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/*****************************************************************************

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 *

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 * $Id$

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 *

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 ****************************************************************************/

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#include <errno.h>

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#include <signal.h>

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#include <stdio.h>

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#include <string.h>

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#include <sys/resource.h>

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#include <sys/time.h>

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#include <sys/types.h>

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#include <unistd.h>

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#include "ecrt.h"

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#define PRIORITY 1

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/****************************************************************************/

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static unsigned int sig_alarms = 0;

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static unsigned int user_alarms = 0;

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/****************************************************************************/

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void signal_handler(int signum) {

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    switch (signum) {

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        case SIGALRM:

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            sig_alarms++;

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            break;

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    }

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}

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/****************************************************************************/

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int main(int argc, char **argv)

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{

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	ec_master_t *master;

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	ec_domain_t *domain;

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	ec_slave_config_t *sc;

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    struct sigaction sa;

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    struct itimerval tv;

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    master = ecrt_request_master(0);

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	if (!master)

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		return -1;

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    domain = ecrt_master_create_domain(master);

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    if (!domain)

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        return -1;

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    sc = ecrt_master_slave_config(master, 0, 0, 0x00000002, 0x044C2C52);

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    if (!sc)

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        return -1;

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    printf("Activating master...\n");

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    if (ecrt_master_activate(master))

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        return -1;

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#if PRIORITY

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    pid_t pid = getpid();

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    if (setpriority(PRIO_PROCESS, pid, -19))

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        fprintf(stderr, "Warning: Failed to set priority: %s\n",

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                strerror(errno));

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#endif

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    sa.sa_handler = signal_handler;

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    sigemptyset(&sa.sa_mask);

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    sa.sa_flags = 0;

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    if (sigaction(SIGALRM, &sa, 0)) {

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        fprintf(stderr, "Failed to install signal handler!\n");

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        return -1;

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    }

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    printf("Starting timer...\n");

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    tv.it_interval.tv_sec = 0;

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    tv.it_interval.tv_usec = 100000;

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    tv.it_value.tv_sec = 0;

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    tv.it_value.tv_usec = 1000;

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    if (setitimer(ITIMER_REAL, &tv, NULL)) {

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        fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));

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        return 1;

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    }

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    printf("Started.\n");

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	while (1) {

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        sleep(1);

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#if 1

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        struct timeval t;

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        gettimeofday(&t, NULL);

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        printf("%u.%06u\n", t.tv_sec, t.tv_usec);

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#endif

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        while (sig_alarms != user_alarms) {

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            ecrt_master_receive(master);

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            ecrt_master_send(master);

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            user_alarms++;

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        }

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	}

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	return 0;

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}

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/****************************************************************************/