# 1 "task.cpp"
# 1 "<built-in>"
# 1 "<command-line>"
# 1 "task.cpp"
# 1 "task.h" 1





# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/stdint.h" 1 3
# 121 "c:/winavr-20080610/lib/gcc/../../avr/include/stdint.h" 3
typedef int int8_t __attribute__((__mode__(__QI__)));
typedef unsigned int uint8_t __attribute__((__mode__(__QI__)));
typedef int int16_t __attribute__ ((__mode__ (__HI__)));
typedef unsigned int uint16_t __attribute__ ((__mode__ (__HI__)));
typedef int int32_t __attribute__ ((__mode__ (__SI__)));
typedef unsigned int uint32_t __attribute__ ((__mode__ (__SI__)));

typedef int int64_t __attribute__((__mode__(__DI__)));
typedef unsigned int uint64_t __attribute__((__mode__(__DI__)));
# 142 "c:/winavr-20080610/lib/gcc/../../avr/include/stdint.h" 3
typedef int16_t intptr_t;




typedef uint16_t uintptr_t;
# 159 "c:/winavr-20080610/lib/gcc/../../avr/include/stdint.h" 3
typedef int8_t int_least8_t;




typedef uint8_t uint_least8_t;




typedef int16_t int_least16_t;




typedef uint16_t uint_least16_t;




typedef int32_t int_least32_t;




typedef uint32_t uint_least32_t;







typedef int64_t int_least64_t;






typedef uint64_t uint_least64_t;
# 213 "c:/winavr-20080610/lib/gcc/../../avr/include/stdint.h" 3
typedef int8_t int_fast8_t;




typedef uint8_t uint_fast8_t;




typedef int16_t int_fast16_t;




typedef uint16_t uint_fast16_t;




typedef int32_t int_fast32_t;




typedef uint32_t uint_fast32_t;







typedef int64_t int_fast64_t;






typedef uint64_t uint_fast64_t;
# 273 "c:/winavr-20080610/lib/gcc/../../avr/include/stdint.h" 3
typedef int64_t intmax_t;




typedef uint64_t uintmax_t;
# 7 "task.h" 2




namespace TaskManager{
    enum TASK_TYPE{
        SINGLE_RUN,
        MULTI_RUN,
    };

    enum PRIORITY{
        HIGH = 0,
        MEDIUM = 50,
        LOW = 150,
    };

    struct Task{
        void (*function)(void*,void*);
        void* arg0;
        void* arg1;
        TASK_TYPE type;
        uint16_t interval;
        uint32_t next_run;
        uint8_t priority;
        bool active;
        uint8_t pri_level;
    };

    extern volatile uint8_t cur_tasks;

    extern volatile uint8_t cpu_usage;

    extern volatile Task tasks[12];

    extern volatile uint8_t cur_priority[3];

    extern void AddTask(void (*function)(void*,void*), void* arg0, void* arg1,TASK_TYPE type,uint16_t interval,PRIORITY pri);
    extern uint8_t ExecuteNextTask(void);
    extern void DeleteTask(void (*function)(void*,void*));
    extern void Init(void);
};
# 2 "task.cpp" 2
# 1 "clock_o.h" 1




# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/interrupt.h" 1 3
# 38 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/interrupt.h" 3
# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 1 3
# 94 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 3
# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/sfr_defs.h" 1 3
# 126 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/sfr_defs.h" 3
# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/inttypes.h" 1 3
# 77 "c:/winavr-20080610/lib/gcc/../../avr/include/inttypes.h" 3
typedef int32_t int_farptr_t;



typedef uint32_t uint_farptr_t;
# 127 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/sfr_defs.h" 2 3
# 95 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3
# 127 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 3
# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/iom128.h" 1 3
# 128 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3
# 317 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 3
# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/portpins.h" 1 3
# 318 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3

# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/common.h" 1 3
# 320 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3

# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/version.h" 1 3
# 322 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3


# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/fuse.h" 1 3
# 214 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/fuse.h" 3
typedef struct
{
    unsigned char low;
    unsigned char high;
    unsigned char extended;
} __fuse_t;
# 325 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3


# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/lock.h" 1 3
# 328 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3
# 39 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/interrupt.h" 2 3
# 6 "clock_o.h" 2

namespace Clock{

    extern volatile uint32_t ticks;

    void Init(void);

};


inline uint32_t getTicks(void){
    uint32_t t;
    __asm__ __volatile__ ("cli" ::);
    t = Clock::ticks;
    __asm__ __volatile__ ("sei" ::);
    return t;
}
# 3 "task.cpp" 2

namespace TaskManager{
    volatile Task tasks[12];
    volatile uint8_t cur_priority[3] = {0,0,0};
    volatile uint8_t cur_tasks;

    volatile uint8_t cpu_usage;

    volatile uint8_t cur_done;
    volatile uint8_t counter;


    void AddTask(void (*function)(void*,void*), void* arg0, void* arg1,TASK_TYPE type,uint16_t interval,PRIORITY pri){
        uint8_t index = 0;

        for(index=0; index<12;index++)
            if(!tasks[index].active)
                break;

        tasks[index].function = function;
        tasks[index].arg0 = arg0;
        tasks[index].arg1 = arg1;
        tasks[index].type = type;
        if(pri==HIGH)
            tasks[index].pri_level = 0;
        else if(pri==MEDIUM)
            tasks[index].pri_level = 1;
        else
            tasks[index].pri_level = 2;
        tasks[index].priority = pri + cur_priority[tasks[index].pri_level]++;
        tasks[index].interval = interval;
        tasks[index].active = true;

        tasks[index].next_run = getTicks() + (uint32_t)interval;
    }

    uint8_t ExecuteNextTask(void){
        int8_t index = -1;
        uint8_t i;
        uint8_t leastpri = 0xff;
        uint32_t curt = getTicks();
        cur_tasks = 0;

        counter++;
        if(counter==200){
            cpu_usage = cur_done / 2;
            cur_done = 0;
            counter = 0;
        }

        for(i=0; i<12;i++){
            if(tasks[i].active){
                cur_tasks++;
                if(tasks[i].next_run<=curt){
                    if(tasks[i].priority<leastpri){
                        leastpri = tasks[i].priority;
                        index = (int8_t)i;
                    }
                }
            }
        }

        if(index!=-1){
            cur_done++;

            tasks[index].function(tasks[index].arg0,tasks[index].arg1);
            if(tasks[index].type==SINGLE_RUN){
                tasks[index].active = false;

                cur_priority[tasks[index].pri_level]--;
            }
            else
                tasks[index].next_run += tasks[index].interval;
        }
        return 1;
    }

    void DeleteTask(void (*function)(void*,void*)){
        uint8_t i;
        for(i = 0; i < 12; i++){
            if(tasks[i].function==function){
                tasks[i].active = false;

                cur_priority[tasks[i].pri_level]--;
                return;
            }
        }
    }

    void Init(void){
        uint8_t i;
        for(i = 0; i < 12; i++)
            tasks[i].active = false;
    }

};