//----------------------------------------------------------
// Module Scheduler
//----------------------------------------------------------

#include "module_Scheduler.h"
#include "Exec/prr.h"


void orc_Mod_Scheduler::init()
{
// Orccad Version: 3.2
// Module : Scheduler
// Initialisation File
// 
// Module Ports :
// 
// Time Methods usable in module files:
// 	 GetLocalTime(): return relative period time as double value
// 	 GetCurrentTime(): return global period time as double value 
// 
// Date of creation : Mon Sep 29 10:13:55 2008
//finding the pointers of all MTs
  mt = Mt_ptr->GetRobotTaskPtr()->GetRTList_MT()->get_Mt_ptr();

  int end;

  if (mt==NULL) 
    end=TRUE;
  else 
    end=FALSE;

  
//   while(!end)
//     { 
//       if(strcmp(mt->getMTname(),"mt_X4_MT_0")==0) {Mt_ptr_0 = mt;printf("0\n"); }
//       else if (strcmp(mt->getMTname(),"mt_X4_MT_1")==0)  {Mt_ptr_1 = mt;printf("1\n");}
//       else if (strcmp(mt->getMTname(),"mt_X4_MT_2")==0)  {Mt_ptr_2 = mt;printf("2\n");}
//       else if (strcmp(mt->getMTname(),"mt_X4_MT_3")==0)  {Mt_ptr_3 = mt;printf("3\n");;}
//       else if (strcmp(mt->getMTname(),"mt_X4_MT_4")==0)  {Mt_ptr_4 = mt;printf("4\n");}
      
//       mt=mt->getNext();

//       if (mt==NULL)
// 	end=TRUE;
//     }
 
//   printf("--- FIRST MT %s\n",Mt_ptr_0->getMTname());
//   printf("---  MT %s\n",Mt_ptr_1->getMTname());
//   printf("---  MT %s\n",Mt_ptr_2->getMTname());
//   printf("---  MT %s\n",Mt_ptr_3->getMTname());
//   printf("--- LAST MT %s\n",Mt_ptr_4->getMTname());


//   printf("INIT TIME  %lld \n",(orcGetExecTime(Mt_ptr_0->get_MtId())));
//   printf("MTgetExecTime %lld  \n",Mt_ptr_0->MTgetExecTime());

//   printf("--- MT %s\n",Mt_ptr_4->getMTname());
//   printf("INIT TIME %lld \n",(orcGetExecTime(Mt_ptr_4->get_MtId())));
//   printf("MTgetExecTime %lld  \n",Mt_ptr_4->MTgetExecTime());


} 
void orc_Mod_Scheduler::param()
{
	 plugParam();



} 
void orc_Mod_Scheduler::reparam()
{

} 
void orc_Mod_Scheduler::compute( )
{
// Orccad Version: 3.2
// Module : Scheduler
// Computation File 
// 
// Module Ports :
// 
// 
// Date of creation : Mon Sep 29 10:13:55 2008

//A feedback scheduler can go here
  // printf("--- MT %s\n",Mt_ptr_0->getMTname());
// // we can check its exec. time since last call preemption deduced (Xenomai only)
//   printf("MTgetExecTime %lld  \n",Mt_ptr_0->MTgetExecTime());
//   //check its total exec. time from the begining, preemption deduced (Xenomai only)
//   printf("total ExecTime %lld  \n",(orcGetExecTime(Mt_ptr_0->get_MtId())));
//   //record the response time of its last execution
//   printf("last response time %lld \n",Mt_ptr_0->get_resp_time());
//   //sum the response times from beginning
//   printf("total response time %lld \n",Mt_ptr_0->get_tot_time());
//   //check its sampling period
//   printf("period %lf\n", Mt_ptr_0->GetSampleTime());
//   //change its sampling time
//   Mt_ptr_0->SetSampleTime(0.01);


} 
void orc_Mod_Scheduler::end()
{
// Orccad Version: 3.2
// Module :  Scheduler
// End File 
// 
// Module Ports :
// 
// 
// Date of creation : Mon Sep 29 10:13:55 2008

 //  printf("INIT TIME  %lld \n",(orcGetExecTime(Mt_ptr_0->get_MtId())));
//   printf("MTgetExecTime %lld  \n",Mt_ptr_0->MTgetExecTime());

//   printf("--- MT %s\n",Mt_ptr_4->getMTname());
//   printf("INIT TIME %lld \n",(orcGetExecTime(Mt_ptr_4->get_MtId())));
//   printf("MTgetExecTime %lld  \n",Mt_ptr_4->MTgetExecTime());

  return;

} 
// End class orc_Mod_Scheduler