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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 <pthread.h> 

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#include "applicfg.h"

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#include "can_driver.h"

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#include "timer.h"

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pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER;

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TIMEVAL last_time_set = TIMEVAL_MAX;

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struct timeval last_sig;

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char stop_timer=0;

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void sig(int val)

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{

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	signal( SIGALRM, sig);

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	gettimeofday(&last_sig,NULL);

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

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}

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void initTimer(void)

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{

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	gettimeofday(&last_sig,NULL);

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	signal( SIGALRM, sig);

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	stop_timer = 0;

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}

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void stopTimer(void)

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{

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	stop_timer = 1;

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	kill(0, SIGALRM);	

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}

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void EnterMutex(void)

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{

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	pthread_mutex_lock(&CanFestival_mutex); 

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}

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void LeaveMutex(void)

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{

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	pthread_mutex_unlock(&CanFestival_mutex);

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}

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void TimerLoop(TimerCallback_t init_callback)

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{

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	initTimer();

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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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	while (!stop_timer) {

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		EnterMutex();

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		TimeDispatch();

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		LeaveMutex();

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		pause();

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	}

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}

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void ReceiveLoop(void* arg)

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{

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	canReceiveLoop((CAN_HANDLE)arg);

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}

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void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE* Thread)

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{

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	pthread_create(Thread, NULL, (void *)&ReceiveLoop, (void*)fd0);

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}

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void WaitReceiveTaskEnd(TASK_HANDLE Thread)

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{

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	pthread_join(Thread, NULL);

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}

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#define max(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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	struct itimerval timerValues;

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	struct itimerval timerV = {{0,0},{0,0}};

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	timerValues.it_value.tv_sec = 0;

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	timerValues.it_value.tv_usec = max(value,1);

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	timerValues.it_interval.tv_sec = 0;

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	timerValues.it_interval.tv_usec = 0;

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	setitimer(ITIMER_REAL, &timerValues, &timerV);

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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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	gettimeofday(&p,NULL);

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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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}