/**
 * @file task_manager.cpp
 * @brief 任务调度管理器实现。
 */

#include "main.h"
#include "sys/task_manager.h"
#include "sys/config.h"

task_scheduler_t g_scheduler = {0};

void TaskManager::init()
{
    g_scheduler.task_flags = 0U;
    g_scheduler.tick_100us = 0U;
    g_scheduler.tick_1ms   = 0U;
    g_scheduler.tick_10ms  = 0U;
    g_scheduler.tick_100ms = 0U;
    g_scheduler.tick_1s    = 0U;
}

void TaskManager::set(uint32_t taskMask)
{
    g_scheduler.task_flags |= taskMask;
}

uint32_t TaskManager::takePending()
{
    uint32_t pending;
    __disable_irq();
    pending = g_scheduler.task_flags;
    g_scheduler.task_flags &= ~pending;
    __enable_irq();
    return pending;
}

void TaskManager::tick100us()
{
    g_scheduler.tick_100us++;

    if((g_scheduler.tick_100us % CONFIG_TASK_PERIOD_VREF_SAMPLE_TICKS) == 0U) {
        set(1UL << TASK_ADC_VREF_SAMPLE);
    }

    if((g_scheduler.tick_100us % CONFIG_TASK_PERIOD_TEMP_SAMPLE_TICKS) == 0U) {
        g_scheduler.tick_1ms++;
        set((1UL << TASK_ADC_TEMP_SAMPLE) | (1UL << TASK_ADC_PROCESS));
    }

    if((g_scheduler.tick_100us % CONFIG_TASK_PERIOD_CAN_RX_TICKS) == 0U) {
        g_scheduler.tick_10ms++;
        set((1UL << TASK_CAN_RX_POLL) | (1UL << TASK_CAN_RX_PARSE));
    }

    if((g_scheduler.tick_100us % CONFIG_TASK_PERIOD_CAN_TX_TICKS) == 0U) {
        g_scheduler.tick_100ms++;
        set((1UL << TASK_CAN_TX_PREPARE) | (1UL << TASK_CAN_TX_SEND) | (1UL << TASK_STATUS_LED));
    }

    if((g_scheduler.tick_100us % CONFIG_TASK_PERIOD_HEARTBEAT_TICKS) == 0U) {
        g_scheduler.tick_1s++;
        set((1UL << TASK_HEARTBEAT) | (1UL << TASK_DIAGNOSTIC_PRINT));
    }
}

task_scheduler_t &TaskManager::state()
{
    return g_scheduler;
}