beremiz

Xenomai runtime: fixed bugs introduced in e3db472b0dfb (RT->nRT wakeup) + other small typos
svghmi
2021-08-24, Edouard Tisserant
e6131894be1d
Parents 7e59bd180bc6
Children 8b45d8494fae
Xenomai runtime: fixed bugs introduced in e3db472b0dfb (RT->nRT wakeup) + other small typos
1 files changed, 13 insertions(+), 14 deletions(-)
  • +13 -14
    targets/Xenomai/plc_Xenomai_main.c
    • --- a/targets/Xenomai/plc_Xenomai_main.c Sat Aug 21 11:02:09 2021 +0200
    +++ b/targets/Xenomai/plc_Xenomai_main.c Tue Aug 24 11:12:41 2021 +0200
    @@ -18,12 +18,12 @@
    unsigned int PLC_state = 0;
    #define PLC_STATE_TASK_CREATED 1
    -#define PLC_STATE_DEBUG_PIPE_CREATED 2
    -#define PLC_STATE_PYTHON_PIPE_CREATED 8
    +#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 PIPE_SIZE 1
    +#define PIPE_SIZE 1
    // rt-pipes commands
    @@ -62,7 +62,7 @@
    int used;
    RT_PIPE pipe;
    int pipe_fd;
    - char *name;
    + char *name;
    };
    typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t;
    @@ -101,7 +101,7 @@
    if (PLC_shutdown) break;
    rt_task_wait_period(NULL);
    }
    - /* since xenomai 3 it is not enough to close()
    + /* since xenomai 3 it is not enough to close()
    file descriptor to unblock read()... */
    {
    /* explicitely finish python thread */
    @@ -258,26 +258,25 @@
    /* no memory swapping for that process */
    mlockall(MCL_CURRENT | MCL_FUTURE);
    -
    /* memory initialization */
    PLC_shutdown = 0;
    bzero(RT_to_nRT_signal_pool, sizeof(RT_to_nRT_signal_pool));
    /*** RT Pipes ***/
    /* create Debug_pipe */
    - if(Debug_handle = create_RT_to_nRT_signal("Debug_pipe")) goto error;
    + if(!(Debug_handle = create_RT_to_nRT_signal("Debug_pipe"))) goto error;
    PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED;
    -
    +
    /* create Python_pipe */
    - if(Python_handle = create_RT_to_nRT_signal("Python_pipe")) goto error;
    + if(!(Python_handle = create_RT_to_nRT_signal("Python_pipe"))) goto error;
    PLC_state |= PLC_STATE_PYTHON_PIPE_CREATED;
    /* create WaitDebug_pipe */
    - if(WaitDebug_handle = create_RT_to_nRT_signal("WaitDebug_pipe")) goto error;
    + if(!(WaitDebug_handle = create_RT_to_nRT_signal("WaitDebug_pipe"))) goto error;
    PLC_state |= PLC_STATE_WAITDEBUG_PIPE_CREATED;
    /* create WaitPython_pipe */
    - if(WaitPython_handle = create_RT_to_nRT_signal("WaitPython_pipe")) goto error;
    + if(!(WaitPython_handle = create_RT_to_nRT_signal("WaitPython_pipe"))) goto error;
    PLC_state |= PLC_STATE_WAITPYTHON_PIPE_CREATED;
    /*** create PLC task ***/
    @@ -319,7 +318,7 @@
    void LeaveDebugSection(void)
    {
    - if(AtomicCompareExchange( &debug_state,
    + if(AtomicCompareExchange( &debug_state,
    DEBUG_BUSY, DEBUG_FREE) == DEBUG_BUSY){
    char msg = DEBUG_UNLOCK;
    /* signal to NRT for wakeup */
    @@ -335,7 +334,7 @@
    int res;
    if (PLC_shutdown) return -1;
    /* Wait signal from PLC thread */
    - recv_RT_to_nRT_signal(WaitDebug_handle, &cmd);
    + res = recv_RT_to_nRT_signal(WaitDebug_handle, &cmd);
    if (res == 1 && cmd == DEBUG_PENDING_DATA){
    *tick = __debug_tick;
    return 0;
    @@ -383,7 +382,7 @@
    static long python_state = PYTHON_FREE;
    int WaitPythonCommands(void)
    -{
    +{
    char cmd;
    if (PLC_shutdown) return -1;
    /* Wait signal from PLC thread */