// with loopTime added
// from https://www.forward.com.au/pfod/ArduinoProgramming/RealTimeArduino/index.html

#include <frt.h>
#include <loopTimer.h>
// install the loopTimer library from https://www.forward.com.au/pfod/ArduinoProgramming/RealTimeArduino/TimingDelaysInArduino.html
// loopTimer.h also needs the millisDelay library installed from https://www.forward.com.au/pfod/ArduinoProgramming/TimingDelaysInArduino.html

namespace
{
// An anonymous namespace tells the linker that this code is only
// referenced in this very compilation unit. That's good for larger
// projects but not necessary for this sketch.

// Define the blink task and implement run().
// - final is optional but good practice
// - run() must be public
// - sleeping with remainder is optional
// - inlining run() is optional
class BlinkTask final :
  public frt::Task<BlinkTask>
{
  public:
    bool run()
    {
      digitalWrite(LED_BUILTIN, true);
      msleep(400, remainder);
      digitalWrite(LED_BUILTIN, false);
      msleep(400, remainder);

      return true;
    }

  private:
    unsigned int remainder = 0;
};

// Define the analog read task and implement run().
// - 84 is the stack size in bytes
class AnalogReadTask final :
  public frt::Task<AnalogReadTask, 84>
{
  public:
    bool run()
    {
      loopTimer.check(Serial);
      int sensorValue = analogRead(A0);
      //     Serial.println(sensorValue);
      msleep(1, remainder); // << changed to minimum non-zero to match FreeRTOS

      return true;
    }

  private:
    unsigned int remainder = 0;
};

// Create the static BlinkTask instance
BlinkTask blink_task;
// Create the static AnalogReadTask instance
AnalogReadTask analog_read_task;

}

void setup()
{
  pinMode(LED_BUILTIN, OUTPUT);

  Serial.begin(9600);

  while (!Serial);
  for (int i = 10; i > 0; i--) {
    Serial.println(i);
    delay(500);
  }
  Serial.println("frt");

  // Start the blink task with priority 1
  blink_task.start(1);
  // Start the analog read task with higher priority 2
  analog_read_task.start(2);
}

// This is called by the idle task (at the lowest priority 0)
void loop()
{
  static bool stopped = false;

  // Stop analog read task after 5s
  if (!stopped && millis() > 15000) {
    // Get the stack size used this time. This varies from run to
    // run due to interrupts being served while the analog read task
    // was running. Don't be too conservative!
    Serial.print(F("AnalogReadTask used "));
    Serial.print(analog_read_task.getUsedStackSize());
    Serial.println(F(" bytes of stack this time."));

    Serial.println(F("Stopping"));
    analog_read_task.stopFromIdleTask();
    Serial.println(F("Stopped"));
    stopped = true;
  }
}