/**********************************************************************************************************************
 *  FILE DESCRIPTION
 *  -------------------------------------------------------------------------------------------------------------------
 *          File:  Scheduler.c
 *      Date:  Mar 31, 2020
 *     Version:  //00.01
 *        Author: Echipa 1
 *
 *   Description:  <from GitLab Issue>
 *
 *
 *********************************************************************************************************************/


/**********************************************************************************************************************
 * DO NOT CHANGE THIS COMMENT!                    << INCLUDES >>                    DO NOT CHANGE THIS COMMENT!
 *********************************************************************************************************************/
#include<stdio.h>
#include "SchedulerLib.h"
#include "Sensors_and_Actuators.h"
/**********************************************************************************************************************
 * DO NOT CHANGE THIS COMMENT!                  << LOCAL DEFINES >>                 DO NOT CHANGE THIS COMMENT!
 *********************************************************************************************************************/


/**********************************************************************************************************************
 * DO NOT CHANGE THIS COMMENT!           << GLOBAL VARIABLE DEFINITION >>           DO NOT CHANGE THIS COMMENT!
 *********************************************************************************************************************/
uint32_t TimerFlag;
uint32_t TimerCounter; 
bool DTC_Distance;
bool flag_distance;
bool flag_read;
int distance_a;



/**********************************************************************************************************************
 * DO NOT CHANGE THIS COMMENT!           << STATIC VARIABLE DECLARATION >>          DO NOT CHANGE THIS COMMENT!
 *********************************************************************************************************************/
/*Task configuration table. Holds the task interval, last time executed, and
* the function to be executed. A continuous task is defined as a task with
* an interval of 0. Last time executed is set to 0.
*/
static TaskType Tasks[] = 
{
  {0                ,    0  ,  BackgroundTask}, //This is background task
  {INTERVAL_10MS      ,    0  ,   Task10MilliSecond},
  {INTERVAL_50MS      ,    0  ,   Task50MilliSecond},
  {INTERVAL_100MS      ,    0  ,   Task100MilliSecond},
};

/**********************************************************************************************************************
 * DO NOT CHANGE THIS COMMENT!           << STATIC FUNCTIONS DECLARATION >>         DO NOT CHANGE THIS COMMENT!
 *********************************************************************************************************************/



/**********************************************************************************************************************
 * DO NOT CHANGE THIS COMMENT!           << STATIC FUNCTIONS DEFINITIONS >>         DO NOT CHANGE THIS COMMENT!
 *********************************************************************************************************************/



/**********************************************************************************************************************
 * DO NOT CHANGE THIS COMMENT!           << GLOBAL FUNCTIONS DEFINITION  >>         DO NOT CHANGE THIS COMMENT!
 *********************************************************************************************************************/

void setup() {
  // put your setup code here, to run once:
Serial.begin(9600);
  //pinMode(RGB_Temperature, OUTPUT);
  pinMode(Echo, INPUT);   
  pinMode(Trig, OUTPUT); 
}

//Timer interrupt
void TimerISR(void)
{
  if (TimerFlag)
  {
    Serial.println("Timer ticked before task processing done. \n");
   // printf("Timer ticked before task processing done.\n");
  }
  else
  {
    TimerFlag = 1;
  }
  return;
} 
//This a simulation of a timer because we don't have a real timer to configure
void Timer(void)
{
    uint32_t index;
    for (index = 0; index < 100000000; index++)
    {
      
    }
      TimerCounter++;
}
//Initialization of variable for Scheduler
void SchedulerInit(void)
{
  TimerCounter = 0;
  TimerFlag = 0;

}
void Scheduler(void)
{
  unsigned long currentTime=millis();
  uint32_t index;

    Timer();

    TimerISR();

    if(TimerFlag == 1)
    {
      for(index = 1; index <= NUMBER_OF_TASK; index++)
      {
        if(currentTime - Tasks[index].LastTick >= Tasks[index].Interval)
        {
          Tasks[index].Func();
          Tasks[index].LastTick = currentTime;
        }
      }
      //After  cyclic tasks are excuted , TimerFlag is down and background task is called
      TimerFlag = 0;
      while(!TimerFlag)
      {
        //Call background task
        Tasks[0].Func();
   
        //Simulate the interrupt
        TimerISR();

      }
    } 
  }
void BackgroundTask(void) //Background Task will run when not cyclic task is running 
{
 
  // Serial.println("Idle");
}
void Task10MilliSecond(void) //this task will trigger every 10 milliseconds
{
  //Distance_Measurement();
 // Oil_Pressure_Measurement();
  
}
void Task50MilliSecond(void) //this task will trigger every  50 milliseconds
{
  

}
void Task100MilliSecond(void) //this task will trigger every  100 milliseconds  // 
{
Serial.println("salut");
}




void loop()
{
  Serial_Read();
  //SchedulerInit();
  //Scheduler();
  

}