/*
 * This 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 of the License,
 * or (at your option) any later version.
 *
 * This software is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Xenomai; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
 * 02111-1307, USA.
 */

#include <native/task.h>
#include <native/pipe.h>

#define TASK_PRIO   99              /* Highest RT priority */
#define TASK_MODE   T_CPU(0)        /* Bound to CPU #0 */
#define TASK_STKSZ  4096            /* Stack size (in bytes) */

static RT_TASK task_desc;

static RT_PIPE pipe_desc;

int task_period_ns = 1000000000;
module_param(task_period_ns,int,0444);
MODULE_PARM_DESC(task_period_ns, "period in ns (default: 1s)");

static void demo_task(void *cookie)
{
	int err, count;
	char c;

	err = rt_task_set_periodic(NULL, TM_NOW,
				   rt_timer_ns2ticks(task_period_ns));

	if (err) {
		printk("rt_task_set_periodic() failed: code %d\n", err);
		rt_task_suspend(NULL);
	}

	for (count = 0;;) {

		err = rt_task_wait_period(NULL);
	
		if (err) {
			if (err != -ETIMEDOUT) {
				printk("rt_task_wait_period() failed: code %d\n", err);
				rt_task_suspend(NULL);
			}
		continue;
		}

		rt_pipe_write(&pipe_desc, &count, sizeof(count), P_NORMAL);

		if (rt_pipe_read(&pipe_desc, &c, sizeof(c), TM_INFINITE) == 1)
			++count;
	}
}

int demo_init(void)
{
	int err;

	err = rt_pipe_create(&pipe_desc, "data_pipe", P_MINOR_AUTO, 0);

	if (err) {
		printk("rt_pipe_create() failed: code %d\n", err);
		goto fail;
	}

	err = rt_task_create(&task_desc,
			     "kernel_task",
			     TASK_STKSZ,
			     TASK_PRIO,
			     TASK_MODE);

	if (err) {
		printk("rt_task_create() failed: code %d\n", err);
		goto fail;
	}

	err = rt_task_start(&task_desc, &demo_task, NULL);

	if (err)
		printk("rt_task_start() failed: code %d\n", err);

fail:
	return err;
}

void demo_cleanup(void)
{
	rt_task_delete(&task_desc);
	rt_pipe_delete(&pipe_desc);
}

module_init(demo_init);
module_exit(demo_cleanup);

MODULE_LICENSE("GPL v2");