drivers/timers_unix/timers_unix.c

   1 #include <stdlib.h>
   2
   3 #include <sys/time.h>
   4 #include <pthread.h>
   5 #include <signal.h>
   6
   7 #include "applicfg.h"
   8 #include "timer.h"
   9
  10 pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER;
  11
  12 TASK_HANDLE TimerLoopThread;
  13
  14 TIMEVAL last_time_set = TIMEVAL_MAX;
  15
  16 struct timeval last_sig;
  17
  18 timer_t timer;
  19
  20 void TimerCleanup(void)
  21 {
  22         /* only used in realtime apps */
  23 }
  24
  25 void EnterMutex(void)
  26 {
  27         pthread_mutex_lock(&CanFestival_mutex);
  28 }
  29
  30 void LeaveMutex(void)
  31 {
  32         pthread_mutex_unlock(&CanFestival_mutex);
  33 }
  34
  35 void timer_notify(sigval_t val)
  36 {
  37         gettimeofday(&last_sig,NULL);
  38         EnterMutex();
  39         TimeDispatch();
  40         LeaveMutex();
  41 //      printf("getCurrentTime() return=%u\n", p.tv_usec);
  42 }
  43
  44 void TimerInit(void)
  45 {
  46         struct sigevent sigev;
  47
  48         // Take first absolute time ref.
  49         gettimeofday(&last_sig,NULL);
  50
  51         memset (&sigev, 0, sizeof (struct sigevent));
  52         sigev.sigev_value.sival_int = 0;
  53         sigev.sigev_notify = SIGEV_THREAD;
  54         sigev.sigev_notify_attributes = NULL;
  55         sigev.sigev_notify_function = timer_notify;
  56
  57         timer_create (CLOCK_REALTIME, &sigev, &timer);
  58 }
  59
  60 void StopTimerLoop(TimerCallback_t exitfunction)
  61 {
  62         EnterMutex();
  63         timer_delete (timer);
  64         exitfunction(NULL,0);
  65         LeaveMutex();
  66 }
  67
  68 void StartTimerLoop(TimerCallback_t init_callback)
  69 {
  70         EnterMutex();
  71         // At first, TimeDispatch will call init_callback.
  72         SetAlarm(NULL, 0, init_callback, 0, 0);
  73         LeaveMutex();
  74 }
  75
  76 void canReceiveLoop_signal(int sig)
  77 {
  78 }
  79 /* We assume that ReceiveLoop_task_proc is always the same */
  80 static void (*unixtimer_ReceiveLoop_task_proc)(CAN_PORT) = NULL;
  81
  82 /**
  83  * Enter in realtime and start the CAN receiver loop
  84  * @param port
  85  */
  86 void unixtimer_canReceiveLoop(CAN_PORT port)
  87 {
  88
  89     /*get signal*/
  90     signal(SIGTERM, canReceiveLoop_signal);
  91     unixtimer_ReceiveLoop_task_proc(port);
  92 }
  93
  94 void CreateReceiveTask(CAN_PORT port, TASK_HANDLE* Thread, void* ReceiveLoopPtr)
  95 {
  96     unixtimer_ReceiveLoop_task_proc = ReceiveLoopPtr;
  97         pthread_create(Thread, NULL, unixtimer_canReceiveLoop, (void*)port);
  98 }
  99
 100 void WaitReceiveTaskEnd(TASK_HANDLE *Thread)
 101 {
 102         pthread_kill(*Thread, SIGTERM);
 103         pthread_join(*Thread, NULL);
 104 }
 105
 106 #define maxval(a,b) ((a>b)?a:b)
 107 void setTimer(TIMEVAL value)
 108 {
 109 //      printf("setTimer(TIMEVAL value=%d)\n", value);
 110         // TIMEVAL is us whereas setitimer wants ns...
 111         long tv_nsec = 1000 * (maxval(value,1)%1000000);
 112         time_t tv_sec = value/1000000;
 113         struct itimerspec timerValues;
 114         timerValues.it_value.tv_sec = tv_sec;
 115         timerValues.it_value.tv_nsec = tv_nsec;
 116         timerValues.it_interval.tv_sec = 0;
 117         timerValues.it_interval.tv_nsec = 0;
 118
 119         timer_settime (timer, 0, &timerValues, NULL);
 120 }
 121
 122 TIMEVAL getElapsedTime(void)
 123 {
 124         struct timeval p;
 125         gettimeofday(&p,NULL);
 126 //      printf("getCurrentTime() return=%u\n", p.tv_usec);
 127         return (p.tv_sec - last_sig.tv_sec)* 1000000 + p.tv_usec - last_sig.tv_usec;
 128 }