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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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#include <stdio.h>

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#include <string.h>

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#include <stdlib.h>

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#include <errno.h>

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#include <stddef.h> /* for NULL */

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#include <sys/ioctl.h>

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#include <fcntl.h>

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#include <signal.h>

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#include <sys/time.h>

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#include <unistd.h>

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/* driver pcan pci for Peak board */

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//#include "libpcan.h"

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//#include "pcan.h"

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#include "libpcan.h" // for CAN_HANDLE

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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_PORTS 16

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typedef struct {

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  char used;

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  HANDLE fd;

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  TASK_HANDLE receiveTask;

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  CO_Data* d;

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} CANPort;

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CANPort canports[MAX_NB_CAN_PORTS] = {{0,},};

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// Define for rtr CAN message

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#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR 

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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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  UNS8 data; 

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  TPCANMsg peakMsg;

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  if ((errno = CAN_Read(((CANPort*)fd0)->fd, & peakMsg))) {		// Blocks until no new message or error.

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    perror("!!! Peak board : error of reading. (from f_can_receive function) \n");

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    return 1;

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  }

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  m->cob_id.w = peakMsg.ID;   

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  if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)         	/* bits of MSGTYPE_*/

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    m->rtr = 0;

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  else 

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    m->rtr = 1;

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  m->len = peakMsg.LEN;					/* count of data bytes (0..8) */

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  for(data = 0  ; data < peakMsg.LEN ; data++)             			

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    m->data[data] = peakMsg.DATA[data];         	/* data bytes, up to 8 */

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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 = ((CANPort*)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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//			printf("canReceive returned error\n");

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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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  UNS8 data;

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  TPCANMsg peakMsg;

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  peakMsg.ID=m -> cob_id.w;              			/* 11/29 bit code */

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  if(m->rtr == 0)	

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    peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;       /* bits of MSGTYPE_*/

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  else {

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    peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR;       /* bits of MSGTYPE_*/

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  }

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  peakMsg.LEN = m->len;   

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          			/* count of data bytes (0..8) */

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  for(data = 0 ; data <  m->len; data ++)

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  	peakMsg.DATA[data] = m->data[data];         	/* data bytes, up to 8 */

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  if((errno = CAN_Write(((CANPort*)fd0)->fd, & peakMsg))) {

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    perror("!!! Peak board : error of writing. (from canSend function) \n");

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    return 1;

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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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  HANDLE fd0 = NULL;

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  char busname[64];

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  char* pEnd;

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  int i;  

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

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  {

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  	if(!canports[i].used)

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	  	break;

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  }

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  if(strtol(board->busname, &pEnd,0) >= 0)

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  {

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    sprintf(busname,"/dev/pcan%s",board->busname);

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    fd0 = LINUX_CAN_Open(busname, O_RDWR);

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  }

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  if (i==MAX_NB_CAN_PORTS || fd0 == NULL)

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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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   CAN_Init(fd0, board->baudrate, CAN_INIT_TYPE_ST);

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   canports[i].used = 1;

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   canports[i].fd = fd0;

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

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   CreateReceiveTask((CANPort*) &canports[i], &canports[i].receiveTask);

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   return (CANPort*) &canports[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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  CAN_Close(((CANPort*)fd0)->fd);

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

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

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  return 0;

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}