#ifndef STA_RTOS_THREAD_HPP
#define STA_RTOS_THREAD_HPP

#include <sta/rtos/defs.hpp>
#include <sta/rtos/handle.hpp>

#include <cmsis_os2.h>

/**
 * @defgroup STA_RTOS_THREAD Thread
 * @ingroup STA_RTOS_API
 * @brief RTOS Thread.
 */

/**
 * @ingroup STA_RTOS_THREAD
 * @{
 */

/**
 * @brief Number of bits in task notification flags used internally.
 */
#define STA_RTOS_MAX_BITS_THREAD_SYS_NOTIFY         1U
/**
 * @brief Number of user usable bits in task notification flags.
 */
#define STA_RTOS_MAX_BITS_THREAD_USER_NOTIFY        ( STA_RTOS_MAX_BITS_THREAD_NOTIFY - STA_RTOS_MAX_BITS_THREAD_SYS_NOTIFY )
/**
 * @brief Mask for valid system task notification flag bits.
 */
#define STA_RTOS_THREAD_FLAGS_VALID_SYS_BITS        ( ( ( 1UL << STA_RTOS_MAX_BITS_THREAD_SYS_NOTIFY ) - 1U ) << STA_RTOS_MAX_BITS_THREAD_USER_NOTIFY )
/**
 * @brief Mask for valid user task notification flag bits.
 */
#define STA_RTOS_THREAD_FLAGS_VALID_USER_BITS       ( ( 1UL << STA_RTOS_MAX_BITS_THREAD_USER_NOTIFY ) - 1U )


/**
 * @brief Indicate error code instead of flag values.
 */
#define STA_RTOS_THREAD_FLAG_ERROR_CODE             ( 1UL << 31 )

/**
 * @brief Request thread start.
 */
#define STA_RTOS_THREAD_FLAG_START					( 1UL << 30 )


#define STA_RTOS_THREAD_FLAGS_ERROR_CODE_BITS       UINT32_C( 0x0000000F )
#define STA_RTOS_THREAD_FLAGS_ERROR_CODE_EXT_BITS   UINT32_C( 0x7FFFFFF0 )

/**
 * @brief Error code from flags.
 */
#define STA_RTOS_THREAD_FLAGS_GET_EXT_ERROR_CODE(flags) (~flags & STA_RTOS_THREAD_FLAGS_ERROR_CODE_EXT_BITS)

/**
 * @brief Wait for any of the given flags to be set.
 */
#define STA_RTOS_THREAD_FLAGS_WAIT_ANY(timeout) osThreadFlagsWait(STA_RTOS_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, timeout)


/** @} */


namespace sta
{
	/**
	 * @brief Wrapper for RTOS thread control.
	 *
	 * @ingroup STA_RTOS_THREAD
	 */
	class RtosThread
	{
	public:
		using Handle = RtosHandle<osThreadId_t>;    /**< Thread handle type */

	public:
		RtosThread();

		/**
		 * @param handle Thread handle
		 */
		RtosThread(const Handle & handle);

		/**
		 * @brief Sets the thread to BLOCKED for a given number of ticks. 
		 * Other threads can run in the meantime.
		 * 
		 * @param ticks The number of ticks before setting the thread to READY again.
		 */
		void sleep(uint32_t ticks);

		/**
		 * @brief Send user notification flags to thread.
		 *
		 * @param flags     User flags
		 */
		void notify(uint32_t flags);

		/**
		 * @return Returns the flags that were set for this thread.
		 */
		uint32_t getFlags();

		/**
		 * @brief Wait for certain thread flags.
		 *
		 * @return Returns the flags triggering the activation.
		 */
		uint32_t wait(uint32_t flags);

		/**
		 * @brief Clears the thread flags set for this thread.
		 *
		 * @return Returns the thread flags that set before clearing.
		 */
		uint32_t clear(uint32_t flags);

		/**
		 * @brief Send termination request to thread.
		 */
		void requestTermination();

		/**
		 * @brief Clear the termination request flag for this thread.
		 */
		void deleteTerminationRequest();

		/**
		 * @brief Resets the terminate bool to false.
		 *
		 * @return Returns the previous value of this variable.
		 */
		bool isTerminationRequested();

		/**
		 * @brief Forcibly terminate thread.
		 */
		void terminate();

		/**
		 * @brief Send system notification flags to thread.
		 *
		 * @param flags     System flags
		 */
		void sysNotify(uint32_t flags);

	private:
		Handle handle_;
		bool terminate_;
	};
} // namespace sta


/**
 * @brief Create RtosThread wrapper object for thread handle.
 *
 * @param name Thread name
 */
#define STA_RTOS_THREAD_WRAPPER(name) \
	extern osThreadId_t name ## Handle; \
	sta::RtosThread name ## Thread = sta::RtosThread(sta::RtosThread::Handle::Deferred(&name ## Handle));


#endif // STA_RTOS_THREAD_HPP