/*
 * Copyright (c) 2006-2021, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2022-06-15     fize       the first version
 */

#include <rtk_task.h>

#define LOG_TAG "USER_TASK"

#define THREAD_get_rtcm_data_priority 10
#define THREAD_rtcm_data_proces_priority 9

#define get_rtcm_data_stack_size DEFAULT_USER_THREAD_STACK_SIZE
#define rtcm_data_proces_stack_size DEFAULT_USER_THREAD_STACK_SIZE

rtcm_t rtcm_data;
struct rt_completion get_rtcm_data_completion;
struct rt_completion rtcm_data_process_completion;

static struct rt_thread get_rtcm_data;
static char thread_get_rtcm_data_stack[get_rtcm_data_stack_size];
static struct rt_thread rtcm_data_proces;
static char thread_rtcm_data_proces_stack[DEFAULT_USER_THREAD_STACK_SIZE];


static char rtcm_buff[2048];

static void thread_get_rtcm_data(void *parameter)
{

    init_rtcm(&rtcm_data);
    rt_completion_init(&get_rtcm_data_completion);
    while (1)
    {
        rt_sem_take(&uart3_simpack.rx_sem, RT_WAITING_FOREVER);
        //to make sure there is only one sem exist at uart,keep data from being damaged by dma transmit.
        //rt thread could not get uart status when it receiving data.
        //it may cross frame lost if the system runs slow.
        if (rt_completion_wait(&rtcm_data_process_completion, RT_WAITING_FOREVER)==RT_EOK) //need a completion sem connect to rtcm data processing thread.
        {
            get_rtcm_data_completion.flag = RT_UNCOMPLETED;
            length = uart3_simpack.rx_num;
            READ_SERIAL3(rtcm_buff);
            rt_completion_done(&get_rtcm_data_completion);
        }
    }
}

static void thread_rtcm_data_proces(void *parameter)
{
    rt_completion_init(&rtcm_data_process_completion);
    rt_completion_done(&rtcm_data_process_completion);
    while (1)
    {
        rt_completion_wait(&get_rtcm_data_completion, RT_WAITING_FOREVER);
        rtcm_data_process_completion.flag = RT_UNCOMPLETED;
        for (int var = 0; var < uart3_simpack.rx_num; var++)
        {
            input_rtcm3(&rtcm_data, rtcm_buff[var]);
        }
        rt_completion_done(&rtcm_data_process_completion);
    }

}

static void user_init_task(rt_thread_t thread, const char *name, void (*entry)(void *parameter), void *stack_start,
        rt_uint32_t stack_size, rt_uint8_t priority, rt_uint32_t tick, rt_uint32_t start)
{
    rt_err_t result = RT_EOK;
    result = rt_thread_init(thread, name, entry, RT_NULL, stack_start, stack_size, priority, tick);
    if (start)
    {
        if (result == RT_EOK)
        {
            rt_thread_startup(thread);
        }
        else
        {
            LOG_E("task init failed :%s", name);
        }
    }
}

/*===========================================================================================================*/
void task_init(void)
{
    user_init_task(&get_rtcm_data, "get_rtcm_data", thread_get_rtcm_data, thread_get_rtcm_data_stack,
            get_rtcm_data_stack_size, THREAD_get_rtcm_data_priority, DEFAULT_USER_THREA_TICK, RT_TRUE);
    user_init_task(&rtcm_data_proces, "rtcm_data_proces", thread_rtcm_data_proces, thread_rtcm_data_proces_stack, rtcm_data_proces_stack_size, THREAD_rtcm_data_proces_priority, DEFAULT_USER_THREA_TICK, RT_TRUE);
}