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https://git.rwth-aachen.de/acs/public/villas/node/
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fix(opal): Unresolved references
Signed-off-by: Steffen Vogel <steffen.vogel@opal-rt.com>
This commit is contained in:
Steffen Vogel
parent
1520743f73
commit
b4b98287d7
5 changed files with 67 additions and 434 deletions
66
clients/opal/models/send_receive/AsyncIP.mk
Normal file
66
clients/opal/models/send_receive/AsyncIP.mk
Normal file
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@ -0,0 +1,66 @@
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# Makefile.
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#
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# Author: Steffen Vogel <post@steffenvogel.de>
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# SPDX-FileCopyrightText: 2014-2023 Institute for Automation of Complex Power Systems, RWTH Aachen University
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# SPDX-License-Identifier: Apache-2.0
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# Specify program name
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PROGRAM = AsyncIP
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TARGET_RTLAB_ROOT ?= /usr/opalrt
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RTLAB_ROOT = $(TARGET_RTLAB_ROOT)
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# Intel is the default compiler
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RTLAB_INTEL_COMPILER ?= 0
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ifeq ($(RTLAB_INTEL_COMPILER),1)
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CC = opicc
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else
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CC = gcc
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endif
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LIB_TARGET = -lpthread -lrt -lm
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# Add Intel C library for compilation with gcc
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ifeq ($(RTLAB_INTEL_COMPILER),0)
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LIB_TARGET += -lirc -ldl
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else
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LD_OPTS += -diag-disable remark,warn
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endif
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LD := $(CC)
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CC_OPTS = -std=c99 -D_GNU_SOURCE -MMD
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LD_OPTS =
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OBJS = main.o msg.o utils.o socket.o
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ifeq ($(DEBUG),1)
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CC_OPTS += -g -D_DEBUG
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LD_OPTS += -g
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else
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CC_OPTS += -O
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endif
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ifneq ($(PROTOCOL),)
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CC_OPTS += -DPROTOCOL=$(PROTOCOL)
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endif
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INCPATH = -I. -I$(RTLAB_ROOT)/common/include_target
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LIBPATH = -L. $(OPAL_LIBPATH)
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# The required libraries are transfered automatically in the model directory before compilation
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LIBS := -lOpalAsyncApiCore -lOpalCore -lOpalUtils $(OPAL_LIBS) $(LIB_TARGET)
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CFLAGS = $(CC_OPTS) $(INCPATH)
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LDFLAGS = $(LD_OPTS) $(LIBPATH)
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all: $(PROGRAM)
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install:
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\mkdir -p $(RTLAB_ROOT)/local
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\chmod 755 $(RTLAB_ROOT/local
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\cp -f $(PROGRAM) $(RTLAB_ROOT)/local
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clean:
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\rm -f $(OBJS) $(PROGRAM)
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$(PROGRAM): $(OBJS)
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$(LD) $(LDFLAGS) -o $@ $(OBJS) -Wl,--start-group $(LIBS) -Wl,--end-group
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@ -1,68 +0,0 @@
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# Makefile.
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#
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# Author: Steffen Vogel <post@steffenvogel.de>
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# SPDX-FileCopyrightText: 2014-2023 Institute for Automation of Complex Power Systems, RWTH Aachen University
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# SPDX-License-Identifier: Apache-2.0
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TARGET = AsyncIP
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VPATH = src
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RTLAB_INTEL_COMPILER ?= 1
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# Compiler selection
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ifeq ($(RTLAB_INTEL_COMPILER),1)
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CC = opicc
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LD = opicpc
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else
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CC = gcc
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LD = g++
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INTEL_LIBS = -limf -lirc
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INTEL_OBJS = compat.o
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endif
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# Support for debugging symbols
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ifeq ($(DEBUG),1)
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CC_DEBUG_OPTS = -g -D_DEBUG
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LD_DEBUG_OPTS = -g
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else
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CC_DEBUG_OPTS = -O
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LD_DEBUG_OPTS =
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endif
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TARGET_LIB = -lpthread -lm -ldl -lutil -lrt $(INTEL_LIBS)
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LIBPATH = -L. $(OPAL_LIBPATH)
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INCLUDES = -I. -Iinclude $(OPAL_INCPATH)
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ifneq ($(RTLAB_ROOT),)
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INCLUDES += -I$(RTLAB_ROOT)/common/include_target
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endif
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CC_OPTS = -std=c99 -D_GNU_SOURCE -MMD
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LD_OPTS =
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OBJS = main.o msg.o utils.o socket.o $(INTEL_OBJS)
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ifneq ($(PROTOCOL),)
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CC_OPTS += -DPROTOCOL=$(PROTOCOL)
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endif
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ADDLIB = -lOpalCore -lOpalUtils
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LIBS = -lOpalAsyncApiCore $(ADDLIB) $(TARGET_LIB) $(OPAL_LIBS)
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CFLAGS = -c $(CC_OPTS) $(CC_DEBUG_OPTS) $(INCLUDES)
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LDFLAGS = $(LD_OPTS) $(LD_DEBUG_OPTS) $(LIBPATH)
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all: $(TARGET)
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install: $(TARGET)
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install -m 0755 -D -t $(DESTDIR)$(PREFIX)/bin $(TARGET)
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clean:
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rm -f $(OBJS) $(OBJS:%.o=%.d) $(TARGET)
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$(TARGET): $(OBJS)
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$(LD) $(LDFLAGS) -o $@ $(OBJS) $(LIBS)
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-include $(wildcard *.d)
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@ -39,7 +39,7 @@ INTERNAL_IGN_SOURCE_FILE=sfun_gen_async_ctrl.c sfun_recv_async.c sfun_send_async
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INTERNAL_LIBRARY2=-lOpalAsyncApiR2014b
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INTERNAL_LIBRARY3=-lOpalAsyncApiCore
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[ExtraPutFilesComp]
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Makefile.mk=Ascii
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AsyncIP.mk=Ascii
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include\config.h=Ascii
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include\msg.h=Ascii
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include\msg_format.h=Ascii
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@ -112,4 +112,3 @@ sm_send_receive_DEBUG=OFF
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sm_send_receive_XHP_ENABLE=FALSE
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[UserEnvVars]
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PROTOCOL=VILLAS
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RTLAB_INTEL_COMPILER=1
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@ -1,29 +0,0 @@
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/* Compatibility code for GCC.
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*
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* OPAL-RT's libSystem.a links against some Intel
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*
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* Author: Steffen Vogel <post@steffenvogel.de>
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* SPDX-FileCopyrightText: 2014-2023 Institute for Automation of Complex Power Systems, RWTH Aachen University
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <string.h>
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size_t __intel_sse2_strlen(const char *s) { return strlen(s); }
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void *_intel_fast_memset(void *b, int c, size_t len) {
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return memset(b, c, len);
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}
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void *_intel_fast_memcpy(void *restrict dst, const void *restrict src,
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size_t n) {
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return memcpy(dst, src, n);
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}
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int _intel_fast_memcmp(const void *s1, const void *s2, size_t n) {
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return memcmp(s1, s2, n);
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}
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void *_intel_fast_memmove(void *dest, const void *src, size_t num) {
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return memmove(dest, src, num);
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}
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@ -1,335 +0,0 @@
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/** Main routine of AsyncIP.
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*
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* Author: Steffen Vogel <post@steffenvogel.de>
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* SPDX-FileCopyrightText: 2014-2023 Institute for Automation of Complex Power Systems, RWTH Aachen University
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* SPDX-License-Identifier: Apache-2.0
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*********************************************************************************/
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/* Standard ANSI C headers needed for this program */
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <errno.h>
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#include <fcntl.h>
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#include <string.h>
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#include <unistd.h>
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#include <signal.h>
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#include <time.h>
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#include <pthread.h>
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/* Define RTLAB before including OpalPrint.h for messages to be sent
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* to the OpalDisplay. Otherwise stdout will be used. */
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#define RTLAB
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#include "OpalPrint.h"
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#include "AsyncApi.h"
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/* This is the message format */
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#include "config.h"
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#include "socket.h"
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#include "utils.h"
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#if PROTOCOL == VILLAS
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#include "msg.h"
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#include "msg_format.h"
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#endif
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/* This is just for initializing the shared memory access to communicate
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* with the RT-LAB model. It's easier to remember the arguments like this */
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#define ASYNC_SHMEM_NAME argv[1]
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#define ASYNC_SHMEM_SIZE atoi(argv[2])
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#define PRINT_SHMEM_NAME argv[3]
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/* Global Variables */
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struct socket skt;
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static void * SendToIPPort(void *arg)
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{
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unsigned int ModelState, SendID = 1, Sequence = 0;
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int nbSend = 0, ret, cnt, len;
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/* Data from OPAL-RT model */
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double mdldata[MAX_VALUES];
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int mdldata_size;
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#if PROTOCOL == VILLAS
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char buf[MSG_LEN(MAX_VALUES)];
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struct msg *msg = (struct msg *) buf;
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#elif PROTOCOL == GTNET_SKT
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char buf[MAX_VALUES * sizeof(float)];
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float *msg = (float *) buf;
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#endif
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OpalPrint("%s: SendToIPPort thread started\n", PROGNAME);
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OpalGetNbAsyncSendIcon(&nbSend);
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if (nbSend < 1) {
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OpalPrint("%s: SendToIPPort: No transimission block for this controller. Stopping thread.\n", PROGNAME);
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return NULL;
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}
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do {
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/* This call unblocks when the 'Data Ready' line of a send icon is asserted. */
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ret = OpalWaitForAsyncSendRequest(&SendID);
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if (ret != EOK) {
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ModelState = OpalGetAsyncModelState();
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if ((ModelState != STATE_RESET) && (ModelState != STATE_STOP)) {
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OpalSetAsyncSendIconError(ret, SendID);
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OpalPrint("%s: OpalWaitForAsyncSendRequest(), errno %d\n", PROGNAME, ret);
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}
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continue;
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}
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/* No errors encountered yet */
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OpalSetAsyncSendIconError(0, SendID);
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/* Get the size of the data being sent by the unblocking SendID */
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OpalGetAsyncSendIconDataLength(&mdldata_size, SendID);
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cnt = mdldata_size / sizeof(double);
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if (cnt > MAX_VALUES) {
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OpalPrint("%s: Number of signals for SendID=%d exceeds allowed maximum (%d)\n",
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PROGNAME, SendID, MAX_VALUES);
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return NULL;
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}
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/* Read data from the model */
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OpalGetAsyncSendIconData(mdldata, mdldata_size, SendID);
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#if PROTOCOL == VILLAS
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/* Get current time */
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struct timespec now;
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clock_gettime(CLOCK_REALTIME, &now);
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msg->length = mdldata_size / sizeof(double);
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msg->sequence = Sequence++;
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msg->ts.sec = now.tv_sec;
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msg->ts.nsec = now.tv_nsec;
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for (int i = 0; i < msg->length; i++)
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msg->data[i].f = (float) mdldata[i];
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msg_hton(msg);
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len = MSG_LEN(msg->length);
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#elif PROTOCOL == GTNET_SKT
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uint32_t *imsg = (uint32_t *) msg;
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for (int i = 0; i < cnt; i++) {
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msg[i] = (float) mdldata[i];
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imsg[i] = htonl(imsg[i]);
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}
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len = mdldata_size / sizeof(double) * sizeof(float);
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#else
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#error Unknown protocol
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#endif
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/* Perform the actual write to the ip port */
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ret = socket_send(&skt, (char *) msg, len);
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if (ret < 0)
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OpalSetAsyncSendIconError(errno, SendID);
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else
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OpalSetAsyncSendIconError(0, SendID);
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/* This next call allows the execution of the "asynchronous" process
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* to actually be synchronous with the model. To achieve this, you
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* should set the "Sending Mode" in the Async_Send block to
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* NEED_REPLY_BEFORE_NEXT_SEND or NEED_REPLY_NOW. This will force
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* the model to wait for this process to call this
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* OpalAsyncSendRequestDone function before continuing. */
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OpalAsyncSendRequestDone(SendID);
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/* Before continuing, we make sure that the real-time model
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* has not been stopped. If it has, we quit. */
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ModelState = OpalGetAsyncModelState();
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} while ((ModelState != STATE_RESET) && (ModelState != STATE_STOP));
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OpalPrint("%s: SendToIPPort: Finished\n", PROGNAME);
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return NULL;
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}
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static void * RecvFromIPPort(void *arg)
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{
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unsigned int ModelState, RecvID = 1;
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int nbRecv = 0, ret, cnt;
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/* Data from OPAL-RT model */
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double mdldata[MAX_VALUES];
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int mdldata_size;
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#if PROTOCOL == VILLAS
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char buf[MSG_LEN(MAX_VALUES)];
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struct msg *msg = (struct msg *) buf;
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#elif PROTOCOL == GTNET_SKT
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char buf[MAX_VALUES * sizeof(float)];
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float *msg = (float *) buf;
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#else
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#error Unknown protocol
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#endif
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OpalPrint("%s: RecvFromIPPort thread started\n", PROGNAME);
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OpalGetNbAsyncRecvIcon(&nbRecv);
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if (nbRecv < 1) {
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OpalPrint("%s: RecvFromIPPort: No reception block for this controller. Stopping thread.\n", PROGNAME);
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return NULL;
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}
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do {
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/* Receive message */
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ret = socket_recv(&skt, (char *) msg, sizeof(buf), 1.0);
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if (ret < 1) {
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ModelState = OpalGetAsyncModelState();
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if ((ModelState != STATE_RESET) && (ModelState != STATE_STOP)) {
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if (ret == 0) /* timeout, so we continue silently */
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OpalPrint("%s: Timeout while waiting for data\n", PROGNAME, errno);
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if (ret == -1) /* a more serious error, so we print it */
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OpalPrint("%s: Error %d while waiting for data\n", PROGNAME, errno);
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continue;
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}
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break;
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}
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/* Get the number of signals to send back to the model */
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OpalGetAsyncRecvIconDataLength(&mdldata_size, RecvID);
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cnt = mdldata_size / sizeof(double);
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if (cnt > MAX_VALUES) {
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OpalPrint("%s: Number of signals for RecvID=%d (%d) exceeds allowed maximum (%d)\n",
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PROGNAME, RecvID, cnt, MAX_VALUES);
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return NULL;
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}
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#if PROTOCOL == VILLAS
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msg_ntoh(msg);
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ret = msg_verify(msg);
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if (ret) {
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OpalPrint("%s: Skipping invalid packet\n", PROGNAME);
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continue;
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}
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if (cnt > msg->length) {
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OpalPrint("%s: Number of signals for RecvID=%d (%d) exceeds what was received (%d)\n",
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PROGNAME, RecvID, cnt, msg->length);
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}
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for (int i = 0; i < msg->length; i++) {
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mdldata[i] = (double) msg->data[i].f;
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printf("Data rcvd from VILLAS %f\n", mdldata[i]);
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}
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/* Update OPAL model */
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OpalSetAsyncRecvIconStatus(msg->sequence, RecvID); /* Set the Status to the message ID */
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#elif PROTOCOL == GTNET_SKT
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uint32_t *imsg = (uint32_t *) msg;
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for (int i = 0; i < cnt; i++)
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imsg[i] = ntohl(imsg[i]);
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printf("Protocol GTNET_SKT\n");
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for (int i = 0; i < cnt; i++) {
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mdldata[i] = (double) msg[i];
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printf("Data rcvd from GTNET_SKT %f\n", mdldata[i]);
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}
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#else
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#error Unknown protocol
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#endif
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OpalSetAsyncRecvIconError(0, RecvID); /* Set the Error to 0 */
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OpalSetAsyncRecvIconData(mdldata, mdldata_size, RecvID);
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/* Before continuing, we make sure that the real-time model
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* has not been stopped. If it has, we quit. */
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ModelState = OpalGetAsyncModelState();
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} while ((ModelState != STATE_RESET) && (ModelState != STATE_STOP));
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OpalPrint("%s: RecvFromIPPort: Finished\n", PROGNAME);
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return NULL;
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}
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int main(int argc, char *argv[])
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{
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/* @todo remove after testing */
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printf("*****************Starting the Application****************\n");
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FILE * testfile = fopen ("testfile.txt","w");
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if (testfile!=NULL)
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{
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fputs ("test file to check if main runs", testfile);
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fclose (testfile);
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}
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int ret;
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Opal_GenAsyncParam_Ctrl IconCtrlStruct;
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pthread_t tid_send, tid_recv;
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OpalPrint("%s: This is %s client version %s\n", PROGNAME, PROGNAME, VERSION);
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/* Check for the proper arguments to the program */
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if (argc < 4) {
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printf("Invalid Arguments: 1-AsyncShmemName 2-AsyncShmemSize 3-PrintShmemName\n");
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exit(0);
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}
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/* Enable the OpalPrint function. This prints to the OpalDisplay. */
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ret = OpalSystemCtrl_Register(PRINT_SHMEM_NAME);
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if (ret != EOK) {
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printf("%s: ERROR: OpalPrint() access not available\n", PROGNAME);
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exit(EXIT_FAILURE);
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}
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/* Open Share Memory created by the model. */
|
||||
ret = OpalOpenAsyncMem(ASYNC_SHMEM_SIZE, ASYNC_SHMEM_NAME);
|
||||
if (ret != EOK) {
|
||||
OpalPrint("%s: ERROR: Model shared memory not available\n", PROGNAME);
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
AssignProcToCpu0();
|
||||
|
||||
/* Get IP Controler Parameters (ie: ip address, port number...) and
|
||||
* initialize the device on the QNX node. */
|
||||
memset(&IconCtrlStruct, 0, sizeof(IconCtrlStruct));
|
||||
|
||||
ret = OpalGetAsyncCtrlParameters(&IconCtrlStruct, sizeof(IconCtrlStruct));
|
||||
if (ret != EOK) {
|
||||
OpalPrint("%s: ERROR: Could not get controller parameters (%d).\n", PROGNAME, ret);
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
/* Initialize socket */
|
||||
ret = socket_init(&skt, IconCtrlStruct);
|
||||
if (ret != EOK) {
|
||||
OpalPrint("%s: ERROR: Initialization failed.\n", PROGNAME);
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
/* Start send/receive threads */
|
||||
ret = pthread_create(&tid_send, NULL, SendToIPPort, NULL);
|
||||
if (ret == -1)
|
||||
OpalPrint("%s: ERROR: Could not create thread (SendToIPPort), errno %d\n", PROGNAME, errno);
|
||||
|
||||
ret = pthread_create(&tid_recv, NULL, RecvFromIPPort, NULL);
|
||||
if (ret == -1)
|
||||
OpalPrint("%s: ERROR: Could not create thread (RecvFromIPPort), errno %d\n", PROGNAME, errno);
|
||||
|
||||
/* Wait for both threads to finish */
|
||||
ret = pthread_join(tid_send, NULL);
|
||||
if (ret != 0)
|
||||
OpalPrint("%s: ERROR: pthread_join (SendToIPPort), errno %d\n", PROGNAME, ret);
|
||||
|
||||
ret = pthread_join(tid_recv, NULL);
|
||||
if (ret != 0)
|
||||
OpalPrint("%s: ERROR: pthread_join (RecvFromIPPort), errno %d\n", PROGNAME, ret);
|
||||
|
||||
/* Close the ip port and shared memories */
|
||||
socket_close(&skt, IconCtrlStruct);
|
||||
|
||||
OpalCloseAsyncMem (ASYNC_SHMEM_SIZE, ASYNC_SHMEM_NAME);
|
||||
OpalSystemCtrl_UnRegister(PRINT_SHMEM_NAME);
|
||||
|
||||
return 0;
|
||||
}
|
||||
Loading…
Add table
Reference in a new issue