/* blink_analogRead474.ino
 * 
 * Lab 4 - Part A
 * February 26, 2024
 * EE/CSE 474
 * 
 * Authors: Whitney Waldinger, Uma Nene
 *
 * 
 * Acknowledgements:  Borrowed code from in class example. Updated 
 *                    to use the joystick given in our lab kit as the 
 *                    analog input. Because we used the joystick with 
 *                    two different outputs (x and y) we are printing
 *                    both of them in TaskAnalogRead. 
 */

#include <Arduino_FreeRTOS.h>

////////////////////////////////////////////////
// APPROVED FOR ECE 474   Spring 2021
//
//  NOTE: modify analogRead() on line 113 according
//   to your setup.
////////////////////////////////////////////////

#define VRX A1
#define VRY A0

// define two tasks for Blink & AnalogRead
void TaskBlink( void *pvParameters );
void TaskAnalogRead( void *pvParameters );

int last_joystick_x;
int last_joystick_y;
int randNum;
int points = 0;
int i = 0;

int taskControl[4] = {0, 0, 0, 0};


// the setup function runs once when you press reset or power the board
void setup() {
  
  // initialize serial communication at 9600 bits per second:
  Serial.begin(19200);
  
  while (!Serial) {
    ; // wait for serial port to connect. Needed for native USB, on LEONARDO, MICRO, YUN, and other 32u4 based boards.
  } 

  // Now set up two tasks to run independently.
  xTaskCreate(
    TaskBlink
    ,  "Blink"   // A name just for humans
    ,  128  // This stack size can be checked & adjusted by reading the Stack Highwater
    ,  NULL
    ,  3  // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
    ,  NULL );

  xTaskCreate(
    TaskAnalogRead
    ,  "AnalogRead"
    ,  128  // Stack size
    ,  NULL
    ,  2  // Priority
    ,  NULL );

  xTaskCreate(
    TaskController
    , "task control"
    , 128
    , NULL
    , 1
    , NULL );
  
  xTaskCreate(
    TaskButtonRead
    , "Button"
    , 128
    , NULL
    , 2
    , NULL);

  // Now the task scheduler, which takes over control of scheduling individual tasks, is automatically started.
  //  (note how the above comment is WRONG!!!)
  vTaskStartScheduler();


}

void loop()
{
  // Empty. Things are done in Tasks.
}

/*--------------------------------------------------*/
/*---------------------- Tasks ---------------------*/
/*--------------------------------------------------*/

void TaskBlink(void *pvParameters)  // This is a task.
{
 // (void) pvParameters;  // allocate stack space for params

/*
  Blink
  Turns on an LED on for one second, then off for one second, repeatedly.

  Most Arduinos have an on-board LED you can control. On the UNO, LEONARDO, MEGA, and ZERO 
  it is attached to digital pin 13, on MKR1000 on pin 6. LED_BUILTIN takes care 
  of use the correct LED pin whatever is the board used.
  
  The MICRO does not have a LED_BUILTIN available. For the MICRO board please substitute
  the LED_BUILTIN definition with either LED_BUILTIN_RX or LED_BUILTIN_TX.
  e.g. pinMode(LED_BUILTIN_RX, OUTPUT); etc.
  
  If you want to know what pin the on-board LED is connected to on your Arduino model, check
  the Technical Specs of your board  at https://www.arduino.cc/en/Main/Products
  
  This example code is in the public domain.

  modified 8 May 2014
  by Scott Fitzgerald
  
  modified 2 Sep 2016
  by Arturo Guadalupi
*/

  // initialize digital LED_BUILTIN on pin 13 as an output.
  pinMode(LED_BUILTIN, OUTPUT);

  for (;;) // A Task shall never return or exit.
  {
    digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
    vTaskDelay( 100 / portTICK_PERIOD_MS ); // wait for one second
    digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
    vTaskDelay( 200 / portTICK_PERIOD_MS ); // wait for one second
  }
}

void TaskAnalogRead(void *pvParameters)  // This is a task.
{
 // (void) pvParameters;
  
/*
  AnalogReadSerial
  Reads an analog input on pin 0, prints the result to the serial monitor.
  Graphical representation is available using serial plotter (Tools > Serial Plotter menu)
  Attach the center pin of a potentiometer to pin A0, and the outside pins to +5V and ground.

  This example code is in the public domain.
*/
  int x;
  int y;
  for (;;)
  {
    x = analogRead(VRX); // reads analog input from X pin (A1)
    y = analogRead(VRY); // reads analog input from Y pin (A0)
      if(taskControl[0] & ((last_joystick_x != x) | (last_joystick_y != y))) {
        points++;
        taskControl[0] = 0;
      }
    last_joystick_x = x;
    last_joystick_y = y;
    // print out the values read:
    Serial.print("pts: ");
    Serial.println(points);
    /*Serial.print("X: ");
    Serial.print(x);
    Serial.print(" Y: ");
    Serial.println(y);*/
    vTaskDelay(500/portTICK_PERIOD_MS);  // 0.5 sec in between reads for stability
  }
}

void TaskController(void *pvParameters)
{
  for (;;)
  {
    randNum = random(0,4);
    taskControl[randNum] = 1;
    taskControl[(randNum + 1) % 4] = 0;
    taskControl[(randNum + 2) % 4] = 0;
    taskControl[(randNum + 3) % 4] = 0;
    Serial.println(randNum);
    i++;
    vTaskDelay(4000/portTICK_PERIOD_MS);
  }
}

void TaskButtonRead(void *pvParameters) {
    pinMode(7, INPUT_PULLUP);
    for(;;) {
      if (taskControl[1] & digitalRead(7) == LOW) {
        points++;
        taskControl[1] = 0;
      }
      vTaskDelay(200/portTICK_PERIOD_MS);
    }
}