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

#ifndef NO_RT
#include <sys/mman.h>
#endif
#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 long ulIndex = 0;
	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;

    Message.ID = 0x02;
	Message.LEN = 8;
	Message.MSGTYPE = PCAN_MESSAGE_STANDARD;
	//memset(Message.DATA, '\0', sizeof(Message.DATA));
	for(int i=0; i<8; i++)
	{
		Message.DATA[i]=i*i;
	}

	while(1) {
		while ((Status = CAN_Write(pcan_device, &Message)) == PCAN_ERROR_OK) {
			for (int i = 0; i < 8; i++)
				if (++Message.DATA[i])
					break;

			ulIndex++;
			if ((ulIndex % 1000) == 0)
				printf("  - T Message %i\n", (int)ulIndex);
		}

		if (Status != PCAN_ERROR_QXMTFULL) {
			printf("CAN_Write(%xh): Error 0x%x\n", pcan_device,
				(int)Status);
			break;
		}

		// Tx queue is full: must wait a bit instad of forever
		// looping. Handle ^C here too.
		if (usleep(100))
			break;
	}

	CAN_Uninitialize(pcan_device);

lbl_exit:

	return 0;
}