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/*

    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.

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    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.

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*/

/**

 * This file exercises the event mechanism whereby more than one task is

 * blocked waiting for the same event.

 *

 * The demo creates five tasks - four 'event' tasks, and a controlling task.

 * The event tasks have various different priorities and all block on reading

 * the same queue.  The controlling task writes data to the queue, then checks

 * to see which of the event tasks read the data from the queue.  The

 * controlling task has the lowest priority of all the tasks so is guaranteed

 * to always get preempted immediately upon writing to the queue.

 *

 * By selectively suspending and resuming the event tasks the controlling task

 * can check that the highest priority task that is blocked on the queue is the

 * task that reads the posted data from the queue.

 *

 * Two of the event tasks share the same priority.  When neither of these tasks

 * are suspended they should alternate - one reading one message from the queue,

 * the other the next message, etc.

 */

/* Standard includes. */

#include <stdlib.h>

#include <stdio.h>

#include <string.h>

/* Scheduler include files. */

#include "FreeRTOS.h"

#include "task.h"

#include "queue.h"

/* Demo program include files. */

#include "mevents.h"

#include "print.h"

/* Demo specific constants. */

#define evtSTACK_SIZE           ( ( unsigned portBASE_TYPE ) configMINIMAL_STACK_SIZE )

#define evtNUM_TASKS            ( 4 )

#define evtQUEUE_LENGTH         ( ( unsigned portBASE_TYPE ) 3 )

#define evtNO_DELAY                                             0

/* Just indexes used to uniquely identify the tasks.  Note that two tasks are

'highest' priority. */

#define evtHIGHEST_PRIORITY_INDEX_2             3

#define evtHIGHEST_PRIORITY_INDEX_1             2

#define evtMEDIUM_PRIORITY_INDEX                1

#define evtLOWEST_PRIORITY_INDEX                0

/* Each event task increments one of these counters each time it reads data

from the queue. */

static volatile portBASE_TYPE xTaskCounters[ evtNUM_TASKS ] = { 0, 0, 0, 0 };

/* Each time the controlling task posts onto the queue it increments the

expected count of the task that it expected to read the data from the queue

(i.e. the task with the highest priority that should be blocked on the queue).

xExpectedTaskCounters are incremented from the controlling task, and

xTaskCounters are incremented from the individual event tasks - therefore

comparing xTaskCounters to xExpectedTaskCounters shows whether or not the

correct task was unblocked by the post. */

static portBASE_TYPE xExpectedTaskCounters[ evtNUM_TASKS ] = { 0, 0, 0, 0 };

/* Handles to the four event tasks.  These are required to suspend and resume

the tasks. */

static xTaskHandle xCreatedTasks[ evtNUM_TASKS ];

/* The single queue onto which the controlling task posts, and the four event

tasks block. */

static xQueueHandle xQueue;

/* Flag used to indicate whether or not an error has occurred at any time.

An error is either the queue being full when not expected, or an unexpected

task reading data from the queue. */

static portBASE_TYPE xHealthStatus = pdPASS;

/*-----------------------------------------------------------*/

/* Function that implements the event task.  This is created four times. */

static void prvMultiEventTask( void *pvParameters );

/* Function that implements the controlling task. */

static void prvEventControllerTask( void *pvParameters );

/* This is a utility function that posts data to the queue, then compares

xExpectedTaskCounters with xTaskCounters to ensure everything worked as

expected.

The event tasks all have higher priorities the controlling task.  Therefore

the controlling task will always get preempted between writhing to the queue

and checking the task counters.

@param xExpectedTask  The index to the task that the controlling task thinks

                      should be the highest priority task waiting for data, and

                                          therefore the task that will unblock.

@param  xIncrement    The number of items that should be written to the queue.

*/

static void prvCheckTaskCounters( portBASE_TYPE xExpectedTask, portBASE_TYPE xIncrement );

/* This is just incremented each cycle of the controlling tasks function so

the main application can ensure the test is still running. */

static portBASE_TYPE xCheckVariable = 0;

/*-----------------------------------------------------------*/

void vStartMultiEventTasks( void )

{

        /* Create the queue to be used for all the communications. */

        xQueue = xQueueCreate( evtQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );

        /* Start the controlling task.  This has the idle priority to ensure it is

        always preempted by the event tasks. */

        xTaskCreate( prvEventControllerTask, "EvntCTRL", evtSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

        /* Start the four event tasks.  Note that two have priority 3, one

        priority 2 and the other priority 1. */

        xTaskCreate( prvMultiEventTask, "Event0", evtSTACK_SIZE, ( void * ) &( xTaskCounters[ 0 ] ), 1, &( xCreatedTasks[ evtLOWEST_PRIORITY_INDEX ] ) );

        xTaskCreate( prvMultiEventTask, "Event1", evtSTACK_SIZE, ( void * ) &( xTaskCounters[ 1 ] ), 2, &( xCreatedTasks[ evtMEDIUM_PRIORITY_INDEX ] ) );

        xTaskCreate( prvMultiEventTask, "Event2", evtSTACK_SIZE, ( void * ) &( xTaskCounters[ 2 ] ), 3, &( xCreatedTasks[ evtHIGHEST_PRIORITY_INDEX_1 ] ) );

        xTaskCreate( prvMultiEventTask, "Event3", evtSTACK_SIZE, ( void * ) &( xTaskCounters[ 3 ] ), 3, &( xCreatedTasks[ evtHIGHEST_PRIORITY_INDEX_2 ] ) );

}

/*-----------------------------------------------------------*/

static void prvMultiEventTask( void *pvParameters )

{

portBASE_TYPE *pxCounter;

unsigned portBASE_TYPE uxDummy;

const char * const pcTaskStartMsg = "Multi event task started.\r\n";

        /* The variable this task will increment is passed in as a parameter. */

        pxCounter = ( portBASE_TYPE * ) pvParameters;

        vPrintDisplayMessage( &pcTaskStartMsg );

        for( ;; )

        {

                /* Block on the queue. */

                if( xQueueReceive( xQueue, &uxDummy, portMAX_DELAY ) )

                {

                        /* We unblocked by reading the queue - so simply increment

                        the counter specific to this task instance. */

                        ( *pxCounter )++;

                }

                else

                {

                        xHealthStatus = pdFAIL;

                }

        }

}

/*-----------------------------------------------------------*/

static void prvEventControllerTask( void *pvParameters )

{

const char * const pcTaskStartMsg = "Multi event controller task started.\r\n";

portBASE_TYPE xDummy = 0;

        /* Just to stop warnings. */

        ( void ) pvParameters;

        vPrintDisplayMessage( &pcTaskStartMsg );

        for( ;; )

        {

                /* All tasks are blocked on the queue.  When a message is posted one of

                the two tasks that share the highest priority should unblock to read

                the queue.  The next message written should unblock the other task with

                the same high priority, and so on in order.   No other task should

                unblock to read data as they have lower priorities. */

                prvCheckTaskCounters( evtHIGHEST_PRIORITY_INDEX_1, 1 );

                prvCheckTaskCounters( evtHIGHEST_PRIORITY_INDEX_2, 1 );

                prvCheckTaskCounters( evtHIGHEST_PRIORITY_INDEX_1, 1 );

                prvCheckTaskCounters( evtHIGHEST_PRIORITY_INDEX_2, 1 );

                prvCheckTaskCounters( evtHIGHEST_PRIORITY_INDEX_1, 1 );

                /* For the rest of these tests we don't need the second 'highest'

                priority task - so it is suspended. */

                vTaskSuspend( xCreatedTasks[ evtHIGHEST_PRIORITY_INDEX_2 ] );

                /* Now suspend the other highest priority task.  The medium priority

                task will then be the task with the highest priority that remains

                blocked on the queue. */

                vTaskSuspend( xCreatedTasks[ evtHIGHEST_PRIORITY_INDEX_1 ] );

                /* This time, when we post onto the queue we will expect the medium

                priority task to unblock and preempt us. */

                prvCheckTaskCounters( evtMEDIUM_PRIORITY_INDEX, 1 );

                /* Now try resuming the highest priority task while the scheduler is

                suspended.  The task should start executing as soon as the scheduler

                is resumed - therefore when we post to the queue again, the highest

                priority task should again preempt us. */

                vTaskSuspendAll();

                        vTaskResume( xCreatedTasks[ evtHIGHEST_PRIORITY_INDEX_1 ] );

                xTaskResumeAll();

                prvCheckTaskCounters( evtHIGHEST_PRIORITY_INDEX_1, 1 );

                /* Now we are going to suspend the high and medium priority tasks.  The

                low priority task should then preempt us.  Again the task suspension is

                done with the whole scheduler suspended just for test purposes. */

                vTaskSuspendAll();

                        vTaskSuspend( xCreatedTasks[ evtHIGHEST_PRIORITY_INDEX_1 ] );

                        vTaskSuspend( xCreatedTasks[ evtMEDIUM_PRIORITY_INDEX ] );

                xTaskResumeAll();

                prvCheckTaskCounters( evtLOWEST_PRIORITY_INDEX, 1 );

                /* Do the same basic test another few times - selectively suspending

                and resuming tasks and each time calling prvCheckTaskCounters() passing

                to the function the number of the task we expected to be unblocked by

                the     post. */

                vTaskResume( xCreatedTasks[ evtHIGHEST_PRIORITY_INDEX_1 ] );

                prvCheckTaskCounters( evtHIGHEST_PRIORITY_INDEX_1, 1 );

                vTaskSuspendAll(); /* Just for test. */

                        vTaskSuspendAll(); /* Just for test. */

                                vTaskSuspendAll(); /* Just for even more test. */

                                        vTaskSuspend( xCreatedTasks[ evtHIGHEST_PRIORITY_INDEX_1 ] );

                                xTaskResumeAll();

                        xTaskResumeAll();

                xTaskResumeAll();

                prvCheckTaskCounters( evtLOWEST_PRIORITY_INDEX, 1 );

                vTaskResume( xCreatedTasks[ evtMEDIUM_PRIORITY_INDEX ] );

                prvCheckTaskCounters( evtMEDIUM_PRIORITY_INDEX, 1 );

                vTaskResume( xCreatedTasks[ evtHIGHEST_PRIORITY_INDEX_1 ] );

                prvCheckTaskCounters( evtHIGHEST_PRIORITY_INDEX_1, 1 );

                /* Now a slight change, first suspend all tasks. */

                vTaskSuspend( xCreatedTasks[ evtHIGHEST_PRIORITY_INDEX_1 ] );

                vTaskSuspend( xCreatedTasks[ evtMEDIUM_PRIORITY_INDEX ] );

                vTaskSuspend( xCreatedTasks[ evtLOWEST_PRIORITY_INDEX ] );

                /* Now when we resume the low priority task and write to the queue 3

                times.  We expect the low priority task to service the queue three

                times. */

                vTaskResume( xCreatedTasks[ evtLOWEST_PRIORITY_INDEX ] );

                prvCheckTaskCounters( evtLOWEST_PRIORITY_INDEX, evtQUEUE_LENGTH );

                /* Again suspend all tasks (only the low priority task is not suspended

                already). */

                vTaskSuspend( xCreatedTasks[ evtLOWEST_PRIORITY_INDEX ] );

                /* This time we are going to suspend the scheduler, resume the low

                priority task, then resume the high priority task.  In this state we

                will write to the queue three times.  When the scheduler is resumed

                we expect the high priority task to service all three messages. */

                vTaskSuspendAll();

                {

                        vTaskResume( xCreatedTasks[ evtLOWEST_PRIORITY_INDEX ] );

                        vTaskResume( xCreatedTasks[ evtHIGHEST_PRIORITY_INDEX_1 ] );

                        for( xDummy = 0; xDummy < evtQUEUE_LENGTH; xDummy++ )

                        {

                                if( xQueueSend( xQueue, &xDummy, evtNO_DELAY ) != pdTRUE )

                                {

                                        xHealthStatus = pdFAIL;

                                }

                        }

                        /* The queue should not have been serviced yet!.  The scheduler

                        is still suspended. */

                        if( memcmp( ( void * ) xExpectedTaskCounters, ( void * ) xTaskCounters, sizeof( xExpectedTaskCounters ) ) )

                        {

                                xHealthStatus = pdFAIL;

                        }

                }

                xTaskResumeAll();

                /* We should have been preempted by resuming the scheduler - so by the

                time we are running again we expect the high priority task to have

                removed three items from the queue. */

                xExpectedTaskCounters[ evtHIGHEST_PRIORITY_INDEX_1 ] += evtQUEUE_LENGTH;

                if( memcmp( ( void * ) xExpectedTaskCounters, ( void * ) xTaskCounters, sizeof( xExpectedTaskCounters ) ) )

                {

                        xHealthStatus = pdFAIL;

                }

                /* The medium priority and second high priority tasks are still

                suspended.  Make sure to resume them before starting again. */

                vTaskResume( xCreatedTasks[ evtMEDIUM_PRIORITY_INDEX ] );

                vTaskResume( xCreatedTasks[ evtHIGHEST_PRIORITY_INDEX_2 ] );

                /* Just keep incrementing to show the task is still executing. */

                xCheckVariable++;

        }

}

/*-----------------------------------------------------------*/

static void prvCheckTaskCounters( portBASE_TYPE xExpectedTask, portBASE_TYPE xIncrement )

{

portBASE_TYPE xDummy = 0;

        /* Write to the queue the requested number of times.  The data written is

        not important. */

        for( xDummy = 0; xDummy < xIncrement; xDummy++ )

        {

                if( xQueueSend( xQueue, &xDummy, evtNO_DELAY ) != pdTRUE )

                {

                        /* Did not expect to ever find the queue full. */

                        xHealthStatus = pdFAIL;

                }

        }

        /* All the tasks blocked on the queue have a priority higher than the

        controlling task.  Writing to the queue will therefore have caused this

        task to be preempted.  By the time this line executes the event task will

        have executed and incremented its counter.  Increment the expected counter

        to the same value. */

        ( xExpectedTaskCounters[ xExpectedTask ] ) += xIncrement;

        /* Check the actual counts and expected counts really are the same. */

        if( memcmp( ( void * ) xExpectedTaskCounters, ( void * ) xTaskCounters, sizeof( xExpectedTaskCounters ) ) )

        {

                /* The counters were not the same.  This means a task we did not expect

                to unblock actually did unblock. */

                xHealthStatus = pdFAIL;

        }

}

/*-----------------------------------------------------------*/

portBASE_TYPE xAreMultiEventTasksStillRunning( void )

{

static portBASE_TYPE xPreviousCheckVariable = 0;

        /* Called externally to periodically check that this test is still

        operational. */

        if( xPreviousCheckVariable == xCheckVariable )

        {

                xHealthStatus = pdFAIL;

        }

        xPreviousCheckVariable = xCheckVariable;

        return xHealthStatus;

}