etisserant@0: #include <stdlib.h>
etisserant@0: 
etisserant@0: #include <sys/time.h>
etisserant@32: #include <pthread.h> 
etisserant@0: #include <signal.h>
etisserant@0: 
etisserant@0: #include "applicfg.h"
etisserant@0: #include "can_driver.h"
etisserant@0: #include "timer.h"
etisserant@0: 
etisserant@0: pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER;
etisserant@0: 
etisserant@32: TASK_HANDLE TimerLoopThread;
etisserant@32: 
etisserant@0: TIMEVAL last_time_set = TIMEVAL_MAX;
etisserant@0: 
etisserant@0: struct timeval last_sig;
etisserant@0: 
etisserant@32: timer_t timer;
etisserant@0: 
etisserant@0: void EnterMutex(void)
etisserant@0: {
etisserant@0: 	pthread_mutex_lock(&CanFestival_mutex); 
etisserant@0: }
etisserant@0: 
etisserant@0: void LeaveMutex(void)
etisserant@0: {
etisserant@0: 	pthread_mutex_unlock(&CanFestival_mutex);
etisserant@0: }
etisserant@0: 
etisserant@32: void timer_notify(int val)
etisserant@32: {
etisserant@32: 	gettimeofday(&last_sig,NULL);
etisserant@32: 	EnterMutex();
etisserant@32: 	TimeDispatch();
etisserant@32: 	LeaveMutex();
etisserant@32: //	printf("getCurrentTime() return=%u\n", p.tv_usec);
etisserant@32: }
etisserant@32: 
etisserant@32: void initTimer(void)
etisserant@32: {
etisserant@32: 	struct sigevent sigev;
etisserant@32: 
etisserant@32: 	// Take first absolute time ref.
etisserant@32: 	gettimeofday(&last_sig,NULL);
etisserant@32: 
etisserant@32: 	memset (&sigev, 0, sizeof (struct sigevent));
etisserant@32: 	sigev.sigev_value.sival_int = 0;
etisserant@32: 	sigev.sigev_notify = SIGEV_THREAD;
etisserant@32: 	sigev.sigev_notify_attributes = NULL;
etisserant@32: 	sigev.sigev_notify_function = timer_notify;
etisserant@32: 
etisserant@32: 	timer_create (CLOCK_REALTIME, &sigev, &timer);
etisserant@32: }
etisserant@32: 
etisserant@32: void StopTimerLoop(void)
etisserant@32: {
etisserant@32: 	timer_delete (timer);
etisserant@32: }
etisserant@32: 
etisserant@32: void StartTimerLoop(TimerCallback_t init_callback)
etisserant@0: {
etisserant@0: 	initTimer();
etisserant@0: 	// At first, TimeDispatch will call init_callback.
etisserant@0: 	SetAlarm(NULL, 0, init_callback, 0, 0);
etisserant@0: }
etisserant@0: 
etisserant@0: void ReceiveLoop(void* arg)
etisserant@0: {
etisserant@0: 	canReceiveLoop((CAN_HANDLE)arg);
etisserant@0: }
etisserant@0: 
etisserant@0: void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE* Thread)
etisserant@0: {
etisserant@0: 	pthread_create(Thread, NULL, (void *)&ReceiveLoop, (void*)fd0);
etisserant@0: }
etisserant@0: 
lbessard@35: void WaitReceiveTaskEnd(TASK_HANDLE *Thread)
etisserant@0: {
lbessard@35: 	pthread_kill(*Thread, SIGTERM);
lbessard@35: 	pthread_join(*Thread, NULL);
etisserant@0: }
etisserant@0: 
etisserant@48: #define maxval(a,b) ((a>b)?a:b)
etisserant@0: void setTimer(TIMEVAL value)
etisserant@0: {
etisserant@0: //	printf("setTimer(TIMEVAL value=%d)\n", value);
etisserant@32: 	// TIMEVAL is us whereas setitimer wants ns...
etisserant@38: 	long tv_nsec = 1000 * (maxval(value,1)%1000000);
etisserant@32: 	time_t tv_sec = value/1000000;
etisserant@32: 	struct itimerspec timerValues;
etisserant@32: 	timerValues.it_value.tv_sec = tv_sec;
etisserant@32: 	timerValues.it_value.tv_nsec = tv_nsec;
etisserant@0: 	timerValues.it_interval.tv_sec = 0;
etisserant@32: 	timerValues.it_interval.tv_nsec = 0;
etisserant@32: 
etisserant@32:  	timer_settime (timer, 0, &timerValues, NULL);
etisserant@0: }
etisserant@0: 
etisserant@0: TIMEVAL getElapsedTime(void)
etisserant@0: {
etisserant@0: 	struct timeval p;
etisserant@0: 	gettimeofday(&p,NULL);
etisserant@0: //	printf("getCurrentTime() return=%u\n", p.tv_usec);
etisserant@0: 	return (p.tv_sec - last_sig.tv_sec)* 1000000 + p.tv_usec - last_sig.tv_usec;
etisserant@0: }