moved OPAL-RT libraries into submodule

.gitmodules

@@ -22,3 +22,6 @@
 [submodule "thirdparty/libxil"]
 	path = thirdparty/libxil
 	url = ../libxil.git
+[submodule "thirdparty/libopal"]
+	path = thirdparty/libopal
+	url = ../libopal.git

libopal @ 16b8a3b4

+Subproject commit 16b8a3b49af56fecd2b3734083fb4af9ea4a0192

thirdparty/opal/example/AsyncProcess.c

-/*-------------------------------------------------------------------
- *  OPAL-RT Technologies inc
- *
- *  Copyright (C) 2003. All rights reserved.
- *
- *  File name =         AsyncSerial.c
- *  Last modified by =  Mathieu Dubé-Dallaire
- *
- *  Code example of an asynchronous program.  This program is started
- *  by the asynchronous controller and demonstrates how to send and 
- *  receive data to and from the asynchronous icons and a serial 
- *  COMM port (/dev/ser1, /dev/ser2).
- *
- *  Note: The Software Flow control is not fully functional in this 
- *        application.  The settings for the terminal device are 
- *        properly set but the 'RecvFromSerialPort' function does 
- *        not implement this functionality.
- *
- *  Feel free to use this as a starting point for your own asynchronous
- *  application. You should normally only have to modify the sections
- *  marked with: ****** Format to specific protocol here. ******.
- *
-  *-----------------------------------------------------------------*/
-#ifndef WIN32
-#define PROGNAME "AsyncProcess"
-
-// Standard ANSI C headers needed for this program
-#include <errno.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <sys/wait.h>
-#include <termios.h>
-#include <unistd.h>
-
-
-#if defined(__QNXNTO__)
-// For QNX v6.x threads
-#	include <process.h>
-#	include <sys/sched.h>
-#	include <pthread.h>
-#	include <devctl.h>
-#	include <sys/dcmd_chr.h>
-#elif defined(__linux__)
-extern double fmin(double x, double y);
-#endif
-// 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 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]
-
-// This defines the maximum number of signals (doubles) that can be sent
-// or received by any individual Send or Recv block in the model. This
-// only applies to the "model <-> asynchronous process" communication.
-#define MAXSENDSIZE 64
-#define MAXRECVSIZE 64
-
-// Set the stack size of each thread.
-#define STACKSIZE 4096
-
-volatile int thread_count = 0;
-/************************************************************************/
-void * ReceiveFromModel (void * arg)
-{
-  const int NB_SKIP = 499;
-  int	 step = 0;
-  unsigned int    SendID = 1;
-  int    i,n;
-  int    nbSend = 0, nbRecv = 0;
-  int    ModelState;
-
-  double mdldata[MAXSENDSIZE];
-  int    mdldata_size;
-  int    comdata_size;
-  
-  OpalPrint("%s: ReceiveFromModel thread started\n", PROGNAME);
-  
-  OpalGetNbAsyncSendIcon(&nbSend);
-  OpalGetNbAsyncRecvIcon(&nbRecv);
-  
-  if(nbSend >= 1 && nbRecv >= 1)
-  {
-	do
-	{
-		// This call unblocks when the 'Data Ready' line of a send icon is asserted.
-		if((n = OpalWaitForAsyncSendRequest (&SendID)) != 0)
-	    {
-			ModelState = OpalGetAsyncModelState();
-			if ((ModelState != STATE_RESET) && (ModelState != STATE_STOP))
-			{
-				OpalSetAsyncSendIconError(n, SendID);
-				OpalPrint("%s: OpalWaitForAsyncSendRequest(), errno %d\n", PROGNAME, n);
-			}
-			continue;
-		}
-	  
-		// No errors encountered yet
-		OpalSetAsyncSendIconError(0, SendID);
-
-		// Get the size of the data being sent by the unblocking SendID
-		OpalGetAsyncSendIconDataLength (&mdldata_size, SendID);
-		if (mdldata_size/sizeof(double) > MAXSENDSIZE)
-	    {
-			OpalPrint("%s: Number of signals for SendID=%d exceeds allowed maximum (%d)\n", PROGNAME, SendID, MAXSENDSIZE);
-			return NULL;
-	    }
-
-		// Read data from the model
-		OpalGetAsyncSendIconData (mdldata, mdldata_size, SendID);
-
-		if (step == 0)
-		{
-			// Reply to the model
-			SendToModel(-mdldata[0]);
-		}
-		step = ++step % NB_SKIP;
-
-		// 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) && (ModelState != STATE_ERROR));
-
-	OpalPrint("%s: ReceiveFromModel: Finished\n", PROGNAME);
-  }
-  
-  else
-  {
-    OpalPrint("%s: ReceiveFromModel: No transimission block for this controller. Stopping thread.\n", PROGNAME);
-  }
-
-  thread_count--;
-  return NULL;
-}
-/************************************************************************/
-
-/************************************************************************/
-int SendToModel (double value)
-{
-	int    RecvID = 1;	
-	double mdldata[MAXRECVSIZE];
-	int    mdldata_size;
-  
-	// Get the number of signals to send back to the model
-	OpalGetAsyncRecvIconDataLength (&mdldata_size, RecvID);
-	
-	if (mdldata_size/sizeof(double) > MAXRECVSIZE)
-	{
-		OpalPrint("%s: Number of signals for RecvID=%d (%d) exceeds allowed maximum (%d)\n", PROGNAME, RecvID, mdldata_size/sizeof(double), MAXRECVSIZE);
-		return 7;
-	}
-	
-	mdldata[0] = value;
-		
-	OpalSetAsyncRecvIconData   (mdldata, mdldata_size, RecvID);
-	
-	OpalSetAsyncRecvIconStatus (OP_ASYNC_DATA_READY, RecvID); // Set the Status to the message ID
-	OpalSetAsyncRecvIconError  (0, RecvID);              // Set the Error to 0
-
-	return 0;
-}
-/************************************************************************/
-
-/************************************************************************/
-int main (int argc, char *argv[]) 
-{
-  //Opal_GenAsyncParam_Ctrl IconCtrlStruct;
-  int err;
-  pthread_t      tid_send,  tid_recv;
-  pthread_attr_t attr_send, attr_recv;
-  
-  // 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.
-  if (OpalSystemCtrl_Register(PRINT_SHMEM_NAME) != 0)
-  {
-      printf("%s: ERROR: OpalPrint() access not available\n", PROGNAME);
-      exit(-1);	
-  }
-  
-  // Open Share Memory created by the model. -----------------------
-  if((OpalOpenAsyncMem (ASYNC_SHMEM_SIZE, ASYNC_SHMEM_NAME)) != 0)
-  {
-      OpalPrint("%s: ERROR: Model shared memory not available\n", PROGNAME);
-      exit(-1);
-  }
-
-  // Get Serial Controler Parameters
-  /*
-  memset(&IconCtrlStruct, 0, sizeof(IconCtrlStruct));
-  if((err = OpalGetAsyncCtrlParameters(&IconCtrlStruct, sizeof(IconCtrlStruct))) != 0)
-  {
-      OpalPrint("%s: ERROR: Could not get controller parameters (%d).\n", PROGNAME, err);
-      exit(-1);
-  }
-  OpalPrint("----------------------\n");
-  OpalPrint("ControllerID: %d \n",	(int)IconCtrlStruct.controllerID);
-  OpalPrint("----------------------\n");
-  */
-
-  // Start reception thread -----------------------------------------
-  thread_count++;
-  pthread_attr_init (&attr_recv);
-  //pthread_attr_setstacksize (&attr_recv, STACKSIZE); // Has been known to crash the application
-  if ((pthread_create (&tid_recv, &attr_recv, ReceiveFromModel, NULL)) == -1)
-  {
-      OpalPrint("%s: ERROR: Could not create thread (ReceiveFromModel), errno %d\n", PROGNAME, errno);
-      thread_count--;
-  }
-
-  // Wait for thread to finish --------------------------------
-  if ((err = pthread_join (tid_recv, NULL)) != 0)
-  {
-	  OpalPrint("%s: ERROR: pthread_join (ReceiveFromModel), errno %d\n", PROGNAME, err);
-  }
-
-
-  // Close the shared memories ----------------------
-  OpalCloseAsyncMem (ASYNC_SHMEM_SIZE,ASYNC_SHMEM_NAME);
-  OpalSystemCtrl_UnRegister(PRINT_SHMEM_NAME);
-
-  return(0);
-}
-/************************************************************************/
-#endif
\ No newline at end of file

thirdparty/opal/example/AsyncProcess.mk

-# ----------------------------------------------------------------------------#
-# Specify program name
-PROGRAM = AsyncProcess
-
-TARGET_RTLAB_ROOT ?= /usr/opalrt
-RTLAB_ROOT = $(TARGET_RTLAB_ROOT)
-
-# ----------------------------------------------------------------------------#
-# QNX v6.x and Linux specifics
-#
-
-# Support for QNX 6.3
-ifeq "$(SYSNAME)" "nto"
-
-	CC = gcc
-	# Support for QNX 6.3.0
-	OS_VERSION = $(shell uname -r)
-	ifeq "$(OS_VERSION)" "6.3.0"
-	export QNX_HOST=/usr/qnx630/host/qnx6/x86
-	export QNX_TARGET=/usr/qnx630/target/qnx6/x86
-	endif
-  
-	LIB_TARGET = -lsocket -lm
-
-else ## linux
-
-	# Intel is the default compiler
-	RTLAB_INTEL_COMPILER ?= 1
-	ifeq ($(RTLAB_INTEL_COMPILER),1)
-		CC = opicc
-	else
-		CC = gcc
-	endif
-	LIB_TARGET = -lpthread -lrt -lm
-	# Add Intel C library for compilation with Gcc
-	ifeq ($(RTLAB_INTEL_COMPILER),0)
-		LIB_TARGET += -lirc
-	else
-		LD_OPTS += -diag-disable remark,warn
-	endif
-endif
-# ----------------------------------------------------------------------------#
-
-LD := $(CC)
-
-ifeq ($(DEBUG),1)
-	CC_OPTS = -g -D_DEBUG
-	LD_OPTS = -g
-else
-	CC_OPTS = -O
-endif
-
-INCPATH = -I. -I$(RTLAB_ROOT)/common/include_target
-LIBPATH  = -L.
-
-#The required libraries are transfered automatically in the model directory before compilation
-LIBS := -lOpalAsyncApiCore -lOpalCore -lOpalUtils $(LIB_TARGET)
-
-CFLAGS	= $(CC_OPTS) $(INCPATH)
-LDFLAGS = $(LD_OPTS) $(LIBPATH) 
-
-MAKEFILE = $(PROGRAM).mk
-OBJS = ${PROGRAM}.o
-
-all: $(PROGRAM)
-
-install:
-	\mkdir -p $(RTLAB_ROOT)/local
-	\chmod 755 $(RTLAB_ROOT/local
-	\cp -f $(PROGRAM) $(RTLAB_ROOT)/local
-
-clean:
-	\rm -f $(OBJS) $(PROGRAM)
-
-$(PROGRAM): $(OBJS)
-	$(LD) $(LDFLAGS) -o $@ $(OBJS) $(LIBS)