/*************************************************************************
This file is part of aOS.

aOS is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.

aOS 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
along with aOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

Copyright 2001, 2002 Anssi Ylätalo
==================================
Dec 2004
Modified by Bruce Land to include:
-- testing task monitors
**************************************************************************/
#include <mega32.h>   
#include <stdio.h>  
                                            
#include "aos.h"  
#include "user_tasks.h"
#include "aos_core.c" 
#include "aos_task.c"                   
#include "semaphore.c"
#include "mbox.c" 
#include "aos_uart.c"

//global variables for all tasks                     
aos_mailbox *task23_pipe ;    /*string from task2 to task3*/ 

//task control block pointers 
aos_tcb *t1, *t2, *t3, *t4  ;   

//********************************************************
void task1( void )
{   
	int i; 
	//get the current task control block
	t1 = aos_ctbl.tcb_current;
	//start a task          
   	aos_task_create( task2, hw_stack2, data_stack2, 100 ); 
   	//allocate UART structures, turn on UART
   	aos_init_uart();  
   	//Halt at reset to check for suprious resets
   	printf("RESET");
   	while(PINC.0==1){};
   	//init portB to output
   	DDRB = 0xff ;		
	while(1)
	{   
		//toggle the led           	   	
	 	PORTB ^= 0x01;
	 	//spin some cycles
	 	for (i=0;i<10000;i++)
	 	{};  
	 	
	 	//give another process a chance to compute	   
	 	aos_sleep( 100 ); 
	}
}    

//********************************************************
void task2( void )
{    
	char t2str[32];  	
   	//start another task
   	aos_task_create( task3, hw_stack3, data_stack3, 150 );
   	//get current task block
   	t2 = aos_ctbl.tcb_current;
   	//make a commuinctions channel from task 2 to task 3 
   	task23_pipe  = aos_mbox_create();
	while(1)
	{	
		//toggle the led 	                    	
	 	PORTB ^= 0x02;  	 	 	
	    //read user input
	   	aos_gets(t2str); 
	   	//and send it
	   	aos_mbox_send(task23_pipe,t2str);   	
	}
}    

//********************************************************
void task3( void )
{    
	char *msg; 
	char crlf[4]; 
	//make another task                                           
   	aos_task_create( Stats, hw_stack4, data_stack4, 200 );
   	//get current task
 	t3 = aos_ctbl.tcb_current;                                   
	while(1)
	{    
		//toggle the led                   
	 	PORTB ^= 0x04;             	 		 		 	     		
	 	//wait for a message
	   	msg = aos_mbox_recv(task23_pipe);
	   	//and print it
	   	aos_puts(msg); 
	   	//crlf
	   	sprintf(crlf,"\n\r");
	   	aos_puts(crlf);
	}
} 
   
//********************************************************
void Stats( void )
{         
	char str4[40];
	//get current task block
 	t4 = aos_ctbl.tcb_current;	
	while(1)
	{
		//toggle the led                   
		PORTB ^= 0x08; 
		//format the uptime and print it
	   	sprintf(str4,"Uptime:%ld ticks\n\r",aos_uptime()) ;
	    aos_puts(str4);  
		//print the accumulated task times	
   		sprintf(str4,"Task times:\n\r%ld %ld %ld %ld %ld \n\r",
	   		t1->ttime,t2->ttime,
	   		t3->ttime,t4->ttime,(NULL_TASK->ttime)) ;
		aos_puts(str4);
		//Print the dispatches/sec	
   		sprintf(str4,"%ld Dispatch/sec\n\r\n\r",
   			aos_ctbl.aos_dispcntr) ;
   		aos_ctbl.aos_dispcntr = 0; //reset for next second
   	   	aos_puts(str4);	
   	   	//get stack paramters
   	   	sprintf(str4,"Task3: Dstk,Hstk free\n\r %d %d\n\r",
	   	   aos_task_dstk_chck(t3),
	   	   aos_task_hstk_chck(t3) ) ;
	   	aos_puts(str4);
   	   	//wait one second
		aos_sleep(100);			 		 		 	
	}
}    

//********************************************************