#include "test.hpp"

#include <Task.hpp>
#include <array>

using namespace fos;

TEST_CASE("Test Delay", "[freeRtos][task]") {
    TickType_t start = xTaskGetTickCount();
    Task::delayMs(5 * portTICK_PERIOD_MS);
    TickType_t end = xTaskGetTickCount();
    TEST_ASSERT_GREATER_OR_EQUAL(5, (end - start));
    TEST_ASSERT_LESS_OR_EQUAL(6, (end - start));
}

static bool taskWasCalled = false;
static void callableTask() {
    taskWasCalled = true;
    while (true) {
        vTaskDelay(100);
    }
}

TEST_CASE("Test creation and deletion", "[freeRtos][task]") {
    static Task task(callableTask, "task1");
    Task::delayMs(50);
    TEST_ASSERT_TRUE(taskWasCalled);
    task.kill();
}

static void callableTask2() {
    taskWasCalled = true;
    while (true) {
        vTaskDelay(100);
    }
}

TEST_CASE("Test if task can be killed", "[freeRtos][task]") {
    static Task task(callableTask2, "task2");
    auto handle = task.getHandle();
    configASSERT(handle);
    TEST_ASSERT_TRUE(eTaskState::eReady == task.getState() ||
                     eTaskState::eBlocked == task.getState());
    Task::delayMs(50);
    TEST_ASSERT_TRUE(taskWasCalled);
    task.kill();
    TEST_ASSERT_EQUAL(eTaskState::eDeleted, eTaskGetState(handle));
}

static std::array<int, 2> values;

static void oneOfMultiple(int idx) {
    static std::array<int, 2> c{1, -1};

    for (size_t i = 0; i < 10; i++) {
        values.at(idx) += c.at(idx);
    }

    while (true) {
        vTaskDelay(100);
    }
}

TEST_CASE("Test if tasks do not interfere", "[freeRtos][task]") {
    // Both tasks are run by starting the same static function body
    int param1 = 0;
    TaskT<int> task1(oneOfMultiple, param1, "pTask1");
    int param2 = 1;
    TaskT<int> task2(oneOfMultiple, param2, "pTask2");

    Task::delayMs(50);

    TEST_ASSERT_EQUAL(10, values[0]);
    TEST_ASSERT_EQUAL(-10, values[1]);
}

TEST_CASE("Test if tasks can be joined correctly", "[freeRtos][task]") {
    // Both tasks are run by starting the same static function body
    int param1 = 0;
    Task task1(oneOfMultiple, param1, "pTask1");
    int param2 = 1;
    TaskT<int> task2(oneOfMultiple, param2, "pTask2");

    Task::delayMs(50);

    TEST_ASSERT_EQUAL(10, values[0]);
    TEST_ASSERT_EQUAL(-10, values[1]);
}