#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <unistd.h>
#include <asm/types.h>
#include <sys/mman.h>

#define PCAN_DEVICE	PCAN_USBBUS1

#include "PCANBasic.h"

static void signal_handler(int s)
{
	printf("Interrupted by SIG%u!\n", s);
}

int main(int argc, char* argv[])
{
	TPCANMsg Message;
	TPCANStatus Status;
	unsigned int pcan_device = PCAN_DEVICE;

#ifndef NO_RT
	mlockall(MCL_CURRENT | MCL_FUTURE);
#endif
	signal(SIGINT, signal_handler);

	Status = CAN_Initialize(pcan_device, PCAN_BAUD_500K, 0, 0, 0);
	printf("CAN_Initialize(%xh): Status=0x%x\n", pcan_device, (int)Status);
	if (Status)
		goto lbl_exit;

	while (1) {
		while ((Status=CAN_Read(pcan_device, &Message, NULL)) == PCAN_ERROR_QRCVEMPTY)
			if (usleep(100))
				break;

		if (Status != PCAN_ERROR_OK) {
			printf("CAN_Read(%xh) failure 0x%x\n", pcan_device, (int)Status);
			break;
		}

		printf("  - R ID:%4x LEN:%1x DATA:%02x %02x %02x %02x %02x %02x %02x %02x\n",
			(int)Message.ID, (int)Message.LEN,
			(int)Message.DATA[0], (int)Message.DATA[1],
			(int)Message.DATA[2], (int)Message.DATA[3],
			(int)Message.DATA[4], (int)Message.DATA[5],
			(int)Message.DATA[6], (int)Message.DATA[7]);

#ifdef XENOMAI
		rt_print_flush_buffers();
#endif
	}

	CAN_Uninitialize(pcan_device);

lbl_exit:

	return 0;
}