/*
    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.

    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS tutorial books are available in pdf and paperback.        *
     *    Complete, revised, and edited pdf reference manuals are also       *
     *    available.                                                         *
     *                                                                       *
     *    Purchasing FreeRTOS documentation will not only help you, by       *
     *    ensuring you get running as quickly as possible and with an        *
     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
     *    the FreeRTOS project to continue with its mission of providing     *
     *    professional grade, cross platform, de facto standard solutions    *
     *    for microcontrollers - completely free of charge!                  *
     *                                                                       *
     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
     *                                                                       *
     *    Thank you for using FreeRTOS, and thank you for your support!      *
     *                                                                       *
    ***************************************************************************


    This file is part of the FreeRTOS distribution.

    FreeRTOS is free software; you can redistribute it and/or modify it under
    the terms of the GNU General Public License (version 2) as published by the
    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
    >>>NOTE<<< The modification to the GPL is included to allow you to
    distribute a combined work that includes FreeRTOS without being obliged to
    provide the source code for proprietary components outside of the FreeRTOS
    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
    more details. You should have received a copy of the GNU General Public
    License and the FreeRTOS license exception along with FreeRTOS; if not it
    can be viewed here: http://www.freertos.org/a00114.html and also obtained
    by writing to Richard Barry, contact details for whom are available on the
    FreeRTOS WEB site.

    1 tab == 4 spaces!
    
    ***************************************************************************
     *                                                                       *
     *    Having a problem?  Start by reading the FAQ "My application does   *
     *    not run, what could be wrong?"                                     *
     *                                                                       *
     *    http://www.FreeRTOS.org/FAQHelp.html                               *
     *                                                                       *
    ***************************************************************************

    
    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
    and contact details.  
    
    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
    including FreeRTOS+Trace - an indispensable productivity tool.

    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
    the code with commercial support, indemnification, and middleware, under 
    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
    provide a safety engineered and independently SIL3 certified version under 
    the SafeRTOS brand: http://www.SafeRTOS.com.
*/

/**
 * Create a single persistent task which periodically dynamically creates another 
 * four tasks.  The original task is called the creator task, the four tasks it 
 * creates are called suicidal tasks.
 *
 * Two of the created suicidal tasks kill one other suicidal task before killing 
 * themselves - leaving just the original task remaining.  
 *
 * The creator task must be spawned after all of the other demo application tasks 
 * as it keeps a check on the number of tasks under the scheduler control.  The 
 * number of tasks it expects to see running should never be greater than the 
 * number of tasks that were in existence when the creator task was spawned, plus 
 * one set of four suicidal tasks.  If this number is exceeded an error is flagged.
 *
 * \page DeathC death.c
 * \ingroup DemoFiles
 * <HR>
 */

/*
Changes from V2.0.0

	+ Delay periods are now specified using variables and constants of
	  portTickType rather than unsigned long.
*/

#include <stdlib.h>

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"

/* Demo program include files. */
#include "death.h"
#include "print.h"

#define deathSTACK_SIZE		( ( unsigned short ) 512 )

/* The task originally created which is responsible for periodically dynamically 
creating another four tasks. */
static void vCreateTasks( void *pvParameters );

/* The task function of the dynamically created tasks. */
static void vSuicidalTask( void *pvParameters );

/* A variable which is incremented every time the dynamic tasks are created.  This 
is used to check that the task is still running. */
static volatile short sCreationCount = 0;

/* Used to store the number of tasks that were originally running so the creator 
task can tell if any of the suicidal tasks have failed to die. */
static volatile unsigned portBASE_TYPE uxTasksRunningAtStart = 0;
static const unsigned portBASE_TYPE uxMaxNumberOfExtraTasksRunning = 5;

/* Used to store a handle to the tasks that should be killed by a suicidal task, 
before it kills itself. */
xTaskHandle xCreatedTask1, xCreatedTask2;

/*-----------------------------------------------------------*/

void vCreateSuicidalTasks( unsigned portBASE_TYPE uxPriority )
{
unsigned portBASE_TYPE *puxPriority;

	/* Create the Creator tasks - passing in as a parameter the priority at which 
	the suicidal tasks should be created. */
	puxPriority = ( unsigned portBASE_TYPE * ) pvPortMalloc( sizeof( unsigned portBASE_TYPE ) );
	*puxPriority = uxPriority;

	xTaskCreate( vCreateTasks, "CREATOR", deathSTACK_SIZE, ( void * ) puxPriority, uxPriority, NULL );

	/* Record the number of tasks that are running now so we know if any of the 
	suicidal tasks have failed to be killed. */
	uxTasksRunningAtStart = uxTaskGetNumberOfTasks();
}
/*-----------------------------------------------------------*/

static void vSuicidalTask( void *pvParameters )
{
portDOUBLE d1, d2;
xTaskHandle xTaskToKill;
const portTickType xDelay = ( portTickType ) 500 / portTICK_RATE_MS;

	if( pvParameters != NULL )
	{
		/* This task is periodically created four times.  Tow created tasks are 
		passed a handle to the other task so it can kill it before killing itself.  
		The other task is passed in null. */
		xTaskToKill = *( xTaskHandle* )pvParameters;
	}
	else
	{
		xTaskToKill = NULL;
	}

	for( ;; )
	{
		/* Do something random just to use some stack and registers. */
		d1 = 2.4;
		d2 = 89.2;
		d2 *= d1;
		vTaskDelay( xDelay );

		if( xTaskToKill != NULL )
		{
			/* Make sure the other task has a go before we delete it. */
			vTaskDelay( ( portTickType ) 0 );
			/* Kill the other task that was created by vCreateTasks(). */
			vTaskDelete( xTaskToKill );
			/* Kill ourselves. */
			vTaskDelete( NULL );
		}
	}
}/*lint !e818 !e550 Function prototype must be as per standard for task functions. */
/*-----------------------------------------------------------*/

static void vCreateTasks( void *pvParameters )
{
const portTickType xDelay = ( portTickType ) 1000 / portTICK_RATE_MS;
unsigned portBASE_TYPE uxPriority;
const char * const pcTaskStartMsg = "Create task started.\r\n";

	/* Queue a message for printing to say the task has started. */
	vPrintDisplayMessage( &pcTaskStartMsg );

	uxPriority = *( unsigned portBASE_TYPE * ) pvParameters;
	vPortFree( pvParameters );

	for( ;; )
	{
		/* Just loop round, delaying then creating the four suicidal tasks. */
		vTaskDelay( xDelay );

		xTaskCreate( vSuicidalTask, "SUICIDE1", deathSTACK_SIZE, NULL, uxPriority, &xCreatedTask1 );
		xTaskCreate( vSuicidalTask, "SUICIDE2", deathSTACK_SIZE, &xCreatedTask1, uxPriority, NULL );

		xTaskCreate( vSuicidalTask, "SUICIDE1", deathSTACK_SIZE, NULL, uxPriority, &xCreatedTask2 );
		xTaskCreate( vSuicidalTask, "SUICIDE2", deathSTACK_SIZE, &xCreatedTask2, uxPriority, NULL );

		++sCreationCount;
	}
}
/*-----------------------------------------------------------*/

/* This is called to check that the creator task is still running and that there 
are not any more than four extra tasks. */
portBASE_TYPE xIsCreateTaskStillRunning( void )
{
static short sLastCreationCount = 0;
short sReturn = pdTRUE;
unsigned portBASE_TYPE uxTasksRunningNow;

	if( sLastCreationCount == sCreationCount )
	{
		sReturn = pdFALSE;
	}
	
	uxTasksRunningNow = uxTaskGetNumberOfTasks();

	if( uxTasksRunningNow < uxTasksRunningAtStart )
	{
		sReturn = pdFALSE;
	}
	else if( ( uxTasksRunningNow - uxTasksRunningAtStart ) > uxMaxNumberOfExtraTasksRunning )
	{
		sReturn = pdFALSE;
	}
	else
	{
		/* Everything is okay. */
	}

	return sReturn;
}