#include "./os_cpu.h"
#include "./os_cfg.h"
#include "./ucos_ii.h"
#include "nios_peripherals.h"

#ifdef  ONT_GLOBALS
#define ONT_EXT
#else
#define ONT_EXT extern
#endif

typedef struct {
  char TaskName[30];
  INT16U TaskCtr;
  INT16U TaskExecTime;
  INT32U TaskTotExecTime;
} TASK_USER_DATA;

ONT_EXT TASK_USER_DATA TaskUserData[10];

//Function Prototypes

#define STACKSIZE 2048
OS_STK Stack1[STACKSIZE];
OS_STK Stack2[STACKSIZE];

OS_EVENT *Sem1;
OS_EVENT *Sem2;
OS_EVENT *Sem3;
OS_EVENT *Sem4;
OS_EVENT *Sem5;
OS_EVENT *PrintSem;

void controller(void *i)
{
  INT8U Reply;

//Enable interrupts here, must be after OSstart()
  for(;;)
  {
    OSSemPend(Sem1,0,&Reply);  //wait indefinitely for Sem1
    //Sem1 is decremented if Sem1 is avaiable
    .
    .
    .
    //read sensor outputs
    //calculate control values
    //output control values to actuators
    //assume all work above is done within 2 seconds
  }
}

void alarms(void *i)
{
  INT8U Reply;

  
  for(;;)
  {
    OSSemPend(Sem2,0,&Reply);
    .
    .
    .
    //do work 
  }
}

void hourly_log(void *i)
{
  INT8U Reply;

 
  for(;;)
  {
    OSSemPend(Sem4,0,&Reply);
    .
    .OSSemPend(PrintSem, 0, &Reply);
	//use printer
    OSSemPost(PrintSem);
    .
  }
}

void ten_minute_log(void *i)
{
  INT8U Reply;

  for(;;)
  {
    OSSemPend(Sem3,0,&Reply);
    .
    .
    OSSemPend(PrintSem, 0, &Reply);
	//use printer
    OSSemPost(PrintSem);
  }
}


//Handle interrupt generated on interrupt from operator device
Void Operator_ISR_Handle()
{
OSIntEnter()
clear the interrupting device;
Re-enable interrupts
OSSemPost(Sem5);
OSIntExit();


}
void operator_interface(void *i)
{

INT8U Reply;
	for(;;)
	{
	OSSemPend(Sem5,0,&Reply);
  //the max rate at which this task is executed in between
  //the controller task active states



	//If printer is necessary
	    OSSemPend(PrintSem, 0, &Reply);
	//use printer
         OSSemPost(PrintSem);

	{
}

int main(int argc,char**argv)
{
  char Id1 = '1';
  char Id2 = '2';
  char Id3 = '3';
  char Id4 = '4';
  char Id5 = '5';

  #if NIOS_GDB
    nios_gdb_install(1);
    nios_gdb_breakpoint();
  #endif

  OSInit();

  Sem1=OSSemCreate(1);
  Sem2=OSSemCreate(1);
  Sem3=OSSemCreate(1);
  Sem4=OSSemCreate(1);
  Sem5=OSSemCreate(1);
  PrintSem = OSSemCreate(1);


  OSTaskCreate(controller,         (void *)&Id1,(void *)&Stack1[STACKSIZE-1],1);
  OSTaskCreate(alarms,             (void *)&Id2,(void *)&Stack2[STACKSIZE-1],2);
  OSTaskCreate(hourly_log,         (void *)&Id3,(void *)&Stack3[STACKSIZE-1],4);
  OSTaskCreate(ten_minute_log,     (void *)&Id4,(void *)&Stack4[STACKSIZE-1],3);
  OSTaskCreate(operator_interface, (void *)&Id5,(void *)&Stack5[STACKSIZE-1],5);

  OSStart();
}

//modify OSTimeTickHook() in OS_CPU_C.c
void OSTimeTickHook (void)
{
  //controller must run every 2 seconds (2*200=400 ticks),
  //assuming OS has been configured for 200 OS clock
  //ticks per second.

  static int controller_ticks = 400;
  //Do the same for the other time critical tasks
  static int alarms_ticks = 800;
  static int ten_log_ticks = 120000;  //assume int is four bytes;
  static int hour_log_ticks = 720000;

  controller_ticks--;
  if (!controller_ticks)
  {
    OSSemPost(Sem1);
    controller_ticks = 400;
  }

  alarms_ticks--;
  if (!alarms_ticks)
  {
    OSSemPost(Sem2);
    alarms_ticks = 800;
  }

  ten_log_ticks--;
  if (!ten_log_ticks)
  {
    OSSemPost(Sem3);
    ten_log_ticks = 120000;
  }

  hour_log_ticks--;
  if (!hour_log_ticks)
  {
    OSSemPost(Sem4);
    hour_log_ticks = 720000;
  }
}