etisserant@0: #include <stdlib.h>
etisserant@0: 
etisserant@0: #include <sys/time.h>
robert@793: #include <pthread.h>
etisserant@0: #include <signal.h>
edouard@631: #include <time.h>
etisserant@0: 
robert@793: #include <applicfg.h>
Edouard@801: #include <timers.h>
etisserant@0: 
edouard@631: static pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER;
etisserant@0: 
edouard@631: static struct timeval last_sig;
etisserant@32: 
edouard@631: static 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: {
edouard@631: 	if(pthread_mutex_lock(&CanFestival_mutex)) {
edouard@631: 		fprintf(stderr, "pthread_mutex_lock() failed\n");
edouard@631: 	}
etisserant@0: }
etisserant@0: 
etisserant@0: void LeaveMutex(void)
etisserant@0: {
edouard@631: 	if(pthread_mutex_unlock(&CanFestival_mutex)) {
edouard@631: 		fprintf(stderr, "pthread_mutex_unlock() failed\n");
edouard@631: 	}
etisserant@0: }
etisserant@0: 
etisserant@145: void timer_notify(sigval_t val)
etisserant@32: {
edouard@631: 	if(gettimeofday(&last_sig,NULL)) {
edouard@631: 		perror("gettimeofday()");
edouard@631: 	}
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.
edouard@631: 	if(gettimeofday(&last_sig,NULL)){
edouard@631: 		perror("gettimeofday()");
edouard@631: 	}
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: 
edouard@631: 	if(timer_create (CLOCK_REALTIME, &sigev, &timer)) {
edouard@631: 		perror("timer_create()");
edouard@631: 	}
greg@607: #endif
etisserant@32: }
etisserant@32: 
greg@454: void StopTimerLoop(TimerCallback_t exitfunction)
etisserant@32: {
etisserant@149: 	EnterMutex();
edouard@631: 	if(timer_delete (timer)) {
edouard@631: 		perror("timer_delete()");
edouard@631: 	}
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:     /*get signal*/
fbeaulier@663:   	//  if(signal(SIGTERM, canReceiveLoop_signal) == SIG_ERR) {
fbeaulier@663: 	//		perror("signal()");
fbeaulier@663: 	//}
robert@793: 
robert@793:     // Set the cancelation state for immediatly cancel the task
robert@793:     int ret;
robert@793: 
robert@793:     ret = pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
robert@793: 
robert@793:     if (ret != 0)
robert@793:         perror("Can't enable the cancelation of the receiving task");
robert@793: 
robert@793:     ret = pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
robert@793: 
robert@793:     if (ret != 0)
robert@793:         perror("Can't set the asynchronous cancel typ");
robert@793: 
etisserant@540:     unixtimer_ReceiveLoop_task_proc((CAN_PORT)port);
edouard@631: 
edouard@631:     return NULL;
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;
edouard@631: 	if(pthread_create(Thread, NULL, unixtimer_canReceiveLoop, (void*)port)) {
edouard@631: 		perror("pthread_create()");
edouard@631: 	}
etisserant@0: }
etisserant@0: 
etisserant@401: void WaitReceiveTaskEnd(TASK_HANDLE *Thread)
etisserant@0: {
robert@793: 	if(pthread_cancel(*Thread)) {
robert@793: 		perror("pthread_cancel()");
edouard@631: 	}
edouard@631: 	if(pthread_join(*Thread, NULL)) {
edouard@631: 		perror("pthread_join()");
edouard@631: 	}
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;
edouard@631: 	if(gettimeofday(&p,NULL)) {
edouard@631: 		perror("gettimeofday()");
edouard@631: 	}
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: }