// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//
// 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.


/*
This routine enables a more general-purpose task watchdog: tasks can individually
feed the watchdog and the watchdog will bark if one or more tasks haven't fed the
watchdog within the specified time. Optionally, the idle tasks can also configured
to feed the watchdog in a similar fashion, to detect CPU starvation.

This uses the TIMERG0 WDT.
*/

#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include <esp_types.h>
#include "esp_err.h"
#include "esp_intr.h"
#include "esp_attr.h"
#include "soc/timer_group_struct.h"
#include "esp_log.h"

#include "esp_task_wdt.h"

#if CONFIG_TASK_WDT

static const char* TAG = "task_wdt";

typedef struct wdt_task_t wdt_task_t;
struct wdt_task_t {
	TaskHandle_t task_handle;
	bool fed_watchdog;
	wdt_task_t *next;
};

static wdt_task_t *wdt_task_list=NULL;

//We use this interrupt number on whatever task calls task_wdt_init.
#define WDT_INT_NUM 24

#define WDT_WRITE_KEY 0x50D83AA1

static void IRAM_ATTR task_wdt_isr(void *arg) {
	wdt_task_t *wdttask;
	const char *cpu;
	//Feed the watchdog so we do not reset
	TIMERG0.wdt_wprotect=WDT_WRITE_KEY;
	TIMERG0.wdt_feed=1;
	TIMERG0.wdt_wprotect=0;
	//Ack interrupt
	TIMERG0.int_clr_timers.wdt=1;
	//Watchdog got triggered because at least one task did not report in.
	ets_printf("Task watchdog got triggered. The following tasks did not feed the watchdog in time:\n");
	for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
		if (!wdttask->fed_watchdog) {
			cpu=xTaskGetAffinity(wdttask->task_handle)==0?"CPU 0":"CPU 1";
			if (xTaskGetAffinity(wdttask->task_handle)==tskNO_AFFINITY) cpu="CPU 0/1";
			printf(" - %s (%s)\n", pcTaskGetTaskName(wdttask->task_handle), cpu);
		}
	}
	ets_printf("Tasks currently running:\n");
	for (int x=0; x<portNUM_PROCESSORS; x++) {
		ets_printf("CPU %d: %s\n", x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
	}

#if CONFIG_TASK_WDT_PANIC
	ets_printf("Aborting.\n");
	abort();
#endif
}


void task_wdt_feed() {
	wdt_task_t *wdttask=wdt_task_list;
	bool found_task=false, do_feed_wdt=true;
	TaskHandle_t handle=xTaskGetCurrentTaskHandle();
	//Walk the linked list of wdt tasks to find this one, as well as see if we need to feed
	//the real watchdog timer.
	for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
		//See if we are at the current task.
		if (wdttask->task_handle == handle) {
			wdttask->fed_watchdog=true;
			found_task=true;
		}
		//If even one task in the list doesn't have the do_feed_wdt var set, we do not feed the watchdog.
		if (!wdttask->fed_watchdog) do_feed_wdt=false;
	}
	
	if (!found_task) {
		//This is the first time the task calls the task_wdt_feed function. Create a new entry for it in
		//the linked list.
		wdt_task_t *newtask=malloc(sizeof(wdt_task_t));
		memset(newtask, 0, sizeof(wdt_task_t));
		newtask->task_handle=handle;
		newtask->fed_watchdog=true;
		if (wdt_task_list == NULL) {
			wdt_task_list=newtask;
		} else {
			for (wdttask=wdt_task_list; wdttask->next!=NULL; wdttask=wdttask->next) ;
			wdttask->next=newtask;
		}
	}
	if (do_feed_wdt) {
		//All tasks have checked in; time to feed the hw watchdog.
		TIMERG0.wdt_wprotect=WDT_WRITE_KEY;
		TIMERG0.wdt_feed=1;
		TIMERG0.wdt_wprotect=0;
		//Reset fed_watchdog status
		for (wdttask=wdt_task_list; wdttask->next!=NULL; wdttask=wdttask->next) wdttask->fed_watchdog=false;
	}
}

void task_wdt_delete() {
	TaskHandle_t handle=xTaskGetCurrentTaskHandle();
	wdt_task_t *wdttask=wdt_task_list;
	//Wdt task list can't be empty
	if (!wdt_task_list) {
		ESP_LOGE(TAG, "task_wdt_delete: No tasks in list?");
		return;
	}
	if (handle==wdt_task_list) {
		//Current task is first on list.
		wdt_task_list=wdt_task_list->next;
		free(wdttask);
	} else {
		//Find current task in list
		while (wdttask->next!=NULL && wdttask->next->task_handle!=handle) wdttask=wdttask->next;
		if (!wdttask->next) {
			ESP_LOGE(TAG, "task_wdt_delete: Task never called task_wdt_feed!");
			return;
		}
		wdt_task_t *freeme=wdttask->next;
		wdttask->next=wdttask->next->next;
		free(freeme);
	}
}

void task_wdt_init() {
	TIMERG0.wdt_wprotect=WDT_WRITE_KEY;
	TIMERG0.wdt_config0.sys_reset_length=7;				//3.2uS
	TIMERG0.wdt_config0.cpu_reset_length=7;				//3.2uS
	TIMERG0.wdt_config0.level_int_en=1;
	TIMERG0.wdt_config0.stg0=1;							//1st stage timeout: interrupt
	TIMERG0.wdt_config0.stg1=3;							//2nd stage timeout: reset system
	TIMERG0.wdt_config1.clk_prescale=80*500;			//Prescaler: wdt counts in ticks of 0.5mS
	TIMERG0.wdt_config2=CONFIG_TASK_WDT_TIMEOUT_S*2000;		//Set timeout before interrupt
	TIMERG0.wdt_config3=CONFIG_TASK_WDT_TIMEOUT_S*4000;		//Set timeout before reset
	TIMERG0.wdt_config0.en=1;
	TIMERG0.wdt_feed=1;
	TIMERG0.wdt_wprotect=0;
	ESP_INTR_DISABLE(ETS_T0_WDT_INUM);
	intr_matrix_set(xPortGetCoreID(), ETS_TG0_WDT_LEVEL_INTR_SOURCE, ETS_T0_WDT_INUM);
	xt_set_interrupt_handler(ETS_T0_WDT_INUM, task_wdt_isr, NULL);
	TIMERG0.int_clr_timers.wdt=1;
	TIMERG0.int_ena.wdt=1;
	ESP_INTR_ENABLE(ETS_T0_WDT_INUM);
}

#if CONFIG_TASK_WDT_CHECK_IDLE_TASK
void vApplicationIdleHook(void) {
#if !CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1
	if (xPortGetCoreID()!=0) return;
#endif
	task_wdt_feed();
}
#endif

#endif