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#include <kernel/kern.h>

#include "fsf_contract.h"

#include "fsf_server.h"

#include "func.h"

#include "event_header.h"

/* Activate task output */

#define TASK_OUTPUT

int cal_cycles=0;

struct timespec zero_time;                                        

/* Soft and hard Task */

TASK test_task(void *arg)

{

  long long i,exec_cycles = 0;

  //int crit_start,crit_len;

  //long long crit_start_cycles = 0, crit_len_cycles = 0;

  //struct timespec next_time;

  int act = 0;

  struct loader_task *l;

  l=&loader_task_list[get_current_exec_task()];

  char tmp[20];

  while((l->act_number)>act) {

    //task_testcancel();

    act++;

    #ifdef TASK_OUTPUT

      sprintf(tmp,"X[%06d]",act);

      printf_xy((get_current_exec_task() % 5) * 9 + 34,get_current_exec_task()  / 5 + 5, GREEN, tmp);

    #endif

    generic_set_next_activation(&l->act[act]);

    exec_cycles = (long long)(TIMESPEC2USEC(&l->exec[act])) * CALIBRATION_DELTA / cal_cycles;

#ifdef TASK_OUTPUT

    sprintf(tmp,"X[%06d]",act);

    printf_xy((get_current_exec_task() % 5) * 9 + 34, get_current_exec_task() / 5 + 5, GREEN, tmp);

#endif

    for (i=0;i<exec_cycles;i++) calibration_func();

    //generic_task_endcycle();

  }

  return NULL;

}

/* Mutex create */

/*

void loader_mutex_create(struct loader_task *start_loader_task)

{

  struct loader_task *current = start_loader_task;

  int i,res = 0;

  PI_mutexattr_t a;

  int init_array[MAX_MUTEX];

  PI_mutexattr_default(a);

  for (i = 0;i < MAX_MUTEX;i++) init_array[i] = 0;

  while (current != NULL) {

    if (current->crit_type == PAR_CRIT) {

      if (init_array[current->resource] == 0) {

        mutex_init(&mux_table[current->resource],&a);

        init_array[current->resource] = 1;

        res++;

      }

    }

    current = current->next;

  }

  cprintf("Created %d mutex\n",res);

}

*/

/* Task create */

void loader_task_create(struct loader_task *start_loader_task)

{

  struct loader_task *current = &loader_task_list[0];

  //char tmp[30];

  int i=0,k=0, total_task;

  int total_group = 0;

  //PID p;

  total_task = sizeof(loader_task_list)/sizeof(struct loader_task);

  while (k<total_task) {

    k++;

    total_group++;

    current->group = total_group;

    for (i=0; i < current->number; i++) {

      pthread_t j;

      int err;

      err = generic_create_thread(current->server,&j,NULL,test_task,(void *)current,generic_get_task_model(current));

      if (err) {

        cprintf("Error fsf task creating\n");

        sys_end();

      }

    }

    current = &loader_task_list[i];

  }

  cprintf("Created %d tasks\n",total_task);

}

int main()

{

  struct loader_task *start_loader_task = &loader_task_list[0];

  struct timespec total={20,0};

  generic_calibrate_cycle();

  kern_gettime(&zero_time);

  generic_fsfinit();

  //loader_mutex_create(start_loader_task);

  loader_task_create(start_loader_task);

  generic_set_simulation_time(&total);

  return 0;

}