//Task and Queue handlers
TaskHandle_t Task1; //Task1 Handler
TaskHandle_t Task2; //Task2 Handler
TaskHandle_t Task3; //Task2 Handler
TaskHandle_t Task4; //Task2 Handler

//declarations of Task related functions
static void Task1code( void * parameter);
static void Task2code( void * parameter);
static void Task3code( void * parameter);
static void Task4code( void * parameter);

bool Task1R = false;
bool Task2R = false;
bool Task3R = false;
bool Task4R = false;
int turn = 0;

void setup() {
  Serial.begin(115200);
  Serial.println("Running");
  vTaskDelay(1000 / portTICK_PERIOD_MS); //wait for a second

  xTaskCreatePinnedToCore(
    Task1code,   /* Task function. */
    "Task1",     /* name of task. */
    2048,       /* Stack size of task */
    NULL,        /* parameter of the task */
    1,           /* priority of the task */
    &Task1,      /* Task handle to keep track of created task */
    NULL);          /* pin task to core 1 */

  xTaskCreatePinnedToCore(
    Task2code,   /* Task function. */
    "Task2",     /* name of task. */
    2048,       /* Stack size of task */
    NULL,        /* parameter of the task */
    1,           /* priority of the task */
    &Task2,      /* Task handle to keep track of created task */
    NULL);          /* pin task to core 0 */

  xTaskCreatePinnedToCore(
    Task3code,   /* Task function. */
    "Task3",     /* name of task. */
    2048,       /* Stack size of task */
    NULL,        /* parameter of the task */
    1,           /* priority of the task */
    &Task3,      /* Task handle to keep track of created task */
    NULL);          /* pin task to core 0 */

  xTaskCreatePinnedToCore(
    Task4code,   /* Task function. */
    "Task4",     /* name of task. */
    2048,       /* Stack size of task */
    NULL,        /* parameter of the task */
    1,           /* priority of the task */
    &Task4,      /* Task handle to keep track of created task */
    NULL);          /* pin task to core 0 */
}

void loop() {

}

static void Task1code( void * parameter) {
  while(1){
    Task1R = true;
    turn=1;
    while(Task2R && Task3R && Task4R && turn==1){
      //T1 Esperando
    }

    Serial.println("Sección crítica de la T1");

    Task1R = false;
    vTaskDelay(500 / portTICK_PERIOD_MS); //wait for a second

  }
}

static void Task2code( void * parameter) {
  while(1){
    Task2R = true;
    turn=2;
    while(Task1R && Task3R && Task4R && turn==2){
      //T2 Esperando
    }

    Serial.println("Sección crítica de la T2");

    Task2R = false;
    vTaskDelay(1000 / portTICK_PERIOD_MS); //wait for a second

  }
}

static void Task3code( void * parameter) {
  while(1){
    Task3R = true;
    turn=3;
    while(Task1R && Task2R && Task4R && turn==3){
      //T3 Esperando
    }

    Serial.println("Sección crítica de la T3");

    Task3R = false;
    vTaskDelay(800 / portTICK_PERIOD_MS); //wait for a second

  }
  }

  static void Task4code( void * parameter) {
  while(1){
    Task4R = true;
    turn=4;
    while(Task1R && Task2R && Task3R && turn==4){
      //T4 Esperando
    }

    Serial.println("Sección crítica de la T4");

    Task4R = false;
    vTaskDelay(900 / portTICK_PERIOD_MS); //wait for a second

  }
 }