+/*
+ * Copyright Droids Corporation
+ * Olivier Matz <zer0@droids-corp.org>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: main.c,v 1.10 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+#ifdef HOST_VERSION
+/*
+ * AVR simulator. This code is used on host (PC for instance) to
+ * generate a signal that will call other aversive modules like
+ * scheduler or uart. The goal is to simulate the behaviour of
+ * hardware interrupts in a unix application.
+ */
+
+#include <aversive.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <unistd.h>
+#include <string.h>
+#include <pthread.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/wait.h>
+
+#ifdef CONFIG_MODULE_SCHEDULER
+#include <scheduler.h>
+#endif
+
+pthread_mutex_t mut;
+static volatile int cpt = 0;
+
+#ifdef SA_SIGINFO
+static void sigusr1(__attribute__((unused)) int sig,
+ __attribute__((unused)) siginfo_t *info,
+ __attribute__((unused)) void *uc)
+#else
+void sigusr1(__attribute__((unused)) int sig)
+#endif
+{
+ pthread_mutex_unlock(&mut);
+
+#ifdef CONFIG_MODULE_SCHEDULER
+ scheduler_interrupt();
+#endif
+}
+
+void host_wait_ms(int ms)
+{
+ struct timeval tv, tv2, diff;
+
+ gettimeofday(&tv, NULL);
+ diff.tv_sec = (1000 * ms) / 1000000;
+ diff.tv_usec = (1000 * ms) % 1000000;
+ timeradd(&tv, &diff, &tv);
+ gettimeofday(&tv2, NULL);
+
+ while (timercmp(&tv2, &tv, <)) {
+ usleep(1000);
+ gettimeofday(&tv2, NULL);
+ }
+}
+
+
+/* sends signal to child */
+void *parent(void *arg)
+{
+ pthread_t *thread = arg;
+ struct timeval cur_tv, prev_tv, tv_millisec;
+ int n;
+
+ gettimeofday(&prev_tv, NULL);
+
+ while (1) {
+ usleep(1000);
+ gettimeofday(&cur_tv, NULL);
+
+ n = 0;
+ while (timercmp(&prev_tv, &cur_tv, <)) {
+ if (n > 5) {
+ /* give some time between subsequent
+ * signals */
+ usleep(100);
+ n = 0;
+ }
+ pthread_mutex_lock(&mut);
+ pthread_kill(*thread, SIGUSR1);
+
+ /* signal was acked */
+ tv_millisec.tv_sec = 0;
+ tv_millisec.tv_usec = 1000;
+ timeradd(&prev_tv, &tv_millisec, &prev_tv);
+ n ++;
+ }
+ }
+
+ pthread_exit(NULL);
+ return NULL;
+}
+
+int hostsim_init(void)
+{
+ struct sigaction sigact;
+ pthread_t parent_id, child_id;
+ int ret;
+
+ pthread_mutex_init(&mut, NULL);
+
+ parent_id = pthread_self();
+
+ pthread_mutex_lock(&mut);
+ ret = pthread_create(&child_id, NULL, parent, (void *)&parent_id);
+ if (ret) {
+ printf("pthread_create() returned %d\n", ret);
+ pthread_mutex_unlock(&mut);
+ return -1;
+ }
+
+ /* register a signal handler, which is interruptible */
+ memset(&sigact, 0, sizeof(sigact));
+ sigemptyset(&sigact.sa_mask);
+ sigact.sa_flags |= SA_NODEFER;
+ sigact.sa_sigaction = sigusr1;
+ sigaction(SIGUSR1, &sigact, NULL);
+
+ /* */
+ if (siginterrupt (SIGUSR1, 0) != 0)
+ return -1;
+
+ pthread_mutex_unlock(&mut);
+
+ return 0;
+}
+#endif /* HOST_VERSION */
git.droids-corp.org / aversive.git / commitdiff