module_rtlinux.c

来自「电路仿真程序 Classic Ladder is coded 100％ in C」· C语言 代码 · 共 74 行

/* Classic Ladder Project */
/* Copyright (C) 2001 Marc Le Douarain */
/* [e-mail] */
/* http://www.multimania.com/mavati/classicladder */
/* December 2001 */
/* Last update : 4 January 2002 */
/* --------------------------------------------------- */
/* RTLinux module to refresh rungs & scan physical I/O */
/* --------------------------------------------------- */
/* This library is free software; you can redistribute it and/or */
/* modify it under the terms of the GNU Lesser General Public */
/* License as published by the Free Software Foundation; either */
/* version 2.1 of the License, or (at your option) any later version. */

/* This library is distributed in the hope that it will be useful, */
/* but WITHOUT ANY WARRANTY; without even the implied warranty of */
/* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU */
/* Lesser General Public License for more details. */

/* You should have received a copy of the GNU Lesser General Public */
/* License along with this library; if not, write to the Free Software */
/* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA */

#include <rtl.h>
#include <time.h>
#include <pthread.h>

#include "classicladder.h"
#include "global.h"
#include "calc.h"
#include "hardware.h"


pthread_t thread;

void * start_routine(void *arg)
{
	struct sched_param p;
	p . sched_priority = 1;
	pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);

	pthread_make_periodic_np (pthread_self(), gethrtime(), TIME_REFRESH_RUNG_MS*1000000);

	while (1) {
		pthread_wait_np ();

		if (InfosGene->LadderState==STATE_RUN)
		{

#ifdef HARDWARE_SUPPORT
			ReadPhysicalInputs();
#endif

			RefreshAllRungs();

#ifdef HARDWARE_SUPPORT
			WritePhysicalOutputs();
#endif

		}
	}
	return 0;
}

int init_module(void) {
	ClassicLadderAllocAll();
	return pthread_create (&thread, NULL, start_routine, 0);
}

void cleanup_module(void) {
	pthread_delete_np (thread);
	ClassicLadderFreeAll();
}