#include "navigator.h"

EXPORT ID main_tid = -1; /* main task ID */
EXPORT ID mbf_id;        /* message buffer ID */

/*
 * handling while maintask is starting
 */
LOCAL void start_proc()
{
    union {
        T_CTSK    ctsk;        /* create task information */
        T_CMBF    cmbf;        /* message buffer create information */
    } s;


    /* create message buffer */
    s.cmbf.exinf   = NULL;                /* extend information */
    s.cmbf.mbfatr  = TA_TFIFO;            /* message buffer attribute */
    s.cmbf.bufsz   = 128;                 /* size of message buffer */
    s.cmbf.maxmsz  = sizeof(int);         /* maximum length of message */
    mbf_id = tk_cre_mbf( &(s.cmbf) );     /* create message buffer */

    /* create key input task */
    s.ctsk.exinf   = NULL;                /* extend information */
    s.ctsk.tskatr  = TA_HLNG | TA_RNG0;   /* task attribute */
    s.ctsk.task    = input_task;          /* task start address */
    s.ctsk.itskpri = 90;                /* task start priority */
    s.ctsk.stksz   = 1024 * 4;            /* stack size */
    input_tid = tk_cre_tsk( &(s.ctsk) );  /* create task */
    tk_sta_tsk( input_tid, 0 );           /* start task */

    /* create gps task */
    s.ctsk.exinf   = NULL;                /* extend information */
    s.ctsk.tskatr  = TA_HLNG | TA_RNG0;   /* task attribute */
    s.ctsk.task    = gps_task;;          /* task start address */
    s.ctsk.itskpri = PRI2;                /* task start priority */
    s.ctsk.stksz   = 1024 * 4;            /* stack size */
    gps_tid = tk_cre_tsk( &(s.ctsk) );  /* create task */
    tk_sta_tsk( gps_tid, 0 );           /* start task */

    /* create draw map task */
    s.ctsk.exinf   = NULL;                /* extend information */
    s.ctsk.tskatr  = TA_HLNG | TA_RNG0;   /* task attribute */
    s.ctsk.task    = draw_map_task;;          /* task start address */
    s.ctsk.itskpri = PRI3;                /* task start priority */
    s.ctsk.stksz   = 1024 * 4;            /* stack size */
    draw_map_tid = tk_cre_tsk( &(s.ctsk) );  /* create task */
    tk_sta_tsk( draw_map_tid, 0 );           /* start task */
}

/*
 * handling when maintask is terminated
 */
LOCAL void end_proc()
{
    /* break count up task */
    tk_rel_wai( draw_map_tid );

    /* abort gps task */
    tk_rel_wai( gps_tid );

    /* abort key input task */
    tk_rel_wai( input_tid );

    /* delete message buffer */
    tk_del_mbf( mbf_id );

}

/*
 * main task handling body
 */
LOCAL void main_proc()
{
    int  m=0;     /* message */

    for(;;){
        tk_rcv_mbf( mbf_id, &m, TMO_FEVR ); /* receive message */

        if (m == MSG_EXIT){
		exitpro();
		break;
        	}

        switch(m){
		case MSG_ZOOM_IN :
			zoom(0.9);
			break;
		case MSG_ZOOM_OUT:
			zoom(1.1);
			break;
        }
    }
}

/*
 * main task
 */

EXPORT void main_task( INT stacd, VP exinf )
{
    /* handling while maintask is starting */
    start_proc();

    /* main task handling body */
    main_proc();

    /* handling when maintask is terminated */
    end_proc();

    /* terminate and delete main task */
    tk_exd_tsk();
}