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 "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: 
greg@454: void TimerCleanup(void)
greg@454: {
greg@454: 	/* only used in realtime apps */
greg@454: }
greg@454: 
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@145: void timer_notify(sigval_t 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: 
greg@454: void TimerInit(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: 
greg@607: #if defined(__UCLIBC__)
greg@607: 	int ret;
greg@607: 	ret = timer_create(CLOCK_PROCESS_CPUTIME_ID, NULL, &timer);
greg@607: 	signal(SIGALRM, timer_notify);
greg@607: #else
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);
greg@607: #endif
etisserant@32: }
etisserant@32: 
greg@454: void StopTimerLoop(TimerCallback_t exitfunction)
etisserant@32: {
etisserant@149: 	EnterMutex();
etisserant@32: 	timer_delete (timer);
greg@454: 	exitfunction(NULL,0);
etisserant@149: 	LeaveMutex();
etisserant@32: }
etisserant@32: 
etisserant@32: void StartTimerLoop(TimerCallback_t init_callback)
etisserant@0: {
etisserant@149: 	EnterMutex();
etisserant@0: 	// At first, TimeDispatch will call init_callback.
etisserant@0: 	SetAlarm(NULL, 0, init_callback, 0, 0);
etisserant@149: 	LeaveMutex();
etisserant@0: }
etisserant@0: 
etisserant@507: void canReceiveLoop_signal(int sig)
etisserant@507: {
etisserant@507: }
etisserant@507: /* We assume that ReceiveLoop_task_proc is always the same */
etisserant@508: static void (*unixtimer_ReceiveLoop_task_proc)(CAN_PORT) = NULL;
etisserant@507: 
etisserant@507: /**
etisserant@507:  * Enter in realtime and start the CAN receiver loop
etisserant@507:  * @param port
etisserant@507:  */
etisserant@540: void* unixtimer_canReceiveLoop(void* port)
etisserant@507: {
etisserant@507:        
etisserant@507:     /*get signal*/
etisserant@507:     signal(SIGTERM, canReceiveLoop_signal);
etisserant@540:     unixtimer_ReceiveLoop_task_proc((CAN_PORT)port);
etisserant@507: }
etisserant@507: 
etisserant@145: void CreateReceiveTask(CAN_PORT port, TASK_HANDLE* Thread, void* ReceiveLoopPtr)
etisserant@0: {
etisserant@508:     unixtimer_ReceiveLoop_task_proc = ReceiveLoopPtr;
etisserant@508: 	pthread_create(Thread, NULL, unixtimer_canReceiveLoop, (void*)port);
etisserant@0: }
etisserant@0: 
etisserant@401: void WaitReceiveTaskEnd(TASK_HANDLE *Thread)
etisserant@0: {
etisserant@401: 	pthread_kill(*Thread, SIGTERM);
etisserant@401: 	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: }