#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#define PIO_LENGHT 0x00AC
#include <hw/inout.h>
#include "at91sam9260.h"
#include <sys/neutrino.h>
#include <sys/mman.h>
#include <errno.h>
#include <sched.h>
#include <sys/netmgr.h>
#include <sys/syspage.h>
#include <assert.h>
#include <time.h>
#include <sys/neutrino.h>


#define MY_PULSE_CODE   _PULSE_CODE_MINAVAIL

#define PIO_OWER 0x00A0
#define PIO_ODSR 0x0038

int flag;
uintptr_t piocHandle;
timer_t  timer_id;

typedef union {
        struct _pulse   pulse;
        /* your other message structures would go
           here too */
}my_message_t;


void handler(int signum)
{
	if(flag==0)
	{
		out32(piocHandle + PIO_ODSR,0x01);
		flag=1;
	}
		else
		{
			out32(piocHandle + PIO_ODSR,0x00);
			flag=0;
		}



}

int main(int argc, char *argv[]) {

	int privity_err;
	struct _clockperiod clkper;
	struct itimerspec  itime;

	int prio=atoi(argv[1]);
	long clockPeriod=atol(argv[2]);
	long signalPeriod=atol(argv[3]);


	if(signalPeriod==0)
	{
		printf("E prea mica perioada semnalului");
	}


	struct sched_param param;
	int ret;
	param.sched_priority = prio;
	ret = sched_setscheduler( 0, SCHED_RR, &param);
	assert ( ret != -1 );


	printf("Am inceput test cu clockperiod %ldus,signalperiod %ldus,priority\n",clockPeriod,signalPeriod,prio);

	 clkper.nsec       = clockPeriod;
	 clkper.fract      = 0;
	 ClockPeriod ( CLOCK_REALTIME, &clkper, NULL, 0  );


	privity_err = ThreadCtl( _NTO_TCTL_IO, NULL );
	if ( privity_err == -1 )
	{
		printf( "Can't get root permissions\n" );
		return -1;
	}



	piocHandle = mmap_device_io(PIO_LENGHT,PIOC_BASE);//mapez zona de memorie pentru PIO

	if(piocHandle==MAP_DEVICE_FAILED)
	{
		printf("Sa produs o eroare,la maparea PIOC\n%s:",strerror(errno));
		return NULL;

	}

	out32(piocHandle + PIO_PER,0x01);//PORTC pin 1 e GPIO
	out32(piocHandle + PIO_OER,0x01);
	out32(piocHandle + PIO_OWER,0x01);





	flag=0;

	 if ( timer_create(  CLOCK_REALTIME,NULL, &timer_id ) == -1 )
	    {
	        perror ( "can't create timer" );
	        exit( EXIT_FAILURE );
	    }

	 itime.it_value.tv_sec = 0;
	 /* 500 million nsecs = .5 secs */
	 itime.it_value.tv_nsec = signalPeriod;

	 itime.it_interval.tv_sec = 0;
	 /* 500 million nsecs = .5 secs */
	 itime.it_interval.tv_nsec = signalPeriod;

	 timer_settime(timer_id, 0, &itime, NULL);



//	if(ualarm(100,0)<0)
//		{
//			printf("Sa produs o eroara la setarea alarmei:%s",strerror(errno));
//		}


		struct sigaction newact;

		newact.sa_flags=0;
		sigemptyset( &newact.sa_mask );
		newact.sa_handler=&handler;
		if(sigaction(SIGALRM,&newact,NULL)<0)
		{
			printf("Sa produs o eroara la setarea handlerului:%s",strerror(errno));
		}
;


		struct sigevent         event;
		timer_t                 timer_id;
		int                     chid;
		int                     rcvid;
		my_message_t            msg;

		chid = ChannelCreate(0);

		event.sigev_notify = SIGEV_PULSE;
		event.sigev_coid = ConnectAttach(ND_LOCAL_NODE, 0,chid,_NTO_SIDE_CHANNEL, 0);
		event.sigev_priority = getprio(0);
		event.sigev_code = MY_PULSE_CODE;
		timer_create(CLOCK_REALTIME, &event, &timer_id);

		itime.it_value.tv_sec = 20;
		// 500 million nsecs = .5 secs
		itime.it_value.tv_nsec = 500000000;
		itime.it_interval.tv_sec = 0;
		// 500 million nsecs = .5 secs
		itime.it_interval.tv_nsec = 0;
		timer_settime(timer_id, 0, &itime, NULL);


		for (;;) {
			rcvid = MsgReceive(chid, &msg, sizeof(msg), NULL);
			if (rcvid == 0) {//  we got a pulse
				if (msg.pulse.code == MY_PULSE_CODE) {
					printf("we got a pulse from our timer\n");
					exit(1);
				}
			}
		}



	return EXIT_SUCCESS;
}