//
// Linux Daemon
//

//****************************************************************************
// includes
//***************************************************************************/

#include    <stdio.h>
#include    <unistd.h>
#include    <stdlib.h>
#include    <stdarg.h>
#include    <fcntl.h>
#include    <string.h>
#include    <time.h>
#include    <sys/timeb.h>
#include    <sys/types.h>
#include    <sys/stat.h>
#include    <sys/socket.h>
#include    <sys/types.h>
#include    <sys/wait.h>

#include "ClockTimer.h"
#include "CanTxGenerator.h"

//****************************************************************************
// defines
//***************************************************************************/

#ifndef min
#define min(A,B)    ((A)<(B)?(A):(B))
#endif

//****************************************************************************
// macros
//***************************************************************************/

//****************************************************************************
// structs & typedefs
//***************************************************************************/

//****************************************************************************
// global constants
//***************************************************************************/

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

extern CAN_Packet Can;

//****************************************************************************
// static constants
//***************************************************************************/

//****************************************************************************
// static variables
//***************************************************************************/

static CanTxGenerator *Self = NULL;

//****************************************************************************
// static functions
//***************************************************************************/

//****************************************************************************
// C++ functions
//***************************************************************************/

CanTxGenerator::CanTxGenerator()
{
  Self = this;
  m_period = 100;
}

CanTxGenerator::~CanTxGenerator()
{
}

// generator itself
void *CanTxGenerator::Run(void *arg)
{
  ClockTimer Loop;
  
  Loop.Start( m_period * 1000 );  // usec
  
  while (1)
  {
    
    // send out
    SendTo( &Can, sizeof(Can) );
    
    // log this message            // log this message
    if ( Logging.IsLogging() )
    {
      struct timeval tv;
      struct tm tm;
      gettimeofday( &tv, NULL );
      gmtime_r( &tv.tv_sec, &tm );
      char buf[32];
      sprintf( buf, "%4d/%2d/%2d-%2d:%2d:%2d.%03ld",
               tm.tm_year+1900, tm.tm_mon, tm.tm_mday,
               tm.tm_hour, tm.tm_min, tm.tm_sec,
               tv.tv_usec / 1000L
      );
      
      Logging.LogPrintf( "%s,%s,%f,%f,%f,%f,%u,%f,%u,%f,%f,%f,%f,%f,%u,%u,%u,%f,%u,%f",
                         buf,
                         "TX",
                         0.0,
                         0.0,
                         0.0,
                         0.0,
                         0,
                         Can.fSpeed,
                         Can.byTransmission,
                         Can.fSteering,
                         Can.fAccelLongitudinal,
                         Can.fAccelLateral,
                         Can.fAccelVertical,
                         Can.fYawRate,
                         Can.wBrakeSystemStatus,
                         Can.wEventFlags,
                         Can.byExteriorLights,
                         Can.fThrottle,
                         Can.byFrontWipers,
                         0.0
      );
    }
    
    // 100 msec, leave a little time to do the work
    Loop.Sync();
    //        msleep( m_period - 10L );
    
  }
  
  return NULL;
}