#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <sys/mman.h>

#include <native/task.h>


#define STATE_TASK_1_CREATED       1
#define STATE_TASK_2_CREATED       2

unsigned int my_state = 0;

RT_TASK  task_1;
RT_TASK  task_2;

/* .................................................................................... */


void cleanup_all(void) {


  if (my_state & STATE_TASK_2_CREATED) {
    printf("delete task_2\n");
    rt_task_delete(&task_2);
    my_state &= ~STATE_TASK_2_CREATED;
  }

  if (my_state & STATE_TASK_1_CREATED) {
    printf("delete task_1\n");
    rt_task_delete(&task_1);
    my_state &= ~STATE_TASK_1_CREATED;
  }

}


/* .................................................................................... */

int main(int argc, char* argv[]) {
  int ret = 0;

  /* no memory-swapping for this programm */
  mlockall(MCL_CURRENT | MCL_FUTURE);


  /* create task_1 */
  ret = rt_task_create(&task_1,"task_1",0,50,0);
  if (ret) {
    printf("failed to create task_1, code %d\n",ret);
    goto error;
  }
  my_state |= STATE_TASK_1_CREATED;
  printf("created task_1\n");



  /* create task_2 */
  ret = rt_task_create(&task_2,"task_2",0,51,0);
  if (ret) {
    printf("failed to create task_2, code %d\n",ret);
    goto error;
  }
  my_state |= STATE_TASK_2_CREATED;
  printf("created task_2\n");

error:
  cleanup_all();
  return ret;
}