//---------------------------------------------------------------------------
//
//	SCSI Target Emulator RaSCSI (*^..^*)
//	for Raspberry Pi
//
//	Powered by XM6 TypeG Technology.
//	Copyright (C) 2016-2020 GIMONS
//	[ RaSCSI main ]
//
//---------------------------------------------------------------------------

#include "os.h"
#include "xm6.h"
#include "filepath.h"
#include "fileio.h"
#include "disk.h"
#include "gpiobus.h"

//---------------------------------------------------------------------------
//
//  Constant declarations
//
//---------------------------------------------------------------------------
#define CtrlMax	8					// Maximum number of SCSI controllers
#define UnitNum	2					// Number of units around controller
#ifdef BAREMETAL
#define FPRT(fp, ...) printf( __VA_ARGS__ )
#else
#define FPRT(fp, ...) fprintf(fp, __VA_ARGS__ )
#endif	// BAREMETAL

//---------------------------------------------------------------------------
//
//	Variable declarations
//
//---------------------------------------------------------------------------
static volatile BOOL running;		// Running flag
static volatile BOOL active;		// Processing flag
SASIDEV *ctrl[CtrlMax];				// Controller
Disk *disk[CtrlMax * UnitNum];		// Disk
GPIOBUS *bus;						// GPIO Bus
#ifdef BAREMETAL
FATFS fatfs;						// FatFS
#else
int monsocket;						// Monitor Socket
pthread_t monthread;				// Monitor Thread
static void *MonThread(void *param);
#endif	// BAREMETAL

#ifndef BAREMETAL
//---------------------------------------------------------------------------
//
//	Signal Processing
//
//---------------------------------------------------------------------------
void KillHandler(int sig)
{
	// Stop instruction
	running = FALSE;
}
#endif	// BAREMETAL

//---------------------------------------------------------------------------
//
//	Banner Output
//
//---------------------------------------------------------------------------
void Banner(int argc, char* argv[])
{
	FPRT(stdout,"SCSI Target Emulator RaSCSI(*^..^*) ");
	FPRT(stdout,"version %01d.%01d%01d(%s, %s)\n",
		(int)((VERSION >> 8) & 0xf),
		(int)((VERSION >> 4) & 0xf),
		(int)((VERSION     ) & 0xf),
		__DATE__,
		__TIME__);
	FPRT(stdout,"Powered by XM6 TypeG Technology / ");
	FPRT(stdout,"Copyright (C) 2016-2020 GIMONS\n");
	FPRT(stdout,"Connect type : %s\n", CONNECT_DESC);

	if ((argc > 1 && strcmp(argv[1], "-h") == 0) ||
		(argc > 1 && strcmp(argv[1], "--help") == 0)){
		FPRT(stdout,"\n");
		FPRT(stdout,"Usage: %s [-IDn FILE] ...\n\n", argv[0]);
		FPRT(stdout," n is SCSI identification number(0-7).\n");
		FPRT(stdout," FILE is disk image file.\n\n");
		FPRT(stdout,"Usage: %s [-HDn FILE] ...\n\n", argv[0]);
		FPRT(stdout," n is X68000 SASI HD number(0-15).\n");
		FPRT(stdout," FILE is disk image file.\n\n");
		FPRT(stdout," Image type is detected based on file extension.\n");
		FPRT(stdout,"  hdf : SASI HD image(XM6 SASI HD image)\n");
		FPRT(stdout,"  hds : SCSI HD image(XM6 SCSI HD image)\n");
		FPRT(stdout,"  hdn : SCSI HD image(NEC GENUINE)\n");
		FPRT(stdout,"  hdi : SCSI HD image(Anex86 HD image)\n");
		FPRT(stdout,"  nhd : SCSI HD image(T98Next HD image)\n");
		FPRT(stdout,"  hda : SCSI HD image(APPLE GENUINE)\n");
		FPRT(stdout,"  mos : SCSI MO image(XM6 SCSI MO image)\n");
		FPRT(stdout,"  iso : SCSI CD image(ISO 9660 image)\n");

#ifndef BAREMETAL
		exit(0);
#endif	// BAREMETAL
	}
}

//---------------------------------------------------------------------------
//
//	Initialization
//
//---------------------------------------------------------------------------
BOOL Init()
{
	int i;

#ifndef BAREMETAL
	struct sockaddr_in server;
	int yes;

	// Create socket for monitor
	monsocket = socket(PF_INET, SOCK_STREAM, 0);
	memset(&server, 0, sizeof(server));
	server.sin_family = PF_INET;
	server.sin_port   = htons(6868);
	server.sin_addr.s_addr = htonl(INADDR_ANY);

	// allow address reuse
	yes = 1;
	if (setsockopt(
		monsocket, SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(yes)) < 0){
		return FALSE;
	}

	// Bind
	if (bind(monsocket, (struct sockaddr *)&server,
		sizeof(struct sockaddr_in)) < 0) {
		FPRT(stderr, "Error : Already running?\n");
		return FALSE;
	}

	// Create Monitor Thread
	pthread_create(&monthread, NULL, MonThread, NULL);

	// Interrupt handler settings
	if (signal(SIGINT, KillHandler) == SIG_ERR) {
		return FALSE;
	}
	if (signal(SIGHUP, KillHandler) == SIG_ERR) {
		return FALSE;
	}
	if (signal(SIGTERM, KillHandler) == SIG_ERR) {
		return FALSE;
	}
#endif // BAREMETAL

	// GPIOBUS creation
	bus = new GPIOBUS();
	
	// GPIO Initialization
	if (!bus->Init()) {
		return FALSE;
	}

	// Bus Reset
	bus->Reset();

	// Controller initialization
	for (i = 0; i < CtrlMax; i++) {
		ctrl[i] = NULL;
	}

	// Disk Initialization
	for (i = 0; i < CtrlMax; i++) {
		disk[i] = NULL;
	}

	// Other
	running = FALSE;
	active = FALSE;

	return TRUE;
}

//---------------------------------------------------------------------------
//
//	Cleanup
//
//---------------------------------------------------------------------------
void Cleanup()
{
	int i;

	// Delete the disks
	for (i = 0; i < CtrlMax * UnitNum; i++) {
		if (disk[i]) {
			delete disk[i];
			disk[i] = NULL;
		}
	}

	// Delete the Controllers
	for (i = 0; i < CtrlMax; i++) {
		if (ctrl[i]) {
			delete ctrl[i];
			ctrl[i] = NULL;
		}
	}

	// Cleanup the Bus
	bus->Cleanup();
	
	// Discard the GPIOBUS object
	delete bus;

#ifndef BAREMETAL
	// Close the monitor socket
	if (monsocket >= 0) {
		close(monsocket);
	}
#endif // BAREMETAL
}

//---------------------------------------------------------------------------
//
//	Reset
//
//---------------------------------------------------------------------------
void Reset()
{
	int i;

	// Reset all of the controllers
	for (i = 0; i < CtrlMax; i++) {
		if (ctrl[i]) {
			ctrl[i]->Reset();
		}
	}

	// Reset the bus
	bus->Reset();
}

//---------------------------------------------------------------------------
//
//	List Devices
//
//---------------------------------------------------------------------------
void ListDevice(FILE *fp)
{
	int i;
	int id;
	int un;
	Disk *pUnit;
	Filepath filepath;
	BOOL find;
	char type[5];

	find = FALSE;
	type[4] = 0;
	for (i = 0; i < CtrlMax * UnitNum; i++) {
		// Initialize ID and unit number
		id = i / UnitNum;
		un = i % UnitNum;
		pUnit = disk[i];

		// skip if unit does not exist or null disk
		if (pUnit == NULL || pUnit->IsNULL()) {
			continue;
		}

		// Output the header
        if (!find) {
			FPRT(fp, "\n");
			FPRT(fp, "+----+----+------+-------------------------------------\n");
			FPRT(fp, "| ID | UN | TYPE | DEVICE STATUS\n");
			FPRT(fp, "+----+----+------+-------------------------------------\n");
			find = TRUE;
		}

		// ID,UNIT,Type,Device Status
		type[0] = (char)(pUnit->GetID() >> 24);
		type[1] = (char)(pUnit->GetID() >> 16);
		type[2] = (char)(pUnit->GetID() >> 8);
		type[3] = (char)(pUnit->GetID());
		FPRT(fp, "|  %d |  %d | %s | ", id, un, type);

		// mount status output
		if (pUnit->GetID() == MAKEID('S', 'C', 'B', 'R')) {
			FPRT(fp, "%s", "HOST BRIDGE");
		} else {
			pUnit->GetPath(filepath);
			FPRT(fp, "%s",
				(pUnit->IsRemovable() && !pUnit->IsReady()) ?
				"NO MEDIA" : filepath.GetPath());
		}

		// Write protection status
		if (pUnit->IsRemovable() && pUnit->IsReady() && pUnit->IsWriteP()) {
			FPRT(fp, "(WRITEPROTECT)");
		}

		// Goto the next line
		FPRT(fp, "\n");
	}

	// If there is no controller, find will be null
	if (!find) {
		FPRT(fp, "No device is installed.\n");
		return;
	}
	
	FPRT(fp, "+----+----+------+-------------------------------------\n");
}

//---------------------------------------------------------------------------
//
//	Controller Mapping
//
//---------------------------------------------------------------------------
void MapControler(FILE *fp, Disk **map)
{
	int i;
	int j;
	int unitno;
	int sasi_num;
	int scsi_num;

	// Replace the changed unit
	for (i = 0; i < CtrlMax; i++) {
		for (j = 0; j < UnitNum; j++) {
			unitno = i * UnitNum + j;
			if (disk[unitno] != map[unitno]) {
				// Check if the original unit exists
				if (disk[unitno]) {
					// Disconnect it from the controller
					if (ctrl[i]) {
						ctrl[i]->SetUnit(j, NULL);
					}

					// Free the Unit
					delete disk[unitno];
				}

				// Setup a new unit
				disk[unitno] = map[unitno];
			}
		}
	}

	// Reconfigure all of the controllers
	for (i = 0; i < CtrlMax; i++) {
		// Examine the unit configuration
		sasi_num = 0;
		scsi_num = 0;
		for (j = 0; j < UnitNum; j++) {
			unitno = i * UnitNum + j;
			// branch by unit type
			if (disk[unitno]) {
				if (disk[unitno]->IsSASI()) {
					// Drive is SASI, so increment SASI count
					sasi_num++;
				} else {
					// Drive is SCSI, so increment SCSI count
					scsi_num++;
				}
			}

			// Remove the unit
			if (ctrl[i]) {
				ctrl[i]->SetUnit(j, NULL);
			}
		}

		// If there are no units connected
		if (sasi_num == 0 && scsi_num == 0) {
			if (ctrl[i]) {
				delete ctrl[i];
				ctrl[i] = NULL;
				continue;
			}
		}

		// Mixture of SCSI and SASI
		if (sasi_num > 0 && scsi_num > 0) {
			FPRT(fp, "Error : SASI and SCSI can't be mixed\n");
			continue;
		}

		if (sasi_num > 0) {
			// Only SASI Unit(s)

			// Release the controller if it is not SASI
			if (ctrl[i] && !ctrl[i]->IsSASI()) {
				delete ctrl[i];
				ctrl[i] = NULL;
			}

			// Create a new SASI controller
			if (!ctrl[i]) {
				ctrl[i] = new SASIDEV();
				ctrl[i]->Connect(i, bus);
			}
		} else {
			// Only SCSI Unit(s)

			// Release the controller if it is not SCSI
			if (ctrl[i] && !ctrl[i]->IsSCSI()) {
				delete ctrl[i];
				ctrl[i] = NULL;
			}

			// Create a new SCSI controller
			if (!ctrl[i]) {
				ctrl[i] = new SCSIDEV();
				ctrl[i]->Connect(i, bus);
			}
		}

		// connect all units
		for (j = 0; j < UnitNum; j++) {
			unitno = i * UnitNum + j;
			if (disk[unitno]) {
				// Add the unit connection
				ctrl[i]->SetUnit(j, disk[unitno]);
			}
		}
	}
}

//---------------------------------------------------------------------------
//
//	Command Processing
//
//---------------------------------------------------------------------------
BOOL ProcessCmd(FILE *fp, int id, int un, int cmd, int type, char *file)
{
	Disk *map[CtrlMax * UnitNum];
	int len;
	char *ext;
	Filepath filepath;
	Disk *pUnit;

	// Copy the Unit List
	memcpy(map, disk, sizeof(disk));

	// Check the Controller Number
	if (id < 0 || id >= CtrlMax) {
		FPRT(fp, "Error : Invalid ID\n");
		return FALSE;
	}

	// Check the Unit Number
	if (un < 0 || un >= UnitNum) {
		FPRT(fp, "Error : Invalid unit number\n");
		return FALSE;
	}

	// Connect Command
	if (cmd == 0) {					// ATTACH
		// Distinguish between SASI and SCSI
		ext = NULL;
		pUnit = NULL;
		if (type == 0) {
			// Passed the check
			if (!file) {
				return FALSE;
			}

			// Check that command is at least 5 characters long
			len = strlen(file);
			if (len < 5) {
				return FALSE;
			}

			// Check the extension
			if (file[len - 4] != '.') {
				return FALSE;
			}

			// If the extension is not SASI type, replace with SCSI
			ext = &file[len - 3];
			if (xstrcasecmp(ext, "hdf") != 0) {
				type = 1;
			}
		}

		// Create a new drive, based upon type
		switch (type) {
			case 0:		// HDF
				pUnit = new SASIHD();
				break;
			case 1:		// HDS/HDN/HDI/NHD/HDA
				if (ext == NULL) {
					break;
				}
				if (xstrcasecmp(ext, "hdn") == 0 ||
					xstrcasecmp(ext, "hdi") == 0 || xstrcasecmp(ext, "nhd") == 0) {
					pUnit = new SCSIHD_NEC();
				} else if (xstrcasecmp(ext, "hda") == 0) {
					pUnit = new SCSIHD_APPLE();
				} else {
					pUnit = new SCSIHD();
				}
				break;
			case 2:		// MO
				pUnit = new SCSIMO();
				break;
			case 3:		// CD
				pUnit = new SCSICD();
				break;
			case 4:		// BRIDGE
				pUnit = new SCSIBR();
				break;
			default:
				FPRT(fp,	"Error : Invalid device type\n");
				return FALSE;
		}

		// drive checks files
		if (type <= 1 || (type <= 3 && xstrcasecmp(file, "-") != 0)) {
			// Set the Path
			filepath.SetPath(file);

			// Open the file path
			if (!pUnit->Open(filepath)) {
				FPRT(fp, "Error : File open error [%s]\n", file);
				delete pUnit;
				return FALSE;
			}
		}

		// Set the cache to write-through
		pUnit->SetCacheWB(FALSE);

		// Replace with the newly created unit
		map[id * UnitNum + un] = pUnit;

		// Re-map the controller
		MapControler(fp, map);
		return TRUE;
	}

	// Is this a valid command?
	if (cmd > 4) {
		FPRT(fp, "Error : Invalid command\n");
		return FALSE;
	}

	// Does the controller exist?
	if (ctrl[id] == NULL) {
		FPRT(fp, "Error : No such device\n");
		return FALSE;
	}

	// Does the unit exist?
	pUnit = disk[id * UnitNum + un];
	if (pUnit == NULL) {
		FPRT(fp, "Error : No such device\n");
		return FALSE;
	}

	// Disconnect Command
	if (cmd == 1) {					// DETACH
		// Free the existing unit
		map[id * UnitNum + un] = NULL;

		// Re-map the controller
		MapControler(fp, map);
		return TRUE;
	}

	// Valid only for MO or CD
	if (pUnit->GetID() != MAKEID('S', 'C', 'M', 'O') &&
		pUnit->GetID() != MAKEID('S', 'C', 'C', 'D')) {
		FPRT(fp, "Error : Operation denied(Deveice isn't removable)\n");
		return FALSE;
	}

	switch (cmd) {
		case 2:						// INSERT
			// Set the file path
			filepath.SetPath(file);

			// Open the file
			if (pUnit->Open(filepath)) {
				FPRT(fp, "Error : File open error [%s]\n", file);
				return FALSE;
			}
			break;

		case 3:						// EJECT
			pUnit->Eject(TRUE);
			break;

		case 4:						// PROTECT
			if (pUnit->GetID() != MAKEID('S', 'C', 'M', 'O')) {
				FPRT(fp, "Error : Operation denied(Deveice isn't MO)\n");
				return FALSE;
			}
			pUnit->WriteP(!pUnit->IsWriteP());
			break;
		default:
			ASSERT(FALSE);
			return FALSE;
	}

	return TRUE;
}

//---------------------------------------------------------------------------
//
//	Argument Parsing
//
//---------------------------------------------------------------------------
BOOL ParseArgument(int argc, char* argv[])
{
#ifdef BAREMETAL
	FRESULT fr;
	FIL fp;
	char line[512];
#else
	int i;
#endif	// BAREMETAL
	int id;
	int un;
	int type;
	char *argID;
	char *argPath;
	int len;
	char *ext;

#ifdef BAREMETAL
	// Mount the SD card
	fr = f_mount(&fatfs, "", 1);
	if (fr != FR_OK) {
		FPRT(stderr, "Error : SD card mount failed.\n");
		return FALSE;
	}

	// If there is no setting file, the processing is interrupted
	fr = f_open(&fp, "rascsi.ini", FA_READ);
	if (fr != FR_OK) {
		return FALSE;
	}
#else
	// If the ID and path are not specified, the processing is interrupted
	if (argc < 3) {
		return TRUE;
	}
	i = 1;
	argc--;
#endif	// BAREMETAL

	// Start Decoding

	while (TRUE) {
#ifdef BAREMETAL
		// Get one Line
		memset(line, 0x00, sizeof(line));
		if (f_gets(line, sizeof(line) -1, &fp) == NULL) {
			break;
		}

		// Delete the CR/LF
		len = strlen(line);
		while (len > 0) {
			if (line[len - 1] != '\r' && line[len - 1] != '\n') {
				break;
			}
			line[len - 1] = '\0';
			len--;
		}
#else
		if (argc < 2) {
			break;
		}

		argc -= 2;
#endif	// BAREMETAL

		// Get the ID and Path
#ifdef BAREMETAL
		argID = &line[0];
		argPath = &line[4];
		line[3] = '\0';

		// Check if the line is an empty string
		if (argID[0] == '\0' || argPath[0] == '\0') {
			continue;
		}
#else
		argID = argv[i++];
		argPath = argv[i++];

		// Check if the argument is invalid
		if (argID[0] != '-') {
			FPRT(stderr,
				"Error : Invalid argument(-IDn or -HDn) [%s]\n", argID);
			goto parse_error;
		}
		argID++;
#endif	// BAREMETAL

		if (strlen(argID) == 3 && xstrncasecmp(argID, "id", 2) == 0) {
			// ID or ID Format

			// Check that the ID number is valid (0-7)
			if (argID[2] < '0' || argID[2] > '7') {
				FPRT(stderr,
					"Error : Invalid argument(IDn n=0-7) [%c]\n", argID[2]);
				goto parse_error;
			}

			// The ID unit is good
            id = argID[2] - '0';
			un = 0;
		} else if (xstrncasecmp(argID, "hd", 2) == 0) {
			// HD or HD format

			if (strlen(argID) == 3) {
				// Check that the HD number is valid (0-9)
				if (argID[2] < '0' || argID[2] > '9') {
					FPRT(stderr,
						"Error : Invalid argument(HDn n=0-15) [%c]\n", argID[2]);
					goto parse_error;
				}

				// ID was confirmed
				id = (argID[2] - '0') / UnitNum;
				un = (argID[2] - '0') % UnitNum;
			} else if (strlen(argID) == 4) {
				// Check that the HD number is valid (10-15)
				if (argID[2] != '1' || argID[3] < '0' || argID[3] > '5') {
					FPRT(stderr,
						"Error : Invalid argument(HDn n=0-15) [%c]\n", argID[2]);
					goto parse_error;
				}

				// The ID unit is good - create the id and unit number
				id = ((argID[3] - '0') + 10) / UnitNum;
				un = ((argID[3] - '0') + 10) % UnitNum;
#ifdef BAREMETAL
				argPath++;
#endif	// BAREMETAL
			} else {
				FPRT(stderr,
					"Error : Invalid argument(IDn or HDn) [%s]\n", argID);
				goto parse_error;
			}
		} else {
			FPRT(stderr,
				"Error : Invalid argument(IDn or HDn) [%s]\n", argID);
			goto parse_error;
		}

		// Skip if there is already an active device
		if (disk[id * UnitNum + un] &&
			!disk[id * UnitNum + un]->IsNULL()) {
			continue;
		}

		// Initialize device type
		type = -1;

		// Check ethernet and host bridge
		if (xstrcasecmp(argPath, "bridge") == 0) {
			type = 4;
		} else {
			// Check the path length
			len = strlen(argPath);
			if (len < 5) {
				FPRT(stderr,
					"Error : Invalid argument(File path is short) [%s]\n",
					argPath);
				goto parse_error;
			}

			// Does the file have an extension?
			if (argPath[len - 4] != '.') {
				FPRT(stderr,
					"Error : Invalid argument(No extension) [%s]\n", argPath);
				goto parse_error;
			}

			// Figure out what the type is
			ext = &argPath[len - 3];
			if (xstrcasecmp(ext, "hdf") == 0 ||
				xstrcasecmp(ext, "hds") == 0 ||
				xstrcasecmp(ext, "hdn") == 0 ||
				xstrcasecmp(ext, "hdi") == 0 || xstrcasecmp(ext, "nhd") == 0 ||
				xstrcasecmp(ext, "hda") == 0) {
				// HD(SASI/SCSI)
				type = 0;
			} else if (strcasecmp(ext, "mos") == 0) {
				// MO
				type = 2;
			} else if (strcasecmp(ext, "iso") == 0) {
				// CD
				type = 3;
			} else {
				// Cannot determine the file type
				FPRT(stderr,
					"Error : Invalid argument(file type) [%s]\n", ext);
				goto parse_error;
			}
		}

		// Execute the command
		if (!ProcessCmd(stderr, id, un, 0, type, argPath)) {
			goto parse_error;
		}
	}

#ifdef BAREMETAL
	// Close the configuration file
	f_close(&fp);
#endif	// BAREMETAL

	// Display the device list
	ListDevice(stdout);

	return TRUE;

parse_error:

#ifdef BAREMETAL
	// Close the configuration file
	f_close(&fp);
#endif	// BAREMETAL

	return FALSE;
}

#ifndef BAREMETAL
//---------------------------------------------------------------------------
//
//	Pin the thread to a specific CPU
//
//---------------------------------------------------------------------------
void FixCpu(int cpu)
{
	cpu_set_t cpuset;
	int cpus;

	// Get the number of CPUs
	CPU_ZERO(&cpuset);
	sched_getaffinity(0, sizeof(cpu_set_t), &cpuset);
	cpus = CPU_COUNT(&cpuset);

	// Set the thread affinity
	if (cpu < cpus) {
		CPU_ZERO(&cpuset);
		CPU_SET(cpu, &cpuset);
		sched_setaffinity(0, sizeof(cpu_set_t), &cpuset);
	}
}

//---------------------------------------------------------------------------
//
//	Monitor Thread
//
//---------------------------------------------------------------------------
static void *MonThread(void *param)
{
	struct sched_param schedparam;
	struct sockaddr_in client;
	socklen_t len; 
	int fd;
	FILE *fp;
	char buf[BUFSIZ];
	char *p;
	int i;
	char *argv[5];
	int id;
	int un;
	int cmd;
	int type;
	char *file;

	// Scheduler Settings
	schedparam.sched_priority = 0;
	sched_setscheduler(0, SCHED_IDLE, &schedparam);

	// Set the affinity to a specific processor core
	FixCpu(2);

	// Wait for the execution to start
	while (!running) {
		usleep(1);
	}

	// Setup the monitor socket to receive commands
	listen(monsocket, 1);

	while (1) {
		// Wait for connection
		memset(&client, 0, sizeof(client)); 
		len = sizeof(client); 
		fd = accept(monsocket, (struct sockaddr*)&client, &len);
		if (fd < 0) {
			break;
		}

		// Fetch the command
		fp = fdopen(fd, "r+");
		p = fgets(buf, BUFSIZ, fp);

		// Failed to get the command
		if (!p) {
			goto next;
		}

		// Remove the newline character
		p[strlen(p) - 1] = 0;

		// List all of the devices
		if (xstrncasecmp(p, "list", 4) == 0) {
			ListDevice(fp);
			goto next;
		}

		// Parameter separation
		argv[0] = p;
		for (i = 1; i < 5; i++) {
			// Skip parameter values
			while (*p && (*p != ' ')) {
				p++;
			}

			// Replace spaces with null characters
			while (*p && (*p == ' ')) {
				*p++ = 0;
			}

			// The parameters were lost
			if (!*p) {
				break;
			}

			// Recognized as a parameter
			argv[i] = p;
		}

		// Failed to get all parameters
		if (i < 5) {
			goto next;
		}

		// ID, unit, command, type, file
		id = atoi(argv[0]);
		un = atoi(argv[1]);
		cmd = atoi(argv[2]);
		type = atoi(argv[3]);
		file = argv[4];

		// Wait until we becom idle
		while (active) {
			usleep(500 * 1000);
		}

		// Execute the command
		ProcessCmd(fp, id, un, cmd, type, file);

next:
		// Release the connection
		fclose(fp);
		close(fd);
	}

	return NULL;
}
#endif	// BAREMETAL

//---------------------------------------------------------------------------
//
//	Main processing
//
//---------------------------------------------------------------------------
#ifdef BAREMETAL
extern "C"
int startrascsi(void)
{
	int argc = 0;
	char** argv = NULL;
#else
int main(int argc, char* argv[])
{
#endif	// BAREMETAL
	int i;
	int ret;
	int actid;
	DWORD now;
	BUS::phase_t phase;
	BYTE data;
#ifndef BAREMETAL
	struct sched_param schparam;
#endif	// BAREMETAL

	// Output the Banner
	Banner(argc, argv);

	// Initialize
	ret = 0;
	if (!Init()) {
		ret = EPERM;
		goto init_exit;
	}

	// Reset
	Reset();

#ifdef BAREMETAL
	// BUSY assert (to hold the host side)
	bus->SetBSY(TRUE);
#endif

	// Argument parsing
	if (!ParseArgument(argc, argv)) {
		ret = EINVAL;
		goto err_exit;
	}

#ifdef BAREMETAL
	// Release the busy signal
	bus->SetBSY(FALSE);
#endif

#ifndef BAREMETAL
    // Set the affinity to a specific processor core
	FixCpu(3);

#ifdef USE_SEL_EVENT_ENABLE
	// Scheduling policy setting (highest priority)
	schparam.sched_priority = sched_get_priority_max(SCHED_FIFO);
	sched_setscheduler(0, SCHED_FIFO, &schparam);
#endif	// USE_SEL_EVENT_ENABLE
#endif	// BAREMETAL

	// Start execution
	running = TRUE;

	// Main Loop
	while (running) {
		// Work initialization
		actid = -1;
		phase = BUS::busfree;

#ifdef USE_SEL_EVENT_ENABLE
		// SEL signal polling
		if (bus->PollSelectEvent() < 0) {
			// Stop on interrupt
			if (errno == EINTR) {
				break;
			}
			continue;
		}

		// Get the bus
		bus->Aquire();
#else
		bus->Aquire();
		if (!bus->GetSEL()) {
#if !defined(BAREMETAL)
			usleep(0);
#endif	// !BAREMETAL
			continue;
		}
#endif	// USE_SEL_EVENT_ENABLE

        // Wait until BSY is released as there is a possibility for the
        // initiator to assert it while setting the ID (for up to 3 seconds)
		if (bus->GetBSY()) {
			now = SysTimer::GetTimerLow();
			while ((SysTimer::GetTimerLow() - now) < 3 * 1000 * 1000) {
				bus->Aquire();
				if (!bus->GetBSY()) {
					break;
				}
			}
		}

		// Stop because it the bus is busy or another device responded
		if (bus->GetBSY() || !bus->GetSEL()) {
			continue;
		}

		// Notify all controllers
		data = bus->GetDAT();
		for (i = 0; i < CtrlMax; i++) {
			if (!ctrl[i] || (data & (1 << i)) == 0) {
				continue;
			}

			// Find the target that has moved to the selection phase
			if (ctrl[i]->Process() == BUS::selection) {
				// Get the target ID
				actid = i;

				// Bus Selection phase
				phase = BUS::selection;
				break;
			}
		}

		// Return to bus monitoring if the selection phase has not started
		if (phase != BUS::selection) {
			continue;
		}

		// Start target device
		active = TRUE;

#if !defined(USE_SEL_EVENT_ENABLE) && !defined(BAREMETAL)
		// Scheduling policy setting (highest priority)
		schparam.sched_priority = sched_get_priority_max(SCHED_FIFO);
		sched_setscheduler(0, SCHED_FIFO, &schparam);
#endif	// !USE_SEL_EVENT_ENABLE && !BAREMETAL

		// Loop until the bus is free
		while (running) {
			// Target drive
			phase = ctrl[actid]->Process();

			// End when the bus is free
			if (phase == BUS::busfree) {
				break;
			}
		}

#if !defined(USE_SEL_EVENT_ENABLE) && !defined(BAREMETAL)
		// Set the scheduling priority back to normal
		schparam.sched_priority = 0;
		sched_setscheduler(0, SCHED_OTHER, &schparam);
#endif	// !USE_SEL_EVENT_ENABLE && !BAREMETAL

		// End the target travel
		active = FALSE;
	}

err_exit:
	// Cleanup
	Cleanup();

init_exit:
#if !defined(BAREMETAL)
	exit(ret);
#else
	return ret;
#endif	// BAREMETAL
}