/*
 * Copyright (C) 2019 BNIS
*  Make file 请参考过往博客
*  本例程在模块初始化时启动3个任务。在任务1中,实现了类似定时器
*  的定时功能,通过第2任务去结束第1任务,任务3启动后等待任务2结束再继续执行.
*
*/
 
#include <linux/module.h>
#include <rtdm/driver.h>
#include <rtdm/testing.h>
 
 
MODULE_DESCRIPTION("---RTDM test helper module----");
MODULE_AUTHOR("bniss@aliyun.com");
MODULE_VERSION("0.1.0");
MODULE_LICENSE("GPL");
 
 
struct rtdm_basic_context {
  unsigned long number;
};
 
 
rtdm_task_t test_task1;
rtdm_task_t test_task2;
rtdm_task_t test_task3;
 
 nanosecs_abs_t initTm;
 rtdm_timer_t test_timer;
 rtdm_event_t event;
 int run  = 1 ;
 
static int rtdm_bnis_open(struct rtdm_fd *fd, int oflags)
{
  printk("#device_bnis is open .flag = %d. /n" , oflags ); //app-rt_dev_open(DEVICE_NAME, 0);
  return 0;
 
}
 
static void rtdm_bnis_close(struct rtdm_fd *fd)
{
   printk("#device_bnis close. /n");  app-rt_dev_close(DEVICE_NAME);
}
 
 
 
static struct rtdm_driver rtdm_bnis_driver = {
  .profile_info   = RTDM_PROFILE_INFO(rtdm_bnis_basic,
                RTDM_CLASS_TESTING,
                RTDM_SUBCLASS_RTDMTEST,
                RTTST_PROFILE_VER),
  .device_flags   =  RTDM_NAMED_DEVICE | RTDM_EXCLUSIVE,
  .device_count   = 2,
  .context_size   = sizeof(struct rtdm_basic_context),
  .ops = {
    .open   = rtdm_bnis_open,
    .close    = rtdm_bnis_close,
  },
};
 
 
 
static struct rtdm_device myDevice = {
 
    .driver = &rtdm_bnis_driver,
    .label = "bnis_rtdm",
 
};
 
static void task_msleep(uint64_t ms){
  uint64_t allNas = 1000000*ms;
   rtdm_task_sleep(allNas);
}
 
 
static void task_test_handler1(void *arg){
 
    int err,res ;
    uint64_t tmp,cnt;
   
    printk("======begin task1========%ld /n",rtdm_clock_read()-initTm);
    tmp = rtdm_clock_read();
    err = rtdm_task_set_period(NULL,0,500000000ULL);
    cnt = 0;
    while(  run > 0 ){
    res = rtdm_task_wait_period( NULL );
      printk("res = %d , cnt = %d ,period take = %ld" , res , cnt ,rtdm_clock_read() -tmp);
 
      tmp = rtdm_clock_read();
      if( res!=0)
        break;
      
      if(cnt++>20){
        break;
      }
    }
 
    printk("exit task1 ,cnt = %ld .run =%d ",cnt ,run );
 
}
 
 
 
static void task_test_handler2(void *arg)
{
     
  printk("======begin task2========%ld /n",rtdm_clock_read()-initTm);
  task_msleep(5000); //sleep 5 sec
  printk("=============destroy task1 in task2========/n");
  rtdm_task_destroy(&test_task1);
 
 exit:
   printk("=============exit task2========/n");
   rtdm_task_destroy(&test_task2); 
   
}
 
static void task_test_handler3(void *arg)
{
    printk("======begin task3========%ld /n",rtdm_clock_read()-initTm);
    rtdm_task_join(&test_task2); //wait on task2 exit
 exit:
    printk("=============exit task3========/n");
    rtdm_task_destroy(&test_task3); 
}
 
 
static int __init rtdm_test_init(void)
{
    printk("====init test for rtdm=========/n");
    rtdm_dev_register( &myDevice);
    initTm = rtdm_clock_read();
    rtdm_task_init(&test_task1, "rtdm_test_task1",task_test_handler1, NULL,0, 0);
    rtdm_task_init(&test_task2, "rtdm_test_task2",task_test_handler2, NULL,0, 0);
    rtdm_task_init(&test_task3, "rtdm_test_task3",task_test_handler3, NULL,0, 0);    
    return 0;
}
 
static void __exit rtdm_test_exit(void)
{
  printk("=======exit rtdm test =========/n");
  rtdm_dev_unregister(&myDevice);
}
 
module_init(rtdm_test_init);
module_exit(rtdm_test_exit);