#include <sched.h>
#include <stdlib.h>
#include <sys/time.h>
#include <time.h>
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <strings.h>
#include <sys/types.h>
#include <ctype.h>
#include <sys/types.h>
#include <sys/wait.h>
#include <unistd.h>

#include "periodic_tasks.h"
#include "cyclic_test.h"

int main(int argc, char *argv[])
{
    int res, dummy, pmin;
    struct periodic_task *t;
    struct sched_param sp;

    pmin = sched_get_priority_min(SCHED_FIFO);
    res = fork();
    if (res ==0) {
      /* Shortest period  -> highest priority */
      sp.sched_priority = pmin + 3;
      sched_setscheduler(0, SCHED_FIFO, &sp);
      t = start_periodic_timer(2000000, 50000);
      while (1) {
        wait_next_activation(t);
        task1();
      }
    }

    res = fork();
    if (res == 0) {
      sp.sched_priority = pmin + 2;
      sched_setscheduler(0, SCHED_FIFO, &sp);
      t = start_periodic_timer(2000000, 100000);
      while (1) {
        wait_next_activation(t);
        task2();
      }
    }

    res = fork();
    if (res == 0) {
      /* Longest period  -> lowest priority */
      sp.sched_priority = pmin + 1;
      sched_setscheduler(0, SCHED_FIFO, &sp);
      t = start_periodic_timer(2000000, 150000);
      while (1) {
        wait_next_activation(t);
        task3();
      }
    }

    wait(&dummy);
    wait(&dummy);
    wait(&dummy);

    return 0;
}