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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): Cosateq GmbH & Co.KG

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               http://www.cosateq.com/

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               http://www.scale-rt.com/

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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 <asm/current.h>

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#include <native/task.h>

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#include <native/timers.h>

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#include <native/sem.h>

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#include <native/mutex.h>

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#include <native/cond.h>

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#include <native/alarm.h>

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#include "applicfg.h"

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#include "can_driver.h"

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#include "timers.h"

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#define TIMERLOOP_TASK_CREATED        1

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TimerCallback_t exitall;

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RT_MUTEX condition_mutex;

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RT_SEM CanFestival_mutex;

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RT_SEM control_task;

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RT_COND timer_set;

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RT_TASK timerloop_task;

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RTIME last_time_read;

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RTIME last_occured_alarm;

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RTIME last_timeout_set;

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int stop_timer = 0;

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/**

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 * Init Mutex, Semaphores and Condition variable

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 */

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void TimerInit(void)

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{

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  	int ret = 0;

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  	char taskname[32];

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	// lock process in to RAM

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  	//mlockall(MCL_CURRENT | MCL_FUTURE);

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  	snprintf(taskname, sizeof(taskname), "S1-%d", current->pid);

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	rt_sem_create(&CanFestival_mutex, taskname, 1, S_FIFO);

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  	snprintf(taskname, sizeof(taskname), "S2-%d", current->pid);

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  	rt_sem_create(&control_task, taskname, 0, S_FIFO);

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  	snprintf(taskname, sizeof(taskname), "M1-%d", current->pid);

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  	rt_mutex_create(&condition_mutex, taskname);

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  	snprintf(taskname, sizeof(taskname), "C1-%d", current->pid);

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  	rt_cond_create(&timer_set, taskname);

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}

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/**

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 * Stop Timer Task

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 * @param exitfunction

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 */

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void StopTimerLoop(TimerCallback_t exitfunction)

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{

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	exitall = exitfunction;

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	stop_timer = 1;

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	rt_cond_signal(&timer_set);

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}

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void cleanup_all(void)

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{

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	/* normally this will fail with a non-periodic task that has already ended at this time */

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	if (rt_task_suspend(&timerloop_task) != 0){

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		printk("Failed to join with Timerloop task\n");

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	}

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	rt_task_delete(&timerloop_task);

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}

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/**

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 * Clean all Semaphores, mutex, condition variable and main task

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 */

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void TimerCleanup(void)

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{

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	rt_sem_delete(&CanFestival_mutex);

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	rt_mutex_delete(&condition_mutex);

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	rt_cond_delete(&timer_set);

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	rt_sem_delete(&control_task);

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	/* normally this will fail with a non-periodic task that has already ended at this time */

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	if (rt_task_suspend(&timerloop_task) != 0){

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		printk("Failed to join with Timerloop task\n");

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	}

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	rt_task_delete(&timerloop_task);

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}

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/**

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 * Take a semaphore

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 */

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void EnterMutex(void)

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{

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	rt_sem_p(&CanFestival_mutex, TM_INFINITE);

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}

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/**

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 * Signaling a semaphore

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 */

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void LeaveMutex(void)

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{

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	rt_sem_v(&CanFestival_mutex);

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}

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static TimerCallback_t init_callback;

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/**

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 * Timer Task

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 */

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void timerloop_task_proc(void *arg)

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{

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	int ret = 0;

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	getElapsedTime();

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	last_timeout_set = 0;

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	last_occured_alarm = last_time_read;

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	/* trigger first alarm */

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

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	RTIME current_time;

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	RTIME real_alarm;

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	do{

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		rt_mutex_acquire(&condition_mutex, TM_INFINITE);

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		if(last_timeout_set == TIMEVAL_MAX)

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		{

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			ret = rt_cond_wait(

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				&timer_set,

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				&condition_mutex,

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				TM_INFINITE

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				);		/* Then sleep until next message*/

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			rt_mutex_release(&condition_mutex);

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		}else{

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			current_time = rt_timer_read();

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			real_alarm = last_time_read + last_timeout_set;

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			ret = rt_cond_wait( /* sleep until next deadline */

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				&timer_set,

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				&condition_mutex,

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				(real_alarm - current_time)); /* else alarm consider expired */

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			if(ret == -ETIMEDOUT){

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				last_occured_alarm = real_alarm;

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				rt_mutex_release(&condition_mutex);

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				EnterMutex();

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				TimeDispatch();

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				LeaveMutex();

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			}else{

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				rt_mutex_release(&condition_mutex);

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			}

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		}

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	}while ((ret == 0 || ret == -EINTR || ret == -ETIMEDOUT) && !stop_timer);

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	if(exitall){

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		EnterMutex();

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		exitall(NULL,0);

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		LeaveMutex();

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	}

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}

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/**

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 * Create the Timer Task

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 * @param _init_callback

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 */

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void StartTimerLoop(TimerCallback_t _init_callback)

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{

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	int ret = 0;

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	stop_timer = 0;

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	init_callback = _init_callback;

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	char taskname[32];

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	snprintf(taskname, sizeof(taskname), "timerloop-%d", current->pid);

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	/* create timerloop_task */

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	ret = rt_task_create(&timerloop_task, taskname, 0, 50, 0); /* T_JOINABLE only in user space */

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	if (ret) {

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		printk("Failed to create timerloop_task, code %d\n",ret);

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		return;

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	}

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	/* start timerloop_task */

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	ret = rt_task_start(&timerloop_task,&timerloop_task_proc,NULL);

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	if (ret) {

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		printk("Failed to start timerloop_task, code %u\n",ret);

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		goto error;

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	}

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	return;

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error:

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	cleanup_all();

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}

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/**

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 * Create the CAN Receiver Task

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 * @param fd0 CAN port

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 * @param *ReceiveLoop_task CAN receiver task

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 * @param *ReceiveLoop_task_proc CAN receiver function

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 */

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void CreateReceiveTask(CAN_PORT fd0, TASK_HANDLE *ReceiveLoop_task, void* ReceiveLoop_task_proc)

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{

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	int ret;

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	static int id = 0;

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	char taskname[32];

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	snprintf(taskname, sizeof(taskname), "canloop%d-%d", id, current->pid);

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	id++;

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	/* create ReceiveLoop_task */

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	ret = rt_task_create(ReceiveLoop_task,taskname,0,50,0); /* T_JOINABLE only in user space */

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	if (ret) {

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		printk("Failed to create ReceiveLoop_task number %d, code %d\n", id, ret);

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		return;

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	}

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	/* periodic task for Xenomai kernel realtime */

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	rt_task_set_periodic(ReceiveLoop_task, 0, 1 * 1000 * 1000); /* 1ms */

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	/* start ReceiveLoop_task */

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	ret = rt_task_start(ReceiveLoop_task, ReceiveLoop_task_proc,(void*)fd0);

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	if (ret) {

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		printk("Failed to start ReceiveLoop_task number %d, code %d\n", id, ret);

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		return;

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	}

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	rt_sem_v(&control_task);

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}

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/**

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 * Wait for the CAN Receiver Task end

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 * @param *ReceiveLoop_task CAN receiver thread

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 */

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void WaitReceiveTaskEnd(TASK_HANDLE *ReceiveLoop_task)

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{

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	/* normally this will fail with a non-periodic task that has already ended at this time */

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	if (rt_task_suspend(ReceiveLoop_task) != 0){

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		printk("Failed to join with Receive task\n");

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	}

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	rt_task_delete(ReceiveLoop_task);

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}

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/**

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 * Set timer for the next wakeup

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 * @param value

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 */

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void setTimer(TIMEVAL value)

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{

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	rt_mutex_acquire(&condition_mutex, TM_INFINITE);

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	last_timeout_set = value;

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	rt_mutex_release(&condition_mutex);

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	rt_cond_signal(&timer_set);

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}

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/**

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 * Get the elapsed time since the last alarm

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 * @return a time in nanoseconds

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 */

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TIMEVAL getElapsedTime(void)

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{

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	RTIME res;

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	rt_mutex_acquire(&condition_mutex, TM_INFINITE);

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	last_time_read = rt_timer_read();

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	res = last_time_read - last_occured_alarm;

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	rt_mutex_release(&condition_mutex);

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	return res;

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}