC_state |= PLC_STATE_PYTHON_FILE_OPENED;
    -
    /* create WaitDebug_pipe */
    - if(rt_pipe_create(&WaitDebug_pipe, "WaitDebug_pipe", WAITDEBUG_PIPE_MINOR, PIPE_SIZE) < 0)
    - _startPLCLog(FO "WaitDebug_pipe real-time end");
    + if(WaitDebug_handle = create_RT_to_nRT_signal("WaitDebug_pipe")) goto error;
    PLC_state |= PLC_STATE_WAITDEBUG_PIPE_CREATED;
    - /* open WaitDebug_pipe*/
    - if((WaitDebug_pipe_fd = open(WAITDEBUG_PIPE_DEVICE, O_RDWR)) == -1)
    - _startPLCLog(FO WAITDEBUG_PIPE_DEVICE);
    - PLC_state |= PLC_STATE_WAITDEBUG_FILE_OPENED;
    -
    /* create WaitPython_pipe */
    - if(rt_pipe_create(&WaitPython_pipe, "WaitPython_pipe", WAITPYTHON_PIPE_MINOR, PIPE_SIZE) < 0)
    - _startPLCLog(FO "WaitPython_pipe real-time end");
    + if(WaitPython_handle = create_RT_to_nRT_signal("WaitPython_pipe")) goto error;
    PLC_state |= PLC_STATE_WAITPYTHON_PIPE_CREATED;
    - /* open WaitPython_pipe*/
    - if((WaitPython_pipe_fd = open(WAITPYTHON_PIPE_DEVICE, O_RDWR)) == -1)
    - _startPLCLog(FO WAITPYTHON_PIPE_DEVICE);
    - PLC_state |= PLC_STATE_WAITPYTHON_FILE_OPENED;
    -
    - /* create svghmi_pipe */
    - if(rt_pipe_create(&svghmi_pipe, "svghmi_pipe", SVGHMI_PIPE_MINOR, PIPE_SIZE) < 0)
    - _startPLCLog(FO "svghmi_pipe real-time end");
    - PLC_state |= PLC_STATE_SVGHMI_PIPE_CREATED;
    -
    - /* open svghmi_pipe*/
    - if((svghmi_pipe_fd = open(SVGHMI_PIPE_DEVICE, O_RDWR)) == -1)
    - _startPLCLog(FO SVGHMI_PIPE_DEVICE);
    - PLC_state |= PLC_STATE_SVGHMI_FILE_OPENED;
    -
    /*** create PLC task ***/
    if(rt_task_create(&PLC_task, "PLC_task", 0, 50, T_JOINABLE))
    _startPLCLog("Failed creating PLC task");
    @@ -309,7 +319,7 @@
    DEBUG_BUSY, DEBUG_FREE) == DEBUG_BUSY){
    char msg = DEBUG_UNLOCK;
    /* signal to NRT for wakeup */
    - rt_pipe_write(&Debug_pipe, &msg, sizeof(msg), P_NORMAL);
    + send_RT_to_nRT_signal(Debug_handle, msg);
    }
    }
    @@ -321,8 +331,8 @@
    int res;
    if (PLC_shutdown) return -1;
    /* Wait signal from PLC thread */
    - res = read(WaitDebug_pipe_fd, &cmd, sizeof(cmd));
    - if (res == sizeof(cmd) && cmd == DEBUG_PENDING_DATA){
    + recv_RT_to_nRT_signal(WaitDebug_handle, &cmd);
    + if (res == 1 && cmd == DEBUG_PENDING_DATA){
    *tick = __debug_tick;
    return 0;
    }
    @@ -337,7 +347,7 @@
    /* remember tick */
    __debug_tick = __tick;
    /* signal debugger thread it can read data */
    - rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);
    + send_RT_to_nRT_signal(WaitDebug_handle, msg);
    }
    int suspendDebug(int disable)
    @@ -349,7 +359,7 @@
    DEBUG_FREE,
    DEBUG_BUSY) != DEBUG_FREE &&
    cmd == DEBUG_UNLOCK){
    - if(read(Debug_pipe_fd, &cmd, sizeof(cmd)) != sizeof(cmd)){
    + if(recv_RT_to_nRT_signal(Debug_handle, &cmd) != 1){
    return -1;
    }
    }
    @@ -373,7 +383,7 @@
    char cmd;
    if (PLC_shutdown) return -1;
    /* Wait signal from PLC thread */
    - if(read(WaitPython_pipe_fd, &cmd, sizeof(cmd))==sizeof(cmd) && cmd==PYTHON_PENDING_COMMAND){
    + if(recv_RT_to_nRT_signal(WaitPython_handle, &cmd) == 1 && cmd==PYTHON_PENDING_COMMAND){
    return 0;
    }
    return -1;
    @@ -383,7 +393,7 @@
    void UnBlockPythonCommands(void)
    {
    char msg = PYTHON_PENDING_COMMAND;
    - rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);
    + send_RT_to_nRT_signal(WaitPython_handle, msg);
    }
    int TryLockPython(void)
    @@ -404,7 +414,7 @@
    PYTHON_FREE,
    PYTHON_BUSY) != PYTHON_FREE &&
    cmd == UNLOCK_PYTHON){
    - read(Python_pipe_fd, &cmd, sizeof(cmd));
    + recv_RT_to_nRT_signal(Python_handle, &cmd);
    }
    }
    @@ -416,23 +426,11 @@
    PYTHON_FREE) == PYTHON_BUSY){
    if(rt_task_self()){/*is that the real time task ?*/
    char cmd = UNLOCK_PYTHON;
    - rt_pipe_write(&Python_pipe, &cmd, sizeof(cmd), P_NORMAL);
    + send_RT_to_nRT_signal(Python_handle, cmd);
    }/* otherwise, no signaling from non real time */
    } /* as plc does not wait for lock. */
    }
    -void SVGHMI_SuspendFromPythonThread(void)
    -{
    - char cmd = 1; /*whatever*/
    - read(svghmi_pipe_fd, &cmd, sizeof(cmd));
    -}
    -
    -void SVGHMI_WakeupFromRTThread(void)
    -{
    - char cmd;
    - rt_pipe_write(&svghmi_pipe, &cmd, sizeof(cmd), P_NORMAL);
    -}
    -
    #ifndef HAVE_RETAIN
    int CheckRetainBuffer(void)
    {
    --- a/targets/beremiz.h Thu Jul 29 11:59:28 2021 +0200
    +++ b/targets/beremiz.h Mon Aug 16 22:49:08 2021 +0200
    @@ -26,5 +26,9 @@
    #endif
    long AtomicCompareExchange(long* atomicvar,long compared, long exchange);
    +void *create_RT_to_nRT_signal(char* name);
    +void delete_RT_to_nRT_signal(void* handle);
    +int wait_RT_to_nRT_signal(void* handle);
    +int unblock_RT_to_nRT_signal(void* handle);
    #endif