merge

[aversive.git] / modules / base / hostsim / hostsim.c

diff --git a/modules/base/hostsim/hostsim.c b/modules/base/hostsim/hostsim.c
new file mode 100644 (file)
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+++ b/modules/base/hostsim/hostsim.c
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+/*
+ *  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 */