/*----------------------------------------------------------
 * ----------------------------------------------------------------------
* Original file Copyright (C) 2000-2008, Universidad de Cantabria, SPAIN
* MaRTE OS  is free software; you can  redistribute it and/or  modify it
* under the terms of the GNU General Public License  as published by the
* Free Software Foundation;  either  version 2, or (at  your option) any
* later version.
* ------------------------------------------------------------------------
*
* Modification of File 'edf_threads.c' exercise 1 C. Pagetti 2009/09
*---------------------------------------------------------------------------*/
#include <stdio.h>
#include <unistd.h>
#include <time.h>
#include <pthread.h>
#include <sched.h>
#include <misc/load.h>
#include <misc/error_checks.h>
//#include <debug_marte.h> // debug

#include "edf_sched.h"

//#include <debug_marte.h>

/*  Scheduled thread */
void * periodic (void * arg)
{
  float amount_of_work = *(float *) arg;
  while (1) {
    /* do useful work */
    eat (amount_of_work);
    posix_appsched_invoke_scheduler (0);
  }
}

#define MAIN_PRIO 5
int main ()
{
  pthread_attr_t attr;
  struct sched_param param;
  struct edf_sched_param user_param;
  pthread_t sched, NL, NF, FF, FL, AP, PF, PL;
  float load1, load2, load3, load4, load5, load6, load7;

  adjust ();

  // debug
  // init_serial_communication_with_gdb (SERIAL_PORT_1);
  // set_break_point_here;

  /* Set main task base priority */
  param.sched_priority = MAIN_PRIO;
  CHK( pthread_setschedparam (pthread_self (), SCHED_FIFO, &param) );
  
  /* Creation of the scheduler thread */
  pthread_attr_init (&attr);
  pthread_attr_setschedpolicy (&attr, SCHED_FIFO);
  pthread_attr_setappschedulerstate (&attr, PTHREAD_APPSCHEDULER); 
  param.sched_priority = MAIN_PRIO - 1;
  CHK( pthread_attr_setschedparam (&attr, &param) );
  CHK( pthread_create (&sched, &attr, edf_scheduler, NULL) );
  pthread_attr_destroy(&attr);

  /* Creation of NL */
  pthread_attr_init (&attr);
  pthread_attr_setschedpolicy (&attr, SCHED_APP);
  CHK( pthread_attr_setappscheduler (&attr, sched) );
  user_param.period.tv_sec  = 120;
  user_param.period.tv_nsec = 0;
  load1 = 20;
  CHK( pthread_attr_setappschedparam (&attr, &user_param, 
				      sizeof(user_param)) );
  param.sched_priority = MAIN_PRIO - 3;
  CHK( pthread_attr_setschedparam (&attr, &param) );
  CHK( pthread_create (&NL, &attr, periodic, &load1) );

 /* Creation of NF */
  pthread_attr_init (&attr);
  pthread_attr_setschedpolicy (&attr, SCHED_APP);
  CHK( pthread_attr_setappscheduler (&attr, sched) );
  user_param.period.tv_sec  = 120;
  user_param.period.tv_nsec = 0;
  load2 = 10;
  CHK( pthread_attr_setappschedparam (&attr, &user_param, 
				      sizeof(user_param)) );
  param.sched_priority = MAIN_PRIO - 3;
  CHK( pthread_attr_setschedparam (&attr, &param) );
  CHK( pthread_create (&NF, &attr, periodic, &load2) );

 /* Creation of PL */
  pthread_attr_init (&attr);
  pthread_attr_setschedpolicy (&attr, SCHED_APP);
  CHK( pthread_attr_setappscheduler (&attr, sched) );
  user_param.period.tv_sec  = 40;
  user_param.period.tv_nsec = 0;
  load3 = 10;
  CHK( pthread_attr_setappschedparam (&attr, &user_param, 
				      sizeof(user_param)) );
  param.sched_priority = MAIN_PRIO - 3;
  CHK( pthread_attr_setschedparam (&attr, &param) );
  CHK( pthread_create (&PL, &attr, periodic, &load3) );

 /* Creation of PF */
  pthread_attr_init (&attr);
  pthread_attr_setschedpolicy (&attr, SCHED_APP);
  CHK( pthread_attr_setappscheduler (&attr, sched) );
  user_param.period.tv_sec  = 40;
  user_param.period.tv_nsec = 0;
  load4 = 10;
  CHK( pthread_attr_setappschedparam (&attr, &user_param, 
				      sizeof(user_param)) );
  param.sched_priority = MAIN_PRIO - 3;
  CHK( pthread_attr_setschedparam (&attr, &param) );
  CHK( pthread_create (&PF, &attr, periodic, &load4) );

 /* Creation of FF */
  pthread_attr_init (&attr);
  pthread_attr_setschedpolicy (&attr, SCHED_APP);
  CHK( pthread_attr_setappscheduler (&attr, sched) );
  user_param.period.tv_sec  = 10;
  user_param.period.tv_nsec = 0;
  load5 = 1;
  CHK( pthread_attr_setappschedparam (&attr, &user_param, 
				      sizeof(user_param)) );
  param.sched_priority = MAIN_PRIO - 3;
  CHK( pthread_attr_setschedparam (&attr, &param) );
  CHK( pthread_create (&FF, &attr, periodic, &load5) );

 /* Creation of FL */
  pthread_attr_init (&attr);
  pthread_attr_setschedpolicy (&attr, SCHED_APP);
  CHK( pthread_attr_setappscheduler (&attr, sched) );
  user_param.period.tv_sec  = 10;
  user_param.period.tv_nsec = 0;
  load6 = 2;
  CHK( pthread_attr_setappschedparam (&attr, &user_param, 
				      sizeof(user_param)) );
  param.sched_priority = MAIN_PRIO - 3;
  CHK( pthread_attr_setschedparam (&attr, &param) );
  CHK( pthread_create (&FL, &attr, periodic, &load6) );

 /* Creation of AP */
  pthread_attr_init (&attr);
  pthread_attr_setschedpolicy (&attr, SCHED_APP);
  CHK( pthread_attr_setappscheduler (&attr, sched) );
  user_param.period.tv_sec  = 10;
  user_param.period.tv_nsec = 0;
  load7 = 1;
  CHK( pthread_attr_setappschedparam (&attr, &user_param, 
				      sizeof(user_param)) );
  param.sched_priority = MAIN_PRIO - 3;
  CHK( pthread_attr_setschedparam (&attr, &param) );
  CHK( pthread_create (&AP, &attr, periodic, &load7) );










  

  CHK( pthread_join (sched, NULL) );

  return 0;
}