Merge branch 'V1.5_RT_Development' into v1.5

examples/goose_subscriber_RT/CMakeLists.txt

@@ -0,0 +1,20 @@
+
+set(goose_subscriber_example_SRCS
+   goose_subscriber_example_RT.c
+)
+
+IF(MSVC)
+
+set_source_files_properties(${goose_subscriber_example_SRCS}
+                                       PROPERTIES LANGUAGE CXX)
+ENDIF(MSVC)
+                                       
+add_executable(goose_subscriber_example_RT
+  ${goose_subscriber_example_SRCS}
+)
+
+target_link_libraries(goose_subscriber_example_RT
+    iec61850
+)
+
+

examples/goose_subscriber_RT/Makefile

@@ -0,0 +1,17 @@
+LIBIEC_HOME=../..
+
+PROJECT_BINARY_NAME = goose_subscriber_example_RT
+PROJECT_SOURCES = goose_subscriber_example_RT.c
+
+include $(LIBIEC_HOME)/make/target_system.mk
+include $(LIBIEC_HOME)/make/stack_includes.mk
+
+all:	$(PROJECT_BINARY_NAME)
+
+include $(LIBIEC_HOME)/make/common_targets.mk
+
+$(PROJECT_BINARY_NAME):	$(PROJECT_SOURCES) $(LIB_NAME)
+	$(CC) $(CFLAGS) $(LDFLAGS) -o $(PROJECT_BINARY_NAME) $(PROJECT_SOURCES) $(INCLUDES) $(LIB_NAME) $(LDLIBS)
+
+clean:
+	rm -f $(PROJECT_BINARY_NAME)

examples/goose_subscriber_RT/goose_subscriber_example_RT.c

@@ -0,0 +1,98 @@
+/*
+ * goose_subscriber_example.c
+ *
+ * This is an example for a standalone GOOSE subscriber
+ *
+ * Has to be started as root in Linux.
+ *
+ * BPH - 11-8-21
+ * Adapted from original goose publlisher example to implement realtime threading and priorities 
+ *
+ */
+
+#include "goose_receiver.h"
+#include "goose_subscriber.h"
+#include "hal_thread.h"
+#include "linked_list.h"
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <signal.h>
+
+static int running = 1;
+
+static void
+sigint_handler(int signalId)
+{
+    running = 0;
+}
+
+static void
+gooseListener(GooseSubscriber subscriber, void* parameter)
+{
+    printf("GOOSE event:\n");
+    printf("  stNum: %u sqNum: %u\n", GooseSubscriber_getStNum(subscriber),
+            GooseSubscriber_getSqNum(subscriber));
+    printf("  timeToLive: %u\n", GooseSubscriber_getTimeAllowedToLive(subscriber));
+
+    uint64_t timestamp = GooseSubscriber_getTimestamp(subscriber);
+
+    printf("  timestamp: %u.%u\n", (uint32_t) (timestamp / 1000), (uint32_t) (timestamp % 1000));
+    printf("  message is %s\n", GooseSubscriber_isValid(subscriber) ? "valid" : "INVALID");
+
+    MmsValue* values = GooseSubscriber_getDataSetValues(subscriber);
+
+    char buffer[1024];
+
+    MmsValue_printToBuffer(values, buffer, 1024);
+
+    printf("  allData: %s\n", buffer);
+}
+
+int
+main(int argc, char** argv)
+{
+	// BPH Notes: Single receiver on interface with potentially multiple subscribers.
+    GooseReceiver receiver = GooseReceiver_create();  //BPH Notes: Mallocs Receiver Struct and Eth Buffer
+
+    if (argc > 1) {
+        printf("Set interface id: %s\n", argv[1]);
+        GooseReceiver_setInterfaceId(receiver, argv[1]);
+    }
+    else {
+        printf("Using interface eth0\n");
+        GooseReceiver_setInterfaceId(receiver, "eth0");
+    }
+
+    GooseSubscriber subscriber = GooseSubscriber_create("simpleIOGenericIO/LLN0$GO$gcbAnalogValues", NULL);
+
+    uint8_t dstMac[6] = {0x01,0x0c,0xcd,0x01,0x00,0x01};
+    GooseSubscriber_setDstMac(subscriber, dstMac);
+    GooseSubscriber_setAppId(subscriber, 1000);
+
+	// BPH Notes: Attach listner function to subscriber struct, called when goose received that matches
+    GooseSubscriber_setListener(subscriber, gooseListener, NULL);
+
+	// BPH Notes: add subscriber struct to receiver list
+    GooseReceiver_addSubscriber(receiver, subscriber);
+
+	// BPH Notes: call when all subscribers added
+    GooseReceiver_start_RT(receiver);  // Create receive thread with RT  priority 
+
+    if (GooseReceiver_isRunning(receiver)) {
+        signal(SIGINT, sigint_handler);
+
+        while (running) {
+            Thread_sleep(100);
+        }
+    }
+    else {
+        printf("Failed to start GOOSE subscriber. Reason can be that the Ethernet interface doesn't exist or root permission are required.\n");
+    }
+
+    GooseReceiver_stop(receiver);
+
+    GooseReceiver_destroy(receiver);
+
+    return 0;
+}

examples/sv_subscriber_RT/CMakeLists.txt

@@ -0,0 +1,20 @@
+
+set(sv_subscriber_example_SRCS
+   sv_subscriber_example_RT.c
+)
+
+IF(MSVC)
+
+set_source_files_properties(${sv_subscriber_example_SRCS}
+                                       PROPERTIES LANGUAGE CXX)
+ENDIF(MSVC)
+                                       
+add_executable(sv_subscriber_example_RT
+  ${sv_subscriber_example_SRCS}
+)
+
+target_link_libraries(sv_subscriber_example_RT
+)
+
+
+

examples/sv_subscriber_RT/Makefile

@@ -0,0 +1,21 @@
+LIBIEC_HOME=../..
+
+PROJECT_BINARY_NAME = sv_subscriber_RT
+PROJECT_SOURCES += sv_subscriber_example_RT.c
+
+INCLUDES += -I.
+
+include $(LIBIEC_HOME)/make/target_system.mk
+include $(LIBIEC_HOME)/make/stack_includes.mk
+
+all:	$(PROJECT_BINARY_NAME)
+
+include $(LIBIEC_HOME)/make/common_targets.mk
+
+$(PROJECT_BINARY_NAME):	$(PROJECT_SOURCES) $(LIB_NAME)
+	$(CC) $(CFLAGS) $(LDFLAGS) -o $(PROJECT_BINARY_NAME) $(PROJECT_SOURCES) $(INCLUDES) $(LIB_NAME) $(LDLIBS)
+
+clean:
+	rm -f $(PROJECT_BINARY_NAME)
+
+

examples/sv_subscriber_RT/sv_subscriber_example_RT.c

@@ -0,0 +1,95 @@
+/*
+ * sv_subscriber_example.c
+ *
+ * Example program for Sampled Values (SV) subscriber
+ *
+ */
+
+#include "hal_thread.h"
+#include <signal.h>
+#include <stdio.h>
+#include "sv_subscriber.h"
+
+
+static bool running = true;
+
+void sigint_handler(int signalId)
+{
+    running = 0;
+}
+
+
+/* Callback handler for received SV messages */
+static void
+svUpdateListener (SVSubscriber subscriber, void* parameter, SVSubscriber_ASDU asdu)
+{
+    printf("svUpdateListener called\n");
+
+    const char* svID = SVSubscriber_ASDU_getSvId(asdu);
+
+    if (svID != NULL)
+        printf("  svID=(%s)\n", svID);
+
+    printf("  smpCnt: %i\n", SVSubscriber_ASDU_getSmpCnt(asdu));
+    printf("  confRev: %u\n", SVSubscriber_ASDU_getConfRev(asdu));
+
+    /*
+     * Access to the data requires a priori knowledge of the data set.
+     * For this example we assume a data set consisting of FLOAT32 values.
+     * A FLOAT32 value is encoded as 4 bytes. You can find the first FLOAT32
+     * value at byte position 0, the second value at byte position 4, the third
+     * value at byte position 8, and so on.
+     *
+     * To prevent damages due configuration, please check the length of the
+     * data block of the SV message before accessing the data.
+     */
+    if (SVSubscriber_ASDU_getDataSize(asdu) >= 8) {
+        printf("   DATA[0]: %f\n", SVSubscriber_ASDU_getFLOAT32(asdu, 0));
+        printf("   DATA[1]: %f\n", SVSubscriber_ASDU_getFLOAT32(asdu, 4));
+    }
+}
+
+int
+main(int argc, char** argv)
+{
+    SVReceiver receiver = SVReceiver_create();
+
+    if (argc > 1) {
+        SVReceiver_setInterfaceId(receiver, argv[1]);
+		printf("Set interface id: %s\n", argv[1]);
+    }
+    else {
+        printf("Using interface eth0\n");
+        SVReceiver_setInterfaceId(receiver, "eth0");
+    }
+
+    /* Create a subscriber listening to SV messages with APPID 4000h */
+    SVSubscriber subscriber = SVSubscriber_create(NULL, 0x4000);
+
+    /* Install a callback handler for the subscriber */
+    SVSubscriber_setListener(subscriber, svUpdateListener, NULL);
+
+    /* Connect the subscriber to the receiver */
+    SVReceiver_addSubscriber(receiver, subscriber);
+
+    /* Start listening to SV messages - starts a new receiver background thread */
+    SVReceiver_start_RT(receiver);
+	
+	
+    if (SVReceiver_isRunning(receiver)) {
+        signal(SIGINT, sigint_handler);
+
+        while (running)
+			Thread_sleep(1);
+
+        /* Stop listening to SV messages */
+        SVReceiver_stop(receiver);
+    }
+    else {
+        printf("Failed to start SV subscriber. Reason can be that the Ethernet interface doesn't exist or root permission are required.\n");
+    }
+
+    /* Cleanup and free resources */
+    SVReceiver_destroy(receiver);
+    return 0;
+}

hal/time/unix/time.c

@@ -63,5 +63,14 @@ Hal_setTimeInNs(nsSinceEpoch nsTime)
 }
 
 
+//Added BPH 06/2023
+long 
+Hal_timeDiff(struct timespec const* t1, struct timespec const* t2)
+{
+  long diff = t1->tv_nsec - t2->tv_nsec;
+  diff += 1000000000 * (t1->tv_sec - t2->tv_sec);
+  return diff;
+}
+
 #endif