/*
 * FreeRTOS.cpp
 *
 *  Created on: Feb 24, 2017
 *      Author: kolban
 */
#include <freertos/FreeRTOS.h>  // Include the base FreeRTOS definitions
#include <freertos/task.h>      // Include the task definitions
#include <freertos/semphr.h>    // Include the semaphore definitions
#include <string>
#include <sstream>
#include <iomanip>
#include "RTOS.h"
#include "sdkconfig.h"
#include "esp32-hal-log.h"

/**
 * Sleep for the specified number of milliseconds.
 * @param[in] ms The period in milliseconds for which to sleep.
 */
void FreeRTOS::sleep(uint32_t ms) {
  ::vTaskDelay(ms / portTICK_PERIOD_MS);
}  // sleep

/**
 * Start a new task.
 * @param[in] task The function pointer to the function to be run in the task.
 * @param[in] taskName A string identifier for the task.
 * @param[in] param An optional parameter to be passed to the started task.
 * @param[in] stackSize An optional parameter supplying the size of the stack in which to run the task.
 */
void FreeRTOS::startTask(void task(void *), String taskName, void *param, uint32_t stackSize) {
  ::xTaskCreate(task, taskName.c_str(), stackSize, param, 5, NULL);
}  // startTask

/**
 * Delete the task.
 * @param[in] pTask An optional handle to the task to be deleted.  If not supplied the calling task will be deleted.
 */
void FreeRTOS::deleteTask(TaskHandle_t pTask) {
  ::vTaskDelete(pTask);
}  // deleteTask

/**
 * Get the time in milliseconds since the %FreeRTOS scheduler started.
 * @return The time in milliseconds since the %FreeRTOS scheduler started.
 */
uint32_t FreeRTOS::getTimeSinceStart() {
  return (uint32_t)(xTaskGetTickCount() * portTICK_PERIOD_MS);
}  // getTimeSinceStart

/**
 * @brief Wait for a semaphore to be released by trying to take it and
 * then releasing it again.
 * @param [in] owner A debug tag.
 * @return The value associated with the semaphore.
 */
uint32_t FreeRTOS::Semaphore::wait(String owner) {
  log_v(">> wait: Semaphore waiting: %s for %s", toString().c_str(), owner.c_str());

  if (m_usePthreads) {
    pthread_mutex_lock(&m_pthread_mutex);
  } else {
    xSemaphoreTake(m_semaphore, portMAX_DELAY);
  }

  if (m_usePthreads) {
    pthread_mutex_unlock(&m_pthread_mutex);
  } else {
    xSemaphoreGive(m_semaphore);
  }

  log_v("<< wait: Semaphore released: %s", toString().c_str());
  return m_value;
}  // wait

/**
 * @brief Wait for a semaphore to be released in a given period of time by trying to take it and
 * then releasing it again. The value associated with the semaphore can be taken by value() call after return
 * @param [in] owner A debug tag.
 * @param [in] timeoutMs timeout to wait in ms.
 * @return True if we took the semaphore within timeframe.
 */
bool FreeRTOS::Semaphore::timedWait(String owner, uint32_t timeoutMs) {
  log_v(">> wait: Semaphore waiting: %s for %s", toString().c_str(), owner.c_str());

  if (m_usePthreads && timeoutMs != portMAX_DELAY) {
    assert(false);  // We apparently don't have a timed wait for pthreads.
  }

  auto ret = pdTRUE;

  if (m_usePthreads) {
    pthread_mutex_lock(&m_pthread_mutex);
  } else {
    ret = xSemaphoreTake(m_semaphore, timeoutMs);
  }

  if (m_usePthreads) {
    pthread_mutex_unlock(&m_pthread_mutex);
  } else {
    xSemaphoreGive(m_semaphore);
  }

  log_v("<< wait: Semaphore %s released: %d", toString().c_str(), ret);
  return ret;
}  // wait

FreeRTOS::Semaphore::Semaphore(String name) {
  m_usePthreads = false;  // Are we using pThreads or FreeRTOS?
  if (m_usePthreads) {
    pthread_mutex_init(&m_pthread_mutex, nullptr);
  } else {
    m_semaphore = xSemaphoreCreateBinary();
    xSemaphoreGive(m_semaphore);
  }

  m_name = name;
  m_owner = String("<N/A>");
  m_value = 0;
}

FreeRTOS::Semaphore::~Semaphore() {
  if (m_usePthreads) {
    pthread_mutex_destroy(&m_pthread_mutex);
  } else {
    vSemaphoreDelete(m_semaphore);
  }
}

/**
 * @brief Give a semaphore.
 * The Semaphore is given.
 */
void FreeRTOS::Semaphore::give() {
  log_v("Semaphore giving: %s", toString().c_str());
  m_owner = String("<N/A>");

  if (m_usePthreads) {
    pthread_mutex_unlock(&m_pthread_mutex);
  } else {
    xSemaphoreGive(m_semaphore);
  }
  // #ifdef ARDUINO_ARCH_ESP32
  // 	FreeRTOS::sleep(10);
  // #endif

}  // Semaphore::give

/**
 * @brief Give a semaphore.
 * The Semaphore is given with an associated value.
 * @param [in] value The value to associate with the semaphore.
 */
void FreeRTOS::Semaphore::give(uint32_t value) {
  m_value = value;
  give();
}  // give

/**
 * @brief Give a semaphore from an ISR.
 */
void FreeRTOS::Semaphore::giveFromISR() {
  BaseType_t higherPriorityTaskWoken;
  if (m_usePthreads) {
    assert(false);
  } else {
    xSemaphoreGiveFromISR(m_semaphore, &higherPriorityTaskWoken);
  }
}  // giveFromISR

/**
 * @brief Take a semaphore.
 * Take a semaphore and wait indefinitely.
 * @param [in] owner The new owner (for debugging)
 * @return True if we took the semaphore.
 */
bool FreeRTOS::Semaphore::take(String owner) {
  log_v("Semaphore taking: %s for %s", toString().c_str(), owner.c_str());
  bool rc = false;
  if (m_usePthreads) {
    pthread_mutex_lock(&m_pthread_mutex);
  } else {
    rc = ::xSemaphoreTake(m_semaphore, portMAX_DELAY) == pdTRUE;
  }
  if (rc) {
    m_owner = owner;
    log_v("Semaphore taken:  %s", toString().c_str());
  } else {
    log_e("Semaphore NOT taken:  %s", toString().c_str());
  }
  return rc;
}  // Semaphore::take

/**
 * @brief Take a semaphore.
 * Take a semaphore but return if we haven't obtained it in the given period of milliseconds.
 * @param [in] timeoutMs Timeout in milliseconds.
 * @param [in] owner The new owner (for debugging)
 * @return True if we took the semaphore.
 */
bool FreeRTOS::Semaphore::take(uint32_t timeoutMs, String owner) {
  log_v("Semaphore taking: %s for %s", toString().c_str(), owner.c_str());
  bool rc = false;
  if (m_usePthreads) {
    assert(false);  // We apparently don't have a timed wait for pthreads.
  } else {
    rc = ::xSemaphoreTake(m_semaphore, timeoutMs / portTICK_PERIOD_MS) == pdTRUE;
  }
  if (rc) {
    m_owner = owner;
    log_v("Semaphore taken:  %s", toString().c_str());
  } else {
    log_e("Semaphore NOT taken:  %s", toString().c_str());
  }
  return rc;
}  // Semaphore::take

/**
 * @brief Create a string representation of the semaphore.
 * @return A string representation of the semaphore.
 */
String FreeRTOS::Semaphore::toString() {
  char hex[9];
  String res = "name: " + m_name + " (0x";
  snprintf(hex, sizeof(hex), "%08lx", (uint32_t)m_semaphore);
  res += hex;
  res += "), owner: " + m_owner;
  return res;
}  // toString

/**
 * @brief Set the name of the semaphore.
 * @param [in] name The name of the semaphore.
 */
void FreeRTOS::Semaphore::setName(String name) {
  m_name = name;
}  // setName

/**
 * @brief Create a ring buffer.
 * @param [in] length The amount of storage to allocate for the ring buffer.
 * @param [in] type The type of buffer.  One of RINGBUF_TYPE_NOSPLIT, RINGBUF_TYPE_ALLOWSPLIT, RINGBUF_TYPE_BYTEBUF.
 */
#ifdef ESP_IDF_VERSION_MAJOR
Ringbuffer::Ringbuffer(size_t length, RingbufferType_t type)
#else
Ringbuffer::Ringbuffer(size_t length, ringbuf_type_t type)
#endif
{
  m_handle = ::xRingbufferCreate(length, type);
}  // Ringbuffer

Ringbuffer::~Ringbuffer() {
  ::vRingbufferDelete(m_handle);
}  // ~Ringbuffer

/**
 * @brief Receive data from the buffer.
 * @param [out] size On return, the size of data returned.
 * @param [in] wait How long to wait.
 * @return A pointer to the storage retrieved.
 */
void *Ringbuffer::receive(size_t *size, TickType_t wait) {
  return ::xRingbufferReceive(m_handle, size, wait);
}  // receive

/**
 * @brief Return an item.
 * @param [in] item The item to be returned/released.
 */
void Ringbuffer::returnItem(void *item) {
  ::vRingbufferReturnItem(m_handle, item);
}  // returnItem

/**
 * @brief Send data to the buffer.
 * @param [in] data The data to place into the buffer.
 * @param [in] length The length of data to place into the buffer.
 * @param [in] wait How long to wait before giving up.  The default is to wait indefinitely.
 * @return
 */
bool Ringbuffer::send(void *data, size_t length, TickType_t wait) {
  return ::xRingbufferSend(m_handle, data, length, wait) == pdTRUE;
}  // send
