// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2012/10/04
//  filename:   Thread_impl.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    classe implementant un thread rt ou non
//
//
/*********************************************************************/

#include "Thread_impl.h"
#include "Thread.h"
#include "IODevice.h"
#include "IODevice_impl.h"
#include "ConditionVariable.h"
#include "config.h"
#include "FrameworkManager.h"
#include <string.h>
#ifdef __XENO__
#include <rtdk.h>
#else
#include <sys/resource.h>
#endif

using std::string;
using namespace flair::core;

Thread_impl::Thread_impl(Thread* self,uint8_t priority)
{
    isRunning=false;
    tobestopped=false;
    is_suspended=false;
    period_set=false;

    this->self=self;
    cond=new ConditionVariable(self,self->ObjectName());

    if(priority<MIN_THREAD_PRIORITY)
    {
        priority=MIN_THREAD_PRIORITY;
//        printf("Thread::Thread, %s: priority set to %i\n",self->ObjectName().c_str(), priority);
    }
    if(priority>MAX_THREAD_PRIORITY)
    {
        priority=MAX_THREAD_PRIORITY;
        self->Warn("priority set to %i\n",MAX_THREAD_PRIORITY);
    }

    this->priority=priority;
    period=100*1000*1000;//100ms par defaut
    min_jitter=1000*1000*1000;
    max_jitter=0;
    mean_jitter=0;
    last=0;
    cpt=0;
}

Thread_impl::~Thread_impl()
{
    SafeStop();
    Join();
}

void Thread_impl::Start(void)
{
    int status;

    isRunning=true;

#ifdef __XENO__
    string th_name=getFrameworkManager()->ObjectName()+ "-" + self->ObjectName();

#ifdef RT_STACK_SIZE
    status=rt_task_create(&task_rt, th_name.c_str(), RT_STACK_SIZE, (int)priority, T_JOINABLE);
#else
    status=rt_task_create(&task_rt, th_name.c_str(), 0,(int)priority, T_JOINABLE);
#endif //RT_STACK_SIZE
    if(status!=0)
    {
        self->Err("rt_task_create error (%s)\n",strerror(-status));
    }
    else
    {
        //_printf("rt_task_create ok %s\n",th_name);
    }

    status=rt_task_start(&task_rt, &main_rt, (void*)this);
    if(status!=0)
    {
        self->Err("rt_task_start error (%s)\n",strerror(-status));
    }
     else
     {
        //_printf("rt_task_start ok %s\n",th_name);
     }

    // Initialise the rt_print buffer for this task explicitly
    rt_print_init(512, th_name.c_str());

#else //__XENO__

    // Initialize thread creation attributes
    pthread_attr_t attr;
    if(pthread_attr_init(&attr) != 0)
    {
        self->Err("Error pthread_attr_init\n");
    }

#ifdef NRT_STACK_SIZE
    if(pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0)
    {
        self->Err("Error pthread_attr_setstacksize\n");
    }
#endif //NRT_STACK_SIZE

    if(pthread_attr_setinheritsched(&attr,PTHREAD_EXPLICIT_SCHED)!=0)
    {
        self->Err("Error pthread_attr_setinheritsched\n");
    }

    if(pthread_attr_setschedpolicy(&attr, SCHED_FIFO)!=0)
    {
        self->Err("Error pthread_attr_setschedpolicy\n");
    }

    struct sched_param parm;
    parm.sched_priority = priority;
    if(pthread_attr_setschedparam(&attr,&parm)!=0)
    {
        self->Err("Error pthread_attr_setschedparam\n");
    }

    next_time=GetTime()+period;

    if(pthread_create(&task_nrt,  &attr, main_nrt, (void*)this) != 0)
    {
        self->Err("pthread_create error\n");
    }

    if(pthread_attr_destroy(&attr) != 0)
    {
        self->Err("Error pthread_attr_destroy\n");
    }

#endif //__XENO__
}

#ifdef __XENO__
void Thread_impl::main_rt(void * arg)
{
    Thread_impl *caller = (Thread_impl*)arg;

    // Perform auto-init of rt_print buffers if the task doesn't do so
    rt_print_auto_init(1);

    caller->self->Run();

    caller->PrintStats();
}
#else
void* Thread_impl::main_nrt(void * arg)
{
    Thread_impl *caller = (Thread_impl*)arg;

    caller->self->Run();

    caller->PrintStats();

    pthread_exit(0);
}
#endif //__XENO__

void Thread_impl::SetPeriodUS(uint32_t period) {
    if(period==0) {
        self->Err("Period must be>0\n");
        return;
    }

#ifdef __XENO__
    int status=rt_task_set_periodic(&task_rt, TM_NOW, period*1000);
    if(status!=0) self->Err("Error rt_task_set_periodic %s\n",strerror(-status));
#else
    next_time-=period;
    next_time+=period*1000;
#endif
    this->period=period*1000;
    period_set=true;
}

uint32_t Thread_impl::GetPeriodUS() const {
    return this->period/1000;
}

void Thread_impl::SetPeriodMS(uint32_t period) {
    if(period==0) {
        self->Err("Period must be>0\n");
        return;
    }

#ifdef __XENO__
    int status=rt_task_set_periodic(&task_rt, TM_NOW, period*1000*1000);
    if(status!=0) self->Err("Error rt_task_set_periodic %s\n",strerror(-status));
#else
    next_time-=period;
    next_time+=period*1000*1000;
#endif
    this->period=period*1000*1000;
    period_set=true;
}

uint32_t Thread_impl::GetPeriodMS() const {
    return this->period/1000/1000;
}

void Thread_impl::WaitPeriod(void)
{
    if(period_set==false)
    {
        self->Err("Period must be set befaore calling this method\n");
        return;
    }
#ifdef __XENO__
    unsigned long overruns_r;
    int status=rt_task_wait_period(&overruns_r);
    if(status!=0) self->Err("Error rt_task_wait_period %s\n",strerror(-status));
    if(status==-ETIMEDOUT) self->Err("overrun: %lld\n",overruns_r);
#else
    self->SleepUntil(next_time);
    next_time+=period;
#endif
    ComputeJitter(GetTime());
}


void Thread_impl::Suspend(void) {
    if(isRunning==false) {
        self->Err("thread is not started\n");
        return;
    }

    cond->GetMutex(),
    is_suspended=true;
    cond->CondWait();
    is_suspended=false;
    cond->ReleaseMutex();
}

bool Thread_impl::SuspendUntil(Time date) {
    if(isRunning==false) {
        self->Err("thread is not started\n");
        return false;
    }

    cond->GetMutex(),
    is_suspended=true;
    bool success=cond->CondWaitUntil(date);
    is_suspended=false;
    cond->ReleaseMutex();
    return success;
}

bool Thread_impl::IsSuspended(void)
{
    bool result;

    cond->GetMutex();
    result=is_suspended;
    cond->ReleaseMutex();

    return result;
}

void Thread_impl::Resume(void)
{
    if(isRunning==false)
    {
        self->Err("thread is not started\n");
        return;
    }

    cond->GetMutex();
    if(is_suspended==true)
    {
        cond->CondSignal();
    }
    else
    {
        self->Err("thread is not suspended\n");
    }
    cond->ReleaseMutex();
}

int Thread_impl::WaitUpdate(const IODevice* device)
{
    int status=0;

    if(IsSuspended()==true)
    {
        self->Err("thread is already supended\n");
        status=-1;
    }
    else
    {
        cond->GetMutex();

        if(device->pimpl_->SetToWake(self)==0)
        {
            is_suspended=true;
            cond->CondWait();
            is_suspended=false;
        }
        else
        {
            self->Err("%s is already waiting an update\n",device->ObjectName().c_str());
            status=-1;
        }

        cond->ReleaseMutex();
    }

    return status;
}

void Thread_impl::PrintStats(void)
{
#ifdef __XENO__
    RT_TASK_INFO info;

    int status=rt_task_inquire(NULL, &info);
    if(status!=0)
    {
        self->Err("Error rt_task_inquire %s\n",strerror(-status));
    }
    else
#endif
    {
#ifndef __XENO__
        //if(last!=0)
#endif
        {
            Printf("Thread::%s :\n",self->ObjectName().c_str());
        }
#ifdef __XENO__
        Printf("    number of context switches: %i\n",info.ctxswitches);
        Printf("    number of primary->secondary mode switch: %i\n",info.modeswitches);
        //printf("number of page faults: %i\n",info.pagefaults);
        Printf("    execution time (ms) in primary mode: %lld\n",info.exectime/1000000);
#else
/*
        struct rusage r_usage;
        getrusage(RUSAGE_THREAD,&r_usage);
        printf("    memory usage = %ld\n",r_usage.ru_maxrss);
        printf("RUSAGE :ru_utime => %lld [sec] : %lld [usec], :ru_stime => %lld [sec] : %lld [usec] \n",
           (int64_t)r_usage.ru_utime.tv_sec, (int64_t)r_usage.ru_utime.tv_usec,
           (int64_t)r_usage.ru_stime.tv_sec, (int64_t)r_usage.ru_stime.tv_usec);*/
#endif
        if(last!=0)
        {
            Printf("    min jitter (ns): %lld\n",min_jitter);
            Printf("    max jitter (ns): %lld\n",max_jitter);
            Printf("    jitter moy (ns): %lld\n",mean_jitter/cpt);
            Printf("    itertions: %lld\n",cpt);
        }
    }
}

void Thread_impl::Join(void)
{
    if(isRunning==true)
    {
        int status;

#ifdef __XENO__
        status=rt_task_join(&task_rt);
#else
        status=pthread_join(task_nrt,NULL);
#endif
        if(status!=0) self->Err("error %s\n",strerror(-status));
        isRunning=false;
    }
}

void Thread_impl::ComputeJitter(Time time)
{
    Time diff,delta;
    diff=time-last;

    if(diff>=period)
    {
        delta=diff-period;
    }
    else
    {
        delta=period-diff;
    }
    //if(delta==0) rt_printf("%lld %lld\n",time,last);
    last=time;
    if(diff==time) return;

    if(delta>max_jitter) max_jitter=delta;
    if(delta<min_jitter) min_jitter=delta;
    mean_jitter+=delta;
    cpt++;

    //Printf("Thread::%s jitter moy (ns): %lld\n",self->ObjectName().c_str(),mean_jitter/cpt);

}

void Thread_impl::SafeStop(void)
{
    tobestopped=true;
    if(IsSuspended()) Resume();
}

bool Thread_impl::ToBeStopped(void)
{
    return tobestopped;
}