fixed rpi to get it working with pthread

there is a 'bug' in Write service, I have a workaround @FlorianPalm - check it please

examples/src/opcuaServer.c

@@ -7,7 +7,11 @@
  Description : lala
  ============================================================================
  */
-#define _XOPEN_SOURCE 1 //TODO HACK
+#ifdef RASPI
+	#define _POSIX_C_SOURCE 199309L //to use nanosleep
+	#include <pthread.h>
+#endif
+
 #include <stdio.h>
 #include <stdlib.h>
 
@@ -18,14 +22,11 @@
 #include <sys/types.h>
 #include <sys/wait.h>
 #include <unistd.h>
+#include <time.h>
 #include <fcntl.h>
 #ifdef RASPI
 	#include "raspberrypi_io.h"
 #endif
-#include <sys/ipc.h>
-#include <sys/shm.h>
-#define MAXMYMEM 4
-
 
 
 UA_Int32 serverCallback(void * arg) {
@@ -58,14 +59,58 @@ UA_Int32 serverCallback(void * arg) {
 	}
 
 
-
+#ifdef RASPI
+#else
 	*((float*)((UA_VariableNode *)foundNode1)->value.data) = *((float*)((UA_VariableNode *)foundNode1)->value.data) + 0.2f;
+#endif
+
+
 
+	return UA_SUCCESS;
+}
+
+#ifdef RASPI
+
+static float sharedTemperature = 0;
+static UA_Boolean sharedLED1 = 0;
+static UA_Boolean sharedLED2 = 0;
+
+static void* ioloop(void* ptr){
+    {
+	if(initIO())
+	{
+		printf("ERROR while initializing the IO \n");
+	}
+	else
+	{
+	        struct timespec t = {0, 50*1000*1000};
+		int j = 0;
+		for(;j<25;j++){
+		writePin(j%2,0);
+		writePin((j+1)%2,2);
+		nanosleep(&t, NULL);
+		}
+		writePin(0,0);
+		writePin(0,2);
+
+		printf("IO successfully initalized \n");
+	}
 
+	printf("done - io init \n");
 
+  
 
-		return UA_SUCCESS;
+        struct timespec t = {0, 50*1000*1000};
+    	while(1){
+		readTemp(&sharedTemperature);
+		writePin(sharedLED1,0);
+		writePin(sharedLED2,2);
+		nanosleep(&t, NULL);
+    	}
+    }
+	return UA_NULL;
 }
+#endif
 
 int main(int argc, char** argv) {
 	appMockup_init();
@@ -73,11 +118,7 @@ int main(int argc, char** argv) {
 
 	struct timeval tv = {1, 0}; // 1 second
 #ifdef RASPI
-	initIO();
-    pid_t i = fork();
-    if (i == 0)
-    {
-    	Namespace* ns0 = (Namespace*)UA_indexedList_find(appMockup.namespaces, 0)->payload;
+  	Namespace* ns0 = (Namespace*)UA_indexedList_find(appMockup.namespaces, 0)->payload;
 		const UA_Node *foundNode1 = UA_NULL;
 		const UA_Node *foundNode2 = UA_NULL;
 		const UA_Node *foundNode3 = UA_NULL;
@@ -98,7 +139,7 @@ int main(int argc, char** argv) {
 		tmpNodeId3.encodingByte = UA_NODEIDTYPE_TWOBYTE;
 		tmpNodeId3.identifier.numeric = 110;
 		tmpNodeId3.namespace =  0;
-    	while(1){
+            	
 			if(Namespace_get(ns0,&tmpNodeId1, &foundNode1,&lock) != UA_SUCCESS){
 				_exit(1);
 			}
@@ -110,22 +151,19 @@ int main(int argc, char** argv) {
 			if(Namespace_get(ns0,&tmpNodeId3, &foundNode3,&lock) != UA_SUCCESS){
 				_exit(1);
 			}
-			readTemp((float*)((UA_VariableNode *)foundNode1)->value.data);
-			writePin(*((UA_Boolean*)((UA_VariableNode *)foundNode2)->value.data),0);
-			writePin(*((UA_Boolean*)((UA_VariableNode *)foundNode3)->value.data),2);
-			sleep(200);
-    	}
-    }
-    else if (i > 0)
-    {
 
-        _exit(2);
-    }
-    else
-    {
-        perror("fork failed");
-        _exit(3);
-    }
-#endif
-	NL_msgLoop(nl, &tv, serverCallback,argv[0]);
+		((UA_VariableNode *)foundNode1)->value.data = &sharedTemperature;
+		((UA_VariableNode *)foundNode2)->value.data = &sharedLED1;
+		((UA_VariableNode *)foundNode3)->value.data = &sharedLED2;
+
+		pthread_t t;
+		pthread_create(&t, NULL, &ioloop, UA_NULL);
+
+	printf("raspi enabled \n");	
+  	//pid_t i = fork();
+	//printf("process id i=%d \n",i);
+#endif    
+
+  	NL_msgLoop(nl, &tv, serverCallback, argv[0]);
+
 }

examples/src/raspberrypi_io.c

@@ -53,7 +53,7 @@ int writePin(_Bool state, int pin){
 	if(initialized)
 	{
 		pinMode(0, OUTPUT);
-		if(state){
+		if(state==(1==1)){
 			digitalWrite(pin, 1);
 		}else{
 			digitalWrite(pin, 0);

src/ua_services_attribute.c

@@ -357,9 +357,15 @@ UA_Int32 Service_Write_writeNode(Application *app, UA_WriteValue *writeValue, UA
 		/* retval |= UA_Variant_borrowSetValue(&v.value, &UA_.types[UA_VARIANT], */
 		/*                                     &((UA_VariableNode *)node)->value); */
 
+#ifdef RASPI
+		//Sten: this is  highly hacked to cope with pthreads
+		//tested only with raspberrypi and boolean
+		*((UA_Boolean*)((UA_VariableNode *)node)->value.data) = *((UA_Boolean*)(writeValue->value.value.data));
+		//it seems that UA_Variant_copy copies the value out of the shared memory
+#else
 		retval |= UA_Variant_copy(&writeValue->value.value, &((UA_VariableNode *)node)->value);
+#endif
 		*result = UA_STATUSCODE_GOOD;
-
 		}
 
 		break;