/*
* cpu_linux.c - contains driver for linux
*
* Copyright (c) 2012-2023 emotas embedded communication GmbH
*-------------------------------------------------------------------
* $Id: cpu_linux.c 53392 2024-04-15 10:37:08Z hil $
*
*
*-------------------------------------------------------------------
*
*
*/
#if defined(linux) || defined(__linux) || defined(__linux__) || defined(__gnu_linux__)
/********************************************************************/
/**
* \file
* \brief cpu functionality for linux system
*
* LINUX_SIGNAL_TIMER	
* signal 34 interrupt functions like usleep() or sleep()
*
* LINUX_THREAD_TIMER
* compile with -pthread
*	Please note, that the Thread Timer accuracy is depend from the cpu load.
*	In our tests a 1 second Stack timer jitter between 0.78s and 1.24s.
*/

/* header of standard C - libraries
---------------------------------------------------------------------------*/
#include <stdlib.h>
#include <unistd.h>
#include <stdio.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <pthread.h>

/* header of project specific types
---------------------------------------------------------------------------*/
#include <gen_define.h>
#include <co_datatype.h>
#include <co_timer.h>
#include <co_drv.h>

/* constant definitions
---------------------------------------------------------------------------*/
/* set default */
#if defined(LINUX_THREAD_TIMER) || defined(THREAD_SPAWN)
#else /* defined(LINUX_THREAD_TIMER) || defined(THREAD_SPAWN) */
# define LINUX_SIGNAL_TIMER	1
#endif /* defined(LINUX_THREAD_TIMER) || defined(THREAD_SPAWN) */

#define SIG SIGRTMIN

#define errExit(msg)	do { perror(msg); exit(EXIT_FAILURE); \
						} while (0)

/* local defined data types
---------------------------------------------------------------------------*/

/* list of external used functions, if not in headers
---------------------------------------------------------------------------*/

/* list of global defined functions
---------------------------------------------------------------------------*/
void codrvHardwareInit(void);

/* list of local defined functions
---------------------------------------------------------------------------*/
#ifdef LINUX_SIGNAL_TIMER
static void timerInt (int sig, siginfo_t *si, void *uc);
#endif /* LINUX_SIGNAL_TIMER */
#ifdef THREAD_SPAWN
static void timerIntSpawnedThread(sigval_t sival);
#endif /* THREAD_SPAWN */

/* external variables
---------------------------------------------------------------------------*/

/* global variables
---------------------------------------------------------------------------*/

/* local defined variables
---------------------------------------------------------------------------*/


/***************************************************************************/
/**
* \brief codrvHardwareInit - hardware initialization
*
* This function initialize the hardware, incl. Clock and CAN hardware.
*/
void codrvHardwareInit(void)
{
	/* normally nothing to do */
}


/***************************************************************************/
/**
* \brief codrvCanEnableInterrupt - enable the CAN interrupt
*
*/
void codrvCanEnableInterrupt(
		void	/* no parameter */
	)
{
	/* enable CAN interrupts */
}


/***************************************************************************/
/**
* \brief codrvCanDisableInterrupt - disable the CAN interrupt
*
*/
void codrvCanDisableInterrupt(
		void	/* no parameter */
	)
{
	/* disable CAN interrupts */
}


#ifdef LINUX_SIGNAL_TIMER
/***************************************************************************/
/**
* \brief codrvTimerSetup - init Timer
*
* \param
* \results
*	nothing
*/
RET_T codrvTimerSetup(
		UNSIGNED32	timerInterval
	)
{
timer_t timerid;
struct sigevent sev;
struct sigaction sa;
struct itimerspec its;

	/* Establish handler for timer signal */
	printf("Establishing handler for signal %d\n", SIG);
	sa.sa_flags = SA_SIGINFO;
	sa.sa_sigaction = timerInt;
	sigemptyset(&sa.sa_mask);
	if (sigaction(SIG, &sa, NULL) == -1)  {
		return(RET_INTERNAL_ERROR);
	}

	/* Create the timer */
	sev.sigev_notify = SIGEV_SIGNAL;
	sev.sigev_signo = SIG;
	sev.sigev_value.sival_ptr = &timerid;
	if (timer_create(CLOCK_REALTIME, &sev, &timerid) == -1)  {
		return(RET_INTERNAL_ERROR);
	}
	printf("timer ID is 0x%lx\n", (long) timerid);

   	/* Start the timer (value is in usec */
	its.it_value.tv_sec = timerInterval / 1000000;
	its.it_value.tv_nsec = (timerInterval % 1000000) * 1000;
	its.it_interval.tv_sec = its.it_value.tv_sec;
	its.it_interval.tv_nsec = its.it_value.tv_nsec;

	if (timer_settime(timerid, 0, &its, NULL) == -1)  {
		return(RET_INTERNAL_ERROR);
	}

	return(RET_OK);
}


/***************************************************************************/
/**
* \internal
*
* \brief timerInt - timer interrupt
*
* \param
* \results
*	nothing
*/
void timerInt (
		int sig,
		siginfo_t *si,
		void *uc
	)
{
	(void)sig;
	(void)si;
	(void)uc;
	
//	printf("Caught signal %d\n", sig);
	coTimerTick();
}
#endif /* LINUX_SIGNAL_TIMER */


#ifdef LINUX_THREAD_TIMER
void *coTimerThreadFn(void *x_void_ptr);
/***************************************************************************/
/**
* \brief codrvTimerSetup - init Timer
*
* \param
* \results
*	nothing
*/
RET_T codrvTimerSetup(
		UNSIGNED32	timerInterval
	)
{
static __useconds_t interval = 0;
interval = timerInterval;
pthread_t inc_x_thread = 0;

	if (inc_x_thread != 0)  {
		printf("ERROR: resetting the CANopen timre not (yet) supported\n");
		return(RET_INTERNAL_ERROR);
	}

	pthread_create(&inc_x_thread, NULL, coTimerThreadFn, &interval);

	return(RET_OK);
}



/* thread timer callback */
void *coTimerThreadFn(void *x_void_ptr)
{
struct timeval  tv;
static uint64_t l_time_usec_last=0;
__useconds_t interval = *(__useconds_t*)x_void_ptr;
	
	while(1)  {
		
		gettimeofday(&tv, NULL);
		uint64_t l_time_usec = (uint64_t)(tv.tv_sec) * (uint64_t)1000000ul + (uint64_t)(tv.tv_usec);
		
		if (l_time_usec_last == 0)  {
			/* initialization */
			l_time_usec_last = l_time_usec;
		}
		
		if (l_time_usec_last > l_time_usec) {
			/* time decrease - was system time changed? */
			l_time_usec_last = l_time_usec;
			coTimerTick();
		} else 		
		if  ((l_time_usec - l_time_usec_last) / (uint64_t)interval > 10u) {
			/* too many time - was system time changed? */
			l_time_usec_last = l_time_usec;
			coTimerTick();
		}

		while (l_time_usec > (l_time_usec_last + (uint64_t)interval))  {
			coTimerTick();
			l_time_usec_last += (uint64_t)interval;
		}
				
		usleep(interval);

	}

	return(x_void_ptr);
}
#endif /* LINUX_THREAD_TIMER */


#ifdef THREAD_SPAWN
RET_T codrvTimerSetup(
		UNSIGNED32	timerInterval
	)
{
	timer_t timerid;
	struct sigevent sev;
	struct itimerspec its;

	/* Create the timer */

	sev.sigev_notify = SIGEV_THREAD;
	sev.sigev_signo = 0;
	sev.sigev_value.sival_int = 0;
	sev.sigev_notify_function = timerIntSpawnedThread;
	sev.sigev_notify_attributes = 0;

	if (timer_create(CLOCK_MONOTONIC, &sev, &timerid) == -1)  {
		return(RET_INTERNAL_ERROR);
	}
	printf("timer ID is 0x%lx\n", (long) timerid);

	/* Start the timer (value is in usec */
	its.it_value.tv_sec = timerInterval / 1000000;
	its.it_value.tv_nsec = (timerInterval % 1000000) * 1000;
	its.it_interval.tv_sec = its.it_value.tv_sec;
	its.it_interval.tv_nsec = its.it_value.tv_nsec;

	if (timer_settime(timerid, 0, &its, NULL) == -1)  {
		return(RET_INTERNAL_ERROR);
	}
	return(RET_OK);
}


static void timerIntSpawnedThread(
		sigval_t sival
	)
{
	coTimerTick();
}
#endif /* THREAD_SPAWN */

#endif /* defined(linux) || defined(__linux) || defined(__linux__) || defined(__gnu_linux__) */