1

/*

     2

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

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

Copyright (C) Win32 Port Leonid Tochinski

     6

     7

See COPYING file for copyrights details.

     8

     9

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

    10

modify it under the terms of the GNU Lesser General Public

    11

License as published by the Free Software Foundation; either

    12

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

    13

    14

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

    15

but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    17

Lesser General Public License for more details.

    18

    19

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

    20

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

    21

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

    22

*/

    23

    24

    25

    26

#include <windows.h>

    27

#include <stdlib.h>

    28

    29

extern "C"

    30

{

    31

#include "applicfg.h"

    32

#include "can_driver.h"

    33

#include "timer.h"

    34

#include "timers_driver.h"

    35

};

    36

    37

// --------------- Synchronization Object Implementation ---------------

    38

class ccritical_section

    39

   {

    40

   public:

    41

      ccritical_section()

    42

         {

    43

         ::InitializeCriticalSection(&m_cs);

    44

         }

    45

      ~ccritical_section()

    46

         {

    47

         ::DeleteCriticalSection(&m_cs);

    48

         }

    49

      void enter()

    50

         {

    51

         ::EnterCriticalSection(&m_cs);

    52

         }

    53

      void leave()

    54

         {

    55

         ::LeaveCriticalSection(&m_cs);

    56

         }

    57

   private:

    58

      CRITICAL_SECTION m_cs;

    59

   };

    60

    61

static ccritical_section g_cs;

    62

    63

    64

void EnterMutex(void)

    65

   {

    66

   g_cs.enter();

    67

   }

    68

    69

void LeaveMutex(void)

    70

   {

    71

   g_cs.leave();

    72

   }

    73

// --------------- Synchronization Object Implementation ---------------

    74

    75

    76

// --------------- CAN Receive Thread Implementation ---------------

    77

    78

void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE* Thread, void* ReceiveLoopPtr)

    79

   {

    80

   unsigned long thread_id = 0;

    81

   *Thread = ::CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)ReceiveLoopPtr, fd0, 0, &thread_id);

    82

   }

    83

    84

void WaitReceiveTaskEnd(TASK_HANDLE Thread)

    85

   {

    86

   ::WaitForSingleObject(Thread, INFINITE);

    87

   ::CloseHandle(Thread);

    88

   //*Thread = NULL;

    89

   }

    90

// --------------- CAN Receive Thread Implementation ---------------

    91

    92

    93

// --------------- Timer Thread Implementation ---------------

    94

class class_timers

    95

   {

    96

   public:

    97

      class_timers();

    98

      ~class_timers();

    99

      void start_timer_thread();

   100

      void resume_timer_thread();

   101

      void stop_timer_thread();

   102

      void set_timer(TIMEVAL value);

   103

      TIMEVAL get_elapsed_time();

   104

   private:

   105

      TIMEVAL get_timer() const;   

   106

      static DWORD WINAPI timer_loop_thread_proc(void* arg);

   107

   private:

   108

      TIMEVAL m_last_occured_alarm_time;

   109

      volatile TIMEVAL m_last_alarm_set_time;

   110

      HANDLE m_timer_thread;

   111

      volatile bool m_continue_timer_loop;

   112

      bool m_use_hi_res_timer;

   113

      double m_counts_per_usec;

   114

   };

   115

   116

class_timers::class_timers() : m_last_occured_alarm_time(TIMEVAL_MAX),

   117

      m_last_alarm_set_time(TIMEVAL_MAX),

   118

      m_timer_thread(0),

   119

      m_continue_timer_loop(false),

   120

      m_use_hi_res_timer(false),

   121

      m_counts_per_usec(0.)

   122

   {

   123

   // initialize hi resolution timer

   124

   LARGE_INTEGER counts_per_sec = {0, 0};

   125

   if (::QueryPerformanceFrequency(&counts_per_sec) && counts_per_sec.QuadPart > 0)

   126

      {

   127

      m_use_hi_res_timer = true;

   128

      m_counts_per_usec = counts_per_sec.QuadPart / 1000000.;

   129

      }

   130

   m_use_hi_res_timer = true;

   131

   }

   132

   133

class_timers::~class_timers()

   134

   {

   135

   stop_timer_thread();

   136

   }

   137

   138

// time is in micro seconds

   139

TIMEVAL class_timers::get_timer() const

   140

   {

   141

   if (m_use_hi_res_timer)

   142

      {

   143

      LARGE_INTEGER performance_count = {0, 0};

   144

      ::QueryPerformanceCounter(&performance_count);

   145

      return (TIMEVAL)(performance_count.QuadPart / m_counts_per_usec);

   146

      }

   147

   // hi-res timer is unavailable

   148

   return 1000 * ::GetTickCount();

   149

   }

   150

   151

DWORD WINAPI class_timers::timer_loop_thread_proc(void* arg)

   152

   {

   153

   class_timers* This = reinterpret_cast<class_timers*>(arg);

   154

   while (This->m_continue_timer_loop)

   155

      {

   156

      TIMEVAL cur_time = This->get_timer();

   157

      if (cur_time >= This->m_last_alarm_set_time)

   158

         {

   159

         This->m_last_occured_alarm_time = cur_time;

   160

         This->m_last_alarm_set_time = TIMEVAL_MAX;         

   161

         EnterMutex();

   162

         TimeDispatch();

   163

         LeaveMutex();

   164

         }

   165

      else

   166

         {

   167

         ::Sleep(1);

   168

         }

   169

      }

   170

   return 0;

   171

   }

   172

   173

void class_timers::start_timer_thread()

   174

   {

   175

   if (m_timer_thread == 0)

   176

      {

   177

      unsigned long thread_id = 0;

   178

      m_timer_thread = ::CreateThread(NULL, 0, &timer_loop_thread_proc, this, CREATE_SUSPENDED, &thread_id);

   179

      m_last_alarm_set_time = TIMEVAL_MAX;

   180

      m_last_occured_alarm_time = get_timer();

   181

      }

   182

   }

   183

   184

void class_timers::resume_timer_thread()

   185

   {

   186

   if (m_timer_thread)

   187

      {

   188

      m_continue_timer_loop = true;

   189

      ::ResumeThread(m_timer_thread);

   190

      }

   191

   }

   192

   193

void class_timers::stop_timer_thread()

   194

   {

   195

   if (m_timer_thread)

   196

      {

   197

      m_continue_timer_loop = false;

   198

      ::WaitForSingleObject(m_timer_thread, INFINITE);

   199

      ::CloseHandle(m_timer_thread);

   200

      m_timer_thread = 0;

   201

      }

   202

   }

   203

   204

void class_timers::set_timer(TIMEVAL value)

   205

   {

   206

   m_last_alarm_set_time = (value == TIMEVAL_MAX) ? TIMEVAL_MAX : get_timer() + value;

   207

   }

   208

   209

// elapsed time since last occured alarm

   210

TIMEVAL class_timers::get_elapsed_time()

   211

   {

   212

   return get_timer() - m_last_occured_alarm_time;

   213

   }

   214

   215

// ----------------------------------------------------------

   216

   217

static class_timers s_timers;

   218

   219

void StartTimerLoop(TimerCallback_t init_callback)

   220

   {

   221

   s_timers.start_timer_thread();

   222

   // At first, TimeDispatch will call init_callback.

   223

   if (init_callback != NULL)

   224

      SetAlarm(NULL, 0, init_callback, (TIMEVAL)0, (TIMEVAL)0);

   225

   s_timers.resume_timer_thread();

   226

   }

   227

   228

void StopTimerLoop(void)

   229

   {

   230

   s_timers.stop_timer_thread();

   231

   }

   232

   233

void setTimer(TIMEVAL value)

   234

   {

   235

   s_timers.set_timer(value);

   236

   }

   237

   238

TIMEVAL getElapsedTime(void)

   239

   {

   240

   return s_timers.get_elapsed_time();

   241

   }