#include <Arduino_FreeRTOS.h>
#include <task.h>
#include <semphr.h>  // add the FreeRTOS functions for Semaphores (or Flags).
#include <FreeRTOSConfig.h>

SemaphoreHandle_t xSerialSemaphore;

#define LEDPIN 13
#define LEDPIN2 12

// define two Tasks for DigitalRead & AnalogRead
void TaskLEDOn( void *pvParameters );
void TaskLEDOff( void *pvParameters );
void MyIdleTask(void *pvParameter );

// the setup function runs once when you press reset or power the board
void setup() {
  pinMode(LEDPIN, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(11, OUTPUT);
  pinMode(12, OUTPUT);
  unsigned long time; 
  // initialize serial communication at 9600 bits per second:
  Serial.begin(9600);
  time = micros();
  //prints time since program started
  
  // Semaphores are useful to stop a Task proceeding, where it should be paused to wait,
  // because it is sharing a resource, such as the Serial port.
  // Semaphores should only be used whilst the scheduler is running, but we can set it up here.
  if ( xSerialSemaphore == NULL )  // Check to confirm that the Serial Semaphore has not already been created.
  {
    xSerialSemaphore = xSemaphoreCreateMutex();  // Create a mutex semaphore for protecting access to the serial port, or a serial semaphore we will use to manage the task order
  }

  // Now set up two Tasks to run independently.
  xTaskCreate(
    TaskLEDOn
    ,  "LEDOn"  // A name just for humans
    ,  128  // This stack size can be checked & adjusted by reading the Stack Highwater
    ,  NULL
    ,  2  // Priority, with 4 being the highest, and 0 being the lowest.
    ,  NULL );

  xTaskCreate(
    TaskLEDOff
    ,   "LEDOff"
    ,  128  // Stack size
    ,  NULL
    ,  2  // Priority
    ,  NULL );

  xTaskCreate(MyIdleTask, "IdleTask", 100, NULL, 0, NULL);
  
  // Now the Task scheduler, which takes over control of scheduling individual Tasks, is automatically started.
  vTaskStartScheduler();

  
}

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

/*--------------------------------------------------*/
/*---------------------- Tasks ---------------------*/
/*--------------------------------------------------*/
 
void TaskLEDOn( void *pvParameters __attribute__((unused)) )  // This is a Task.
{
  
  
  //Serial.println(**bufferTemp);
  unsigned long time; 


  /* This task is going to be represented by a 1 i.e to set pin 5 to 1(ON). */ /*modified by Aradhana Dhumal*/
  /* vTaskSetApplicationTaskTag( NULL, ( void * )HIGH );*/
  vTaskSetApplicationTaskTag( NULL, ( void * )12);
  for (;;) // A Task shall never return or exit.
  {
    
    // See if we can obtain or "Take" the Serial Semaphore.
    // If the semaphore is not available, wait 10 ticks of the Scheduler to see if it becomes free.
    if ( xSemaphoreTake( xSerialSemaphore, ( TickType_t ) 10 ) == pdTRUE )
    //if ( xSemaphoreTake( xSerialSemaphore, portMAX_DELAY))
      {
      // We were able to obtain or "Take" the semaphore and can now access the shared resource.
      // We want to have the Serial Port for us alone, as it takes some time to print,
      // so we don't want it getting stolen during the middle of a conversion.
      // print out the state of the button:
      //Serial.println(buttonState);
      //switch LED 13 on:
      digitalWrite(LEDPIN, HIGH);
      Serial.println("A111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111O");
      //delay(20);
      xSemaphoreGive( xSerialSemaphore ); // Now free or "Give" the Serial Port for others.
      }
      //xSemaphoreGive( xSerialSemaphore ); // Now free or "Give" the Serial Port for others.
      
      // delay(15); //to sort out counting issues. //delay is blocking. it will have at this line and execute nothing .Processor will just be blocked// Modified by Aradhana 10-11-19
      //vTaskDelay(pdMS_TO_TICKS(150));  //  delay (150ms) in between reads for stability //blocking- releases resources Modified by Aradhana 10-11-19
       
    }
   
  } 


void TaskLEDOff( void *pvParameters __attribute__((unused)) )  // This is a Task.
{
  TickType_t xLastWakeTime;
  const TickType_t xFrequency = 3; //wait for at least 1 ticks
  unsigned long time; 
  
  // Initialise the xLastWakeTime variable with the current time.
     xLastWakeTime = xTaskGetTickCount();

     /* This task is going to be represented by setting pin 6 to 1(ON). */ /*modified by Aradhana Dhumal*/
  /*vTaskSetApplicationTaskTag( NULL, ( void * ) 0 );*/
  vTaskSetApplicationTaskTag( NULL, ( void * )11);   
  for (;;)
  {
    
    
    // See if we can obtain or "Take" the Serial Semaphore.
    // If the semaphore is not available, wait 10 ticks of the Scheduler to see if it becomes free.
    if ( xSemaphoreTake( xSerialSemaphore, ( TickType_t ) 10 ) == pdTRUE )
    //if ( xSemaphoreTake( xSerialSemaphore, portMAX_DELAY))
      {
      // We were able to obtain or "Take" the semaphore and can now access the shared resource.
      // We want to have the Serial Port for us alone, as it takes some time to print,
      // so we don't want it getting stolen during the middle of a conversion.
      // print out the value you read:
     
      //switch LED off
      digitalWrite(LEDPIN, LOW);
      Serial.println("A222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222O");
      //vTaskDelay(2);
      delay(20);

      xSemaphoreGive( xSerialSemaphore ); // Now free or "Give" the Serial Port for others.
    }
    //xSemaphoreGive( xSerialSemaphore ); // Now free or "Give" the Serial Port for others.

    
   //vTaskDelay(pdMS_TO_TICKS(150));

  }
}
  /* Idle Task with priority Zero */ 
static void MyIdleTask(void* pvParameters)
{
  TickType_t xLastWakeTime;
  const TickType_t xFrequency = 2; //wait for at least 1 tick
  unsigned long time; 
     // Initialise the xLastWakeTime variable with the current time.
     xLastWakeTime = xTaskGetTickCount();
  
     /* This task is going to be represented by a voltage scale of 3. */
  /*vTaskSetApplicationTaskTag( NULL, ( void * ) LOW );*/
  vTaskSetApplicationTaskTag( NULL, ( void * )10);
     for( ;; )
     {
      digitalWrite(LEDPIN, !digitalRead(LEDPIN));
      delay(1);
     }
}