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powerlink: run the basic part of demo_cn_console

This commit is contained in:
Jiacheng Shi 2022-03-27 22:47:28 +08:00
parent 68179bec6c
commit 458a7c5d91
12 changed files with 58 additions and 773 deletions
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5
APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/common/src/netselect/netselect.c
View File

@ -128,10 +128,15 @@ int netselect_selectNetworkInterface(char* pDevName_p, size_t maxLen_p)
printf("--------------------------------------------------\n"); printf("--------------------------------------------------\n");
printf("Select the interface to be used for POWERLINK (1-%u):", (unsigned int)i); printf("Select the interface to be used for POWERLINK (1-%u):", (unsigned int)i);
#ifdef __XIUOS__
printf("1\n");
num = 1;
#else
if (scanf("%u", &num) == EOF) if (scanf("%u", &num) == EOF)
{ {
return -1; return -1;
} }
#endif
printf("--------------------------------------------------\n"); printf("--------------------------------------------------\n");
if ((num < 1) || (num > i)) if ((num < 1) || (num > i))

5
APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/demo_cn_console/src/main.c
View File

@ -387,6 +387,11 @@ static void loopMain(void)
// wait for key hit // wait for key hit
while (!fExit) while (!fExit)
{ {
#ifdef __XIUOS__
ret = oplk_process();
if (ret != kErrorOk)
return;
#endif
if (console_kbhit()) if (console_kbhit())
{ {
cKey = (char)console_getch(); cKey = (char)console_getch();

5
APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/demo_mn_console/src/main.c
View File

@ -421,6 +421,11 @@ static void loopMain(void)
while (!fExit) while (!fExit)
{ {
#ifdef __XIUOS__
ret = oplk_process();
if (ret != kErrorOk)
return;
#endif
if (console_kbhit()) if (console_kbhit())
{ {
cKey = (char)console_getch(); cKey = (char)console_getch();

8
APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/contrib/console/console-xiuos.c
View File

@ -11,6 +11,7 @@ This file contains the console input/output implementation for XiUOS.
/*------------------------------------------------------------------------------ /*------------------------------------------------------------------------------
Copyright (c) 2016, B&R Industrial Automation GmbH Copyright (c) 2016, B&R Industrial Automation GmbH
Copyright (c) 2020, AIIT XUOS Lab
All rights reserved. All rights reserved.
Redistribution and use in source and binary forms, with or without Redistribution and use in source and binary forms, with or without
@ -42,6 +43,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <stdio.h> #include <stdio.h>
#include <unistd.h> #include <unistd.h>
#include <fcntl.h> #include <fcntl.h>
// #include <strings.h>
#include <xsconfig.h>
//============================================================================// //============================================================================//
// P U B L I C F U N C T I O N S // // P U B L I C F U N C T I O N S //
@ -61,7 +65,7 @@ termios library.
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
int console_getch(void) int console_getch(void)
{ {
return getchar(); return 'p';
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
@ -78,5 +82,5 @@ The function checks the console for a keystroke.
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
int console_kbhit(void) int console_kbhit(void)
{ {
return 1; return 0;
} }

10
APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/stack/cmake/stackfiles.cmake
View File

@ -221,11 +221,6 @@ SET(EVENT_UCAL_LINUXUSER_SOURCES
${USER_SOURCE_DIR}/event/eventucalintf-circbuf.c ${USER_SOURCE_DIR}/event/eventucalintf-circbuf.c
) )
SET(EVENT_UCAL_XIUOS_SOURCES
${USER_SOURCE_DIR}/event/eventucal-xiuos.c
${USER_SOURCE_DIR}/event/eventucalintf-circbuf.c
)
SET(EVENT_UCAL_LINUXIOCTL_SOURCES SET(EVENT_UCAL_LINUXIOCTL_SOURCES
${USER_SOURCE_DIR}/event/eventucal-linuxioctl.c ${USER_SOURCE_DIR}/event/eventucal-linuxioctl.c
) )
@ -402,11 +397,6 @@ SET(EVENT_KCAL_WINDOWS_SOURCES
${KERNEL_SOURCE_DIR}/event/eventkcalintf-circbuf.c ${KERNEL_SOURCE_DIR}/event/eventkcalintf-circbuf.c
) )
SET(EVENT_KCAL_XIUOS_SOURCES
${KERNEL_SOURCE_DIR}/event/eventkcal-xiuos.c
${KERNEL_SOURCE_DIR}/event/eventkcalintf-circbuf.c
)
SET(EVENT_KCAL_LINUXKERNEL_SOURCES SET(EVENT_KCAL_LINUXKERNEL_SOURCES
${KERNEL_SOURCE_DIR}/event/eventkcal-linuxkernel.c ${KERNEL_SOURCE_DIR}/event/eventkcal-linuxkernel.c
${KERNEL_SOURCE_DIR}/event/eventkcalintf-circbuf.c ${KERNEL_SOURCE_DIR}/event/eventkcalintf-circbuf.c

4
APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/stack/proj/xiuos/liboplkcn/CMakeLists.txt
View File

@ -46,14 +46,14 @@ SET (LIB_SOURCES
${CTRL_UCAL_DIRECT_SOURCES} ${CTRL_UCAL_DIRECT_SOURCES}
${DLL_UCAL_CIRCBUF_SOURCES} ${DLL_UCAL_CIRCBUF_SOURCES}
${ERRHND_UCAL_LOCAL_SOURCES} ${ERRHND_UCAL_LOCAL_SOURCES}
${EVENT_UCAL_XIUOS_SOURCES} ${EVENT_UCAL_NOOSKERNEL_SOURCES}
${PDO_UCAL_LOCAL_SOURCES} ${PDO_UCAL_LOCAL_SOURCES}
${USER_TIMER_XIUOS_SOURCES} ${USER_TIMER_XIUOS_SOURCES}
${KERNEL_SOURCES} ${KERNEL_SOURCES}
${CTRL_KCAL_DIRECT_SOURCES} ${CTRL_KCAL_DIRECT_SOURCES}
${DLL_KCAL_CIRCBUF_SOURCES} ${DLL_KCAL_CIRCBUF_SOURCES}
${ERRHND_KCAL_LOCAL_SOURCES} ${ERRHND_KCAL_LOCAL_SOURCES}
${EVENT_KCAL_XIUOS_SOURCES} ${EVENT_KCAL_NOOSKERNEL_SOURCES}
${PDO_KCAL_LOCAL_SOURCES} ${PDO_KCAL_LOCAL_SOURCES}
${COMMON_SOURCES} ${COMMON_SOURCES}
${COMMON_LINUXUSER_SOURCES} ${COMMON_LINUXUSER_SOURCES}

13
APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/stack/proj/xiuos/liboplkcn/oplkcfg.h
View File

@ -131,4 +131,17 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// SDO module specific defines // SDO module specific defines
//============================================================================== //==============================================================================
//==============================================================================
// Circular buffer specific defines
//==============================================================================
#define CONFIG_EVENT_SIZE_CIRCBUF_KERNEL_TO_USER 2048
#define CONFIG_EVENT_SIZE_CIRCBUF_USER_TO_KERNEL 2048
#define CONFIG_EVENT_SIZE_CIRCBUF_KERNEL_INTERNAL 2048
#define CONFIG_EVENT_SIZE_CIRCBUF_USER_INTERNAL 2048
#define CONFIG_DLLCAL_BUFFER_SIZE_TX_NMT 2047
#define CONFIG_DLLCAL_BUFFER_SIZE_TX_GEN 2047
#define CONFIG_DLLCAL_BUFFER_SIZE_TX_VETH 2048
#define CONFIG_DLLCAL_BUFFER_SIZE_TX_SYNC 2048
#endif // _INC_oplkcfg_H_ #endif // _INC_oplkcfg_H_

4
APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/stack/proj/xiuos/liboplkmn/CMakeLists.txt
View File

@ -47,14 +47,14 @@ SET (LIB_SOURCES
${CTRL_UCAL_DIRECT_SOURCES} ${CTRL_UCAL_DIRECT_SOURCES}
${DLL_UCAL_CIRCBUF_SOURCES} ${DLL_UCAL_CIRCBUF_SOURCES}
${ERRHND_UCAL_LOCAL_SOURCES} ${ERRHND_UCAL_LOCAL_SOURCES}
${EVENT_UCAL_XIUOS_SOURCES} ${EVENT_UCAL_NOOSKERNEL_SOURCES}
${PDO_UCAL_LOCAL_SOURCES} ${PDO_UCAL_LOCAL_SOURCES}
${USER_TIMER_XIUOS_SOURCES} ${USER_TIMER_XIUOS_SOURCES}
${KERNEL_SOURCES} ${KERNEL_SOURCES}
${CTRL_KCAL_DIRECT_SOURCES} ${CTRL_KCAL_DIRECT_SOURCES}
${DLL_KCAL_CIRCBUF_SOURCES} ${DLL_KCAL_CIRCBUF_SOURCES}
${ERRHND_KCAL_LOCAL_SOURCES} ${ERRHND_KCAL_LOCAL_SOURCES}
${EVENT_KCAL_XIUOS_SOURCES} ${EVENT_KCAL_NOOSKERNEL_SOURCES}
${PDO_KCAL_LOCAL_SOURCES} ${PDO_KCAL_LOCAL_SOURCES}
${COMMON_SOURCES} ${COMMON_SOURCES}
${COMMON_LINUXUSER_SOURCES} ${COMMON_LINUXUSER_SOURCES}

8
APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/stack/proj/xiuos/liboplkmn/oplkcfg.h
View File

@ -138,4 +138,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define CONFIG_SDO_MAX_CONNECTION_COM 100 #define CONFIG_SDO_MAX_CONNECTION_COM 100
#define CONFIG_SDO_MAX_CONNECTION_UDP 50 #define CONFIG_SDO_MAX_CONNECTION_UDP 50
//==============================================================================
// Circular buffer specific defines
//==============================================================================
#define CONFIG_EVENT_SIZE_CIRCBUF_KERNEL_TO_USER 2048
#define CONFIG_EVENT_SIZE_CIRCBUF_USER_TO_KERNEL 2048
#define CONFIG_EVENT_SIZE_CIRCBUF_KERNEL_INTERNAL 2048
#define CONFIG_EVENT_SIZE_CIRCBUF_USER_INTERNAL 2048
#endif // _INC_oplkcfg_H_ #endif // _INC_oplkcfg_H_

13
APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/stack/src/arch/xiuos/netif-xiuos.c
View File

@ -110,7 +110,18 @@ tOplkError target_enumerateNetworkInterfaces(tNetIfId* pInterfaces_p,
{ {
UNUSED_PARAMETER(pInterfaces_p); UNUSED_PARAMETER(pInterfaces_p);
UNUSED_PARAMETER(pNoInterfaces_p); UNUSED_PARAMETER(pNoInterfaces_p);
return kErrorApiNotSupported;
if (*pNoInterfaces_p == 0)
return kErrorOk;
memset(pInterfaces_p[0].aMacAddress, 0,
sizeof(pInterfaces_p[0].aMacAddress));
strcpy(pInterfaces_p[0].aDeviceName, "eth0");
strcpy(pInterfaces_p[0].aDeviceDescription, "eth0");
*pNoInterfaces_p = 1;
return kErrorOk;
} }
//============================================================================// //============================================================================//

377
APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/stack/src/kernel/event/eventkcal-xiuos.c
View File

@ -1,377 +0,0 @@
/**
********************************************************************************
\file eventkcal-linux.c
\brief Kernel event CAL module for Linux userspace
This file implements the kernel event handler CAL module for the Linux
userspace platform. It uses the circular buffer interface for all event queues.
\see eventkcalintf-circbuf.c
\ingroup module_eventkcal
*******************************************************************************/
/*------------------------------------------------------------------------------
Copyright (c) 2016, B&R Industrial Automation GmbH
Copyright (c) 2020, AIIT XUOS Lab
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the copyright holders nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
------------------------------------------------------------------------------*/
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
#include <common/oplkinc.h>
#include <kernel/eventkcal.h>
#include <kernel/eventkcalintf.h>
#include <common/target.h>
#include <time.h>
#include <fcntl.h>
#include <pthread.h>
#include <semaphore.h>
#include <common/target.h>
//============================================================================//
// G L O B A L D E F I N I T I O N S //
//============================================================================//
//------------------------------------------------------------------------------
// const defines
//------------------------------------------------------------------------------
#define KERNEL_EVENT_THREAD_PRIORITY 55
//------------------------------------------------------------------------------
// module global vars
//------------------------------------------------------------------------------
//------------------------------------------------------------------------------
// global function prototypes
//------------------------------------------------------------------------------
//============================================================================//
// P R I V A T E D E F I N I T I O N S //
//============================================================================//
//------------------------------------------------------------------------------
// const defines
//------------------------------------------------------------------------------
//------------------------------------------------------------------------------
// local types
//------------------------------------------------------------------------------
/**
\brief Kernel event CAL instance type
The structure contains all necessary information needed by the kernel event
CAL module.
*/
typedef struct
{
pthread_t threadId;
BOOL fStopThread;
sem_t semUserData;
sem_t semKernelData;
BOOL fInitialized;
} tEventkCalInstance;
//------------------------------------------------------------------------------
// local vars
//------------------------------------------------------------------------------
static tEventkCalInstance instance_l; ///< Instance variable of kernel event CAL module
//------------------------------------------------------------------------------
// local function prototypes
//------------------------------------------------------------------------------
static void* eventThread(void* arg);
static void signalKernelEvent(void);
static void signalUserEvent(void);
//============================================================================//
// P U B L I C F U N C T I O N S //
//============================================================================//
//------------------------------------------------------------------------------
/**
\brief Initialize kernel event CAL module
The function initializes the kernel event CAL module on Linux.
\return The function returns a tOplkError error code.
\retval kErrorOk Function executes correctly
\retval other error codes An error occurred
\ingroup module_eventkcal
*/
//------------------------------------------------------------------------------
tOplkError eventkcal_init(void)
{
struct sched_param schedParam;
OPLK_MEMSET(&instance_l, 0, sizeof(tEventkCalInstance));
if (sem_init(&instance_l.semUserData, 0, 0) < 0)
goto Exit;
if (sem_init(&instance_l.semKernelData, 0, 0) < 0)
goto Exit;
if (eventkcal_initQueueCircbuf(kEventQueueK2U) != kErrorOk)
goto Exit;
if (eventkcal_initQueueCircbuf(kEventQueueU2K) != kErrorOk)
goto Exit;
if (eventkcal_initQueueCircbuf(kEventQueueKInt) != kErrorOk)
goto Exit;
eventkcal_setSignalingCircbuf(kEventQueueK2U, signalUserEvent);
eventkcal_setSignalingCircbuf(kEventQueueKInt, signalKernelEvent);
instance_l.fStopThread = FALSE;
if (pthread_create(&instance_l.threadId, NULL, eventThread, (void*)&instance_l) != 0)
goto Exit;
schedParam.sched_priority = KERNEL_EVENT_THREAD_PRIORITY;
if (pthread_setschedparam(instance_l.threadId, SCHED_FIFO, &schedParam) != 0)
{
DEBUG_LVL_ERROR_TRACE("%s(): couldn't set thread scheduling parameters! %d\n",
__func__,
schedParam.sched_priority);
}
#if (defined(__GLIBC__) && __GLIBC__ >= 2 && __GLIBC_MINOR__ >= 12)
pthread_setname_np(instance_l.threadId, "oplk-eventk");
#endif
instance_l.fInitialized = TRUE;
return kErrorOk;
Exit:
if (instance_l.semUserData >= 0)
sem_destroy(&instance_l.semUserData);
if (instance_l.semKernelData >= 0)
sem_destroy(&instance_l.semKernelData);
eventkcal_exitQueueCircbuf(kEventQueueK2U);
eventkcal_exitQueueCircbuf(kEventQueueU2K);
eventkcal_exitQueueCircbuf(kEventQueueKInt);
return kErrorNoResource;
}
//------------------------------------------------------------------------------
/**
\brief Clean up kernel event CAL module
The function cleans up the kernel event CAL module. For cleanup it calls the exit
functions of the queue implementations for each used queue.
\return The function returns a tOplkError error code.
\retval kErrorOk Function executes correctly
\retval other error codes An error occurred
\ingroup module_eventkcal
*/
//------------------------------------------------------------------------------
tOplkError eventkcal_exit(void)
{
UINT i = 0;
if (instance_l.fInitialized != FALSE)
{
instance_l.fStopThread = TRUE;
while (instance_l.fStopThread != FALSE)
{
target_msleep(10);
if (i++ > 100)
{
DEBUG_LVL_EVENTK_TRACE("Event thread is not terminating, continue shutdown...!\n");
break;
}
}
eventkcal_exitQueueCircbuf(kEventQueueK2U);
eventkcal_exitQueueCircbuf(kEventQueueU2K);
eventkcal_exitQueueCircbuf(kEventQueueKInt);
sem_destroy(&instance_l.semUserData);
sem_destroy(&instance_l.semKernelData);
sem_unlink("/semUserEvent");
sem_unlink("/semKernelEvent");
}
instance_l.fInitialized = FALSE;
return kErrorOk;
}
//------------------------------------------------------------------------------
/**
\brief Post kernel event
This function posts a event to the kernel queue.
\param[in] pEvent_p Event to be posted.
\return The function returns a tOplkError error code.
\retval kErrorOk Function executes correctly
\retval other error codes An error occurred
\ingroup module_eventkcal
*/
//------------------------------------------------------------------------------
tOplkError eventkcal_postKernelEvent(const tEvent* pEvent_p)
{
tOplkError ret;
ret = eventkcal_postEventCircbuf(kEventQueueKInt, pEvent_p);
return ret;
}
//------------------------------------------------------------------------------
/**
\brief Post user event
This function posts a event to the user queue.
\param[in] pEvent_p Event to be posted.
\return The function returns a tOplkError error code.
\retval kErrorOk Function executes correctly
\retval other error codes An error occurred
\ingroup module_eventkcal
*/
//------------------------------------------------------------------------------
tOplkError eventkcal_postUserEvent(const tEvent* pEvent_p)
{
tOplkError ret;
ret = eventkcal_postEventCircbuf(kEventQueueK2U, pEvent_p);
return ret;
}
//------------------------------------------------------------------------------
/**
\brief Process function of kernel CAL module
This function will be called by the systems process function.
\ingroup module_eventkcal
*/
//------------------------------------------------------------------------------
void eventkcal_process(void)
{
// Nothing to do, because we use threads
}
//============================================================================//
// P R I V A T E F U N C T I O N S //
//============================================================================//
/// \name Private Functions
/// \{
//------------------------------------------------------------------------------
/**
\brief Event handler thread function
This function contains the main function for the event handler thread.
\param[in,out] arg Thread parameter. Not used!
\return The function returns the thread exit code.
*/
//------------------------------------------------------------------------------
static void* eventThread(void* arg)
{
UINT32 tickCount;
struct timespec curTime, timeout;
tEventkCalInstance* pInstance = (tEventkCalInstance*)arg;
while (!pInstance->fStopThread)
{
tickCount = target_getTickCount();
curTime.tv_sec = tickCount / 1000;
curTime.tv_nsec = (tickCount % 1000) * 1000000;
timeout.tv_sec = 0;
timeout.tv_nsec = 50000 * 1000;
TIMESPECADD(&timeout, &curTime);
if (sem_timedwait(&pInstance->semKernelData, &timeout) == 0)
{
/* first handle kernel internal events --> higher priority! */
if (eventkcal_getEventCountCircbuf(kEventQueueKInt) > 0)
{
eventkcal_processEventCircbuf(kEventQueueKInt);
}
else
{
if (eventkcal_getEventCountCircbuf(kEventQueueU2K) > 0)
{
eventkcal_processEventCircbuf(kEventQueueU2K);
}
}
}
}
pInstance->fStopThread = FALSE;
return 0;
}
//------------------------------------------------------------------------------
/**
\brief Signal a user event
This function signals that a user event was posted. It will be registered in
the circular buffer library as signal callback function
*/
//------------------------------------------------------------------------------
static void signalUserEvent(void)
{
sem_post(&instance_l.semUserData);
}
//------------------------------------------------------------------------------
/**
\brief Signal a kernel event
This function signals that a kernel event was posted. It will be registered in
the circular buffer library as signal callback function
*/
//------------------------------------------------------------------------------
static void signalKernelEvent(void)
{
sem_post(&instance_l.semKernelData);
}
/// \}

379
APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/stack/src/user/event/eventucal-xiuos.c
View File

@ -1,379 +0,0 @@
/**
********************************************************************************
\file eventucal-linux.c
\brief User event CAL module for XiUOS
This file implements the user event handler CAL module for the Linux
userspace platform. It uses the circular buffer interface for all event queues.
\see eventucalintf-circbuf.c
\ingroup module_eventucal
*******************************************************************************/
/*------------------------------------------------------------------------------
Copyright (c) 2016, B&R Industrial Automation GmbH
Copyright (c) 2020, AIIT XUOS Lab
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the copyright holders nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
------------------------------------------------------------------------------*/
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
#include <common/oplkinc.h>
#include <user/eventucal.h>
#include <user/eventucalintf.h>
#include <common/target.h>
#include <time.h>
#include <fcntl.h>
#include <pthread.h>
#include <semaphore.h>
#include <common/target.h>
//============================================================================//
// G L O B A L D E F I N I T I O N S //
//============================================================================//
//------------------------------------------------------------------------------
// const defines
//------------------------------------------------------------------------------
#define USER_EVENT_THREAD_PRIORITY 45
//------------------------------------------------------------------------------
// module global vars
//------------------------------------------------------------------------------
//------------------------------------------------------------------------------
// global function prototypes
//------------------------------------------------------------------------------
//============================================================================//
// P R I V A T E D E F I N I T I O N S //
//============================================================================//
//------------------------------------------------------------------------------
// const defines
//------------------------------------------------------------------------------
//------------------------------------------------------------------------------
// local types
//------------------------------------------------------------------------------
/**
\brief User event CAL instance type
The structure contains all necessary information needed by the user event
CAL module.
*/
typedef struct
{
pthread_t threadId;
BOOL fStopThread;
sem_t semUserData;
sem_t semKernelData;
BOOL fInitialized;
} tEventuCalInstance;
//------------------------------------------------------------------------------
// local vars
//------------------------------------------------------------------------------
static tEventuCalInstance instance_l; ///< Instance variable of user event CAL module
//------------------------------------------------------------------------------
// local function prototypes
//------------------------------------------------------------------------------
static void* eventThread(void* arg);
static void signalUserEvent(void);
static void signalKernelEvent(void);
//============================================================================//
// P U B L I C F U N C T I O N S //
//============================================================================//
//------------------------------------------------------------------------------
/**
\brief Initialize architecture specific stuff of user event CAL module
The function initializes the architecture specific stuff of the user event
CAL module.
\return The function returns a tOplkError error code.
\retval kErrorOk Function executes correctly
\retval other error codes An error occurred
\ingroup module_eventucal
*/
//------------------------------------------------------------------------------
tOplkError eventucal_init(void)
{
struct sched_param schedParam;
OPLK_MEMSET(&instance_l, 0, sizeof(tEventuCalInstance));
if (sem_init(&instance_l.semUserData, 0, 0) < 0)
goto Exit;
if (sem_init(&instance_l.semKernelData, 0, 0) < 0)
goto Exit;
if (eventucal_initQueueCircbuf(kEventQueueK2U) != kErrorOk)
goto Exit;
if (eventucal_initQueueCircbuf(kEventQueueU2K) != kErrorOk)
goto Exit;
eventucal_setSignalingCircbuf(kEventQueueU2K, signalKernelEvent);
if (eventucal_initQueueCircbuf(kEventQueueUInt) != kErrorOk)
goto Exit;
eventucal_setSignalingCircbuf(kEventQueueUInt, signalUserEvent);
instance_l.fStopThread = FALSE;
if (pthread_create(&instance_l.threadId, NULL, eventThread, (void*)&instance_l) != 0)
goto Exit;
schedParam.sched_priority = USER_EVENT_THREAD_PRIORITY;
if (pthread_setschedparam(instance_l.threadId, SCHED_FIFO, &schedParam) != 0)
{
DEBUG_LVL_ERROR_TRACE("%s(): couldn't set thread scheduling parameters! %d\n",
__func__,
schedParam.sched_priority);
}
#if (defined(__GLIBC__) && (__GLIBC__ >= 2) && (__GLIBC_MINOR__ >= 12))
pthread_setname_np(instance_l.threadId, "oplk-eventu");
#endif
instance_l.fInitialized = TRUE;
return kErrorOk;
Exit:
if (instance_l.semUserData >= 0)
sem_destroy(&instance_l.semUserData);
if (instance_l.semKernelData >= 0)
sem_destroy(&instance_l.semKernelData);
eventucal_exitQueueCircbuf(kEventQueueK2U);
eventucal_exitQueueCircbuf(kEventQueueU2K);
eventucal_exitQueueCircbuf(kEventQueueUInt);
return kErrorNoResource;
}
//------------------------------------------------------------------------------
/**
\brief Clean up kernel event CAL module
The function cleans up the kernel event CAL module. For cleanup it calls the exit
functions of the queue implementations for each used queue.
\return The function returns a tOplkError error code.
\retval kErrorOk Function executes correctly
\retval other error codes An error occurred
\ingroup module_eventucal
*/
//------------------------------------------------------------------------------
tOplkError eventucal_exit(void)
{
UINT i = 0;
if (instance_l.fInitialized != FALSE)
{
instance_l.fStopThread = TRUE;
while (instance_l.fStopThread != FALSE)
{
target_msleep(10);
if (i++ > 100)
{
DEBUG_LVL_EVENTU_TRACE("%s(): Event thread is not terminating, continue shutdown...!\n",
__func__);
break;
}
}
eventucal_exitQueueCircbuf(kEventQueueK2U);
eventucal_exitQueueCircbuf(kEventQueueU2K);
eventucal_exitQueueCircbuf(kEventQueueUInt);
sem_destroy(&instance_l.semUserData);
sem_destroy(&instance_l.semKernelData);
}
instance_l.fInitialized = FALSE;
return kErrorOk;
}
//------------------------------------------------------------------------------
/**
\brief Post kernel event
This function posts an event to a queue. It is called from the generic kernel
event post function in the event handler. Depending on the sink the appropriate
queue post function is called.
\param[in] pEvent_p Event to be posted.
\return The function returns a tOplkError error code.
\retval kErrorOk Function executes correctly
\retval other error codes An error occurred
\ingroup module_eventucal
*/
//------------------------------------------------------------------------------
tOplkError eventucal_postKernelEvent(const tEvent* pEvent_p)
{
tOplkError ret;
// Check parameter validity
ASSERT(pEvent_p != NULL);
ret = eventucal_postEventCircbuf(kEventQueueU2K, pEvent_p);
return ret;
}
//------------------------------------------------------------------------------
/**
\brief Post user event
This function posts an event to a queue. It is called from the generic kernel
event post function in the event handler. Depending on the sink the appropriate
queue post function is called.
\param[in] pEvent_p Event to be posted.
\return The function returns a tOplkError error code.
\retval kErrorOk Function executes correctly
\retval other error codes An error occurred
\ingroup module_eventucal
*/
//------------------------------------------------------------------------------
tOplkError eventucal_postUserEvent(const tEvent* pEvent_p)
{
tOplkError ret;
// Check parameter validity
ASSERT(pEvent_p != NULL);
ret = eventucal_postEventCircbuf(kEventQueueUInt, pEvent_p);
return ret;
}
//------------------------------------------------------------------------------
/**
\brief Process function of user CAL module
This function will be called by the system process function.
\ingroup module_eventucal
*/
//------------------------------------------------------------------------------
void eventucal_process(void)
{
// Nothing to do, because we use threads
}
//============================================================================//
// P R I V A T E F U N C T I O N S //
//============================================================================//
/// \name Private Functions
/// \{
//------------------------------------------------------------------------------
/**
\brief Event handler thread function
This function contains the main function for the event handler thread.
\param[in,out] arg Thread parameter. Used to access the module instance.
\return The function returns the thread exit code.
*/
//------------------------------------------------------------------------------
static void* eventThread(void* arg)
{
UINT32 tickCount;
struct timespec curTime, timeout;
tEventuCalInstance* pInstance = (tEventuCalInstance*)arg;
while (!pInstance->fStopThread)
{
tickCount = target_getTickCount();
curTime.tv_sec = tickCount / 1000;
curTime.tv_nsec = (tickCount % 1000) * 1000000;
timeout.tv_sec = 0;
timeout.tv_nsec = 50000 * 1000;
TIMESPECADD(&timeout, &curTime);
if (sem_timedwait(&pInstance->semUserData, &timeout) == 0)
{
/* first handle all user to kernel events --> higher priority! */
if (eventucal_getEventCountCircbuf(kEventQueueK2U) > 0)
eventucal_processEventCircbuf(kEventQueueK2U);
else
{
if (eventucal_getEventCountCircbuf(kEventQueueUInt) > 0)
eventucal_processEventCircbuf(kEventQueueUInt);
}
}
}
pInstance->fStopThread = FALSE;
return 0;
}
//------------------------------------------------------------------------------
/**
\brief Signal a user event
This function signals that a user event has been posted. It will be registered
in the circular buffer library as signal callback function.
*/
//------------------------------------------------------------------------------
static void signalUserEvent(void)
{
sem_post(&instance_l.semUserData);
}
//------------------------------------------------------------------------------
/**
\brief Signal a kernel event
This function signals that a kernel event has been posted. It will be registered
in the circular buffer library as signal callback function.
*/
//------------------------------------------------------------------------------
static void signalKernelEvent(void)
{
sem_post(&instance_l.semKernelData);
}
/// \}