/*
 * This file is part of Cleanflight.
 *
 * Cleanflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Cleanflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

typedef enum {
    TASK_PRIORITY_IDLE = 0,     // Disables dynamic scheduling, task is executed only if no other task is active this cycle
    TASK_PRIORITY_LOW = 1,
    TASK_PRIORITY_MEDIUM = 3,
    TASK_PRIORITY_HIGH = 5,
    TASK_PRIORITY_REALTIME = 6,
    TASK_PRIORITY_MAX = 255
} cfTaskPriority_e;

typedef struct {
    const char * taskName;
    bool         isEnabled;
    uint32_t     desiredPeriod;
    uint8_t      staticPriority;
    uint32_t     maxExecutionTime;
    uint32_t     totalExecutionTime;
    uint32_t     lastExecutionTime;
    uint32_t     averageExecutionTime;
} cfTaskInfo_t;

typedef enum {
    /* Actual tasks */
    TASK_SYSTEM = 0,
    TASK_GYROPID,
    TASK_ACCEL,
    TASK_SERIAL,
    TASK_BEEPER,
    TASK_BATTERY,
    TASK_RX,
#ifdef GPS
    TASK_GPS,
#endif
#ifdef MAG
    TASK_COMPASS,
#endif
#ifdef BARO
    TASK_BARO,
#endif
#ifdef SONAR
    TASK_SONAR,
#endif
#if defined(BARO) || defined(SONAR)
    TASK_ALTITUDE,
#endif
#ifdef DISPLAY
    TASK_DISPLAY,
#endif
#ifdef TELEMETRY
    TASK_TELEMETRY,
#endif
#ifdef LED_STRIP
    TASK_LEDSTRIP,
#endif
#ifdef USE_BST
    TASK_BST_READ_WRITE,
    TASK_BST_MASTER_PROCESS,
#endif

    /* Count of real tasks */
    TASK_COUNT,

    /* Service task IDs */
    TASK_NONE = TASK_COUNT,
    TASK_SELF
} cfTaskId_e;

extern uint16_t cpuLoad;
extern uint16_t averageWaitingTasks100;

void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo);
void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros);
void setTaskEnabled(cfTaskId_e taskId, bool newEnabledState);
uint32_t getTaskDeltaTime(cfTaskId_e taskId);

void scheduler(void);