////////////////////////////////////////////////////////////////////////////////
// Copyright (C) 2013-2025 Efinix Inc. All rights reserved.
// Full license header bsp/efinix/EfxSapphireSoc/include/LICENSE.MD
////////////////////////////////////////////////////////////////////////////////

/*
 * FreeRTOS V202212.01
 * Copyright (C) 2020 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.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/* Standard includes. */
#include <stdio.h>
#include <string.h>
#include <unistd.h>

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

/* Priorities used by the tasks. */
#define mainQUEUE_RECEIVE_TASK_PRIORITY        ( tskIDLE_PRIORITY + 2 )
#define    mainQUEUE_SEND_TASK_PRIORITY        ( tskIDLE_PRIORITY + 1 )

/* The rate at which data is sent to the queue.  The 200ms value is converted
to ticks using the pdMS_TO_TICKS() macro. */
#ifdef SPINAL_SIM
#define mainQUEUE_SEND_FREQUENCY_MS            pdMS_TO_TICKS( 4 )
#else
#define mainQUEUE_SEND_FREQUENCY_MS            pdMS_TO_TICKS( 500 )
#endif
/* The maximum number items the queue can hold.  The priority of the receiving
task is above the priority of the sending task, so the receiving task will
preempt the sending task and remove the queue items each time the sending task
writes to the queue.  Therefore the queue will never have more than one item in
it at any time, and even with a queue length of 1, the sending task will never
find the queue full. */
#define mainQUEUE_LENGTH                    ( 1 )

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

/*
 * Called by main when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1 in
 * main.c.
 */
void main_blinky( void );

/*
 * The tasks as described in the comments at the top of this file.
 */
static void prvQueueReceiveTask( void *pvParameters );
static void prvQueueSendTask( void *pvParameters );

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

/* The queue used by both tasks. */
static QueueHandle_t xQueue = NULL;

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

void main_blinky( void )
{
    /* Create the queue. */
    xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( uint32_t ) );

    if( xQueue != NULL )
    {
        /* Start the two tasks as described in the comments at the top of this
        file. */
        xTaskCreate( prvQueueReceiveTask,                /* The function that implements the task. */
                    "Rx",                                 /* The text name assigned to the task - for debug only as it is not used by the kernel. */
                    configMINIMAL_STACK_SIZE * 2U,             /* The size of the stack to allocate to the task. */
                    NULL,                                 /* The parameter passed to the task - not used in this case. */
                    mainQUEUE_RECEIVE_TASK_PRIORITY,     /* The priority assigned to the task. */
                    NULL );                                /* The task handle is not required, so NULL is passed. */

        xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE * 2U, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );

        /* Start the tasks and timer running. */
        vTaskStartScheduler();
    }

    /* If all is well, the scheduler will now be running, and the following
    line will never be reached.  If the following line does execute, then
    there was insufficient FreeRTOS heap memory available for the Idle and/or
    timer tasks to be created.  See the memory management section on the
    FreeRTOS web site for more details on the FreeRTOS heap
    http://www.freertos.org/a00111.html. */
    for( ;; );
}
/*-----------------------------------------------------------*/

static void prvQueueSendTask( void *pvParameters )
{
TickType_t xNextWakeTime;
const unsigned long ulValueToSend = 100UL;
BaseType_t xReturned;

    /* Remove compiler warning about unused parameter. */
    ( 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, mainQUEUE_SEND_FREQUENCY_MS );

        /* Send to the queue - causing the queue receive task to unblock and
        toggle the LED.  0 is used as the block time so the sending operation
        will not block - it shouldn't need to block as the queue should always
        be empty at this point in the code. */
        xReturned = xQueueSend( xQueue, &ulValueToSend, 0U );
        configASSERT( xReturned == pdPASS );
    }
}
/*-----------------------------------------------------------*/

static void prvQueueReceiveTask( void *pvParameters )
{
unsigned long ulReceivedValue;
const unsigned long ulExpectedValue = 100UL;
const char * const pcPassMessage = "Blink\r\n";
const char * const pcFailMessage = "Unexpected value received\r\n";
extern void vSendString( const char * const pcString );
extern void vToggleLED( void );

    /* Remove compiler warning about unused parameter. */
    ( void ) pvParameters;

    for( ;; )
    {
        /* Wait until something arrives in the queue - this task will block
        indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
        FreeRTOSConfig.h. */
        xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );

        /*  To get here something must have been received from the queue, but
        is it the expected value?  If it is, toggle the LED. */
        if( ulReceivedValue == ulExpectedValue )
        {
            vSendString( pcPassMessage );
            vToggleLED();
            ulReceivedValue = 0U;
        }
        else
        {
            vSendString( pcFailMessage );
        }
    }
}
/*-----------------------------------------------------------*/

