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

#define NUMBER_OF_TASKS 300
SemaphoreHandle_t taskMutex = NULL;
StaticSemaphore_t taskMutexDescriptor;
size_t nextFreeTaskDescriptor = 0;
StaticTask_t taskDescriptors[NUMBER_OF_TASKS];

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

// TODO return some error code?
void *createTask(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));
}