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/*

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This file is part of CanFestival, a library implementing CanOpen Stack. 

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Copyright (C): Edouard TISSERANT and Francis DUPIN

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See COPYING file for copyrights details.

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This library is free software; you can redistribute it and/or

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modify it under the terms of the GNU Lesser General Public

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License as published by the Free Software Foundation; either

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version 2.1 of the License, or (at your option) any later version.

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This library is distributed in the hope that it will be useful,

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but WITHOUT ANY WARRANTY; without even the implied warranty of

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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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Lesser General Public License for more details.

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You should have received a copy of the GNU Lesser General Public

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License along with this library; if not, write to the Free Software

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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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*/

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/*

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	Virtual CAN driver.

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*/

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#include <stdlib.h>

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#include <sys/types.h>

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#include <unistd.h>

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#include <stdio.h>

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#include <applicfg.h>

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#include "timer.h"

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#include "can_driver.h"

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#include "timers_driver.h"

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#define MAX_NB_CAN_PIPES 10

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typedef struct {

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  char used;

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  int pipe[2];

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  TASK_HANDLE receiveTask;

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  CO_Data* d;

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} CANPipe;

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CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,{0,0},},};

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/*********functions which permit to communicate with the board****************/

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UNS8 canReceive(CAN_HANDLE fd0, Message *m)

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{

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	if(read(((CANPipe*)fd0)->pipe[0], m, sizeof(Message)) < sizeof(Message))

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	{

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		return 1;

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	}

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	return 0;

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}

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void canReceiveLoop(CAN_HANDLE fd0)

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{

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	CO_Data* d = ((CANPipe*)fd0)->d;

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	Message m;

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	while (1) {

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		if(!canReceive(fd0, &m))

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		{  

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			EnterMutex();

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			canDispatch(d, &m);

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			LeaveMutex();

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		}else{

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			break;

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		}

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	}

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}

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/***************************************************************************/

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UNS8 canSend(CAN_HANDLE fd0, Message *m)

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{

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  int i;

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  // Send to all readers, except myself

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  for(i=0; i < MAX_NB_CAN_PIPES; i++)

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  {

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  	if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)

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  	{

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		write(canpipes[i].pipe[1], m, sizeof(Message));

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  	}

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  }

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  return 0;

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}

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/***************************************************************************/

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CAN_HANDLE canOpen(s_BOARD *board)

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{

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  int i;  

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  for(i=0; i < MAX_NB_CAN_PIPES; i++)

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  {

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  	if(!canpipes[i].used)

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	  	break;

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  }

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  /* Create the pipe.  */

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  if (i==MAX_NB_CAN_PIPES || pipe(canpipes[i].pipe))

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    {

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      fprintf (stderr, "Open failed.\n");

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      return (CAN_HANDLE)NULL;

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    }

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   canpipes[i].used = 1;

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   canpipes[i].d = board->d;

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   CreateReceiveTask((CAN_HANDLE) &canpipes[i], &canpipes[i].receiveTask);

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   return (CAN_HANDLE) &canpipes[i];

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}

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/***************************************************************************/

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int canClose(CAN_HANDLE fd0)

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{

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  close(((CANPipe*)fd0)->pipe[0]);

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  close(((CANPipe*)fd0)->pipe[1]);

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  ((CANPipe*)fd0)->used = 0;

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  WaitReceiveTaskEnd(&((CANPipe*)fd0)->receiveTask);

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}

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