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/**

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 * Mac OSX specific code

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 **/

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#include <stdio.h>

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#include <string.h>

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#include <time.h>

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#include <signal.h>

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#include <stdlib.h>

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#include <pthread.h>

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#include <locale.h>

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#include <semaphore.h>

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#include <dispatch/dispatch.h>

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static dispatch_semaphore_t Run_PLC;

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long AtomicCompareExchange(long *atomicvar, long compared, long exchange)

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{

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    return __sync_val_compare_and_swap(atomicvar, compared, exchange);

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}

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long long AtomicCompareExchange64(long long *atomicvar, long long compared,

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                                  long long exchange)

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{

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    return __sync_val_compare_and_swap(atomicvar, compared, exchange);

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}

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void PLC_GetTime(IEC_TIME * CURRENT_TIME)

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{

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    struct timespec tmp;

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    clock_gettime(CLOCK_REALTIME, &tmp);

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    CURRENT_TIME->tv_sec = tmp.tv_sec;

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    CURRENT_TIME->tv_nsec = tmp.tv_nsec;

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}

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dispatch_queue_t queue;

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dispatch_source_t PLC_timer;

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static inline void PLC_timer_cancel(void *arg)

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{

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    dispatch_release(PLC_timer);

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    dispatch_release(queue);

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    exit(0);

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}

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static inline void PLC_timer_notify(void *arg)

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{

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    PLC_GetTime(&__CURRENT_TIME);

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    dispatch_semaphore_signal(Run_PLC);

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}

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void PLC_SetTimer(unsigned long long next, unsigned long long period)

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{

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    if (next == period && next == 0) {

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        dispatch_suspend(PLC_timer);

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    } else {

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        dispatch_time_t start;

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        start = dispatch_walltime(NULL, next);

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        dispatch_source_set_timer(PLC_timer, start, period, 0);

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        dispatch_resume(PLC_timer);

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    }

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}

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void catch_signal(int sig)

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{

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    signal(SIGINT, catch_signal);

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    printf("Got Signal %d\n", sig);

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    dispatch_source_cancel(PLC_timer);

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    exit(0);

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}

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static unsigned long __debug_tick;

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pthread_t PLC_thread;

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static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER;

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static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER;

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static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER;

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static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER;

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int PLC_shutdown = 0;

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int ForceSaveRetainReq(void)

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{

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    return PLC_shutdown;

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}

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void PLC_thread_proc(void *arg)

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{

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    while (!PLC_shutdown) {

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        dispatch_semaphore_wait(Run_PLC, DISPATCH_TIME_FOREVER);

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        __run();

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    }

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    pthread_exit(0);

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}

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#define maxval(a,b) ((a>b)?a:b)

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int startPLC(int argc, char **argv)

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{

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    setlocale(LC_NUMERIC, "C");

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    PLC_shutdown = 0;

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    Run_PLC = dispatch_semaphore_create(0);

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    pthread_create(&PLC_thread, NULL, (void *)&PLC_thread_proc, NULL);

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    pthread_mutex_init(&debug_wait_mutex, NULL);

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    pthread_mutex_init(&debug_mutex, NULL);

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    pthread_mutex_init(&python_wait_mutex, NULL);

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    pthread_mutex_init(&python_mutex, NULL);

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    pthread_mutex_lock(&debug_wait_mutex);

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    pthread_mutex_lock(&python_wait_mutex);

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    queue = dispatch_queue_create("timerQueue", 0);

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    PLC_timer = dispatch_source_create(DISPATCH_SOURCE_TYPE_TIMER, 0, 0, queue);

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    dispatch_set_context(PLC_timer, &PLC_timer);

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    dispatch_source_set_event_handler_f(PLC_timer, PLC_timer_notify);

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    dispatch_source_set_cancel_handler_f(PLC_timer, PLC_timer_cancel);

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    if (__init(argc, argv) == 0) {

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        PLC_SetTimer(common_ticktime__, common_ticktime__);

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        /* install signal handler for manual break */

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        signal(SIGINT, catch_signal);

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    } else {

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        return 1;

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    }

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    return 0;

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}

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int TryEnterDebugSection(void)

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{

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    if (pthread_mutex_trylock(&debug_mutex) == 0) {

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        /* Only enter if debug active */

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        if (__DEBUG) {

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            return 1;

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        }

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        pthread_mutex_unlock(&debug_mutex);

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    }

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    return 0;

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}

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void LeaveDebugSection(void)

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{

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    pthread_mutex_unlock(&debug_mutex);

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}

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int stopPLC()

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{

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    /* Stop the PLC */

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    PLC_shutdown = 1;

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    dispatch_semaphore_signal(Run_PLC);

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    PLC_SetTimer(0, 0);

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    pthread_join(PLC_thread, NULL);

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    dispatch_release(Run_PLC);

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    Run_PLC = NULL;

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    dispatch_source_cancel(PLC_timer);

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    __cleanup();

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    pthread_mutex_destroy(&debug_wait_mutex);

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    pthread_mutex_destroy(&debug_mutex);

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    pthread_mutex_destroy(&python_wait_mutex);

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    pthread_mutex_destroy(&python_mutex);

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    return 0;

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}

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extern unsigned long __tick;

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int WaitDebugData(unsigned long *tick)

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{

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    int res;

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    if (PLC_shutdown)

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        return 1;

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    /* Wait signal from PLC thread */

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    res = pthread_mutex_lock(&debug_wait_mutex);

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    *tick = __debug_tick;

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    return res;

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}

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/* Called by PLC thread when debug_publish finished

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 * This is supposed to unlock debugger thread in WaitDebugData*/

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void InitiateDebugTransfer()

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{

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    /* remember tick */

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    __debug_tick = __tick;

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    /* signal debugger thread it can read data */

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    pthread_mutex_unlock(&debug_wait_mutex);

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}

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int suspendDebug(int disable)

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{

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    /* Prevent PLC to enter debug code */

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    pthread_mutex_lock(&debug_mutex);

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    /*__DEBUG is protected by this mutex */

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    __DEBUG = !disable;

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    if (disable)

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        pthread_mutex_unlock(&debug_mutex);

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    return 0;

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}

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void resumeDebug(void)

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{

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    __DEBUG = 1;

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    /* Let PLC enter debug code */

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    pthread_mutex_unlock(&debug_mutex);

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}

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/* from plc_python.c */

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int WaitPythonCommands(void)

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{

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    /* Wait signal from PLC thread */

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    return pthread_mutex_lock(&python_wait_mutex);

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}

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/* Called by PLC thread on each new python command*/

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void UnBlockPythonCommands(void)

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{

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    /* signal python thread it can read data */

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    pthread_mutex_unlock(&python_wait_mutex);

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}

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int TryLockPython(void)

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{

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    return pthread_mutex_trylock(&python_mutex) == 0;

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}

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void UnLockPython(void)

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{

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    pthread_mutex_unlock(&python_mutex);

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}

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void LockPython(void)

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{

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    pthread_mutex_lock(&python_mutex);

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}

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struct RT_to_nRT_signal_s {

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    pthread_cond_t WakeCond;

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    pthread_mutex_t WakeCondLock;

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};

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typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t;

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#define _LogAndReturnNull(text) \

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    {\

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    	char mstr[256] = text " for ";\

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        strncat(mstr, name, 255);\

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        LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\

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        return NULL;\

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    }

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void *create_RT_to_nRT_signal(char *name)

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{

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    RT_to_nRT_signal_t *sig =

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        (RT_to_nRT_signal_t *) malloc(sizeof(RT_to_nRT_signal_t));

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    if (!sig)

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        _LogAndReturnNull("Failed allocating memory for RT_to_nRT signal");

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    pthread_cond_init(&sig->WakeCond, NULL);

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    pthread_mutex_init(&sig->WakeCondLock, NULL);

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    return (void *)sig;

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}

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void delete_RT_to_nRT_signal(void *handle)

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{

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    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t *) handle;

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    pthread_cond_destroy(&sig->WakeCond);

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    pthread_mutex_destroy(&sig->WakeCondLock);

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    free(sig);

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}

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int wait_RT_to_nRT_signal(void *handle)

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{

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    int ret;

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    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t *) handle;

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    pthread_mutex_lock(&sig->WakeCondLock);

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    ret = pthread_cond_wait(&sig->WakeCond, &sig->WakeCondLock);

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    pthread_mutex_unlock(&sig->WakeCondLock);

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    return ret;

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}

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int unblock_RT_to_nRT_signal(void *handle)

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{

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    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t *) handle;

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    return pthread_cond_signal(&sig->WakeCond);

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}

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void nRT_reschedule(void)

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{

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    sched_yield();

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}