From ba2c7d88123081f927195a6359c16833f7c8def7 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Thu, 22 Feb 2024 10:43:37 +0300
Subject: [PATCH 01/33] Files with task manager

---
 src/lib.rs                 | 41 ++++++++++----------
 src/main.rs                | 33 ++++++++++-------
 src/task_manager.rs        | 38 +++++++++++--------
 src/timer.rs               | 76 ++++++++++++++++----------------------
 tests/integration_tests.rs | 30 +--------------
 tests/unit_tests.rs        | 66 +++++----------------------------
 6 files changed, 104 insertions(+), 180 deletions(-)

diff --git a/src/lib.rs b/src/lib.rs
index ccb8ae3..ffa0039 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -4,25 +4,26 @@ use std::thread;
 use std::time::Duration;
 
 pub mod connection;
+pub mod task_manager;
 pub mod timer;
 
-lazy_static! {
-    static ref TIMER: Timer = Timer::new(0, 5, 0.1);
-}
-
-#[no_mangle]
-pub extern "C" fn init_timer() {
-    TIMER.start();
-    thread::sleep(Duration::from_millis(5));
-}
-
-#[no_mangle]
-pub extern "C" fn stop_timer() {
-    thread::sleep(Duration::from_millis(5));
-    TIMER.stop();
-}
-
-#[no_mangle]
-pub extern "C" fn get_tick_counter() -> TickType {
-    TIMER.get_tick_counter()
-}
+// lazy_static! {
+//     static ref TIMER: Timer = Timer::new(0, 5, 0.1);
+// }
+//
+// #[no_mangle]
+// pub extern "C" fn init_timer() {
+//     TIMER.start();
+//     thread::sleep(Duration::from_millis(5));
+// }
+//
+// #[no_mangle]
+// pub extern "C" fn stop_timer() {
+//     thread::sleep(Duration::from_millis(5));
+//     TIMER.stop();
+// }
+//
+// #[no_mangle]
+// pub extern "C" fn get_tick_counter() -> TickType {
+//     TIMER.get_tick_counter()
+// }
diff --git a/src/main.rs b/src/main.rs
index 30c14d0..443319f 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,8 +1,6 @@
 use crate::timer::Timer;
 
 use core::sync::atomic::{AtomicU32, Ordering};
-use std::thread;
-use std::time::Duration;
 
 mod connection;
 mod task_manager;
@@ -45,20 +43,29 @@ fn stop_condition_fn2() -> bool {
     return false;
 }
 
-fn main() {
-    let timer = Timer::new(0, 5, 0.1);
-
-    timer.start();
-    println!("Ticks time: {}", timer.get_tick_counter());
-    thread::sleep(Duration::from_millis(5));
-    println!("Ticks time: {}", timer.get_tick_counter());
-    thread::sleep(Duration::from_millis(3));
-    timer.stop();
-
-    println!("Final ticks time: {}", timer.get_tick_counter());
+fn setup_time() {}
+fn loop_time() {
+    println!("{}", Timer::get_tick_counter())
+}
+fn stop_condition_time() -> bool {
+    if Timer::get_tick_counter() == 100 {
+        return true;
+    }
+    return false;
+}
 
+fn main() {
     let mut task_executor = task_manager::TaskExecutor::new();
     task_executor.add_task(setup_fn, loop_fn, stop_condition_fn);
     task_executor.add_task(setup_fn2, loop_fn2, stop_condition_fn2);
+
+    // Timer execution
+    task_executor.add_task(
+        Timer::setup_timer,
+        Timer::loop_timer,
+        Timer::stop_condition_timer,
+    );
+    task_executor.add_task(setup_time, loop_time, stop_condition_time);
+
     task_executor.start_task_manager();
 }
diff --git a/src/task_manager.rs b/src/task_manager.rs
index 4df327e..60f90dd 100644
--- a/src/task_manager.rs
+++ b/src/task_manager.rs
@@ -11,13 +11,13 @@ struct Task {
     setup_fn: fn() -> (),
     /// Loop function, that is called in loop.
     loop_fn: fn() -> (),
-    /// Condition for stopping loop function execution.
+    /// Condition function for stopping loop function execution.
     stop_condition_fn: fn() -> bool,
 }
 
-/// Future shell for task for execution
+/// Future shell for task for execution.
 struct FutureTask {
-    /// Task to execute.
+    /// Task to execute in task manager.
     task: Task,
     /// Marker for setup function completion.
     is_setup_completed: bool,
@@ -60,9 +60,11 @@ fn task_waker() -> Waker {
     unsafe { Waker::from_raw(raw_waker) }
 }
 
-/// Task executor representation.
+/// Task executor representation. Based on round-robin scheduling without priorities.
 pub struct TaskExecutor {
+    /// Vector of tasks to execute.
     tasks: Vec<FutureTask>,
+    /// Index of task, that should be executed.
     task_to_execute_index: TaskNumberType,
 }
 
@@ -75,7 +77,8 @@ impl TaskExecutor {
         }
     }
 
-    /// Add task to task executor. You should pass setup and loop functions.
+    /// Add task to task executor. You should pass setup, loop and condition functions.
+    // TODO: Maybe it is better to pass tasks here. Functions are done for C compatibility.
     pub fn add_task(
         &mut self,
         setup_fn: fn() -> (),
@@ -95,19 +98,22 @@ impl TaskExecutor {
     }
 
     /// Starts task manager work.
+    // TODO: Support priorities.
     pub fn start_task_manager(&mut self) -> ! {
         loop {
-            let waker = task_waker();
-            let task = &mut self.tasks[self.task_to_execute_index];
-            let mut task_future_pin = Pin::new(task);
-            let _ = task_future_pin
-                .as_mut()
-                .poll(&mut Context::from_waker(&waker));
-
-            if self.task_to_execute_index < self.tasks.len() - 1 {
-                self.task_to_execute_index += 1;
-            } else {
-                self.task_to_execute_index = 0;
+            if !self.tasks.is_empty() {
+                let waker = task_waker();
+                let task = &mut self.tasks[self.task_to_execute_index];
+                let mut task_future_pin = Pin::new(task);
+                let _ = task_future_pin
+                    .as_mut()
+                    .poll(&mut Context::from_waker(&waker));
+
+                if self.task_to_execute_index + 1 < self.tasks.len() {
+                    self.task_to_execute_index += 1;
+                } else {
+                    self.task_to_execute_index = 0;
+                }
             }
         }
     }
diff --git a/src/timer.rs b/src/timer.rs
index 53bddb3..d239ae0 100644
--- a/src/timer.rs
+++ b/src/timer.rs
@@ -1,7 +1,3 @@
-use std::sync::{Arc, Mutex, MutexGuard};
-use std::thread;
-use std::time::Duration;
-
 use crate::connection;
 
 /// Type for tick counting. It is signed for synchronization. It should be u128.
@@ -10,15 +6,19 @@ pub type TickType = i64;
 /// The definition of the timers themselves.
 pub struct Timer {
     /// Number of ticks in timer.
-    tick_counter: Arc<Mutex<TickType>>,
-    /// Flag is timer running.
-    running: Arc<Mutex<bool>>,
+    tick_counter: TickType,
     /// Synchronization period in ticks.
     synchronization_period: TickType,
     /// Scale coefficient for local vote protocol.
     synchronization_scale: f64,
 }
 
+static mut TIMER: Timer = Timer {
+    tick_counter: 0,
+    synchronization_period: 5,
+    synchronization_scale: 0.1,
+};
+
 impl Timer {
     /// Creates new timer.
     pub fn new(
@@ -27,56 +27,42 @@ impl Timer {
         synchronization_scale: f64,
     ) -> Timer {
         Timer {
-            tick_counter: Arc::new(Mutex::new(tick_counter)),
-            running: Arc::new(Mutex::new(false)),
+            tick_counter,
             synchronization_period,
             synchronization_scale,
         }
     }
 
-    /// Starts timer ticking.
-    pub fn start(&self) {
-        let counter = self.tick_counter.clone();
-        let running = self.running.clone();
-        let synchronization_period = self.synchronization_period.clone();
-        let synchronization_scale = self.synchronization_scale.clone();
-
-        *running.lock().unwrap() = true;
-
-        // TODO: this ticking should be added as a privilege task in task manager. Now it is in a separate thread.
-        thread::spawn(move || {
-            while *running.lock().unwrap() {
-                thread::sleep(Duration::from_millis(1));
-                let mut count = counter.lock().unwrap();
-                // TODO: this ticking should work with hardware ticks or with system ticks, not '+1'
-                *count += 1;
-                if *count % synchronization_period == 0 {
-                    Timer::synchronize(&mut count, synchronization_scale);
-                }
+    pub fn setup_timer() {}
 
-                connection::send_timer_information(*count);
-            }
-        });
+    /// Starts timer ticking.
+    pub fn loop_timer() {
+        unsafe {
+            TIMER.tick_counter += 1;
+        }
     }
 
     /// Stops timer ticking.
-    pub fn stop(&self) {
-        *self.running.lock().unwrap() = false;
+    pub fn stop_condition_timer() -> bool {
+        if (unsafe { TIMER.tick_counter }) == 100 {
+            return true;
+        }
+        return false;
     }
 
     /// Returns tick counter.
-    pub fn get_tick_counter(&self) -> TickType {
-        *self.tick_counter.lock().unwrap()
+    pub fn get_tick_counter() -> TickType {
+        return unsafe { TIMER.tick_counter };
     }
 
-    /// Synchronizes tick counter by information from other timers
-    fn synchronize(_count: &mut MutexGuard<TickType>, synchronization_scale: f64) {
-        let timers_information = connection::get_timers_information();
-        // Local vote protocol.
-        let old_count = **_count;
-        for info in timers_information {
-            **_count +=
-                (synchronization_scale * (old_count - info).abs() as f64).round() as TickType;
-        }
-    }
+    // /// Synchronizes tick counter by information from other timers
+    // fn synchronize(count: TickType, synchronization_scale: f64) {
+    //     let timers_information = connection::get_timers_information();
+    //     // Local vote protocol.
+    //     let old_count = *count;
+    //     for info in timers_information {
+    //         *count +=
+    //             (synchronization_scale * (old_count - info).abs() as f64).round() as TickType;
+    //     }
+    // }
 }
diff --git a/tests/integration_tests.rs b/tests/integration_tests.rs
index 4270386..57cf4be 100644
--- a/tests/integration_tests.rs
+++ b/tests/integration_tests.rs
@@ -1,30 +1,2 @@
 #[cfg(test)]
-mod integration_tests {
-    use ma_rtos::timer::Timer;
-    use std::thread;
-    use std::time::Duration;
-
-    #[test]
-    /// Tests work of several timers.
-    fn test_several_timers() {
-        let timer1 = Timer::new(0, 10000, 0.1);
-        let timer2 = Timer::new(10, 10000, 0.1);
-
-        timer1.start();
-        thread::sleep(Duration::from_millis(2));
-        let count1 = timer1.get_tick_counter();
-
-        timer2.start();
-        thread::sleep(Duration::from_millis(3));
-        let count2 = timer2.get_tick_counter();
-
-        timer2.stop();
-        let count3 = timer1.get_tick_counter();
-        timer1.stop();
-
-        // Exact values cannot be presented because of threads
-        assert!(count1 <= 2);
-        assert!(count2 <= 12);
-        assert!(count3 <= 5);
-    }
-}
+mod integration_tests {}
diff --git a/tests/unit_tests.rs b/tests/unit_tests.rs
index c6657c9..a5cc349 100644
--- a/tests/unit_tests.rs
+++ b/tests/unit_tests.rs
@@ -1,63 +1,15 @@
 #[cfg(test)]
 mod unit_tests {
-    use ma_rtos::timer::Timer;
-    use std::thread;
-    use std::time::Duration;
+    use ma_rtos::task_manager;
 
     #[test]
-    /// Tests new function of timer.
-    fn test_timer_new() {
-        let timer1 = Timer::new(0, 10000, 0.1);
-        let timer2 = Timer::new(42, 10000, 0.1);
-        let count1 = timer1.get_tick_counter();
-        let count2 = timer2.get_tick_counter();
-
-        assert_eq!(count1, 0);
-        assert_eq!(count2, 42);
-    }
-
-    #[test]
-    /// Tests start function of timer.
-    fn test_timer_start() {
-        let timer = Timer::new(0, 10000, 0.1);
-        timer.start();
-        thread::sleep(Duration::from_millis(2));
-        let count = timer.get_tick_counter();
-
-        // Exact values cannot be presented because of threads
-        assert!(count <= 2);
-    }
-
-    #[test]
-    /// Tests stop function of timer.
-    fn test_timer_stop() {
-        let timer = Timer::new(0, 10000, 0.1);
-        timer.start();
-        thread::sleep(Duration::from_millis(3));
-        timer.stop();
-        let count = timer.get_tick_counter();
-
-        // Exact values cannot be presented because of threads
-        assert!(count <= 3);
-    }
-
-    #[test]
-    /// Tests get_tick_counter function of timer.
-    fn test_timer_get_tick_counter() {
-        let timer = Timer::new(0, 10000, 0.1);
-        timer.start();
-        let count0 = timer.get_tick_counter();
-        thread::sleep(Duration::from_millis(3));
-        let count1 = timer.get_tick_counter();
-        thread::sleep(Duration::from_millis(4));
-        let count2 = timer.get_tick_counter();
-        timer.stop();
-        let count3 = timer.get_tick_counter();
-
-        assert_eq!(count0, 0);
-        // Exact values cannot be presented because of threads
-        assert!(count1 <= 3);
-        assert!(count2 <= 7);
-        assert!(count3 <= 7);
+    /// Tests if task manager without tasks works during 1 second without panic.
+    fn test_task_manager() {
+        let fun_thread = std::thread::spawn(|| {
+            let mut task_executor = task_manager::TaskExecutor::new();
+            task_executor.start_task_manager()
+        });
+        std::thread::sleep(std::time::Duration::from_secs(1));
+        assert_eq!(dbg!(fun_thread.is_finished()), false);
     }
 }

From 362d39995430d3039d2792612e90678193aa76ac Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Thu, 22 Feb 2024 10:49:11 +0300
Subject: [PATCH 02/33] Add test

---
 tests/unit_tests.rs | 31 ++++++++++++++++++++++++++++++-
 1 file changed, 30 insertions(+), 1 deletion(-)

diff --git a/tests/unit_tests.rs b/tests/unit_tests.rs
index a5cc349..b807d28 100644
--- a/tests/unit_tests.rs
+++ b/tests/unit_tests.rs
@@ -1,10 +1,11 @@
 #[cfg(test)]
 mod unit_tests {
+    use core::sync::atomic::{AtomicU32, Ordering};
     use ma_rtos::task_manager;
 
     #[test]
     /// Tests if task manager without tasks works during 1 second without panic.
-    fn test_task_manager() {
+    fn test_empty_task_manager() {
         let fun_thread = std::thread::spawn(|| {
             let mut task_executor = task_manager::TaskExecutor::new();
             task_executor.start_task_manager()
@@ -12,4 +13,32 @@ mod unit_tests {
         std::thread::sleep(std::time::Duration::from_secs(1));
         assert_eq!(dbg!(fun_thread.is_finished()), false);
     }
+
+    static COUNTER: AtomicU32 = AtomicU32::new(1);
+
+    fn setup_fn() {}
+    fn loop_fn() {
+        COUNTER.fetch_add(1, Ordering::Relaxed);
+    }
+
+    fn stop_condition_fn() -> bool {
+        let value = unsafe { COUNTER.as_ptr().read() };
+        if value % 50 == 0 {
+            return true;
+        }
+        return false;
+    }
+
+    #[test]
+    /// Tests if task manager with task works during 1 second without panic.
+    fn test_one_task_task_manager() {
+        let fun_thread = std::thread::spawn(|| {
+            let mut task_executor = task_manager::TaskExecutor::new();
+            task_executor.add_task(setup_fn, loop_fn, stop_condition_fn);
+            task_executor.start_task_manager()
+        });
+        std::thread::sleep(std::time::Duration::from_secs(1));
+        assert_eq!(dbg!(fun_thread.is_finished()), false);
+        assert_eq!(unsafe { COUNTER.as_ptr().read() }, 50);
+    }
 }

From 52c866ea25f629868224e05707f50e8d1a0099bd Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Thu, 22 Feb 2024 10:52:52 +0300
Subject: [PATCH 03/33] Add test

---
 tests/unit_tests.rs | 34 +++++++++++++++++++++++-----------
 1 file changed, 23 insertions(+), 11 deletions(-)

diff --git a/tests/unit_tests.rs b/tests/unit_tests.rs
index b807d28..b8eda09 100644
--- a/tests/unit_tests.rs
+++ b/tests/unit_tests.rs
@@ -11,18 +11,23 @@ mod unit_tests {
             task_executor.start_task_manager()
         });
         std::thread::sleep(std::time::Duration::from_secs(1));
-        assert_eq!(dbg!(fun_thread.is_finished()), false);
+        assert_eq!(fun_thread.is_finished(), false);
     }
 
-    static COUNTER: AtomicU32 = AtomicU32::new(1);
+    /// Counter for task for test_one_task_task_manager.
+    static TEST_ONE_TASK_TASK_MANAGER_COUNTER: AtomicU32 = AtomicU32::new(1);
 
-    fn setup_fn() {}
-    fn loop_fn() {
-        COUNTER.fetch_add(1, Ordering::Relaxed);
+    /// Setup function for task for test_one_task_task_manager.
+    fn test_one_task_task_manager_setup_fn() {}
+
+    /// Loop function for task for test_one_task_task_manager.
+    fn test_one_task_task_manager_loop_fn() {
+        TEST_ONE_TASK_TASK_MANAGER_COUNTER.fetch_add(1, Ordering::Relaxed);
     }
 
-    fn stop_condition_fn() -> bool {
-        let value = unsafe { COUNTER.as_ptr().read() };
+    /// Stop function for task for test_one_task_task_manager.
+    fn test_one_task_task_manager_stop_condition_fn() -> bool {
+        let value = unsafe { TEST_ONE_TASK_TASK_MANAGER_COUNTER.as_ptr().read() };
         if value % 50 == 0 {
             return true;
         }
@@ -30,15 +35,22 @@ mod unit_tests {
     }
 
     #[test]
-    /// Tests if task manager with task works during 1 second without panic.
+    /// Tests if task manager with task works correctly during 1 second without panic.
     fn test_one_task_task_manager() {
         let fun_thread = std::thread::spawn(|| {
             let mut task_executor = task_manager::TaskExecutor::new();
-            task_executor.add_task(setup_fn, loop_fn, stop_condition_fn);
+            task_executor.add_task(
+                test_one_task_task_manager_setup_fn,
+                test_one_task_task_manager_loop_fn,
+                test_one_task_task_manager_stop_condition_fn,
+            );
             task_executor.start_task_manager()
         });
         std::thread::sleep(std::time::Duration::from_secs(1));
-        assert_eq!(dbg!(fun_thread.is_finished()), false);
-        assert_eq!(unsafe { COUNTER.as_ptr().read() }, 50);
+        assert_eq!(fun_thread.is_finished(), false);
+        assert_eq!(
+            unsafe { TEST_ONE_TASK_TASK_MANAGER_COUNTER.as_ptr().read() },
+            50
+        );
     }
 }

From 9b602045ec8c7f5aa797e29f52e64d5af54b1a76 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Thu, 22 Feb 2024 11:25:19 +0300
Subject: [PATCH 04/33] Add more tests

---
 tests/unit_tests.rs | 135 ++++++++++++++++++++++++++++++++++++--------
 1 file changed, 113 insertions(+), 22 deletions(-)

diff --git a/tests/unit_tests.rs b/tests/unit_tests.rs
index b8eda09..67b8ab8 100644
--- a/tests/unit_tests.rs
+++ b/tests/unit_tests.rs
@@ -1,56 +1,147 @@
 #[cfg(test)]
 mod unit_tests {
-    use core::sync::atomic::{AtomicU32, Ordering};
     use ma_rtos::task_manager;
+    use std::sync::atomic::{AtomicU32, Ordering};
+    use std::thread::{sleep, spawn};
+    use std::time::Duration;
 
     #[test]
     /// Tests if task manager without tasks works during 1 second without panic.
     fn test_empty_task_manager() {
-        let fun_thread = std::thread::spawn(|| {
+        let fun_thread = spawn(|| {
             let mut task_executor = task_manager::TaskExecutor::new();
             task_executor.start_task_manager()
         });
-        std::thread::sleep(std::time::Duration::from_secs(1));
+        sleep(Duration::from_secs(1));
+
         assert_eq!(fun_thread.is_finished(), false);
     }
 
-    /// Counter for task for test_one_task_task_manager.
-    static TEST_ONE_TASK_TASK_MANAGER_COUNTER: AtomicU32 = AtomicU32::new(1);
+    /// Counter for task for test_one_finite_task_task_manager.
+    static TEST_ONE_FINITE_TASK_TASK_MANAGER_COUNTER: AtomicU32 = AtomicU32::new(1);
+    /// Setup function for task for test_one_finite_task_task_manager.
+    fn test_one_finite_task_task_manager_setup_fn() {}
+    /// Loop function for task for test_one_finite_task_task_manager.
+    fn test_one_finite_task_task_manager_loop_fn() {
+        TEST_ONE_FINITE_TASK_TASK_MANAGER_COUNTER.fetch_add(1, Ordering::Relaxed);
+    }
+    /// Stop function for task for test_one_finite_task_task_manager.
+    fn test_one_finite_task_task_manager_stop_condition_fn() -> bool {
+        let value = unsafe { TEST_ONE_FINITE_TASK_TASK_MANAGER_COUNTER.as_ptr().read() };
+        if value % 50 == 0 {
+            return true;
+        }
+        return false;
+    }
+    #[test]
+    /// Tests if task manager with one finite task works correctly during 1 second without panic.
+    fn test_one_finite_task_task_manager() {
+        let fun_thread = spawn(|| {
+            let mut task_executor = task_manager::TaskExecutor::new();
+            task_executor.add_task(
+                test_one_finite_task_task_manager_setup_fn,
+                test_one_finite_task_task_manager_loop_fn,
+                test_one_finite_task_task_manager_stop_condition_fn,
+            );
+            task_executor.start_task_manager()
+        });
+        sleep(Duration::from_secs(1));
 
-    /// Setup function for task for test_one_task_task_manager.
-    fn test_one_task_task_manager_setup_fn() {}
+        assert_eq!(fun_thread.is_finished(), false);
+        assert_eq!(
+            unsafe { TEST_ONE_FINITE_TASK_TASK_MANAGER_COUNTER.as_ptr().read() },
+            50
+        );
+    }
 
-    /// Loop function for task for test_one_task_task_manager.
-    fn test_one_task_task_manager_loop_fn() {
-        TEST_ONE_TASK_TASK_MANAGER_COUNTER.fetch_add(1, Ordering::Relaxed);
+    /// Counter for task for test_one_infinite_task_task_manager.
+    static TEST_ONE_INFINITE_TASK_TASK_MANAGER_COUNTER: AtomicU32 = AtomicU32::new(1);
+    /// Setup function for task for test_one_infinite_task_task_manager.
+    fn test_one_infinite_task_task_manager_setup_fn() {}
+    /// Loop function for task for test_one_infinite_task_task_manager.
+    fn test_one_infinite_task_task_manager_loop_fn() {
+        TEST_ONE_INFINITE_TASK_TASK_MANAGER_COUNTER.fetch_add(1, Ordering::Relaxed);
     }
+    /// Stop function for task for test_one_infinite_task_task_manager.
+    fn test_one_infinite_task_task_manager_stop_condition_fn() -> bool {
+        return false;
+    }
+    #[test]
+    /// Tests if task manager with one infinite task works correctly during 1 second without panic.
+    fn test_one_infinite_task_task_manager() {
+        let fun_thread = spawn(|| {
+            let mut task_executor = task_manager::TaskExecutor::new();
+            task_executor.add_task(
+                test_one_infinite_task_task_manager_setup_fn,
+                test_one_infinite_task_task_manager_loop_fn,
+                test_one_infinite_task_task_manager_stop_condition_fn,
+            );
+            task_executor.start_task_manager()
+        });
+        sleep(Duration::from_secs(1));
 
-    /// Stop function for task for test_one_task_task_manager.
-    fn test_one_task_task_manager_stop_condition_fn() -> bool {
-        let value = unsafe { TEST_ONE_TASK_TASK_MANAGER_COUNTER.as_ptr().read() };
+        assert_eq!(fun_thread.is_finished(), false);
+    }
+
+    /// Counter for task for test_two_finite_tasks_task_manager.
+    static TEST_TWO_FINITE_TASK_TASK_MANAGER_COUNTER1: AtomicU32 = AtomicU32::new(1);
+    /// Setup function for task for test_two_finite_tasks_task_manager.
+    fn test_two_finite_tasks_task_manager_setup_fn1() {}
+    /// Loop function for task for test_two_finite_tasks_task_manager.
+    fn test_two_finite_tasks_task_manager_loop_fn1() {
+        TEST_TWO_FINITE_TASK_TASK_MANAGER_COUNTER1.fetch_add(1, Ordering::Relaxed);
+    }
+    /// Stop function for task for test_two_finite_tasks_task_manager.
+    fn test_two_finite_tasks_task_manager_stop_condition_fn1() -> bool {
+        let value = unsafe { TEST_TWO_FINITE_TASK_TASK_MANAGER_COUNTER1.as_ptr().read() };
         if value % 50 == 0 {
             return true;
         }
         return false;
     }
-
+    /// Counter for task for test_two_finite_tasks_task_manager.
+    static TEST_TWO_FINITE_TASK_TASK_MANAGER_COUNTER2: AtomicU32 = AtomicU32::new(1);
+    /// Setup function for task for test_two_finite_tasks_task_manager.
+    fn test_two_finite_tasks_task_manager_setup_fn2() {}
+    /// Loop function for task for test_two_finite_tasks_task_manager.
+    fn test_two_finite_tasks_task_manager_loop_fn2() {
+        TEST_TWO_FINITE_TASK_TASK_MANAGER_COUNTER2.fetch_add(1, Ordering::Relaxed);
+    }
+    /// Stop function for task for test_two_finite_tasks_task_manager.
+    fn test_two_finite_tasks_task_manager_stop_condition_fn2() -> bool {
+        let value = unsafe { TEST_TWO_FINITE_TASK_TASK_MANAGER_COUNTER2.as_ptr().read() };
+        if value % 25 == 0 {
+            return true;
+        }
+        return false;
+    }
     #[test]
-    /// Tests if task manager with task works correctly during 1 second without panic.
-    fn test_one_task_task_manager() {
-        let fun_thread = std::thread::spawn(|| {
+    /// Tests if task manager with two finite tasks works correctly during 1 second without panic.
+    fn test_two_finite_tasks_task_manager() {
+        let fun_thread = spawn(|| {
             let mut task_executor = task_manager::TaskExecutor::new();
             task_executor.add_task(
-                test_one_task_task_manager_setup_fn,
-                test_one_task_task_manager_loop_fn,
-                test_one_task_task_manager_stop_condition_fn,
+                test_two_finite_tasks_task_manager_setup_fn1,
+                test_two_finite_tasks_task_manager_loop_fn1,
+                test_two_finite_tasks_task_manager_stop_condition_fn1,
+            );
+            task_executor.add_task(
+                test_two_finite_tasks_task_manager_setup_fn2,
+                test_two_finite_tasks_task_manager_loop_fn2,
+                test_two_finite_tasks_task_manager_stop_condition_fn2,
             );
             task_executor.start_task_manager()
         });
-        std::thread::sleep(std::time::Duration::from_secs(1));
+        sleep(Duration::from_secs(1));
+
         assert_eq!(fun_thread.is_finished(), false);
         assert_eq!(
-            unsafe { TEST_ONE_TASK_TASK_MANAGER_COUNTER.as_ptr().read() },
+            unsafe { TEST_TWO_FINITE_TASK_TASK_MANAGER_COUNTER1.as_ptr().read() },
             50
         );
+        assert_eq!(
+            unsafe { TEST_TWO_FINITE_TASK_TASK_MANAGER_COUNTER2.as_ptr().read() },
+            25
+        );
     }
 }

From 1ad4c54272ad4b1f35ad618da64fc5d75c6b556c Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Thu, 22 Feb 2024 17:43:04 +0300
Subject: [PATCH 05/33] Add more tests

---
 tests/unit_tests.rs | 62 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 62 insertions(+)

diff --git a/tests/unit_tests.rs b/tests/unit_tests.rs
index 67b8ab8..3724d18 100644
--- a/tests/unit_tests.rs
+++ b/tests/unit_tests.rs
@@ -144,4 +144,66 @@ mod unit_tests {
             25
         );
     }
+
+    /// Counter for task for test_two_different_tasks_task_manager.
+    static TEST_TWO_DIFFERENT_TASK_TASK_MANAGER_COUNTER1: AtomicU32 = AtomicU32::new(1);
+    /// Setup function for task for test_two_different_tasks_task_manager.
+    fn test_two_different_tasks_task_manager_setup_fn1() {}
+    /// Loop function for task for test_two_different_tasks_task_manager.
+    fn test_two_different_tasks_task_manager_loop_fn1() {
+        TEST_TWO_DIFFERENT_TASK_TASK_MANAGER_COUNTER1.fetch_add(1, Ordering::Relaxed);
+    }
+    /// Stop function for task for test_two_different_tasks_task_manager.
+    fn test_two_different_tasks_task_manager_stop_condition_fn1() -> bool {
+        let value = unsafe {
+            TEST_TWO_DIFFERENT_TASK_TASK_MANAGER_COUNTER1
+                .as_ptr()
+                .read()
+        };
+        if value % 50 == 0 {
+            return true;
+        }
+        return false;
+    }
+    /// Counter for task for test_two_different_tasks_task_manager.
+    static TEST_TWO_DIFFERENT_TASK_TASK_MANAGER_COUNTER2: AtomicU32 = AtomicU32::new(1);
+    /// Setup function for task for test_two_different_tasks_task_manager.
+    fn test_two_different_tasks_task_manager_setup_fn2() {}
+    /// Loop function for task for test_two_different_tasks_task_manager.
+    fn test_two_different_tasks_task_manager_loop_fn2() {
+        TEST_TWO_DIFFERENT_TASK_TASK_MANAGER_COUNTER2.fetch_add(1, Ordering::Relaxed);
+    }
+    /// Stop function for task for test_two_different_tasks_task_manager.
+    fn test_two_different_tasks_task_manager_stop_condition_fn2() -> bool {
+        return false;
+    }
+    #[test]
+    /// Tests if task manager with two different (finite and infinite) tasks works correctly during 1 second without panic.
+    fn test_two_different_tasks_task_manager() {
+        let fun_thread = spawn(|| {
+            let mut task_executor = task_manager::TaskExecutor::new();
+            task_executor.add_task(
+                test_two_different_tasks_task_manager_setup_fn1,
+                test_two_different_tasks_task_manager_loop_fn1,
+                test_two_different_tasks_task_manager_stop_condition_fn1,
+            );
+            task_executor.add_task(
+                test_two_different_tasks_task_manager_setup_fn2,
+                test_two_different_tasks_task_manager_loop_fn2,
+                test_two_different_tasks_task_manager_stop_condition_fn2,
+            );
+            task_executor.start_task_manager()
+        });
+        sleep(Duration::from_secs(1));
+
+        assert_eq!(fun_thread.is_finished(), false);
+        assert_eq!(
+            unsafe {
+                TEST_TWO_DIFFERENT_TASK_TASK_MANAGER_COUNTER1
+                    .as_ptr()
+                    .read()
+            },
+            50
+        );
+    }
 }

From 7d51646b65fdb61857f721c8dd9db80f32f9008e Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Thu, 22 Feb 2024 21:53:31 +0300
Subject: [PATCH 06/33] Tests for task manager

---
 tests/unit_tests.rs | 79 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 79 insertions(+)

diff --git a/tests/unit_tests.rs b/tests/unit_tests.rs
index 3724d18..8ee4750 100644
--- a/tests/unit_tests.rs
+++ b/tests/unit_tests.rs
@@ -206,4 +206,83 @@ mod unit_tests {
             50
         );
     }
+
+    /// Counter for task for test_two_infinite_tasks_task_manager.
+    static TEST_TWO_INFINITE_TASK_TASK_MANAGER_COUNTER1: AtomicU32 = AtomicU32::new(1);
+    /// Setup function for task for test_two_infinite_tasks_task_manager.
+    fn test_two_infinite_tasks_task_manager_setup_fn1() {}
+    /// Loop function for task for test_two_infinite_tasks_task_manager.
+    fn test_two_infinite_tasks_task_manager_loop_fn1() {
+        TEST_TWO_INFINITE_TASK_TASK_MANAGER_COUNTER1.fetch_add(1, Ordering::Relaxed);
+    }
+    /// Stop function for task for test_two_infinite_tasks_task_manager.
+    fn test_two_infinite_tasks_task_manager_stop_condition_fn1() -> bool {
+        return false;
+    }
+    /// Counter for task for test_two_infinite_tasks_task_manager.
+    static TEST_TWO_INFINITE_TASK_TASK_MANAGER_COUNTER2: AtomicU32 = AtomicU32::new(1);
+    /// Setup function for task for test_two_infinite_tasks_task_manager.
+    fn test_two_infinite_tasks_task_manager_setup_fn2() {}
+    /// Loop function for task for test_two_infinite_tasks_task_manager.
+    fn test_two_infinite_tasks_task_manager_loop_fn2() {
+        TEST_TWO_INFINITE_TASK_TASK_MANAGER_COUNTER2.fetch_add(1, Ordering::Relaxed);
+    }
+    /// Stop function for task for test_two_infinite_tasks_task_manager.
+    fn test_two_infinite_tasks_task_manager_stop_condition_fn2() -> bool {
+        return false;
+    }
+    #[test]
+    /// Tests if task manager with two infinite tasks works correctly during 1 second without panic.
+    fn test_two_infinite_tasks_task_manager() {
+        let fun_thread = spawn(|| {
+            let mut task_executor = task_manager::TaskExecutor::new();
+            task_executor.add_task(
+                test_two_infinite_tasks_task_manager_setup_fn1,
+                test_two_infinite_tasks_task_manager_loop_fn1,
+                test_two_infinite_tasks_task_manager_stop_condition_fn1,
+            );
+            task_executor.add_task(
+                test_two_infinite_tasks_task_manager_setup_fn2,
+                test_two_infinite_tasks_task_manager_loop_fn2,
+                test_two_infinite_tasks_task_manager_stop_condition_fn2,
+            );
+            task_executor.start_task_manager()
+        });
+        sleep(Duration::from_secs(1));
+
+        assert_eq!(fun_thread.is_finished(), false);
+    }
+
+    /// Counter for task for test_setup_task_manager.
+    static TEST_SETUP_TASK_MANAGER_COUNTER: AtomicU32 = AtomicU32::new(1);
+    /// Setup function for task for test_setup_task_manager.
+    fn test_setup_task_manager_setup_fn() {
+        TEST_SETUP_TASK_MANAGER_COUNTER.store(42, Ordering::Relaxed);
+    }
+    /// Loop function for task for test_setup_task_manager.
+    fn test_setup_task_manager_loop_fn() {}
+    /// Stop function for task for test_setup_task_manager.
+    fn test_setup_task_manager_stop_condition_fn() -> bool {
+        return false;
+    }
+    #[test]
+    /// Tests if task manager works correctly with setup function during 1 second without panic.
+    fn test_setup_task_manager() {
+        let fun_thread = spawn(|| {
+            let mut task_executor = task_manager::TaskExecutor::new();
+            task_executor.add_task(
+                test_setup_task_manager_setup_fn,
+                test_setup_task_manager_loop_fn,
+                test_setup_task_manager_stop_condition_fn,
+            );
+            task_executor.start_task_manager()
+        });
+        sleep(Duration::from_secs(1));
+
+        assert_eq!(fun_thread.is_finished(), false);
+        assert_eq!(
+            unsafe { TEST_SETUP_TASK_MANAGER_COUNTER.as_ptr().read() },
+            42
+        );
+    }
 }

From f74cce8d29479f1dd9dbf6cbabacdd9ef06ec18e Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Thu, 22 Feb 2024 21:56:32 +0300
Subject: [PATCH 07/33] Add todos

---
 src/task_manager.rs | 1 +
 tests/unit_tests.rs | 2 ++
 2 files changed, 3 insertions(+)

diff --git a/src/task_manager.rs b/src/task_manager.rs
index 60f90dd..c607e5f 100644
--- a/src/task_manager.rs
+++ b/src/task_manager.rs
@@ -99,6 +99,7 @@ impl TaskExecutor {
 
     /// Starts task manager work.
     // TODO: Support priorities.
+    // TODO: Delete tasks from task vector if they are pending
     pub fn start_task_manager(&mut self) -> ! {
         loop {
             if !self.tasks.is_empty() {
diff --git a/tests/unit_tests.rs b/tests/unit_tests.rs
index 8ee4750..29bb66e 100644
--- a/tests/unit_tests.rs
+++ b/tests/unit_tests.rs
@@ -5,6 +5,8 @@ mod unit_tests {
     use std::thread::{sleep, spawn};
     use std::time::Duration;
 
+    // TODO: refactor unit tests. They should check less. Separate tests for setup, loop and stop functions.
+
     #[test]
     /// Tests if task manager without tasks works during 1 second without panic.
     fn test_empty_task_manager() {

From 4a87729874e3c3c3f4e60c4fbcd4bf01704c98cc Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Thu, 22 Feb 2024 22:11:05 +0300
Subject: [PATCH 08/33] Refactor timer and delete some dead code

---
 src/connection.rs | 17 -----------------
 src/lib.rs        | 27 ---------------------------
 src/main.rs       |  1 -
 src/timer.rs      | 47 ++++++++---------------------------------------
 4 files changed, 8 insertions(+), 84 deletions(-)
 delete mode 100644 src/connection.rs

diff --git a/src/connection.rs b/src/connection.rs
deleted file mode 100644
index 8529bd7..0000000
--- a/src/connection.rs
+++ /dev/null
@@ -1,17 +0,0 @@
-use crate::timer::TickType;
-
-/// Type for information from one timer
-type TimerInformation = TickType;
-/// Type for information from several timers
-type TimersInformation = Vec<TimerInformation>;
-
-/// Sends timer information to neighbours (or adds it into package to send).
-pub fn send_timer_information(_timer_information: TimerInformation) {
-    // TODO: Some code for sending information or adding it into package to send. It may be hardware dependent.
-}
-
-/// Gets timer information from neighbour timers.
-pub fn get_timers_information() -> TimersInformation {
-    // TODO: Some code, receiving information from other timers. It may be hardware dependent.
-    vec![10, 2, 3]
-}
diff --git a/src/lib.rs b/src/lib.rs
index ffa0039..6315ed3 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,29 +1,2 @@
-use crate::timer::{TickType, Timer};
-use lazy_static::lazy_static;
-use std::thread;
-use std::time::Duration;
-
-pub mod connection;
 pub mod task_manager;
 pub mod timer;
-
-// lazy_static! {
-//     static ref TIMER: Timer = Timer::new(0, 5, 0.1);
-// }
-//
-// #[no_mangle]
-// pub extern "C" fn init_timer() {
-//     TIMER.start();
-//     thread::sleep(Duration::from_millis(5));
-// }
-//
-// #[no_mangle]
-// pub extern "C" fn stop_timer() {
-//     thread::sleep(Duration::from_millis(5));
-//     TIMER.stop();
-// }
-//
-// #[no_mangle]
-// pub extern "C" fn get_tick_counter() -> TickType {
-//     TIMER.get_tick_counter()
-// }
diff --git a/src/main.rs b/src/main.rs
index 443319f..21ecb9a 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -2,7 +2,6 @@ use crate::timer::Timer;
 
 use core::sync::atomic::{AtomicU32, Ordering};
 
-mod connection;
 mod task_manager;
 mod timer;
 
diff --git a/src/timer.rs b/src/timer.rs
index d239ae0..653606c 100644
--- a/src/timer.rs
+++ b/src/timer.rs
@@ -1,52 +1,32 @@
-use crate::connection;
-
 /// Type for tick counting. It is signed for synchronization. It should be u128.
 pub type TickType = i64;
 
 /// The definition of the timers themselves.
+/// TODO: Should contain synchronization period and synchronization scale.
 pub struct Timer {
     /// Number of ticks in timer.
     tick_counter: TickType,
-    /// Synchronization period in ticks.
-    synchronization_period: TickType,
-    /// Scale coefficient for local vote protocol.
-    synchronization_scale: f64,
 }
 
-static mut TIMER: Timer = Timer {
-    tick_counter: 0,
-    synchronization_period: 5,
-    synchronization_scale: 0.1,
-};
+/// Operating system timer.
+// TODO: Maybe it can be non static. It is static to make functions to pass to task manager.
+// TODO: Default parameters should be read from config file.
+static mut TIMER: Timer = Timer { tick_counter: 0 };
 
 impl Timer {
-    /// Creates new timer.
-    pub fn new(
-        tick_counter: TickType,
-        synchronization_period: TickType,
-        synchronization_scale: f64,
-    ) -> Timer {
-        Timer {
-            tick_counter,
-            synchronization_period,
-            synchronization_scale,
-        }
-    }
-
+    /// Setup function. May be used for setting configuration parameters.
     pub fn setup_timer() {}
 
     /// Starts timer ticking.
+    // TODO: What should happen after overflow?
     pub fn loop_timer() {
         unsafe {
             TIMER.tick_counter += 1;
         }
     }
 
-    /// Stops timer ticking.
+    /// Stops timer ticking. By default, it does not stop.
     pub fn stop_condition_timer() -> bool {
-        if (unsafe { TIMER.tick_counter }) == 100 {
-            return true;
-        }
         return false;
     }
 
@@ -54,15 +34,4 @@ impl Timer {
     pub fn get_tick_counter() -> TickType {
         return unsafe { TIMER.tick_counter };
     }
-
-    // /// Synchronizes tick counter by information from other timers
-    // fn synchronize(count: TickType, synchronization_scale: f64) {
-    //     let timers_information = connection::get_timers_information();
-    //     // Local vote protocol.
-    //     let old_count = *count;
-    //     for info in timers_information {
-    //         *count +=
-    //             (synchronization_scale * (old_count - info).abs() as f64).round() as TickType;
-    //     }
-    // }
 }

From 825402d439923f6b4b457b178fef430bc397e16b Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Fri, 23 Feb 2024 19:44:23 +0300
Subject: [PATCH 09/33] Add timer tests

---
 Cargo.toml                 |  2 --
 src/main.rs                |  2 +-
 src/timer.rs               |  6 +++++-
 tests/integration_tests.rs |  2 --
 tests/unit_tests.rs        | 29 +++++++++++++++++++++++++++++
 5 files changed, 35 insertions(+), 6 deletions(-)
 delete mode 100644 tests/integration_tests.rs

diff --git a/Cargo.toml b/Cargo.toml
index bb26b5b..1a4e120 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -3,5 +3,3 @@ name = "ma_rtos"
 version = "0.1.0"
 edition = "2021"
 
-[dependencies]
-lazy_static = "1.4"
diff --git a/src/main.rs b/src/main.rs
index 21ecb9a..3419690 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -47,7 +47,7 @@ fn loop_time() {
     println!("{}", Timer::get_tick_counter())
 }
 fn stop_condition_time() -> bool {
-    if Timer::get_tick_counter() == 100 {
+    if Timer::get_tick_counter() > 100 {
         return true;
     }
     return false;
diff --git a/src/timer.rs b/src/timer.rs
index 653606c..509cf1a 100644
--- a/src/timer.rs
+++ b/src/timer.rs
@@ -15,7 +15,11 @@ static mut TIMER: Timer = Timer { tick_counter: 0 };
 
 impl Timer {
     /// Setup function. May be used for setting configuration parameters.
-    pub fn setup_timer() {}
+    pub fn setup_timer() {
+        unsafe {
+            TIMER.tick_counter = 0;
+        }
+    }
 
     /// Starts timer ticking.
     // TODO: What should happen after overflow?
diff --git a/tests/integration_tests.rs b/tests/integration_tests.rs
deleted file mode 100644
index 57cf4be..0000000
--- a/tests/integration_tests.rs
+++ /dev/null
@@ -1,2 +0,0 @@
-#[cfg(test)]
-mod integration_tests {}
diff --git a/tests/unit_tests.rs b/tests/unit_tests.rs
index 29bb66e..c9e38ff 100644
--- a/tests/unit_tests.rs
+++ b/tests/unit_tests.rs
@@ -1,11 +1,13 @@
 #[cfg(test)]
 mod unit_tests {
     use ma_rtos::task_manager;
+    use ma_rtos::timer::Timer;
     use std::sync::atomic::{AtomicU32, Ordering};
     use std::thread::{sleep, spawn};
     use std::time::Duration;
 
     // TODO: refactor unit tests. They should check less. Separate tests for setup, loop and stop functions.
+    // TODO: refactor unit tests. Task manager and timer tests should be in different files in one directory.
 
     #[test]
     /// Tests if task manager without tasks works during 1 second without panic.
@@ -287,4 +289,31 @@ mod unit_tests {
             42
         );
     }
+
+    #[test]
+    /// Tests getting tick counter.
+    fn test_get_tick_counter_timer() {
+        assert_eq!(Timer::get_tick_counter(), 0);
+    }
+
+    #[test]
+    /// Tests setup timer function.
+    fn test_setup_timer() {
+        Timer::setup_timer();
+        assert_eq!(Timer::get_tick_counter(), 0);
+    }
+
+    #[test]
+    /// Tests loop timer function.
+    fn test_loop_timer() {
+        Timer::setup_timer();
+        Timer::loop_timer();
+        assert_eq!(Timer::get_tick_counter(), 1);
+    }
+
+    #[test]
+    /// Tests stop condition timer function.
+    fn test_stop_condition_timer() {
+        assert_eq!(Timer::stop_condition_timer(), false);
+    }
 }

From 3a05996184770b00fd41b0abbcb7354edda3e1d4 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Fri, 23 Feb 2024 20:11:22 +0300
Subject: [PATCH 10/33] Creating simple example

---
 Cargo.toml                                      | 1 -
 examples/rust-examples/xtensa-esp32/Cargo.toml  | 8 ++++++++
 examples/rust-examples/xtensa-esp32/src/main.rs | 5 +++++
 3 files changed, 13 insertions(+), 1 deletion(-)
 create mode 100644 examples/rust-examples/xtensa-esp32/Cargo.toml
 create mode 100644 examples/rust-examples/xtensa-esp32/src/main.rs

diff --git a/Cargo.toml b/Cargo.toml
index 1a4e120..077a8d7 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -2,4 +2,3 @@
 name = "ma_rtos"
 version = "0.1.0"
 edition = "2021"
-
diff --git a/examples/rust-examples/xtensa-esp32/Cargo.toml b/examples/rust-examples/xtensa-esp32/Cargo.toml
new file mode 100644
index 0000000..8dc8f7b
--- /dev/null
+++ b/examples/rust-examples/xtensa-esp32/Cargo.toml
@@ -0,0 +1,8 @@
+[package]
+name = "example_xtensa_esp32"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+# TODO: path should be from git, then from crates.io
+ma_rtos = { path = "../../../" }
\ No newline at end of file
diff --git a/examples/rust-examples/xtensa-esp32/src/main.rs b/examples/rust-examples/xtensa-esp32/src/main.rs
new file mode 100644
index 0000000..1c5df2f
--- /dev/null
+++ b/examples/rust-examples/xtensa-esp32/src/main.rs
@@ -0,0 +1,5 @@
+use ma_rtos::timer::Timer;
+
+fn main() {
+    println!("Timer {}", Timer::get_tick_counter());
+}
\ No newline at end of file

From 390f8f37ad5551eaedbd6d1ca472f4fc1fba75b1 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Fri, 23 Feb 2024 20:27:53 +0300
Subject: [PATCH 11/33] Simple example for esp32

---
 .../xtensa-esp32/.cargo/config.toml           | 19 +++++++++++++++++++
 .../rust-examples/xtensa-esp32/Cargo.toml     | 11 ++++++++++-
 .../xtensa-esp32/rust-toolchain.toml          |  2 ++
 3 files changed, 31 insertions(+), 1 deletion(-)
 create mode 100644 examples/rust-examples/xtensa-esp32/.cargo/config.toml
 create mode 100644 examples/rust-examples/xtensa-esp32/rust-toolchain.toml

diff --git a/examples/rust-examples/xtensa-esp32/.cargo/config.toml b/examples/rust-examples/xtensa-esp32/.cargo/config.toml
new file mode 100644
index 0000000..20da577
--- /dev/null
+++ b/examples/rust-examples/xtensa-esp32/.cargo/config.toml
@@ -0,0 +1,19 @@
+[target.xtensa-esp32-none-elf]
+runner = "espflash flash --monitor"
+
+
+[build]
+rustflags = [
+  "-C", "link-arg=-Tlinkall.x",
+
+  "-C", "link-arg=-nostartfiles",
+]
+
+target = "xtensa-esp32-none-elf"
+
+[unstable]
+build-std = ["core"]
+
+[target.'cfg(any(target_arch = "riscv32", target_arch = "xtensa"))']
+runner = "espflash flash --monitor"
+
diff --git a/examples/rust-examples/xtensa-esp32/Cargo.toml b/examples/rust-examples/xtensa-esp32/Cargo.toml
index 8dc8f7b..5e8dba1 100644
--- a/examples/rust-examples/xtensa-esp32/Cargo.toml
+++ b/examples/rust-examples/xtensa-esp32/Cargo.toml
@@ -3,6 +3,15 @@ name = "example_xtensa_esp32"
 version = "0.1.0"
 edition = "2021"
 
+[profile.release]
+debug = true
+
 [dependencies]
 # TODO: path should be from git, then from crates.io
-ma_rtos = { path = "../../../" }
\ No newline at end of file
+ma_rtos = { path = "../../../" }
+esp32-hal = "0.18.0"
+esp-backtrace = { version = "0.11.0", features = ["esp32", "panic-handler", "exception-handler", "println"] }
+esp-println = { version = "0.9.0", features = ["esp32"] }
+
+[features]
+default = ["esp32-hal/xtal-40mhz"]
\ No newline at end of file
diff --git a/examples/rust-examples/xtensa-esp32/rust-toolchain.toml b/examples/rust-examples/xtensa-esp32/rust-toolchain.toml
new file mode 100644
index 0000000..a2f5ab5
--- /dev/null
+++ b/examples/rust-examples/xtensa-esp32/rust-toolchain.toml
@@ -0,0 +1,2 @@
+[toolchain]
+channel = "esp"

From 51a80697c2bac910b28cbc0076c4f98c0c6d347f Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Fri, 23 Feb 2024 21:23:12 +0300
Subject: [PATCH 12/33] Simple example for esp32 works

---
 .../rust-examples/xtensa-esp32/src/main.rs    | 10 ++++-
 src/lib.rs                                    |  2 +
 src/task_manager.rs                           | 37 +++++++++++++++++--
 tests/unit_tests.rs                           |  8 +---
 4 files changed, 45 insertions(+), 12 deletions(-)

diff --git a/examples/rust-examples/xtensa-esp32/src/main.rs b/examples/rust-examples/xtensa-esp32/src/main.rs
index 1c5df2f..38eb107 100644
--- a/examples/rust-examples/xtensa-esp32/src/main.rs
+++ b/examples/rust-examples/xtensa-esp32/src/main.rs
@@ -1,5 +1,13 @@
+#![no_std]
+#![no_main]
+
+use esp32_hal::entry;
+use esp_backtrace as _;
+use esp_println::println;
 use ma_rtos::timer::Timer;
 
-fn main() {
+#[entry]
+fn main() -> ! {
     println!("Timer {}", Timer::get_tick_counter());
+    loop {}
 }
\ No newline at end of file
diff --git a/src/lib.rs b/src/lib.rs
index 6315ed3..1f58ee2 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,2 +1,4 @@
+#![no_std]
+
 pub mod task_manager;
 pub mod timer;
diff --git a/src/task_manager.rs b/src/task_manager.rs
index c607e5f..9a9b9c9 100644
--- a/src/task_manager.rs
+++ b/src/task_manager.rs
@@ -1,3 +1,4 @@
+use core::array::from_fn;
 use core::future::Future;
 use core::pin::Pin;
 use core::task::{Context, Poll, RawWaker, RawWakerVTable, Waker};
@@ -5,6 +6,10 @@ use core::task::{Context, Poll, RawWaker, RawWakerVTable, Waker};
 /// The number of tasks can fit into a type usize.
 pub type TaskNumberType = usize;
 
+/// Max number of tasks.
+// TODO: Should be dynamic array of tasks.
+const MAX_NUMBER_OF_TASKS: TaskNumberType = 20;
+
 /// Task representation for task manager.
 struct Task {
     /// Setup function, that is called once at the beginning of task.
@@ -27,6 +32,8 @@ impl Future for FutureTask {
     type Output = ();
 
     fn poll(mut self: Pin<&mut Self>, _cx: &mut Context<'_>) -> Poll<Self::Output> {
+        let mut array: [usize; 8] = core::array::from_fn(|i| i);
+        array[0] = 5;
         if (self.task.stop_condition_fn)() {
             Poll::Ready(())
         } else {
@@ -62,18 +69,39 @@ fn task_waker() -> Waker {
 
 /// Task executor representation. Based on round-robin scheduling without priorities.
 pub struct TaskExecutor {
-    /// Vector of tasks to execute.
-    tasks: Vec<FutureTask>,
+    /// Static array of tasks to execute.
+    tasks: [FutureTask; MAX_NUMBER_OF_TASKS],
     /// Index of task, that should be executed.
     task_to_execute_index: TaskNumberType,
+    /// Number of tasks to execute.
+    tasks_number: TaskNumberType,
 }
 
 impl TaskExecutor {
     /// Creates new task executor.
     pub fn new() -> TaskExecutor {
+        fn setup_fn() {}
+        fn loop_fn() {}
+        fn stop_condition_fn() -> bool {
+            return true;
+        }
+
+        let tasks: [FutureTask; MAX_NUMBER_OF_TASKS] = from_fn(|_| {
+            let task = Task {
+                setup_fn: setup_fn,
+                loop_fn: loop_fn,
+                stop_condition_fn: stop_condition_fn,
+            };
+            FutureTask {
+                task: task,
+                is_setup_completed: true,
+            }
+        });
+
         TaskExecutor {
-            tasks: vec![],
+            tasks: tasks,
             task_to_execute_index: 0,
+            tasks_number: 0,
         }
     }
 
@@ -94,7 +122,8 @@ impl TaskExecutor {
             task,
             is_setup_completed: false,
         };
-        self.tasks.push(future_task)
+        self.tasks[self.tasks_number] = future_task;
+        self.tasks_number += 1
     }
 
     /// Starts task manager work.
diff --git a/tests/unit_tests.rs b/tests/unit_tests.rs
index c9e38ff..a7cfc0d 100644
--- a/tests/unit_tests.rs
+++ b/tests/unit_tests.rs
@@ -291,13 +291,7 @@ mod unit_tests {
     }
 
     #[test]
-    /// Tests getting tick counter.
-    fn test_get_tick_counter_timer() {
-        assert_eq!(Timer::get_tick_counter(), 0);
-    }
-
-    #[test]
-    /// Tests setup timer function.
+    /// Tests setup timer function and getting tick counter (bad unit test).
     fn test_setup_timer() {
         Timer::setup_timer();
         assert_eq!(Timer::get_tick_counter(), 0);

From 8bcb66e95758b61f4080ad1f1d16cfe3329d3136 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Sun, 25 Feb 2024 12:30:43 +0300
Subject: [PATCH 13/33] Simple example for esp32 with task manager

---
 .../rust-examples/xtensa-esp32/src/main.rs    | 35 +++++++++++++++++--
 1 file changed, 32 insertions(+), 3 deletions(-)

diff --git a/examples/rust-examples/xtensa-esp32/src/main.rs b/examples/rust-examples/xtensa-esp32/src/main.rs
index 38eb107..9986b2f 100644
--- a/examples/rust-examples/xtensa-esp32/src/main.rs
+++ b/examples/rust-examples/xtensa-esp32/src/main.rs
@@ -1,13 +1,42 @@
 #![no_std]
 #![no_main]
 
+use core::sync::atomic::{AtomicU32, Ordering};
 use esp32_hal::entry;
 use esp_backtrace as _;
 use esp_println::println;
-use ma_rtos::timer::Timer;
+use ma_rtos::task_manager;
+
+/// Counter to work with in loop.
+static COUNTER: AtomicU32 = AtomicU32::new(1);
+
+/// Setup function for task to execute.
+fn setup_fn() {
+    println!("Setup hello world!")
+}
+
+/// Loop function for task to execute.
+fn loop_fn() {
+    COUNTER.fetch_add(1, Ordering::Relaxed);
+    println!("Loop hello world!");
+    println!("Counter = {}", unsafe { COUNTER.as_ptr().read() });
+}
+
+/// Stop condition function for task to execute.
+fn stop_condition_fn() -> bool {
+    let value = unsafe { COUNTER.as_ptr().read() };
+    if value % 50 == 0 {
+        return true;
+    }
+    return false;
+}
 
 #[entry]
 fn main() -> ! {
-    println!("Timer {}", Timer::get_tick_counter());
-    loop {}
+    // Creating task executer.
+    let mut task_executor = task_manager::TaskExecutor::new();
+    // Add task to execute.
+    task_executor.add_task(setup_fn, loop_fn, stop_condition_fn);
+    // Start task manager.
+    task_executor.start_task_manager();
 }
\ No newline at end of file

From 21360e95b9c5b6bf426ed4a60243a44580c65059 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Sun, 25 Feb 2024 12:41:36 +0300
Subject: [PATCH 14/33] Build example in ci

---
 .github/workflows/rust.yml | 33 +++++++++++++++++++++++----------
 1 file changed, 23 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index a4071a3..6a1d355 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -1,10 +1,10 @@
 name: Rust
 
-on:
-  push:
-    branches: [ "main" ]
-  pull_request:
-    branches: [ "main" ]
+#on:
+#  push:
+#    branches: [ "main" ]
+#  pull_request:
+#    branches: [ "main" ]
 
 env:
   CARGO_TERM_COLOR: always
@@ -13,20 +13,33 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - name: Build
-      run: cargo build --verbose
+      - name: Build
+        uses: actions/checkout@v3
+        run: cargo build --verbose
 
   test:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
       - name: Run tests
+        uses: actions/checkout@v3
         run: cargo test --verbose
 
   fmt:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
       - name: Fmt
+        uses: actions/checkout@v3
         run: cargo fmt --all -- --check
+
+  xtensa-esp32-example:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Setup build env
+        uses: actions/checkout@v3
+        run: cargo install espup && espup install
+      - name: Build
+        uses: actions/checkout@v3
+        run: cd ./examples/rust-examples/xtensa-esp32 && . $HOME/export-esp.sh && cargo build
+      - name: Fmt
+        uses: actions/checkout@v3
+        run: cd ./examples/rust-examples/xtensa-esp32 && cargo fmt --all -- --check

From d60cb4efbf03c9373206ec89fbcc63a05ebcafd1 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Sun, 25 Feb 2024 12:43:46 +0300
Subject: [PATCH 15/33] Fix ci

---
 .github/workflows/rust.yml | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 6a1d355..10e2b08 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -13,33 +13,31 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
+      - uses: actions/checkout@v3
       - name: Build
-        uses: actions/checkout@v3
         run: cargo build --verbose
 
   test:
     runs-on: ubuntu-latest
     steps:
+      - uses: actions/checkout@v3
       - name: Run tests
-        uses: actions/checkout@v3
         run: cargo test --verbose
 
   fmt:
     runs-on: ubuntu-latest
     steps:
+      - uses: actions/checkout@v3
       - name: Fmt
-        uses: actions/checkout@v3
         run: cargo fmt --all -- --check
 
   xtensa-esp32-example:
     runs-on: ubuntu-latest
     steps:
+      - uses: actions/checkout@v3
       - name: Setup build env
-        uses: actions/checkout@v3
         run: cargo install espup && espup install
       - name: Build
-        uses: actions/checkout@v3
         run: cd ./examples/rust-examples/xtensa-esp32 && . $HOME/export-esp.sh && cargo build
       - name: Fmt
-        uses: actions/checkout@v3
         run: cd ./examples/rust-examples/xtensa-esp32 && cargo fmt --all -- --check

From cf6d7ffbb13fc09c047c5241e9d0666b710aab95 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Sun, 25 Feb 2024 12:45:14 +0300
Subject: [PATCH 16/33] Fix ci

---
 .github/workflows/rust.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 10e2b08..1f222a3 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -5,6 +5,8 @@ name: Rust
 #    branches: [ "main" ]
 #  pull_request:
 #    branches: [ "main" ]
+on:
+  - push
 
 env:
   CARGO_TERM_COLOR: always

From 6393d540c4fa0b155be6c76a40ca212e8db7c0d0 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Sun, 25 Feb 2024 12:55:23 +0300
Subject: [PATCH 17/33] Fix fmt

---
 examples/rust-examples/xtensa-esp32/src/main.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/rust-examples/xtensa-esp32/src/main.rs b/examples/rust-examples/xtensa-esp32/src/main.rs
index 9986b2f..716cdd3 100644
--- a/examples/rust-examples/xtensa-esp32/src/main.rs
+++ b/examples/rust-examples/xtensa-esp32/src/main.rs
@@ -39,4 +39,4 @@ fn main() -> ! {
     task_executor.add_task(setup_fn, loop_fn, stop_condition_fn);
     // Start task manager.
     task_executor.start_task_manager();
-}
\ No newline at end of file
+}

From c7f0b24d97ae26daf405bba0af18362af2661d14 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Sun, 25 Feb 2024 13:08:28 +0300
Subject: [PATCH 18/33] Some ci improvements

---
 .github/workflows/rust.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 1f222a3..cac69f6 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -37,9 +37,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
-      - name: Setup build env
+      - name: Fmt
+        run: cd ./examples/rust-examples/xtensa-esp32 && cargo fmt --all -- --check
+      - name: Setup build environment
         run: cargo install espup && espup install
       - name: Build
         run: cd ./examples/rust-examples/xtensa-esp32 && . $HOME/export-esp.sh && cargo build
-      - name: Fmt
-        run: cd ./examples/rust-examples/xtensa-esp32 && cargo fmt --all -- --check

From d766010e3897aefc57aa5c2d74e684a0c782edee Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Sun, 25 Feb 2024 13:11:16 +0300
Subject: [PATCH 19/33] Some todo in ci

---
 .github/workflows/rust.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index cac69f6..5543c3c 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -39,6 +39,7 @@ jobs:
       - uses: actions/checkout@v3
       - name: Fmt
         run: cd ./examples/rust-examples/xtensa-esp32 && cargo fmt --all -- --check
+        # TODO: to avoid setupping, ci should pass on prepared dockers on self-hosted runners
       - name: Setup build environment
         run: cargo install espup && espup install
       - name: Build

From 43573a4a2cc0346322d577d50237132c6cdaef98 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Sun, 25 Feb 2024 13:17:52 +0300
Subject: [PATCH 20/33] Fix ci

---
 .github/workflows/rust.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 5543c3c..5c16277 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -37,10 +37,10 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
-      - name: Fmt
-        run: cd ./examples/rust-examples/xtensa-esp32 && cargo fmt --all -- --check
         # TODO: to avoid setupping, ci should pass on prepared dockers on self-hosted runners
       - name: Setup build environment
         run: cargo install espup && espup install
       - name: Build
         run: cd ./examples/rust-examples/xtensa-esp32 && . $HOME/export-esp.sh && cargo build
+      - name: Fmt
+        run: cd ./examples/rust-examples/xtensa-esp32 && cargo fmt --all -- --check

From 8bb66d0c8556f2b04e31ad00db8b4a0869815683 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Sun, 25 Feb 2024 13:32:37 +0300
Subject: [PATCH 21/33] Change ci not to run

---
 .github/workflows/rust.yml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 5c16277..eb653e3 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -1,12 +1,12 @@
 name: Rust
 
-#on:
-#  push:
-#    branches: [ "main" ]
-#  pull_request:
-#    branches: [ "main" ]
 on:
-  - push
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+#on:
+#  - push
 
 env:
   CARGO_TERM_COLOR: always

From 81f4ef588a3a982725288f043aabbd6f9b43aea4 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Sun, 25 Feb 2024 13:33:18 +0300
Subject: [PATCH 22/33] Simple dynamic lib

---
 c-library/xtensa-esp32/Cargo.toml | 12 ++++++++++++
 c-library/xtensa-esp32/src/lib.rs |  6 ++++++
 2 files changed, 18 insertions(+)
 create mode 100644 c-library/xtensa-esp32/Cargo.toml
 create mode 100644 c-library/xtensa-esp32/src/lib.rs

diff --git a/c-library/xtensa-esp32/Cargo.toml b/c-library/xtensa-esp32/Cargo.toml
new file mode 100644
index 0000000..a7ffa39
--- /dev/null
+++ b/c-library/xtensa-esp32/Cargo.toml
@@ -0,0 +1,12 @@
+[package]
+name = "xtensa_esp32_dynamic_lib"
+version = "0.1.0"
+edition = "2021"
+
+[lib]
+name = "xtensa_esp32_dynamic_lib"
+crate-type = ["cdylib"]
+
+[dependencies]
+# TODO: path should be from git, then from crates.io
+ma_rtos = { path = "../../" }
\ No newline at end of file
diff --git a/c-library/xtensa-esp32/src/lib.rs b/c-library/xtensa-esp32/src/lib.rs
new file mode 100644
index 0000000..34eca87
--- /dev/null
+++ b/c-library/xtensa-esp32/src/lib.rs
@@ -0,0 +1,6 @@
+use ma_rtos::timer::{Timer, TickType};
+
+#[no_mangle]
+pub extern "C" fn get_tick_counter() -> TickType {
+    Timer::get_tick_counter()
+}
\ No newline at end of file

From 83a2ca870949f133d216233542d0565eca59e9a6 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Sun, 25 Feb 2024 15:45:21 +0300
Subject: [PATCH 23/33] Simple static lib

---
 c-library/xtensa-esp32/.cargo/config.toml  | 19 +++++++++++++++++++
 c-library/xtensa-esp32/Cargo.toml          | 17 +++++++++++++----
 c-library/xtensa-esp32/rust-toolchain.toml |  2 ++
 c-library/xtensa-esp32/src/lib.rs          |  7 +++++++
 4 files changed, 41 insertions(+), 4 deletions(-)
 create mode 100644 c-library/xtensa-esp32/.cargo/config.toml
 create mode 100644 c-library/xtensa-esp32/rust-toolchain.toml

diff --git a/c-library/xtensa-esp32/.cargo/config.toml b/c-library/xtensa-esp32/.cargo/config.toml
new file mode 100644
index 0000000..20da577
--- /dev/null
+++ b/c-library/xtensa-esp32/.cargo/config.toml
@@ -0,0 +1,19 @@
+[target.xtensa-esp32-none-elf]
+runner = "espflash flash --monitor"
+
+
+[build]
+rustflags = [
+  "-C", "link-arg=-Tlinkall.x",
+
+  "-C", "link-arg=-nostartfiles",
+]
+
+target = "xtensa-esp32-none-elf"
+
+[unstable]
+build-std = ["core"]
+
+[target.'cfg(any(target_arch = "riscv32", target_arch = "xtensa"))']
+runner = "espflash flash --monitor"
+
diff --git a/c-library/xtensa-esp32/Cargo.toml b/c-library/xtensa-esp32/Cargo.toml
index a7ffa39..6ac93e8 100644
--- a/c-library/xtensa-esp32/Cargo.toml
+++ b/c-library/xtensa-esp32/Cargo.toml
@@ -1,12 +1,21 @@
 [package]
-name = "xtensa_esp32_dynamic_lib"
+name = "xtensa_esp32_static_lib"
 version = "0.1.0"
 edition = "2021"
 
 [lib]
-name = "xtensa_esp32_dynamic_lib"
-crate-type = ["cdylib"]
+name = "xtensa_esp32_static_lib"
+crate-type = ["staticlib"]
+
+[profile.release]
+debug = true
 
 [dependencies]
 # TODO: path should be from git, then from crates.io
-ma_rtos = { path = "../../" }
\ No newline at end of file
+ma_rtos = { path = "../../" }
+esp32-hal = "0.18.0"
+esp-backtrace = { version = "0.11.0", features = ["esp32", "panic-handler", "exception-handler", "println"] }
+esp-println = { version = "0.9.0", features = ["esp32"] }
+
+[features]
+default = ["esp32-hal/xtal-40mhz"]
\ No newline at end of file
diff --git a/c-library/xtensa-esp32/rust-toolchain.toml b/c-library/xtensa-esp32/rust-toolchain.toml
new file mode 100644
index 0000000..a2f5ab5
--- /dev/null
+++ b/c-library/xtensa-esp32/rust-toolchain.toml
@@ -0,0 +1,2 @@
+[toolchain]
+channel = "esp"
diff --git a/c-library/xtensa-esp32/src/lib.rs b/c-library/xtensa-esp32/src/lib.rs
index 34eca87..2672cd3 100644
--- a/c-library/xtensa-esp32/src/lib.rs
+++ b/c-library/xtensa-esp32/src/lib.rs
@@ -1,5 +1,12 @@
+#![no_std]
+
 use ma_rtos::timer::{Timer, TickType};
 
+#[panic_handler]
+fn panic(_info: &core::panic::PanicInfo) -> ! {
+    loop {}
+}
+
 #[no_mangle]
 pub extern "C" fn get_tick_counter() -> TickType {
     Timer::get_tick_counter()

From 7057a81d03727be629e236a51c2a1bb16e7bc2d8 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Tue, 5 Mar 2024 06:46:58 +0300
Subject: [PATCH 24/33] Add simple c example

---
 .gitignore                                            |  6 +++++-
 examples/c-examples/xtensa-esp32/CMakeLists.txt       |  6 ++++++
 examples/c-examples/xtensa-esp32/README.md            |  1 +
 examples/c-examples/xtensa-esp32/main/CMakeLists.txt  |  6 ++++++
 .../c-examples/xtensa-esp32/main/hello_world_main.c   | 11 +++++++++++
 5 files changed, 29 insertions(+), 1 deletion(-)
 create mode 100644 examples/c-examples/xtensa-esp32/CMakeLists.txt
 create mode 100644 examples/c-examples/xtensa-esp32/README.md
 create mode 100644 examples/c-examples/xtensa-esp32/main/CMakeLists.txt
 create mode 100644 examples/c-examples/xtensa-esp32/main/hello_world_main.c

diff --git a/.gitignore b/.gitignore
index ada8be9..8e809c5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -11,4 +11,8 @@ Cargo.lock
 **/*.rs.bk
 
 # MSVC Windows builds of rustc generate these, which store debugging information
-*.pdb
\ No newline at end of file
+*.pdb
+
+# Espessif generated files and directories
+sdkconfig
+build/
\ No newline at end of file
diff --git a/examples/c-examples/xtensa-esp32/CMakeLists.txt b/examples/c-examples/xtensa-esp32/CMakeLists.txt
new file mode 100644
index 0000000..0a454d0
--- /dev/null
+++ b/examples/c-examples/xtensa-esp32/CMakeLists.txt
@@ -0,0 +1,6 @@
+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(hello_world)
diff --git a/examples/c-examples/xtensa-esp32/README.md b/examples/c-examples/xtensa-esp32/README.md
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/examples/c-examples/xtensa-esp32/README.md
@@ -0,0 +1 @@
+
diff --git a/examples/c-examples/xtensa-esp32/main/CMakeLists.txt b/examples/c-examples/xtensa-esp32/main/CMakeLists.txt
new file mode 100644
index 0000000..96f934d
--- /dev/null
+++ b/examples/c-examples/xtensa-esp32/main/CMakeLists.txt
@@ -0,0 +1,6 @@
+idf_component_register(SRCS "hello_world_main.c"
+                    INCLUDE_DIRS "")
+
+# Linking with martos static library. Set here path to it in your project.
+# Here path is so for ci.
+target_link_libraries(${COMPONENT_LIB} ${CMAKE_CURRENT_LIST_DIR}/../../../../c-library/xtensa-esp32/target/xtensa-esp32-none-elf/debug/libxtensa_esp32_static_lib.a -Wl,--allow-multiple-definition)
diff --git a/examples/c-examples/xtensa-esp32/main/hello_world_main.c b/examples/c-examples/xtensa-esp32/main/hello_world_main.c
new file mode 100644
index 0000000..50b7f5b
--- /dev/null
+++ b/examples/c-examples/xtensa-esp32/main/hello_world_main.c
@@ -0,0 +1,11 @@
+#include <stdio.h>
+
+extern long get_tick_counter();
+
+void app_main(void)
+{
+    long tick = get_tick_counter();
+    printf("tick in c = %ld\n", tick);
+
+    for (;;) {}
+}

From 58e1117e4e06a8cd77e4bc588bb1cc40e2ebbb5e Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Tue, 5 Mar 2024 06:59:07 +0300
Subject: [PATCH 25/33] Ci for static library and c example

---
 .github/workflows/rust.yml | 37 ++++++++++++++++++++++++++++++-------
 1 file changed, 30 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index eb653e3..0908dc6 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -1,12 +1,12 @@
 name: Rust
 
-on:
-  push:
-    branches: [ "main" ]
-  pull_request:
-    branches: [ "main" ]
 #on:
-#  - push
+#  push:
+#    branches: [ "main" ]
+#  pull_request:
+#    branches: [ "main" ]
+on:
+  - push
 
 env:
   CARGO_TERM_COLOR: always
@@ -33,7 +33,7 @@ jobs:
       - name: Fmt
         run: cargo fmt --all -- --check
 
-  xtensa-esp32-example:
+  xtensa-esp32-rust-example:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
@@ -44,3 +44,26 @@ jobs:
         run: cd ./examples/rust-examples/xtensa-esp32 && . $HOME/export-esp.sh && cargo build
       - name: Fmt
         run: cd ./examples/rust-examples/xtensa-esp32 && cargo fmt --all -- --check
+
+  xtensa-esp32-static-library:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        # TODO: to avoid setupping, ci should pass on prepared dockers on self-hosted runners
+      - name: Setup build environment
+        run: cargo install espup && espup install
+      - name: Build
+        run: cd ./c-library/xtensa-esp32 && . $HOME/export-esp.sh && cargo build
+      - name: Fmt
+        run: cd ./c-library/xtensa-esp32 && cargo fmt --all -- --check
+
+  xtensa-esp32-c-example:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        # TODO: to avoid setupping, ci should pass on prepared dockers on self-hosted runners
+      - name: Setup build environment
+        run: cargo install espup && espup install && apt-get install -y git wget flex bison gperf python3 python3-pip python3-venv cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0 && mkdir -p ~/esp && cd ~/esp && git clone -b v5.2 --recursive https://github.com/espressif/esp-idf.git && cd ~/esp/esp-idf && ./install.sh esp32
+        # TODO: to avoid building static library, this job should use artifacts from xtensa-esp32-static-library job
+      - name: Build
+        run: cd ./c-library/xtensa-esp32 && . $HOME/export-esp.sh && cargo build && cd ../../examples/c-examples/xtensa-esp32 && . $HOME/esp/esp-idf/export.sh && idf.py build
\ No newline at end of file

From b0939eb5d56b0790668c29099f6877d30f471ac2 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Tue, 5 Mar 2024 07:24:34 +0300
Subject: [PATCH 26/33] Fix ci

---
 .github/workflows/rust.yml                           | 2 +-
 c-library/xtensa-esp32/src/lib.rs                    | 4 ++--
 examples/c-examples/xtensa-esp32/main/CMakeLists.txt | 1 +
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 0908dc6..4be25d3 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -63,7 +63,7 @@ jobs:
       - uses: actions/checkout@v3
         # TODO: to avoid setupping, ci should pass on prepared dockers on self-hosted runners
       - name: Setup build environment
-        run: cargo install espup && espup install && apt-get install -y git wget flex bison gperf python3 python3-pip python3-venv cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0 && mkdir -p ~/esp && cd ~/esp && git clone -b v5.2 --recursive https://github.com/espressif/esp-idf.git && cd ~/esp/esp-idf && ./install.sh esp32
+        run: cargo install espup && espup install && sudo apt-get install -y git wget flex bison gperf python3 python3-pip python3-venv cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0 && mkdir -p ~/esp && cd ~/esp && git clone -b v5.2 --recursive https://github.com/espressif/esp-idf.git && cd ~/esp/esp-idf && ./install.sh esp32
         # TODO: to avoid building static library, this job should use artifacts from xtensa-esp32-static-library job
       - name: Build
         run: cd ./c-library/xtensa-esp32 && . $HOME/export-esp.sh && cargo build && cd ../../examples/c-examples/xtensa-esp32 && . $HOME/esp/esp-idf/export.sh && idf.py build
\ No newline at end of file
diff --git a/c-library/xtensa-esp32/src/lib.rs b/c-library/xtensa-esp32/src/lib.rs
index 2672cd3..82c542a 100644
--- a/c-library/xtensa-esp32/src/lib.rs
+++ b/c-library/xtensa-esp32/src/lib.rs
@@ -1,6 +1,6 @@
 #![no_std]
 
-use ma_rtos::timer::{Timer, TickType};
+use ma_rtos::timer::{TickType, Timer};
 
 #[panic_handler]
 fn panic(_info: &core::panic::PanicInfo) -> ! {
@@ -10,4 +10,4 @@ fn panic(_info: &core::panic::PanicInfo) -> ! {
 #[no_mangle]
 pub extern "C" fn get_tick_counter() -> TickType {
     Timer::get_tick_counter()
-}
\ No newline at end of file
+}
diff --git a/examples/c-examples/xtensa-esp32/main/CMakeLists.txt b/examples/c-examples/xtensa-esp32/main/CMakeLists.txt
index 96f934d..b4a1240 100644
--- a/examples/c-examples/xtensa-esp32/main/CMakeLists.txt
+++ b/examples/c-examples/xtensa-esp32/main/CMakeLists.txt
@@ -3,4 +3,5 @@ idf_component_register(SRCS "hello_world_main.c"
 
 # Linking with martos static library. Set here path to it in your project.
 # Here path is so for ci.
+# TODO: should be more beautiful linking
 target_link_libraries(${COMPONENT_LIB} ${CMAKE_CURRENT_LIST_DIR}/../../../../c-library/xtensa-esp32/target/xtensa-esp32-none-elf/debug/libxtensa_esp32_static_lib.a -Wl,--allow-multiple-definition)

From 8a26a64c54c2c313e50a677534e5ce8093e0d68e Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Tue, 5 Mar 2024 07:42:33 +0300
Subject: [PATCH 27/33] Comment ci

---
 .github/workflows/rust.yml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 4be25d3..32f3d5c 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -1,12 +1,12 @@
 name: Rust
 
-#on:
-#  push:
-#    branches: [ "main" ]
-#  pull_request:
-#    branches: [ "main" ]
 on:
-  - push
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+#on:
+#  - push
 
 env:
   CARGO_TERM_COLOR: always

From 3f99fd84d1b71d34df2674d08e744dd1729c90ae Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Tue, 5 Mar 2024 07:55:01 +0300
Subject: [PATCH 28/33] Add some functions

---
 c-library/xtensa-esp32/src/lib.rs | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/c-library/xtensa-esp32/src/lib.rs b/c-library/xtensa-esp32/src/lib.rs
index 82c542a..7fea164 100644
--- a/c-library/xtensa-esp32/src/lib.rs
+++ b/c-library/xtensa-esp32/src/lib.rs
@@ -1,5 +1,8 @@
+// TODO: maybe all this should be in martos, not in c-library folder
+
 #![no_std]
 
+// use ma_rtos::task_manager::TaskExecutor;
 use ma_rtos::timer::{TickType, Timer};
 
 #[panic_handler]
@@ -7,6 +10,21 @@ fn panic(_info: &core::panic::PanicInfo) -> ! {
     loop {}
 }
 
+#[no_mangle]
+pub extern "C" fn setup_timer() {
+    Timer::setup_timer()
+}
+
+#[no_mangle]
+pub extern "C" fn loop_timer() {
+    Timer::loop_timer()
+}
+
+#[no_mangle]
+pub extern "C" fn stop_condition_timer() -> bool {
+    Timer::stop_condition_timer()
+}
+
 #[no_mangle]
 pub extern "C" fn get_tick_counter() -> TickType {
     Timer::get_tick_counter()

From cd8b2eeae893d226e057bd8f2cf1cf3c6f5b328b Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Tue, 5 Mar 2024 08:44:24 +0300
Subject: [PATCH 29/33] Some fixes

---
 .github/workflows/rust.yml |  2 +-
 src/main.rs                | 70 --------------------------------------
 2 files changed, 1 insertion(+), 71 deletions(-)
 delete mode 100644 src/main.rs

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 32f3d5c..7cb73f3 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -16,7 +16,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
-      - name: Build
+      - name: Build --lib
         run: cargo build --verbose
 
   test:
diff --git a/src/main.rs b/src/main.rs
deleted file mode 100644
index 3419690..0000000
--- a/src/main.rs
+++ /dev/null
@@ -1,70 +0,0 @@
-use crate::timer::Timer;
-
-use core::sync::atomic::{AtomicU32, Ordering};
-
-mod task_manager;
-mod timer;
-
-static COUNTER: AtomicU32 = AtomicU32::new(1);
-static COUNTER2: AtomicU32 = AtomicU32::new(1);
-
-fn setup_fn() {
-    println!("Setup!")
-}
-fn loop_fn() {
-    COUNTER.fetch_add(1, Ordering::Relaxed);
-    println!("Counter {}", unsafe { COUNTER.as_ptr().read() });
-    println!("Loop!")
-}
-
-fn stop_condition_fn() -> bool {
-    let value = unsafe { COUNTER.as_ptr().read() };
-    if value % 50 == 0 {
-        return true;
-    }
-    return false;
-}
-
-fn setup_fn2() {
-    println!("Setup2!")
-}
-fn loop_fn2() {
-    COUNTER2.fetch_add(1, Ordering::Relaxed);
-    println!("Counter2 {}", unsafe { COUNTER2.as_ptr().read() });
-    println!("Loop2!")
-}
-
-fn stop_condition_fn2() -> bool {
-    let value = unsafe { COUNTER2.as_ptr().read() };
-    if value % 55 == 0 {
-        return true;
-    }
-    return false;
-}
-
-fn setup_time() {}
-fn loop_time() {
-    println!("{}", Timer::get_tick_counter())
-}
-fn stop_condition_time() -> bool {
-    if Timer::get_tick_counter() > 100 {
-        return true;
-    }
-    return false;
-}
-
-fn main() {
-    let mut task_executor = task_manager::TaskExecutor::new();
-    task_executor.add_task(setup_fn, loop_fn, stop_condition_fn);
-    task_executor.add_task(setup_fn2, loop_fn2, stop_condition_fn2);
-
-    // Timer execution
-    task_executor.add_task(
-        Timer::setup_timer,
-        Timer::loop_timer,
-        Timer::stop_condition_timer,
-    );
-    task_executor.add_task(setup_time, loop_time, stop_condition_time);
-
-    task_executor.start_task_manager();
-}

From 089b3ea5d35a3b452caab60cff03f9d987e9dbd8 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Tue, 5 Mar 2024 08:58:22 +0300
Subject: [PATCH 30/33] Todo in ci

---
 .github/workflows/rust.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 7cb73f3..e5c80d2 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -33,6 +33,7 @@ jobs:
       - name: Fmt
         run: cargo fmt --all -- --check
 
+# TODO: change to cargo build --example
   xtensa-esp32-rust-example:
     runs-on: ubuntu-latest
     steps:

From 47b832422ffe79f486ad7e601d50c19fb0f37bef Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Wed, 6 Mar 2024 20:42:42 +0300
Subject: [PATCH 31/33] C support

---
 .github/workflows/rust.yml        | 12 ++++----
 Cargo.toml                        |  4 +++
 c-library/xtensa-esp32/Cargo.toml |  2 +-
 c-library/xtensa-esp32/src/lib.rs |  7 ++++-
 src/task_manager.rs               | 46 +++++++++++++++++++++++++++----
 5 files changed, 57 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index e5c80d2..30503de 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -1,12 +1,12 @@
 name: Rust
 
-on:
-  push:
-    branches: [ "main" ]
-  pull_request:
-    branches: [ "main" ]
 #on:
-#  - push
+#  push:
+#    branches: [ "main" ]
+#  pull_request:
+#    branches: [ "main" ]
+on:
+  - push
 
 env:
   CARGO_TERM_COLOR: always
diff --git a/Cargo.toml b/Cargo.toml
index 077a8d7..0ec132a 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -2,3 +2,7 @@
 name = "ma_rtos"
 version = "0.1.0"
 edition = "2021"
+
+[features]
+default = []
+c-library = []
\ No newline at end of file
diff --git a/c-library/xtensa-esp32/Cargo.toml b/c-library/xtensa-esp32/Cargo.toml
index 6ac93e8..e0c5131 100644
--- a/c-library/xtensa-esp32/Cargo.toml
+++ b/c-library/xtensa-esp32/Cargo.toml
@@ -12,7 +12,7 @@ debug = true
 
 [dependencies]
 # TODO: path should be from git, then from crates.io
-ma_rtos = { path = "../../" }
+ma_rtos = { path = "../../", features = ["c-library"] }
 esp32-hal = "0.18.0"
 esp-backtrace = { version = "0.11.0", features = ["esp32", "panic-handler", "exception-handler", "println"] }
 esp-println = { version = "0.9.0", features = ["esp32"] }
diff --git a/c-library/xtensa-esp32/src/lib.rs b/c-library/xtensa-esp32/src/lib.rs
index 7fea164..a7eb650 100644
--- a/c-library/xtensa-esp32/src/lib.rs
+++ b/c-library/xtensa-esp32/src/lib.rs
@@ -2,7 +2,7 @@
 
 #![no_std]
 
-// use ma_rtos::task_manager::TaskExecutor;
+use ma_rtos::task_manager::TaskExecutor;
 use ma_rtos::timer::{TickType, Timer};
 
 #[panic_handler]
@@ -29,3 +29,8 @@ pub extern "C" fn stop_condition_timer() -> bool {
 pub extern "C" fn get_tick_counter() -> TickType {
     Timer::get_tick_counter()
 }
+
+#[no_mangle]
+pub extern "C" fn new_task_executor() -> TaskExecutor {
+    TaskExecutor::new()
+}
diff --git a/src/task_manager.rs b/src/task_manager.rs
index 9a9b9c9..5eb8524 100644
--- a/src/task_manager.rs
+++ b/src/task_manager.rs
@@ -6,20 +6,42 @@ use core::task::{Context, Poll, RawWaker, RawWakerVTable, Waker};
 /// The number of tasks can fit into a type usize.
 pub type TaskNumberType = usize;
 
+// TODO: rewrite with cfg!
+#[cfg(not(feature = "c-library"))]
+/// Type of setup function, that is called once at the beginning of task.
+type TaskSetupFunctionType = fn() -> ();
+#[cfg(feature = "c-library")]
+/// Type of setup function, that is called once at the beginning of task.
+type TaskSetupFunctionType = extern "C" fn() -> ();
+#[cfg(not(feature = "c-library"))]
+/// Type of loop function, that is called in loop.
+type TaskLoopFunctionType = fn() -> ();
+#[cfg(feature = "c-library")]
+/// Type of loop function, that is called in loop.
+type TaskLoopFunctionType = extern "C" fn() -> ();
+#[cfg(not(feature = "c-library"))]
+/// Type of condition function for stopping loop function execution.
+type TaskStopConditionFunctionType = fn() -> bool;
+#[cfg(feature = "c-library")]
+/// Type of condition function for stopping loop function execution.
+type TaskStopConditionFunctionType = extern "C" fn() -> bool;
+
 /// Max number of tasks.
 // TODO: Should be dynamic array of tasks.
 const MAX_NUMBER_OF_TASKS: TaskNumberType = 20;
 
+#[repr(C)]
 /// Task representation for task manager.
 struct Task {
     /// Setup function, that is called once at the beginning of task.
-    setup_fn: fn() -> (),
+    setup_fn: TaskSetupFunctionType,
     /// Loop function, that is called in loop.
-    loop_fn: fn() -> (),
+    loop_fn: TaskLoopFunctionType,
     /// Condition function for stopping loop function execution.
-    stop_condition_fn: fn() -> bool,
+    stop_condition_fn: TaskStopConditionFunctionType,
 }
 
+#[repr(C)]
 /// Future shell for task for execution.
 struct FutureTask {
     /// Task to execute in task manager.
@@ -67,6 +89,7 @@ fn task_waker() -> Waker {
     unsafe { Waker::from_raw(raw_waker) }
 }
 
+#[repr(C)]
 /// Task executor representation. Based on round-robin scheduling without priorities.
 pub struct TaskExecutor {
     /// Static array of tasks to execute.
@@ -80,11 +103,22 @@ pub struct TaskExecutor {
 impl TaskExecutor {
     /// Creates new task executor.
     pub fn new() -> TaskExecutor {
+        #[cfg(not(feature = "c-library"))]
         fn setup_fn() {}
+        #[cfg(not(feature = "c-library"))]
         fn loop_fn() {}
+        #[cfg(not(feature = "c-library"))]
         fn stop_condition_fn() -> bool {
             return true;
         }
+        #[cfg(feature = "c-library")]
+        extern "C" fn setup_fn() {}
+        #[cfg(feature = "c-library")]
+        extern "C" fn loop_fn() {}
+        #[cfg(feature = "c-library")]
+        extern "C" fn stop_condition_fn() -> bool {
+            return true;
+        }
 
         let tasks: [FutureTask; MAX_NUMBER_OF_TASKS] = from_fn(|_| {
             let task = Task {
@@ -109,9 +143,9 @@ impl TaskExecutor {
     // TODO: Maybe it is better to pass tasks here. Functions are done for C compatibility.
     pub fn add_task(
         &mut self,
-        setup_fn: fn() -> (),
-        loop_fn: fn() -> (),
-        stop_condition_fn: fn() -> bool,
+        setup_fn: TaskSetupFunctionType,
+        loop_fn: TaskLoopFunctionType,
+        stop_condition_fn: TaskStopConditionFunctionType,
     ) {
         let task = Task {
             setup_fn,

From b3be3de202eb4bae966ba25c472998c1f2e1bf24 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Wed, 6 Mar 2024 21:29:09 +0300
Subject: [PATCH 32/33] Some readme

---
 .github/workflows/rust.yml | 12 ++++++------
 README.md                  | 24 +++++++++++++++++++++++-
 2 files changed, 29 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 30503de..e5c80d2 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -1,12 +1,12 @@
 name: Rust
 
-#on:
-#  push:
-#    branches: [ "main" ]
-#  pull_request:
-#    branches: [ "main" ]
 on:
-  - push
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+#on:
+#  - push
 
 env:
   CARGO_TERM_COLOR: always
diff --git a/README.md b/README.md
index 3b82cf9..f738f9d 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,23 @@
-# MA-RTOS
+# Martos
+
+Martos is a simple RTOS for developing multiagent realtime systems. 
+Software for Martos can be written on both Rust (recommended) and C languages.
+
+In current version it has only primitive task manager and timer counter.
+
+## Programming on Rust
+For writing software on Rust you can use Martos as dependency:
+```
+[dependencies]
+ma_rtos = ...
+```
+
+Rust examples for different architecures you can see in examples/rust-examples.
+
+## Programming on C
+For writing software on C you can link your project with Martos static library. 
+You can get Martos static library from release artifacts. 
+If you want to build Martos static library yourself, see c-library directory.
+It contains static library targets for different architectures.
+
+C examples for different architecures you can see in examples/c-examples.

From f8e888cca9e40c6f7f21ccf0052dea27bb2c3b02 Mon Sep 17 00:00:00 2001
From: Ivan Arkhipov <arkhipov.iv99@mail.ru>
Date: Wed, 6 Mar 2024 21:33:49 +0300
Subject: [PATCH 33/33] Fix readme

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index f738f9d..4232430 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # Martos
 
-Martos is a simple RTOS for developing multiagent realtime systems. 
+Martos is a simple RTOS for developing multi-agent real-time systems. 
 Software for Martos can be written on both Rust (recommended) and C languages.
 
 In current version it has only primitive task manager and timer counter.