#include "FreeRTOS.h"
#include "semphr.h"
#include "task.h"

/**
 * Task descriptors
*/
#define NUMBER_OF_TASKS 100
SemaphoreHandle_t taskMutex = NULL;
StaticSemaphore_t taskMutexDescriptor;
size_t nextFreeTaskDescriptor = 0;
StaticTask_t taskDescriptors[NUMBER_OF_TASKS];

/**
 * Queue descriptors
*/
#define NUMBER_OF_QUEUES 300
SemaphoreHandle_t queueMutex = NULL;
StaticSemaphore_t queueMutexDescriptor;
size_t nextFreeQueueDescriptor = 0;
StaticQueue_t queueDescriptors[NUMBER_OF_QUEUES];

// TODO check and return
void initFreeRTOSHelper() {
  taskMutex = xSemaphoreCreateRecursiveMutexStatic(&taskMutexDescriptor);
  queueMutex = xSemaphoreCreateRecursiveMutexStatic(&queueMutexDescriptor);
}

const char * get_task_name() {
    return pcTaskGetName( NULL );
}

void stop_it() {
    taskENTER_CRITICAL();
}

// TODO return some error code?
void *create_task(TaskFunction_t taskFunction, void *parameter, void *buffer,
                 size_t buffersize) {
  if (xSemaphoreTakeRecursive(taskMutex, portMAX_DELAY) != pdTRUE) {
    return NULL;
  }
  // we hold the task mutex and are now allowed to access the taskDescriptors
  if (nextFreeTaskDescriptor >=
      sizeof(taskDescriptors) / sizeof(*taskDescriptors)) {
    return NULL;
  }

  TaskHandle_t newTask = xTaskCreateStatic(
      taskFunction, "rust", buffersize / sizeof(StackType_t), parameter, 4,
      buffer, taskDescriptors + nextFreeTaskDescriptor);

  nextFreeTaskDescriptor++;

  xSemaphoreGiveRecursive(taskMutex);
  return newTask;
}

void task_delay(uint32_t milliseconds) {
  vTaskDelay(pdMS_TO_TICKS(milliseconds));
}

void * create_queue(size_t length, size_t element_size, uint8_t * buffer) {
    if (xSemaphoreTakeRecursive(queueMutex, portMAX_DELAY) != pdTRUE) {
    return NULL;
  }
  // we hold the queue mutex and are now allowed to access the taskDescriptors
  if (nextFreeQueueDescriptor >=
      sizeof(queueDescriptors) / sizeof(*queueDescriptors)) {
    return NULL;
  }
QueueHandle_t newQueue = xQueueCreateStatic(length, element_size, buffer, queueDescriptors + nextFreeQueueDescriptor);
nextFreeQueueDescriptor++;
xSemaphoreGiveRecursive(queueMutex);
  return newQueue;
}