X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fbase%2Fhostsim%2Fhostsim.c;fp=modules%2Fbase%2Fhostsim%2Fhostsim.c;h=850d23a59f7e1d7331f2599362d17e514da4b343;hp=0000000000000000000000000000000000000000;hb=09fd7b53a60d7201b6d019d88d3fee3d43a14c3f;hpb=e0908eab4d4b00cf19083f91a9921b3e8d0cae63

diff --git a/modules/base/hostsim/hostsim.c b/modules/base/hostsim/hostsim.c
new file mode 100644
index 0000000..850d23a
--- /dev/null
+++ b/modules/base/hostsim/hostsim.c
@@ -0,0 +1,151 @@
+/*
+ *  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 */