#include <stdio.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/mman.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <signal.h>

#include <rtai_shm.h>
#include <rtai_nam2num.h>

#include "period.h"

static float *data;
static struct my_msg_struct *msg;

static void
emergency_stop(int d)
{
	msg->command = STOP_TASK;
	rtai_free (nam2num("data"), data);
	rtai_free (nam2num("msg"), msg);
	
	exit(1);
}

int
main(int argc, char *argv[])
{
	int i, j, count;
	
	if((data = (float *)rtai_malloc(nam2num("data"), 0)) == NULL){
		printf("rtai_malloc() failed (maybe /dev/rtai_shm is missing)!\n");
		return -1;
	}
	
	if((msg = (struct my_msg_struct *)rtai_malloc(nam2num("msg"), 0)) == NULL){
		printf("rtai_malloc() failed (maybe /dev/rtai_shm is missing)!\n");
		return -1;
	}
	
	msg->command = STOP_TASK;
	
	signal(SIGINT, emergency_stop);
	
	data[BUF_LEN * (RECORDING_SAMPLES - 1)] = -1.;
	
	/* Now start the tasks */
	fprintf(stderr, "Starting real time task ... ");
	msg->command = START_TASK;
	fprintf(stderr, "done.\n");
	
	fprintf(stderr, "Waiting for record ... ");
	while (data[BUF_LEN * (RECORDING_SAMPLES - 1)] < 0.){
		fprintf(stderr, "\r"); // ここを空行にすると、何故か終了判定が働かなくなる。
	}  /* 正常にデータが書きこまれれば，正になる */
	fprintf(stderr, "done.\n");
	
	count = 0;
	for(i = 0; i < RECORDING_SAMPLES; i++){
		for(j = 0; j < BUF_LEN; j++){
			fprintf(stdout, "%g ", data[count++]);
		}
		fprintf(stdout, "\n");
	}
	
	rtai_free (nam2num("data"), data);
	rtai_free (nam2num("msg"), msg);
	
	return 0;
}