/**
 * Helper functions for implementing CANopen threads in Linux.
 *
 * @file        CO_Linux_threads.h
 * @ingroup     CO_driver
 * @author      Janez Paternoster, Martin Wagner
 * @copyright   2004 - 2015 Janez Paternoster, 2018 Neuberger Gebaeudeautomation GmbH
 *
 *
 * This file is part of CANopenNode, an opensource CANopen Stack.
 * Project home page is <https://github.com/CANopenNode/CANopenNode>.
 * For more information on CANopen see <http://www.can-cia.org/>.
 *
 * CANopenNode is free and open source software: you can redistribute
 * it and/or modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation, either version 2 of the
 * License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * Following clarification and special exception to the GNU General Public
 * License is included to the distribution terms of CANopenNode:
 *
 * Linking this library statically or dynamically with other modules is
 * making a combined work based on this library. Thus, the terms and
 * conditions of the GNU General Public License cover the whole combination.
 *
 * As a special exception, the copyright holders of this library give
 * you permission to link this library with independent modules to
 * produce an executable, regardless of the license terms of these
 * independent modules, and to copy and distribute the resulting
 * executable under terms of your choice, provided that you also meet,
 * for each linked independent module, the terms and conditions of the
 * license of that module. An independent module is a module which is
 * not derived from or based on this library. If you modify this
 * library, you may extend this exception to your version of the
 * library, but you are not obliged to do so. If you do not wish
 * to do so, delete this exception statement from your version.
 */
#ifndef CO_LINUX_TASKS_H
#define CO_LINUX_TASKS_H

#ifdef __cplusplus
extern "C" {
#endif

/* This driver is loosely based upon the CO socketCAN driver
 * The "threads" inside this driver do not fork threads themselve, but require
 * that two threads are provided by the calling application.
 *
 * Like the CO socketCAN driver implementation, this driver uses the global CO
 * object and has one thread-local struct for variables. */

/**
 * Initialize mainline thread.
 *
 * threadMain is non-realtime thread for CANopenNode processing. It is nonblocking
 * and should be called cyclically in 50 ms intervals or less if necessary. This
 * is indicated by the callback function.
 * This thread processes CO_process() function from CANopen.c file.
 *
 * @param callback this function is called to indicate #threadMain_process() has
 * work to do
 * @param object this pointer is given to _callback()_
 */
extern void threadMain_init(void (*callback)(void*), void *object);

/**
 * Cleanup mainline thread.
 */
extern void threadMain_close(void);

/**
 * Process mainline thread.
 *
 * Function must be called cyclically and after callback
 *
 * @param reset return value from CO_process() function.
 */
extern void threadMain_process(CO_NMT_reset_cmd_t *reset);

/**
 * Initialize realtime thread.
 *
 * CANrx_threadTmr is realtime thread for CANopenNode processing. It is nonblocking
 * and must be executed at CAN message receive or periodically in 1ms (or something)
 * intervals. Inside interval is processed CANopen SYNC message, RPDOs(inputs)
 * and TPDOs(outputs).
 * CANrx_threadTmr uses CAN socket from CO_driver.c
 *
 * @remark If realtime is required, this thread must be registred as such in the Linux
 * kernel.
 *
 * @param interval Interval of periodic timer in ms, recommended value for
 *                 realtime response: 1ms
 */
extern void CANrx_threadTmr_init(uint16_t interval);

/**
 * Terminate realtime thread.
 */
extern void CANrx_threadTmr_close(void);

/**
 * Process realtime thread.
 *
 * This function must be called inside an infinite loop. It blocks until either
 * some event happens or a timer runs out.
 */
extern void CANrx_threadTmr_process();

#ifdef __cplusplus
}
#endif /*__cplusplus*/

#endif