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#include <stdlib.h>

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#include <sys/time.h>

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#include <signal.h>

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#include <time.h>

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static pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER;

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static struct timeval last_sig;

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static timer_t timer;

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void TimerCleanup(void)

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{

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	/* only used in realtime apps */

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}

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void EnterMutex(void)

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{

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	if(pthread_mutex_lock(&CanFestival_mutex)) {

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		fprintf(stderr, "pthread_mutex_lock() failed\n");

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	}

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}

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void LeaveMutex(void)

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{

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	if(pthread_mutex_unlock(&CanFestival_mutex)) {

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		fprintf(stderr, "pthread_mutex_unlock() failed\n");

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	}

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}

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void timer_notify(sigval_t val)

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{

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	if(gettimeofday(&last_sig,NULL)) {

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		perror("gettimeofday()");

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	}

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	EnterMutex();

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	TimeDispatch();

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	LeaveMutex();

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//	printf("getCurrentTime() return=%u\n", p.tv_usec);

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}

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void TimerInit(void)

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{

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	struct sigevent sigev;

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	// Take first absolute time ref.

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	if(gettimeofday(&last_sig,NULL)){

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		perror("gettimeofday()");

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	}

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#if defined(__UCLIBC__)

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	int ret;

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	ret = timer_create(CLOCK_PROCESS_CPUTIME_ID, NULL, &timer);

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	signal(SIGALRM, timer_notify);

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#else

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	memset (&sigev, 0, sizeof (struct sigevent));

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	sigev.sigev_value.sival_int = 0;

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	sigev.sigev_notify = SIGEV_THREAD;

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	sigev.sigev_notify_attributes = NULL;

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	sigev.sigev_notify_function = timer_notify;

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	if(timer_create (CLOCK_REALTIME, &sigev, &timer)) {

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		perror("timer_create()");

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	}

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#endif

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}

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void StopTimerLoop(TimerCallback_t exitfunction)

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{

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	EnterMutex();

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	if(timer_delete (timer)) {

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		perror("timer_delete()");

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	}

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	exitfunction(NULL,0);

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	LeaveMutex();

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}

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void StartTimerLoop(TimerCallback_t init_callback)

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{

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	EnterMutex();

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	// At first, TimeDispatch will call init_callback.

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

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	LeaveMutex();

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}

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void canReceiveLoop_signal(int sig)

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{

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}

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/* We assume that ReceiveLoop_task_proc is always the same */

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static void (*unixtimer_ReceiveLoop_task_proc)(CAN_PORT) = NULL;

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/**

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 * Enter in realtime and start the CAN receiver loop

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 * @param port

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 */

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void* unixtimer_canReceiveLoop(void* port)

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{

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    /*get signal*/

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  	//  if(signal(SIGTERM, canReceiveLoop_signal) == SIG_ERR) {

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	//		perror("signal()");

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	//}

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    unixtimer_ReceiveLoop_task_proc((CAN_PORT)port);

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    return NULL;

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}

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void CreateReceiveTask(CAN_PORT port, TASK_HANDLE* Thread, void* ReceiveLoopPtr)

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{

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    unixtimer_ReceiveLoop_task_proc = ReceiveLoopPtr;

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	if(pthread_create(Thread, NULL, unixtimer_canReceiveLoop, (void*)port)) {

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		perror("pthread_create()");

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	}

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}

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void WaitReceiveTaskEnd(TASK_HANDLE *Thread)

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{

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	}

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	if(pthread_join(*Thread, NULL)) {

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		perror("pthread_join()");

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	}

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}

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

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void setTimer(TIMEVAL value)

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{

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//	printf("setTimer(TIMEVAL value=%d)\n", value);

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	// TIMEVAL is us whereas setitimer wants ns...

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	long tv_nsec = 1000 * (maxval(value,1)%1000000);

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	time_t tv_sec = value/1000000;

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	struct itimerspec timerValues;

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	timerValues.it_value.tv_sec = tv_sec;

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	timerValues.it_value.tv_nsec = tv_nsec;

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	timerValues.it_interval.tv_sec = 0;

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	timerValues.it_interval.tv_nsec = 0;

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 	timer_settime (timer, 0, &timerValues, NULL);

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}

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TIMEVAL getElapsedTime(void)

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{

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	struct timeval p;

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	if(gettimeofday(&p,NULL)) {

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		perror("gettimeofday()");

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	}

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//	printf("getCurrentTime() return=%u\n", p.tv_usec);

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	return (p.tv_sec - last_sig.tv_sec)* 1000000 + p.tv_usec - last_sig.tv_usec;

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}