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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <hal.h>
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#include <ch.h>
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#include <amiroos.h>
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/**
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 * @brief   Event mask to identify I/O events.
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 */
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#define IOEVENT_MASK                            EVENT_MASK(0)
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/**
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 * @brief   Event mask to identify OS events.
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 */
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#define OSEVENT_MASK                            EVENT_MASK(1)
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/**
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 * @brief   Listener object for I/O events.
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 */
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static event_listener_t _eventListenerIO;
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/**
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 * @brief   Listener object for OS events.
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 */
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static event_listener_t _eventListenerOS;
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#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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/**
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 * @brief   SSM output for the programmer interface.
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 */
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static ssm_output_t _ssmProgIfOutput;
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#endif
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/**
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 * @brief   Prints an error message about an unexpected event.
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 *
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 * @param[in] mask    The event mask.
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 * @param[in] flags   The event flags.
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 */
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static inline void _unexpectedEventError(eventmask_t mask, eventflags_t flags)
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{
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  aosprintf("unexpected/unknown event recieved. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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  return;
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}
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/**
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 * @brief   Application entry point.
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 */
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int main(void)
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{
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  // local variables
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  eventmask_t eventmask = 0;
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  eventflags_t eventflags = 0;
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  aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE;
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#if defined(AMIROOS_CFG_MAIN_EXTRA_VARIABLES)
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  AMIROOS_CFG_MAIN_EXTRA_VARIABLES
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#endif
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  /*
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   * ##########################################################################
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   * # system initialization                                                  #
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   * ##########################################################################
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   */
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
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  AMIROOS_CFG_MAIN_INIT_HOOK_0();
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#endif
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  /* hardware, kernel, and operating system initialization */
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  // ChibiOS/HAL and custom hal additions (if any)
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  halInit();
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#ifdef MODULE_INIT_HAL_EXTRA
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  MODULE_INIT_HAL_EXTRA();
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#endif
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
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  AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS);
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#else
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  AMIROOS_CFG_MAIN_INIT_HOOK_1();
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#endif
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#endif
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  // ChibiOS/RT kernel and custom kernel additions (if any)
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  chSysInit();
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#ifdef MODULE_INIT_KERNEL_EXTRA
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  MODULE_INIT_KERNEL_EXTRA();
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#endif
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
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  AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS);
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#else
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  AMIROOS_CFG_MAIN_INIT_HOOK_2();
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#endif
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#endif
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  // AMiRo-OS and custom OS additions (if any)
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  aosSysInit(&MODULE_HAL_EXT,
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             &moduleHalExtConfig,
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             &moduleSsspPd,
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             &moduleSsspSync,
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             MODULE_OS_IOEVENTFLAGS_SYSPD,
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             MODULE_OS_IOEVENTFLAGS_SYSSYNC,
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             moduleShellPrompt);
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#ifdef MODULE_INIT_OS_EXTRA
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  MODULE_INIT_OS_EXTRA();
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#endif
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
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  AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS);
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#else
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  AMIROOS_CFG_MAIN_INIT_HOOK_3();
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#endif
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#endif
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#if (AMIROOS_CFG_TESTS_ENABLE == true)
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#if defined(MODULE_INIT_TESTS)
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  MODULE_INIT_TESTS();
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#else
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  #warning "MODULE_INIT_TESTS no defined"
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#endif
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#endif
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
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  AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS);
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#else
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  AMIROOS_CFG_MAIN_INIT_HOOK_4();
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#endif
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#endif
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  /* event associations */
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  chEvtRegisterMask(&aos.events.io.source, &_eventListenerIO, IOEVENT_MASK);
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  chEvtRegisterMask(&aos.events.os.source, &_eventListenerOS, OSEVENT_MASK);
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
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  AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS);
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#else
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  AMIROOS_CFG_MAIN_INIT_HOOK_5();
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#endif
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#endif
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  /* periphery communication initialization */
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  // CAN (mandatory)
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  canStart(&MODULE_HAL_CAN, &moduleHalCanConfig);
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  // module specific initialization (if any)
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#ifdef MODULE_INIT_PERIPHERY_COMM
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  MODULE_INIT_PERIPHERY_COMM();
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#endif
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  // user interface (if any)
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#ifdef MODULE_HAL_PROGIF
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  ssmOutputInit(&_ssmProgIfOutput, (BaseSequentialStream*)&MODULE_HAL_PROGIF);
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  ssmAddOutput(aos.ssm, &_ssmProgIfOutput);
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  ssmEnableOutput(aos.ssm, _ssmProgIfOutput.stream);
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  ssmSetInput(aos.ssm, (BaseSequentialStream*)&MODULE_HAL_PROGIF);
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#endif
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
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  AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS);
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#else
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  AMIROOS_CFG_MAIN_INIT_HOOK_6();
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#endif
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#endif
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  /* module is ready -> print welcome prompt */
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  aosprintf("\n");
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  aosprintf("######################################################################\n");
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  aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini   #\n");
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  aosprintf("# Robot (AMiRo) platform.                                            #\n");
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  aosprintf("# Copyright (C) 2016..2018  Thomas Schöpping et al.                  #\n");
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  aosprintf("#                                                                    #\n");
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  aosprintf("# This is free software; see the source for copying conditions.      #\n");
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  aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR  #\n");
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  aosprintf("# A PARTICULAR PURPOSE.                                              #\n");
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  aosprintf("# The development of this software was supported by the Excellence   #\n");
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  aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence   #\n");
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  aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft  #\n");
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  aosprintf("# (DFG) in the context of the German Excellence Initiative.          #\n");
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  aosprintf("######################################################################\n");
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  aosprintf("\n");
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
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  AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS);
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#else
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  AMIROOS_CFG_MAIN_INIT_HOOK_7();
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#endif
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#endif
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  /* SSSP startup outro (end of startup stage 2) synchronization */
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  while ((eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) {
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    /*
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     * This code is executed if the received event was not about the SYS_SYNC control signal.
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     * The returned event could be caused by any listener (not only the argument).
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     */
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    // unexpected IO events
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    if (eventmask & _eventListenerIO.events) {
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      eventflags = chEvtGetAndClearFlags(&_eventListenerIO);
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#ifdef MODULE_SSP_STARTUP_OUTRO_IO_EVENT
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      MODULE_SSP_STARTUP_OUTRO_IO_EVENT(eventmask, eventflags);
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#else
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      _unexpectedEventError(eventmask, eventflags);
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#endif
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    }
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    // unexpected OS event
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    else if (eventmask & _eventListenerOS.events) {
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      eventflags = chEvtGetAndClearFlags(&_eventListenerOS);
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      _unexpectedEventError(eventmask, eventflags);
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    }
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#if (AMIROOS_CFG_DBG == true)
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    // unknown event (must never occur, thus disabled for release builds)
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    else {
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      eventflags = 0;
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      _unexpectedEventError(eventmask, eventflags);
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    }
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#endif
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  }
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
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  AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS);
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#else
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  AMIROOS_CFG_MAIN_INIT_HOOK_8();
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#endif
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#endif
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  /* completely start AMiRo-OS */
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  aosSysStart();
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
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  AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS);
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#else
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  AMIROOS_CFG_MAIN_INIT_HOOK_9();
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#endif
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#endif
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  /*
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   * ##########################################################################
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   * # infinite loop                                                          #
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   * ##########################################################################
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   */
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  // sleep until a shutdown event is received
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  while (shutdown == AOS_SHUTDOWN_NONE) {
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    // wait for an event
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#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0)
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    eventmask = chEvtWaitOneTimeout(ALL_EVENTS, US2ST_LLD(AMIROOS_CFG_MAIN_LOOP_TIMEOUT));
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#else
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    eventmask = chEvtWaitOne(ALL_EVENTS);
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#endif
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#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
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#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
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    AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS);
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#else
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    AMIROOS_CFG_MAIN_LOOP_HOOK_0();
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#endif
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#endif
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    switch (eventmask) {
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      // if this was an I/O event
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      case IOEVENT_MASK:
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        // evaluate flags
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        eventflags = chEvtGetAndClearFlags(&_eventListenerIO);
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        // PD event
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        if (eventflags & MODULE_OS_IOEVENTFLAGS_SYSPD) {
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          shutdown = AOS_SHUTDOWN_PASSIVE;
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        }
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        // all other events
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#ifdef MODULE_MAIN_LOOP_IO_EVENT
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        else {
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          MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags);
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        }
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#endif
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        break;
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      // if this was an OS event
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      case OSEVENT_MASK:
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        // evaluate flags
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        eventflags = chEvtGetAndClearFlags(&_eventListenerOS);
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        switch (eventflags) {
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          case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
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            shutdown = AOS_SHUTDOWN_HIBERNATE;
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            break;
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          case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
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            shutdown = AOS_SHUTDOWN_DEEPSLEEP;
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            break;
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          case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
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            shutdown = AOS_SHUTDOWN_TRANSPORTATION;
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            break;
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          case AOS_SYSTEM_EVENTFLAGS_RESTART:
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            shutdown = AOS_SHUTDOWN_RESTART;
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            break;
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          default:
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            _unexpectedEventError(eventmask, eventflags);
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            break;
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        }
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        break;
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      // if this was any other event (should be impossible to occur)
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      default:
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        eventflags = 0;
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        _unexpectedEventError(eventmask, eventflags);
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        break;
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    }
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#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
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#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
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    AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS);
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#else
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    AMIROOS_CFG_MAIN_LOOP_HOOK_1();
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#endif
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#endif
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  }
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  /*
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   * ##########################################################################
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   * # system shutdown                                                        #
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   * ##########################################################################
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   */
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
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    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS);
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#else
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    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0();
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#endif
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#endif
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  // initialize/acknowledge shutdown
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  aosSysShutdownInit(shutdown);
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
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    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS);
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#else
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    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1();
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#endif
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#endif
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  // stop system threads
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  aosSysStop();
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
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    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS);
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#else
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    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2();
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#endif
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#endif
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  // deinitialize system
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  aosSysDeinit();
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
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    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS);
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#else
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    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3();
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#endif
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#endif
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  /* stop all periphery communication */
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  // CAN (mandatory)
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  canStop(&MODULE_HAL_CAN);
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#ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
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  MODULE_SHUTDOWN_PERIPHERY_COMM();
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#endif
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
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    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS);
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#else
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    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4();
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#endif
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#endif
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  // finally hand over to bootloader
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  aosSysShutdownFinal(&MODULE_HAL_EXT, shutdown);
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  /*
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   * ##########################################################################
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   * # after shutdown/restart                                                 #
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   * ##########################################################################
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   *
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   * NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
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   *       It is included nevertheless for the sake of completeness and to explicitely indicate,
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   *       which subsystems should NOT be shut down.
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   */
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  // return an error, since this code should not be executed
413
  return -1;
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}