103 inc_timespec(&next_abs_time, period_ns); |
106 inc_timespec(&next_abs_time, period_ns); |
104 } |
107 } |
105 pthread_exit(0); |
108 pthread_exit(0); |
106 } |
109 } |
107 |
110 |
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111 #define _LogError(text,...) \ |
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112 {\ |
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113 char mstr[256];\ |
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114 snprintf(mstr, 255, text, ##__VA_ARGS__);\ |
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115 LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\ |
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116 } |
108 #define maxval(a,b) ((a>b)?a:b) |
117 #define maxval(a,b) ((a>b)?a:b) |
109 int startPLC(int argc,char **argv) |
118 int startPLC(int argc,char **argv) |
110 { |
119 { |
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120 |
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121 int ret; |
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122 pthread_attr_t *pattr = NULL; |
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123 |
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124 #ifdef REALTIME_LINUX |
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125 struct sched_param param; |
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126 pthread_attr_t attr; |
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127 |
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128 /* Lock memory */ |
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129 ret = mlockall(MCL_CURRENT|MCL_FUTURE); |
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130 if(ret == -1) { |
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131 _LogError("mlockall failed: %m\n"); |
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132 return ret; |
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133 } |
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134 |
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135 /* Initialize pthread attributes (default values) */ |
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136 ret = pthread_attr_init(&attr); |
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137 if (ret) { |
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138 _LogError("init pthread attributes failed\n"); |
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139 return ret; |
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140 } |
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141 |
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142 /* Set scheduler policy and priority of pthread */ |
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143 ret = pthread_attr_setschedpolicy(&attr, SCHED_FIFO); |
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144 if (ret) { |
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145 _LogError("pthread setschedpolicy failed\n"); |
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146 return ret; |
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147 } |
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148 param.sched_priority = PLC_THREAD_PRIORITY; |
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149 ret = pthread_attr_setschedparam(&attr, ¶m); |
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150 if (ret) { |
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151 _LogError("pthread setschedparam failed\n"); |
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152 return ret; |
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153 } |
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154 |
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155 /* Use scheduling parameters of attr */ |
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156 ret = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED); |
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157 if (ret) { |
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158 _LogError("pthread setinheritsched failed\n"); |
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159 return ret; |
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160 } |
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161 |
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162 pattr = &attr; |
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163 #endif |
111 |
164 |
112 PLC_shutdown = 0; |
165 PLC_shutdown = 0; |
113 |
166 |
114 pthread_mutex_init(&debug_wait_mutex, NULL); |
167 pthread_mutex_init(&debug_wait_mutex, NULL); |
115 pthread_mutex_init(&debug_mutex, NULL); |
168 pthread_mutex_init(&debug_mutex, NULL); |
117 pthread_mutex_init(&python_mutex, NULL); |
170 pthread_mutex_init(&python_mutex, NULL); |
118 |
171 |
119 pthread_mutex_lock(&debug_wait_mutex); |
172 pthread_mutex_lock(&debug_wait_mutex); |
120 pthread_mutex_lock(&python_wait_mutex); |
173 pthread_mutex_lock(&python_wait_mutex); |
121 |
174 |
122 if( __init(argc,argv) == 0 ){ |
175 if((ret = __init(argc,argv)) == 0 ){ |
123 |
176 |
124 /* Signal to wakeup PLC thread when period changes */ |
177 /* Signal to wakeup PLC thread when period changes */ |
125 signal(SIGUSR1, PLCThreadSignalHandler); |
178 signal(SIGUSR1, PLCThreadSignalHandler); |
126 /* Signal to end PLC thread */ |
179 /* Signal to end PLC thread */ |
127 signal(SIGUSR2, PLCThreadSignalHandler); |
180 signal(SIGUSR2, PLCThreadSignalHandler); |
130 |
183 |
131 /* initialize next occurence and period */ |
184 /* initialize next occurence and period */ |
132 period_ns = common_ticktime__; |
185 period_ns = common_ticktime__; |
133 clock_gettime(CLOCK_MONOTONIC, &next_abs_time); |
186 clock_gettime(CLOCK_MONOTONIC, &next_abs_time); |
134 |
187 |
135 pthread_create(&PLC_thread, NULL, (void*) &PLC_thread_proc, NULL); |
188 ret = pthread_create(&PLC_thread, pattr, (void*) &PLC_thread_proc, NULL); |
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189 if (ret) { |
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190 _LogError("create pthread failed\n"); |
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191 return ret; |
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192 } |
136 }else{ |
193 }else{ |
137 return 1; |
194 return ret; |
138 } |
195 } |
139 return 0; |
196 return 0; |
140 } |
197 } |
141 |
198 |
142 int TryEnterDebugSection(void) |
199 int TryEnterDebugSection(void) |