/* resourcetest.c */
#include "kernel.h"
#include "kernel_id.h"
#include "ecrobot_interface.h"

/* OSEK declarations */
DeclareCounter( SysTimerCnt );
DeclareResource(resource1);
DeclareEvent(event1);
DeclareTask(LowTask);
DeclareTask(HighTask);

/* nxtOSEK hook to be invoked from an ISR in category 2 */
void user_1ms_isr_type2(void)
{
  StatusType ercd;

  ercd = SignalCounter(SysTimerCnt); /* Increment OSEK Alarm Counter */
  if (ercd != E_OK)
  {
    ShutdownOS(ercd);
  }
}

/* Definitions */
#define COUNT 5000000
int digits;
int lowtaskcount;
int hightaskcount;

TASK(LowTask)
{
  int rcount;

  ecrobot_debug1(digits, 1111, 0);
  for(rcount = 0; rcount < COUNT; rcount++);
  ecrobot_debug1(digits, 1119, 0);

  GetResource(resource1); /* Get resource1 */

  for(rcount = 0; rcount < COUNT; rcount++) digits++;
  SetEvent(HighTask, event1); /* Set event1 to execute HighTask */

  ecrobot_debug1(digits, 1199, 0);
  for(rcount=0; rcount < COUNT; rcount++) digits--;

  ReleaseResource(resource1); /* Release resource1 */

  ecrobot_debug1(digits, 1999, 0);

  TerminateTask();
}

TASK(HighTask)
{
  int rcount;

  ecrobot_debug2(digits, 2222, 1);
  for(rcount=0; rcount < COUNT; rcount++) digits++;
  ecrobot_debug2(digits, 2228, 1);
  for(rcount=0; rcount < COUNT; rcount++) digits++;

  WaitEvent(event1); /* Waiting for event1 */
  ClearEvent(event1);
  ecrobot_debug2(digits, 2288, 1);
  for(rcount=0; rcount < COUNT; rcount++) digits++;

  GetResource(resource1); /* Get resource1 */

  ecrobot_debug2(digits, 2888, 1);
  for(rcount = 0; rcount < COUNT; rcount++);

  ReleaseResource(resource1); /* Release resource1 */

  ecrobot_debug2(digits,8888 , 1);

  TerminateTask();
}

#include "implementation.oil"

CPU ATMEL_AT91SAM7S256
{
  OS LEJOS_OSEK
  {
    STATUS = EXTENDED;
    STARTUPHOOK = TRUE;
    ERRORHOOK = FALSE;
    SHUTDOWNHOOK = FALSE;
    PRETASKHOOK = FALSE;
    POSTTASKHOOK = FALSE;
    USEGETSERVICEID = FALSE;
    USEPARAMETERACCESS = FALSE;
    USERESSCHEDULER = FALSE;
  };

  /* Definition of application mode */
  APPMODE appmode1{};

  /* Definition of resource */
  RESOURCE resource1
  {
    RESOURCEPROPERTY = STANDARD;
  };

  /* Definition of event */
  EVENT event1
  {
    MASK = AUTO;
  };

  /* Definition of HighTask */
  TASK HighTask
  {
    AUTOSTART = FALSE;
    SCHEDULE = FULL;
    PRIORITY = 3;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    RESOURCE = resource1;
    EVENT = event1;
    STACKSIZE = 512;
  };

  /* Definition of LowTask */
  TASK LowTask
  {
    AUTOSTART = FALSE;
    PRIORITY = 2;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    RESOURCE = resource1;
    STACKSIZE = 512;
  };

  /* Definition of OSEK Alarm Counter */
  COUNTER SysTimerCnt
  {
    MINCYCLE = 1;
    MAXALLOWEDVALUE = 100000;
    TICKSPERBASE = 1;
  };

  ALARM cyclic_alarm1
  {
    COUNTER = SysTimerCnt;
    ACTION = ACTIVATETASK
    {
      TASK = HighTask;
    };
    AUTOSTART = TRUE
    {
      ALARMTIME = 3000;
      CYCLETIME = 10000;
      APPMODE = appmode1;
    };
  };

  ALARM cyclic_alarm2
  {
    COUNTER = SysTimerCnt;
    ACTION = ACTIVATETASK
    {
      TASK = LowTask;
    };
    AUTOSTART = TRUE
    {
      ALARMTIME = 3000;
      CYCLETIME = 10000;
      APPMODE = appmode1;
    };
  };
};