/* Autogenerated by /home/machinekit/git/machinekit/bin/instcomp on Thu Oct  6 03:22:21 2016 -- do not edit */

#include "rtapi.h"
#ifdef RTAPI
#include "rtapi_app.h"
#endif
#include "rtapi_string.h"
#include "rtapi_errno.h"
#include "hal.h"
#include "hal_priv.h"

static int comp_id;

static char *compname = "udp";


#ifdef MODULE_INFO
MODULE_INFO(machinekit, "component:udp:");
MODULE_INFO(machinekit, "pin:pos_cmd0:float:None:in::None");
MODULE_INFO(machinekit, "pin:pos_cmd1:float:None:in::None");
MODULE_INFO(machinekit, "pin:pos_cmd2:float:None:in::None");
MODULE_INFO(machinekit, "pin:pos_fb0:float:None:out::None");
MODULE_INFO(machinekit, "pin:pos_fb1:float:None:out::None");
MODULE_INFO(machinekit, "pin:pos_fb2:float:None:out::None");
MODULE_INFO(machinekit, "instanceparam:pincount:int::6");
MODULE_INFO(machinekit, "funct:_:1:");
MODULE_INFO(machinekit, "author:test");
MODULE_INFO(machinekit, "license:GPL");
MODULE_LICENSE("GPL");
#endif // MODULE_INFO
RTAPI_TAG(HAL,HC_INSTANTIABLE);


#define MAXCOUNT 16
#define DEFAULTCOUNT 6

static int pincount = 6;
RTAPI_IP_INT(pincount, "Instance integer param 'pincount'");

struct inst_data {

    hal_float_t *pos_cmd0;
    hal_float_t *pos_cmd1;
    hal_float_t *pos_cmd2;
    hal_float_t *pos_fb0;
    hal_float_t *pos_fb1;
    hal_float_t *pos_fb2;
    int sockfd;
    int localpincount;
};

static int maxpins __attribute__((unused)) = 16;
static char *iprefix = "";
static int _(void *arg, const hal_funct_args_t *fa);

static int instantiate(const int argc, const char**argv);

static int extra_inst_setup(struct inst_data* ip, const char *name, int argc, const char**argv);

#undef TRUE
#undef FALSE
#undef true
#define true (1)
#undef false
#define false (0)

static int export_halobjs(struct inst_data *ip, int owner_id, const char *name)
{
    char buf[HAL_NAME_LEN + 1];
    int r = 0;
    int j __attribute__((unused)) = 0;
    int z __attribute__((unused)) = 0;
    r = hal_pin_float_newf(HAL_IN, &(ip->pos_cmd0), owner_id,
            "%s.pos-cmd0", name);
    if(r != 0) return r;

    r = hal_pin_float_newf(HAL_IN, &(ip->pos_cmd1), owner_id,
            "%s.pos-cmd1", name);
    if(r != 0) return r;

    r = hal_pin_float_newf(HAL_IN, &(ip->pos_cmd2), owner_id,
            "%s.pos-cmd2", name);
    if(r != 0) return r;

    r = hal_pin_float_newf(HAL_OUT, &(ip->pos_fb0), owner_id,
            "%s.pos-fb0", name);
    if(r != 0) return r;

    r = hal_pin_float_newf(HAL_OUT, &(ip->pos_fb1), owner_id,
            "%s.pos-fb1", name);
    if(r != 0) return r;

    r = hal_pin_float_newf(HAL_OUT, &(ip->pos_fb2), owner_id,
            "%s.pos-fb2", name);
    if(r != 0) return r;


// if not set by instantiate() set to default
    if(! ip->localpincount || ip->localpincount == -1)
         ip->localpincount = DEFAULTCOUNT;

    hal_print_msg(RTAPI_MSG_DBG,"export_halobjs() ip->localpincount set to %d", ip->localpincount);
    // export an extended thread function:
    hal_export_xfunct_args_t __xf = {
        .type = FS_XTHREADFUNC,
        .funct.x = _,
        .arg = ip,
        .uses_fp = 1,
        .reentrant = 0,
        .owner_id = owner_id
    };

    rtapi_snprintf(buf, sizeof(buf),"%s", name);
    r = hal_export_xfunctf(&__xf, buf, name);
    if(r != 0)
        return r;
    return 0;
}

// constructor - init all HAL pins, params, funct etc here
static int instantiate(const int argc, const char**argv)
{
    const char *name  __attribute__((unused)) = argv[1];
    struct inst_data *ip;
    int r;
    int k;

    // allocate a named instance, and some HAL memory for the instance data
    int inst_id = hal_inst_create(name, comp_id, sizeof(struct inst_data), (void **)&ip);

    if (inst_id < 0)
        return -1;

    // here ip is guaranteed to point to a blob of HAL memory of size sizeof(struct inst_data).
    hal_print_msg(RTAPI_MSG_DBG,"%s inst=%s argc=%d",__FUNCTION__, name, argc);

    // Debug print of params and values
    hal_print_msg(RTAPI_MSG_DBG,"%s: int instance param: %s=%d",__FUNCTION__,"pincount", pincount);
//  if pincount=NN is passed, set local variable here, if not set to default
    int pin_param_value = pincount;
    if((pin_param_value == -1) || (pin_param_value == 0))
        pin_param_value = DEFAULTCOUNT;
    else if((pin_param_value > 0) && (pin_param_value > MAXCOUNT))
        pin_param_value = MAXCOUNT;
    ip->localpincount = pincount = pin_param_value;
    hal_print_msg(RTAPI_MSG_DBG,"ip->localpincount set to %d", pin_param_value);

    // These pins - params - functs will be owned by the instance
    // which can be separately exited with delinst
    if(strlen(iprefix))
        r = export_halobjs(ip, inst_id, iprefix);
    else
        r = export_halobjs(ip, inst_id, name);
    // if the extra_inst_setup returns non zero will abort module creation
    k = extra_inst_setup(ip, name, argc, argv);

    if(k != 0)
        return k;

    //reset pincount to -1 so that instantiation without it will result in DEFAULTCOUNT
    pincount = -1;

    return r;
}

int rtapi_app_main(void)
{
    // Debug print of params and values
    hal_print_msg(RTAPI_MSG_DBG,"%s: int instance param: %s=%d",__FUNCTION__,"pincount", pincount);
    comp_id = hal_xinit(TYPE_RT, 0, 0, instantiate, NULL, compname);
    if (comp_id < 0)
        return -1;

    hal_ready(comp_id);

    return 0;
}

void rtapi_app_exit(void)
{
    hal_exit(comp_id);
}


#undef FUNCTION
#define FUNCTION(name) static int name(void *arg, const hal_funct_args_t *fa)
// if the extra_inst_setup returns non zero it will abort the module creation
#undef EXTRA_INST_SETUP
#define EXTRA_INST_SETUP() static int extra_inst_setup(struct inst_data *ip, const char *name, int argc, const char**argv)
#undef fperiod
#define fperiod (period * 1e-9)
#undef pos_cmd0
#define pos_cmd0 (0+*ip->pos_cmd0)
#undef pos_cmd1
#define pos_cmd1 (0+*ip->pos_cmd1)
#undef pos_cmd2
#define pos_cmd2 (0+*ip->pos_cmd2)
#undef pos_fb0
#define pos_fb0 (*ip->pos_fb0)
#undef pos_fb1
#define pos_fb1 (*ip->pos_fb1)
#undef pos_fb2
#define pos_fb2 (*ip->pos_fb2)
#undef sockfd
#define sockfd (ip->sockfd)
#undef localpincount
#define localpincount (ip->localpincount)


#line 24 "./udp.icomp"
#include <arpa/inet.h>
#include <ifaddrs.h>

EXTRA_INST_SETUP(){
    rtapi_print("hallo\n");

    int ret;

    sockfd = socket(PF_INET, SOCK_DGRAM, IPPROTO_IP);
    if (sockfd < 0) {
        rtapi_print("ERROR: can't open socket: %s\n", strerror(errno));
        return -errno;
    }

    struct sockaddr_in server_addr;
    struct sockaddr_in local_addr;

    server_addr.sin_family = AF_INET;
    server_addr.sin_port = htons(27181);
    server_addr.sin_addr.s_addr = inet_addr("192.168.1.150");

    local_addr.sin_family      = AF_INET;
    local_addr.sin_addr.s_addr = INADDR_ANY;

    ret = connect(sockfd, (struct sockaddr *) &server_addr, sizeof(struct sockaddr_in));
    if (ret < 0) {
        rtapi_print("ERROR: can't connect: %s\n", strerror(errno));
        return -errno;
    }



    struct timeval timeout;
    timeout.tv_sec = 0;
    timeout.tv_usec = 10;

    ret = setsockopt(sockfd, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
    if (ret < 0) {
        rtapi_print("ERROR: can't set socket option: %s\n", strerror(errno));
        return -errno;
    }

    timeout.tv_usec = 10;
    setsockopt(sockfd, SOL_SOCKET, SO_SNDTIMEO, (char *)&timeout, sizeof(timeout));
    if (ret < 0) {
        rtapi_print("ERROR: can't set socket option: %s\n", strerror(errno));
        return -errno;
    }


    return 0;
}

FUNCTION(_) {
    long period __attribute__((unused)) = fa_period(fa);
    struct inst_data *ip = arg;

    pos_fb0 = pos_cmd0;
    pos_fb1 = pos_cmd1;
    pos_fb2 = pos_cmd2;
    uint8_t buf[16];

    buf[0] = 0x01;
    buf[1] = 0x42;
    buf[2] = 0x00;
    buf[3] = 0x01;

    int ret = send(sockfd,buf,4,0);
    if (ret < 0) {
        rtapi_print("send fail %s\n", strerror(errno));
    }
}