VILLASnode/clients/opal/models/send_receive/src/main.asv

/** Main routine of AsyncIP.
 *
 * Author: Steffen Vogel <post@steffenvogel.de>
 * SPDX-FileCopyrightText: 2014-2023 Institute for Automation of Complex Power Systems, RWTH Aachen University
 * SPDX-License-Identifier: Apache-2.0
 *********************************************************************************/

/* Standard ANSI C headers needed for this program */
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <errno.h>
#include <fcntl.h>
#include <string.h>
#include <unistd.h>
#include <signal.h>
#include <time.h>
#include <pthread.h>

/* Define RTLAB before including OpalPrint.h for messages to be sent
 * to the OpalDisplay. Otherwise stdout will be used. */
#define RTLAB
#include "OpalPrint.h"
#include "AsyncApi.h"

/* This is the message format */
#include "config.h"
#include "socket.h"
#include "utils.h"

#if PROTOCOL == VILLAS
  #include "msg.h"
  #include "msg_format.h"
#endif

/* This is just for initializing the shared memory access to communicate
 * with the RT-LAB model. It's easier to remember the arguments like this */
#define	ASYNC_SHMEM_NAME	argv[1]
#define ASYNC_SHMEM_SIZE	atoi(argv[2])
#define PRINT_SHMEM_NAME	argv[3]

/* Global Variables */
struct socket skt;

static void * SendToIPPort(void *arg)
{
	unsigned int ModelState, SendID = 1, Sequence = 0;
	int nbSend = 0, ret, cnt, len;

	/* Data from OPAL-RT model */
	double mdldata[MAX_VALUES];
	int mdldata_size;

#if PROTOCOL == VILLAS
	char buf[MSG_LEN(MAX_VALUES)];
	struct msg *msg = (struct msg *) buf;
#elif PROTOCOL == GTNET_SKT
	char buf[MAX_VALUES * sizeof(float)];
	float *msg = (float *) buf;
#endif

	OpalPrint("%s: SendToIPPort thread started\n", PROGNAME);

	OpalGetNbAsyncSendIcon(&nbSend);
	if (nbSend < 1) {
		OpalPrint("%s: SendToIPPort: No transimission block for this controller. Stopping thread.\n", PROGNAME);
		return NULL;
	}

	do {
		/* This call unblocks when the 'Data Ready' line of a send icon is asserted. */
		ret = OpalWaitForAsyncSendRequest(&SendID);
		if (ret != EOK) {
			ModelState = OpalGetAsyncModelState();
			if ((ModelState != STATE_RESET) && (ModelState != STATE_STOP)) {
				OpalSetAsyncSendIconError(ret, SendID);
				OpalPrint("%s: OpalWaitForAsyncSendRequest(), errno %d\n", PROGNAME, ret);
			}

			continue;
		}

		/* No errors encountered yet */
		OpalSetAsyncSendIconError(0, SendID);

		/* Get the size of the data being sent by the unblocking SendID */
		OpalGetAsyncSendIconDataLength(&mdldata_size, SendID);
		cnt = mdldata_size / sizeof(double);
		if (cnt > MAX_VALUES) {
			OpalPrint("%s: Number of signals for SendID=%d exceeds allowed maximum (%d)\n",
				PROGNAME, SendID, MAX_VALUES);
			return NULL;
		}

		/* Read data from the model */
		OpalGetAsyncSendIconData(mdldata, mdldata_size, SendID);

#if PROTOCOL == VILLAS
		/* Get current time */
		struct timespec now;
		clock_gettime(CLOCK_REALTIME, &now);

		msg->length = mdldata_size / sizeof(double);
		msg->sequence = Sequence++;
		msg->ts.sec = now.tv_sec;
		msg->ts.nsec = now.tv_nsec;

		for (int i = 0; i < msg->length; i++)
			msg->data[i].f = (float) mdldata[i];

		msg_hton(msg);

		len = MSG_LEN(msg->length);
#elif PROTOCOL == GTNET_SKT
        uint32_t *imsg = (uint32_t *) msg;
		for (int i = 0; i < cnt; i++) {
			msg[i] = (float) mdldata[i];
            imsg[i] = htonl(imsg[i]);
        }

		len = mdldata_size / sizeof(double) * sizeof(float);
#else
  #error Unknown protocol
#endif

		/* Perform the actual write to the ip port */
		ret = socket_send(&skt, (char *) msg, len);
		if (ret < 0)
			OpalSetAsyncSendIconError(errno, SendID);
		else
			OpalSetAsyncSendIconError(0, SendID);

		/* This next call allows the execution of the "asynchronous" process
		 * to actually be synchronous with the model. To achieve this, you
		 * should set the "Sending Mode" in the Async_Send block to
		 * NEED_REPLY_BEFORE_NEXT_SEND or NEED_REPLY_NOW. This will force
		 * the model to wait for this process to call this
		* OpalAsyncSendRequestDone function before continuing. */
		OpalAsyncSendRequestDone(SendID);

		/* Before continuing, we make sure that the real-time model
		 * has not been stopped. If it has, we quit. */
		ModelState = OpalGetAsyncModelState();
	} while ((ModelState != STATE_RESET) && (ModelState != STATE_STOP));

	OpalPrint("%s: SendToIPPort: Finished\n", PROGNAME);

	return NULL;
}

static void * RecvFromIPPort(void *arg)
{
	unsigned int ModelState, RecvID = 1;
	int nbRecv = 0, ret, cnt;

	/* Data from OPAL-RT model */
	double mdldata[MAX_VALUES];
	int mdldata_size;

#if PROTOCOL == VILLAS
	char buf[MSG_LEN(MAX_VALUES)];
	struct msg *msg = (struct msg *) buf;
#elif PROTOCOL == GTNET_SKT
	char buf[MAX_VALUES * sizeof(float)];
	float *msg = (float *) buf;
#else
  #error Unknown protocol
#endif

	OpalPrint("%s: RecvFromIPPort thread started\n", PROGNAME);

	OpalGetNbAsyncRecvIcon(&nbRecv);
	if (nbRecv < 1) {
		OpalPrint("%s: RecvFromIPPort: No reception block for this controller. Stopping thread.\n", PROGNAME);
		return NULL;
	}

	do {
		/* Receive message */
		ret = socket_recv(&skt, (char *) msg, sizeof(buf), 1.0);
		if (ret < 1) {
			ModelState = OpalGetAsyncModelState();
			if ((ModelState != STATE_RESET) && (ModelState != STATE_STOP)) {
				if (ret ==  0) /* timeout, so we continue silently */
					OpalPrint("%s: Timeout while waiting for data\n", PROGNAME, errno);
				if (ret == -1) /* a more serious error, so we print it */
					OpalPrint("%s: Error %d while waiting for data\n", PROGNAME, errno);

				continue;
			}
			break;
		}

		/* Get the number of signals to send back to the model */
		OpalGetAsyncRecvIconDataLength(&mdldata_size, RecvID);
		cnt = mdldata_size / sizeof(double);
		if (cnt > MAX_VALUES) {
			OpalPrint("%s: Number of signals for RecvID=%d (%d) exceeds allowed maximum (%d)\n",
				PROGNAME, RecvID, cnt, MAX_VALUES);
			return NULL;
		}

#if PROTOCOL == VILLAS
        msg_ntoh(msg);

		ret = msg_verify(msg);
		if (ret) {
			OpalPrint("%s: Skipping invalid packet\n", PROGNAME);
			continue;
		}

		if (cnt > msg->length) {
			OpalPrint("%s: Number of signals for RecvID=%d (%d) exceeds what was received (%d)\n",
				PROGNAME, RecvID, cnt, msg->length);
		}

		for (int i = 0; i < msg->length; i++) {
			mdldata[i] = (double) msg->data[i].f;
            printf("Data rcvd from VILLAS %f\n", mdldata[i]);
        }

		/* Update OPAL model */
		OpalSetAsyncRecvIconStatus(msg->sequence, RecvID);	/* Set the Status to the message ID */
#elif PROTOCOL == GTNET_SKT
        uint32_t *imsg = (uint32_t *) msg;
        for (int i = 0; i < cnt; i++)
            imsg[i] = ntohl(imsg[i]);

        printf("Protocol GTNET_SKT\n");
		for (int i = 0; i < cnt; i++) {
			mdldata[i] = (double) msg[i];
            printf("Data rcvd from GTNET_SKT %f\n", mdldata[i]);
        }
#else
  #error Unknown protocol
#endif

		OpalSetAsyncRecvIconError(0, RecvID);			/* Set the Error to 0 */

		OpalSetAsyncRecvIconData(mdldata, mdldata_size, RecvID);

		/* Before continuing, we make sure that the real-time model
		 * has not been stopped. If it has, we quit. */
		ModelState = OpalGetAsyncModelState();
	} while ((ModelState != STATE_RESET) && (ModelState != STATE_STOP));

	OpalPrint("%s: RecvFromIPPort: Finished\n", PROGNAME);

	return NULL;
}

int main(int argc, char *argv[])
{
    /* @todo remove after testing */
    printf("*****************Starting the Application****************\n");
    FILE * testfile = fopen ("testfile.txt","w");
    if (testfile!=NULL)
    {
        fputs ("test file to check if main runs", testfile);
        fclose (testfile);
    }

	int ret;

	Opal_GenAsyncParam_Ctrl IconCtrlStruct;

	pthread_t tid_send, tid_recv;

	OpalPrint("%s: This is %s client version %s\n", PROGNAME, PROGNAME, VERSION);

	/* Check for the proper arguments to the program */
	if (argc < 4) {
		printf("Invalid Arguments: 1-AsyncShmemName 2-AsyncShmemSize 3-PrintShmemName\n");
		exit(0);
	}

	/* Enable the OpalPrint function. This prints to the OpalDisplay. */
	ret = OpalSystemCtrl_Register(PRINT_SHMEM_NAME);
	if (ret != EOK) {
		printf("%s: ERROR: OpalPrint() access not available\n", PROGNAME);
		exit(EXIT_FAILURE);
	}

	/* 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;
}