/*
 * Implement 3 periodic threads, with periods 50ms, 100ms, and 150ms.
 * The job bodies are functions named task1(), task2() and task3()
 * (defined in cyclic_test.c)
 */

#include <stdio.h>
#include <pthread.h>
#include <stdlib.h>
#include <sys/time.h>
#include <time.h>
#include <stdint.h>

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

void *thread1(void *param)
{
  struct periodic_task *p_d;

  p_d = start_periodic_timer(2000000, 50000);
  while (1) {
    wait_next_activation(p_d);
    task1();
  }
}

void *thread2(void *param)
{
  struct periodic_task *p_d;

  p_d = start_periodic_timer(2000000, 100000);
  while (1) {
    wait_next_activation(p_d);
    task2();
  }
}

void *thread3(void *param)
{
  struct periodic_task *p_d;

  p_d = start_periodic_timer(2000000, 150000);
  while (1) {
    wait_next_activation(p_d);
    task3();
  }
}

int main(int argc, char *argv[])
{
  int err;
  void *returnvalue;
  pthread_t second_id, third_id, fourth_id;
  int pmin;
  pthread_attr_t attrs;
  struct sched_param sp;

  pthread_attr_init(&attrs);
  err = pthread_attr_setinheritsched(&attrs, PTHREAD_EXPLICIT_SCHED);
  if (err != 0) {
    perror("setineheritsched");
  }
  err = pthread_attr_setschedpolicy(&attrs, SCHED_FIFO);
  if (err != 0) {
    perror("setschedpolicy");
  }
  pmin = sched_get_priority_min(SCHED_FIFO);

  /* creation and activation of the new thread */
  sp.sched_priority = pmin + 3;
  err = pthread_attr_setschedparam(&attrs, &sp);
  if (err != 0) {
    perror("setschedparam");
  }
  err = pthread_create(&second_id, &attrs, thread1, (void *)NULL);
  if (err != 0) {
    fprintf(stderr, "Cannot create pthread 1");
  }

  sp.sched_priority = pmin + 2;
  err = pthread_attr_setschedparam(&attrs, &sp);
  if (err != 0) {
    perror("setschedparam");
  }
  err = pthread_create(&third_id, &attrs, thread2, (void *)NULL);
  if (err != 0) {
    fprintf(stderr, "Cannot create pthread 2");
  }

  sp.sched_priority = pmin + 1;
  err = pthread_attr_setschedparam(&attrs, &sp);
  if (err != 0) {
    perror("setschedparam");
  }
  err = pthread_create(&fourth_id, &attrs, thread3, (void *)NULL);
  if (err != 0) {
    fprintf(stderr, "Cannot create pthread 3");
  }

  /* We wait the end of the threads we just created. */
  pthread_join(second_id, &returnvalue);
  pthread_join(third_id, &returnvalue);
  pthread_join(fourth_id, &returnvalue);


  printf("main: returnvalue is %d\n", (int)returnvalue);

  return 0;
}