etisserant@0: #include <stdlib.h>
etisserant@0: 
etisserant@0: #include <sys/time.h>
etisserant@0: #include <signal.h>
etisserant@0: #include <pthread.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@0: TIMEVAL last_time_set = TIMEVAL_MAX;
etisserant@0: 
etisserant@0: struct timeval last_sig;
etisserant@0: 
etisserant@0: char stop_timer=0;
etisserant@0: 
etisserant@0: void sig(int val)
etisserant@0: {
etisserant@0: 	signal( SIGALRM, sig);
etisserant@0: 	gettimeofday(&last_sig,NULL);
etisserant@0: //	printf("getCurrentTime() return=%u\n", p.tv_usec);
etisserant@0: }
etisserant@0: 
etisserant@0: void initTimer(void)
etisserant@0: {
etisserant@0: 	gettimeofday(&last_sig,NULL);
etisserant@0: 	signal( SIGALRM, sig);
etisserant@0: 	stop_timer = 0;
etisserant@0: }
etisserant@0: 
etisserant@0: void stopTimer(void)
etisserant@0: {
etisserant@0: 	stop_timer = 1;
etisserant@0: 	kill(0, SIGALRM);	
etisserant@0: }
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@0: void TimerLoop(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: 	while (!stop_timer) {
etisserant@0: 		EnterMutex();
etisserant@0: 		TimeDispatch();
etisserant@0: 		LeaveMutex();
etisserant@0: 		pause();
etisserant@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: 
etisserant@0: void WaitReceiveTaskEnd(TASK_HANDLE Thread)
etisserant@0: {
etisserant@0: 	pthread_join(Thread, NULL);
etisserant@0: }
etisserant@0: 
etisserant@0: #define max(a,b) a>b?a:b
etisserant@0: void setTimer(TIMEVAL value)
etisserant@0: {
etisserant@0: //	printf("setTimer(TIMEVAL value=%d)\n", value);
etisserant@0: 	struct itimerval timerValues;
etisserant@0: 	struct itimerval timerV = {{0,0},{0,0}};
etisserant@0: 	timerValues.it_value.tv_sec = 0;
etisserant@0: 	timerValues.it_value.tv_usec = max(value,1);
etisserant@0: 	timerValues.it_interval.tv_sec = 0;
etisserant@0: 	timerValues.it_interval.tv_usec = 0;
etisserant@0: 	setitimer(ITIMER_REAL, &timerValues, &timerV);
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: }