/*
 * FreeRTOS Kernel V10.1.0
 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * http://www.FreeRTOS.org
 * http://aws.amazon.com/freertos
 *
 * 1 tab == 4 spaces!
 */

/*
 * main() creates all the demo application tasks, then starts the scheduler.
 * The web documentation provides more details of the standard demo application
 * tasks, which provide no particular functionality but do provide a good
 * example of how to use the FreeRTOS API.
 *
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "Check" task - This only executes every five seconds but has a high priority
 * to ensure it gets processor time.  Its main function is to check that all the
 * standard demo tasks are still operational.  While no errors have been
 * discovered the check task will print out "OK" and the current simulated tick
 * time.  If an error is discovered in the execution of a task then the check
 * task will print out an appropriate error message.
 *
 */


/* Standard includes. */
#include <stdio.h>
#include <stdlib.h>

/* Kernel includes. */
#include <FreeRTOS.h>
#include <task.h>
#include <queue.h>
#include <timers.h>
#include <semphr.h>

/* Standard demo includes. */
#include "BlockQ.h"
#include "integer.h"
#include "semtest.h"
#include "PollQ.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "flop.h"
#include "TimerDemo.h"
#include "countsem.h"
#include "death.h"
#include "dynamic.h"
#include "QueueSet.h"
#include "QueueOverwrite.h"
#include "EventGroupsDemo.h"
#include "IntSemTest.h"
#include "TaskNotify.h"
#include "QueueSetPolling.h"
#include "StaticAllocation.h"
#include "blocktim.h"
#include "AbortDelay.h"
#include "MessageBufferDemo.h"
#include "StreamBufferDemo.h"
#include "StreamBufferInterrupt.h"

/* Priorities at which the tasks are created. */
#define mainCHECK_TASK_PRIORITY			( configMAX_PRIORITIES - 2 )
#define mainQUEUE_POLL_PRIORITY			( tskIDLE_PRIORITY + 1 )
#define mainSEM_TEST_PRIORITY			( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY			( tskIDLE_PRIORITY + 2 )
#define mainCREATOR_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )
#define mainFLASH_TASK_PRIORITY			( tskIDLE_PRIORITY + 1 )
#define mainINTEGER_TASK_PRIORITY		( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY		( tskIDLE_PRIORITY )
#define mainFLOP_TASK_PRIORITY			( tskIDLE_PRIORITY )
#define mainQUEUE_OVERWRITE_PRIORITY	( tskIDLE_PRIORITY )

#define mainTIMER_TEST_PERIOD			( 50 )

/* The task that periodically checks that all the standard demo tasks are
 * still executing and error free.
 */
static void prvCheckTask( void *pvParameters );

/*-----------------------------------------------------------*/

/* The variable into which error messages are latched. */
static char *pcStatusMessage = "No errors";

/*-----------------------------------------------------------*/

int main_full( void )
{
	/* Start the check task as described at the top of this file. */
	xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Create the standard demo tasks. */
	vStartTaskNotifyTask();
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );

	vStartQueuePeekTasks();
	vStartMathTasks( mainFLOP_TASK_PRIORITY );
	vStartRecursiveMutexTasks();
	vStartCountingSemaphoreTasks();
	vStartDynamicPriorityTasks();
	vStartQueueSetTasks();

	vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
	vStartEventGroupTasks();
	vStartInterruptSemaphoreTasks();
	vStartQueueSetPollingTask();
	vCreateBlockTimeTasks();

	vCreateAbortDelayTasks();
	vStartMessageBufferTasks( configMINIMAL_STACK_SIZE );

	vStartStreamBufferTasks();
	vStartStreamBufferInterruptDemo();

	#if( configUSE_PREEMPTION != 0  )
	{
		/* Don't expect these tasks to pass when preemption is not used. */
		vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
	}
	#endif

	/* The suicide tasks must be created last as they need to know how many
	tasks were running prior to their creation.  This then allows them to
	ascertain whether or not the correct/expected number of tasks are running at
	any given time. */
	vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

	/* Start the scheduler itself. */
	vTaskStartScheduler();

	/* Should never get here unless there was not enough heap space to create
	the idle and other system tasks. */
	return 0;
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void *pvParameters )
{
TickType_t xNextWakeTime;
const TickType_t xCycleFrequency = pdMS_TO_TICKS( 5000UL );

	/* Just to remove compiler warning. */
	( void ) pvParameters;

	/* Initialise xNextWakeTime - this only needs to be done once. */
	xNextWakeTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Place this task in the blocked state until it is time to run again. */
		vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );

		/* Check the standard demo tasks are running without error. */
		#if( configUSE_PREEMPTION != 0 )
		{
			/* These tasks are only created when preemption is used. */
			if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE )
			{
				pcStatusMessage = "Error: TimerDemo";
			}
		}
		#endif

		if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error:  Notification";
		}
		else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: IntMath";
		}
		else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: GenQueue";
		}
		else if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: BlockQueue";
		}
		else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: SemTest";
		}
		else if( xArePollingQueuesStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: PollQueue";
		}
		else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: QueuePeek";
		}
		else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: RecMutex";
		}
		else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: CountSem";
		}
		else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
		{
			pcStatusMessage = "Error: Dynamic";
		}
		else if( xAreQueueSetTasksStillRunning() != pdPASS )
		{
			pcStatusMessage = "Error: Queue set";
		}
		else if( xAreEventGroupTasksStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: EventGroup";
		}
		else if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
		{
			pcStatusMessage = "Error: Queue overwrite";
		}
		else if( xAreQueueSetPollTasksStillRunning() != pdPASS )
		{
			pcStatusMessage = "Error: Queue set polling";
		}
		else if( xAreBlockTimeTestTasksStillRunning() != pdPASS )
		{
			pcStatusMessage = "Error: Block time";
		}
		else if( xAreMessageBufferTasksStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error:  MessageBuffer";
		}
		else if( xAreAbortDelayTestTasksStillRunning() != pdPASS )
		{
			pcStatusMessage = "Error: Abort delay";
		}
		else if( xAreStreamBufferTasksStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error:  StreamBuffer";
		}
		else if( xIsInterruptStreamBufferDemoStillRunning() != pdPASS )
		{
			pcStatusMessage = "Error: Stream buffer interrupt";
		}
		else if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: IntSem";
		}
		else if( xIsCreateTaskStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: Death";
		}
		else if( xAreMathsTaskStillRunning() != pdPASS )
		{
			pcStatusMessage = "Error: Flop";
		}

		/* This is the only task that uses stdout so its ok to call printf()
		directly. */
		printf( "%s - tick count %zu - free heap %zu - min free heap %zu\r\n", pcStatusMessage,
																			   xTaskGetTickCount(),
																			   xPortGetFreeHeapSize(),
																			   xPortGetMinimumEverFreeHeapSize() );
	}
}
/*-----------------------------------------------------------*/

/* Called by vApplicationTickHook(), which is defined in main.c. */
void vFullDemoTickHookFunction( void )
{
TaskHandle_t xTimerTask;

	/* Call the periodic timer test, which tests the timer API functions that
	can be called from an ISR. */
	#if( configUSE_PREEMPTION != 0 )
	{
		/* Only created when preemption is used. */
		vTimerPeriodicISRTests();
	}
	#endif

	/* Call the periodic queue overwrite from ISR demo. */
	vQueueOverwritePeriodicISRDemo();

	/* Write to a queue that is in use as part of the queue set demo to
	demonstrate using queue sets from an ISR. */
	vQueueSetAccessQueueSetFromISR();
	vQueueSetPollingInterruptAccess();

	/* Exercise event groups from interrupts. */
	vPeriodicEventGroupsProcessing();

	/* Exercise giving mutexes from an interrupt. */
	vInterruptSemaphorePeriodicTest();

	/* Exercise using task notifications from an interrupt. */
	xNotifyTaskFromISR();

	/* Writes to stream buffer byte by byte to test the stream buffer trigger
	level functionality. */
	vPeriodicStreamBufferProcessing();

	/* Writes a string to a string buffer four bytes at a time to demonstrate
	a stream being sent from an interrupt to a task. */
	vBasicStreamBufferSendFromISR();
}
/*-----------------------------------------------------------*/