Added more correct signal handling to unix timers.

[CanFestival-3.git] / drivers / timers_unix / timers_unix.c

diff --git a/drivers/timers_unix/timers_unix.c b/drivers/timers_unix/timers_unix.c
index 5a53cf53798868f29d3d9bbada6506bedc5eccfe..a32313075b8a8f4019e478dd443738ac7e960606 100644 (file)
--- a/drivers/timers_unix/timers_unix.c
+++ b/drivers/timers_unix/timers_unix.c
@@ -17,6 +17,11 @@ struct timeval last_sig;
 
 timer_t timer;
 
+void TimerCleanup(void)
+{
+       /* only used in realtime apps */
+}
+
 void EnterMutex(void)
 {
        pthread_mutex_lock(&CanFestival_mutex); 
@@ -36,7 +41,7 @@ void timer_notify(sigval_t val)
 //     printf("getCurrentTime() return=%u\n", p.tv_usec);
 }
 
-void initTimer(void)
+void TimerInit(void)
 {
        struct sigevent sigev;
 
@@ -52,31 +57,50 @@ void initTimer(void)
        timer_create (CLOCK_REALTIME, &sigev, &timer);
 }
 
-void StopTimerLoop(void)
+void StopTimerLoop(TimerCallback_t exitfunction)
 {
        EnterMutex();
        timer_delete (timer);
+       exitfunction(NULL,0);
        LeaveMutex();
 }
 
 void StartTimerLoop(TimerCallback_t init_callback)
 {
-       initTimer();
        EnterMutex();
        // At first, TimeDispatch will call init_callback.
        SetAlarm(NULL, 0, init_callback, 0, 0);
        LeaveMutex();
 }
 
+void canReceiveLoop_signal(int sig)
+{
+}
+/* We assume that ReceiveLoop_task_proc is always the same */
+static void (*unixtimer_ReceiveLoop_task_proc)(CAN_PORT) = NULL;
+
+/**
+ * Enter in realtime and start the CAN receiver loop
+ * @param port
+ */
+void unixtimer_canReceiveLoop(CAN_PORT port)
+{
+       
+    /*get signal*/
+    signal(SIGTERM, canReceiveLoop_signal);
+    unixtimer_ReceiveLoop_task_proc(port);
+}
+
 void CreateReceiveTask(CAN_PORT port, TASK_HANDLE* Thread, void* ReceiveLoopPtr)
 {
-       pthread_create(Thread, NULL, ReceiveLoopPtr, (void*)port);
+    unixtimer_ReceiveLoop_task_proc = ReceiveLoopPtr;
+       pthread_create(Thread, NULL, unixtimer_canReceiveLoop, (void*)port);
 }
 
-void WaitReceiveTaskEnd(TASK_HANDLE Thread)
+void WaitReceiveTaskEnd(TASK_HANDLE *Thread)
 {
-       pthread_kill(Thread, SIGTERM);
-       pthread_join(Thread, NULL);
+       pthread_kill(*Thread, SIGTERM);
+       pthread_join(*Thread, NULL);
 }
 
 #define maxval(a,b) ((a>b)?a:b)