/* Standard includes */
#include <stdio.h>                          // prototype declarations for I/O functions

/* FreeRTOS includes */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"


#define TASK_A_MSG (0xAAAA)
#define TASK_B_MSG (0xBBBB)

xQueueHandle xQueue;

void prvTaskA (void* pvParameters)
{	
	unsigned portLONG ulVar = TASK_A_MSG;
	(void) pvParameters;                    // Just to stop compiler warnings.

	for (;;) {
		vTaskDelay(500);
		printf("Task A\n");

		if (ulVar == TASK_A_MSG)
			ulVar = TASK_B_MSG;
		else
			ulVar = TASK_A_MSG;

		if( xQueue != 0 )
		{
			// Send an unsigned long.  Wait for 10 ticks for space to become 
			// available if necessary.
			if( xQueueSend( xQueue, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
			{
				// Failed to post the message, even after 10 ticks.
				for(;;); // trap, set break point here!
			}
		}


		vTaskDelay(500);
	}
}

void prvTaskB (void* pvParameters)
{
	unsigned portLONG pxRxedMessage = 0;
	(void) pvParameters;                    // Just to stop compiler warnings.


	for (;;) {
		printf("Task B\n");
		if( xQueue != 0 )
		{
			// Receive a message on the created queue.  Block for 10 ticks if a
			// message is not immediately available.
			if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
			{
				// pcRxedMessage now points to the struct AMessage variable posted
				// by vATask.
				if (pxRxedMessage == TASK_A_MSG)
					printf("R: TASK_A_MSG\n");
				else if (pxRxedMessage == TASK_B_MSG)
					printf("R: TASK_B_MSG\n");
				else
					printf("UNKNOWN MSG\n");
			}
		}
		vTaskDelay(1000);
	}
}

int main (void)
{
	portTickType xNextWakeTime;
	xNextWakeTime = xTaskGetTickCount();

	xTaskCreate( prvTaskA, ( signed char * ) "TaskA", configMINIMAL_STACK_SIZE, NULL,
		tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
	xTaskCreate( prvTaskB, ( signed char * ) "TaskB", configMINIMAL_STACK_SIZE, NULL, 
		tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );

	// Create a queue capable of containing 10 unsigned long values. 
	xQueue = xQueueCreate( 10, sizeof( unsigned portLONG ) ); 
	if( xQueue == 0 ) { 
		// Queue was not created and must not be used. 
		for (;;) ; // trap
	}

	vTaskStartScheduler();

	//should never get here
	printf("ERORR: vTaskStartScheduler returned!");
	for (;;);
}


void vApplicationIdleHook( void )
{
	const unsigned long ulMSToSleep = 5;

	/* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
	tasks waiting to be terminated by the idle task. */
	Sleep( ulMSToSleep );
}
/*-----------------------------------------------------------*/

void vApplicationMallocFailedHook( void )
{
	/* Can be implemented if required, but probably not required in this 
	environment and running this demo. */
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( void )
{
	/* Can be implemented if required, but not required in this 
	environment and running this demo. */
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
	/* Call the periodic timer test, which tests the timer API functions that
	can be called from an ISR. */
	//	vTimerPeriodicISRTests();
}
/*-----------------------------------------------------------*/

void vAssertCalled( void )
{
	taskDISABLE_INTERRUPTS();
	for( ;; );
}