#include "../acslib/include/acslib0.h"
#include "../acslib/include/acslib1.h"
#include "../acslib/include/acslib2.h"
#include "../acslib/include/param.h"
#include<stdio.h>
#include<time.h>
#include<signal.h>
#include<sys/time.h>

static HANDLE ACShandle;
static long stop=0;
void tim(int i)
{
 write(2,"uz koncim",9);
 stop=1;
}
time_t starttime,curtime;
long pomoc;
long cas_prace;
char str[2];
void main(int argc,char *argv[])
{
long i,komun,neuspech; 
double POS;
struct AXIS_STATUS MM[3];
struct sigaction act,old;
struct itimerval itime,itimeold;
if (argc<2) {cas_prace=10;printf("cas prace=%ld",cas_prace);}
else{cas_prace=(long)atoi(argv[1]);printf("cas_prace=%ld",cas_prace);}

act.sa_handler=tim;
//act.sa_mask=0;
act.sa_restorer=NULL;
act.sa_flags=SA_RESTART;
do{
pomoc=sigaction(SIGALRM,&act,&old);
}while(pomoc!=0);
stop=0;
ACShandle=DefineController(256,0,11,0,0,SB214);
printf("%d",(long)ACShandle);
i=0;
komun=0;
printf(" SB214PC Linux driver comunication speed test at timeout 11ms\n\n");
printf(" - when used time out 10ms we can not conect to the card\n\n");
printf(" - when comunication is not successfully finished in period of
timeout it is reported as unsuccessfull\n\n");
printf(" - timeout in Windows NT was 200 or 300 ms and there were
unsuccessfull comunications!!!\n\n");
itime.it_value.tv_sec=(long)cas_prace;
sprintf(str,"%ld",itime.it_value.tv_sec);
write(2,str,2);
do{
pomoc=setitimer(ITIMER_REAL,&itime,NULL);
 }while(pomoc!=0);
starttime=time(NULL);
while (stop==0)
{curtime=time(NULL);
printf("%ld.run (at %lfs)\n %lf runs per second =%lf comunications per second\n"
,i++,difftime(curtime,starttime),(double)(i-1)/(double)difftime(curtime,starttime),(double)(2*(i-1))/(double)difftime(curtime,starttime));
printf("Average comunication time: %lfms\n",1000*(double)difftime(curtime,starttime)/(double)(2*(i-1)));
printf("Count of successfull comunications:%ld or %lf%% of success\n",komun,
(double)komun/(2*(double)(i-1))*100);
//neuspech=2*i-komun;
printf("Count of unsuccessfull comunications:%ld or %lf%% of unsuccess\n\n",neuspech,
(double)neuspech/(2*(double)(i-1))*100);
komun=komun+GetPosition(ACShandle,"X",&POS);
printf("X=%lf\n\n",POS);
komun=komun+GetAxesStatus(ACShandle,"XY",MM);
neuspech=2*i-komun;
printf("XMM=%ld\n",MM[0].Mode);
printf("YMM=%ld\n\n",MM[1].Mode);
};
curtime=time(NULL);
printf("======= end ====\n");
printf("statistics:\n %lf Runs per second\n",(double)i/(double)difftime(curtime,starttime));
printf("Percentage of successfull comunication:%lf%%\n",(double)komun/(2*(double)i)*100);
printf("Average comunication time:%lf ms\n\n",1000*(double)difftime(curtime,starttime)/(2*(double)i));
act.sa_handler=SIG_DFL;
sigaction(SIGALRM,&act,&old);
FreeController(ACShandle);
}