/*
    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

/**
 * @file    osal.c
 * @brief   OSAL module code.
 *
 * @addtogroup OSAL
 * @{
 */

#include "osal.h"

/*===========================================================================*/
/* Module local definitions.                                                 */
/*===========================================================================*/

/*===========================================================================*/
/* Module exported variables.                                                */
/*===========================================================================*/

/**
 * @brief   Pointer to a halt error message.
 * @note    The message is meant to be retrieved by the debugger after the
 *          system halt caused by an unexpected error.
 */
const char *osal_halt_msg;

/*===========================================================================*/
/* Module local types.                                                       */
/*===========================================================================*/

/*===========================================================================*/
/* Module local variables.                                                   */
/*===========================================================================*/

/*===========================================================================*/
/* Module local functions.                                                   */
/*===========================================================================*/

/*===========================================================================*/
/* Module exported functions.                                                */
/*===========================================================================*/

/**
 * @brief   OSAL module initialization.
 *
 * @api
 */
void osalInit(void) {

}

/**
 * @brief   System halt with error message.
 *
 * @param[in] reason    the halt message pointer
 *
 * @api
 */
#if !defined(__DOXYGEN__)
__attribute__((weak, noreturn))
#endif
void osalSysHalt(const char *reason) {

  osalIsrDisable();
  osal_halt_msg = reason;
  while (1)
    ;
}

/**
 * @brief   Enqueues the caller thread.
 * @details The caller thread is enqueued and put to sleep until it is
 *          dequeued or the specified timeouts expires.
 *
 * @param[in] tqp       pointer to the threads queue object
 * @param[in] time      the timeout in system ticks, the special values are
 *                      handled as follow:
 *                      - @a TIME_INFINITE the thread enters an infinite sleep
 *                        state.
 *                      - @a TIME_IMMEDIATE the thread is not enqueued and
 *                        the function returns @p MSG_TIMEOUT as if a timeout
 *                        occurred.
 *                      .
 * @return              The message from @p osalQueueWakeupOneI() or
 *                      @p osalQueueWakeupAllI() functions.
 * @retval RDY_TIMEOUT  if the thread has not been dequeued within the
 *                      specified timeout or if the function has been
 *                      invoked with @p TIME_IMMEDIATE as timeout
 *                      specification.
 *
 * @sclass
 */
msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {
  msg_t msg;
  virtual_timer_t vt;

  void wakeup(void *p) {
    osalSysLockFromISR();
    osalThreadResumeI((thread_reference_t *)p, MSG_TIMEOUT);
    osalSysUnlockFromISR();
  }

  if (TIME_IMMEDIATE == time)
    return MSG_TIMEOUT;

  tqp->tr = NULL;

  if (TIME_INFINITE == time)
   return osalThreadSuspendS(&tqp->tr);

  osalVTSetI(&vt, time, wakeup, (void *)&tqp->tr);
  msg = osalThreadSuspendS(&tqp->tr);
  if (osalVTIsArmedI(&vt))
    osalVTResetI(&vt);
  return msg;
}

/** @} */