/* -*- mode: C; c-basic-offset: 4 -*- */
/* ex: set shiftwidth=4 tabstop=4 expandtab: */
/*
 * Copyright (c) 2011-2013, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author(s): Neil T. Dantam <ntd@gatech.edu>
 * Georgia Tech Humanoid Robotics Lab
 * Under Direction of Prof. Mike Stilman <mstilman@cc.gatech.edu>
 *
 *
 * This file is provided under the following "BSD-style" License:
 *
 *
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 *
 */

#ifdef HAVE_CONFIG
#include "config.h"
#endif //HAVE_CONFIG

#include <ipcbench.h>
#include "ipcbench_lcm_timestamp_t.h"

static lcm_t * lcm;

#define CHANNEL "ipcbench"

static void s_init_send(void) {
    lcm = lcm_create(NULL);
    if(!lcm)
        abort();
}


static void s_send( const struct timespec *ts ) {
    ipcbench_lcm_timestamp_t msg;
    msg.secs = ts->tv_sec;
    msg.nsecs = ts->tv_nsec;
    if( ipcbench_lcm_timestamp_t_publish(lcm, CHANNEL, &msg) ) {
        perror("lcm_publish");
        abort();
    }
}


static struct timespec *s_ts;

static void
listen_handler(const lcm_recv_buf_t *rbuf, const char * channel,
        const ipcbench_lcm_timestamp_t * msg, void * user)
{
    (void)rbuf;
    (void)user;
    (void)channel;
    s_ts->tv_sec = msg->secs;
    s_ts->tv_nsec = msg->nsecs;
}


static void s_init_recv(void) {
    s_init_send();
    ipcbench_lcm_timestamp_t_subscribe(lcm, CHANNEL, &listen_handler, NULL);
}

static void s_recv( struct timespec *ts ) {
    s_ts = ts;
    if( lcm_handle(lcm) ) {
        perror("lcm_handle");
        abort();
    }
}




static void s_destroy_send_recv(void) {
    lcm_destroy(lcm);
}


struct ipcbench_vtab ipc_bench_vtab_lcm = {
    .init_send = s_init_send,
    .init_recv = s_init_recv,
    .send = s_send,
    .recv = s_recv,
    .destroy_send = s_destroy_send_recv,
    .destroy_recv = s_destroy_send_recv,
};