Subversion Repositories shark

/*

 * Project: S.Ha.R.K.

 *

 * Coordinators:

 *   Giorgio Buttazzo    <giorgio@sssup.it>

 *   Paolo Gai           <pj@gandalf.sssup.it>

 *

 * Authors     :

 *   Giacomo Guidi       <giacomo@gandalf.sssup.it>

 *

 *

 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://shark.sssup.it

 */

#include <drivers/glib.h>

#include <drivers/keyb.h>

#include <GL/osmesa.h>

#include <GL/glut.h>

#include <png.h>

#include <math.h>

#include <stdlib.h>

#include <assert.h>

#include <kernel/log.h>

#include <kernel/kern.h>

#include <stdio.h>

#ifndef M_PI

#define M_PI 3.14159265

#endif

#define WIDTH 640

#define HEIGHT 480

#define BYTES_PP 2 //BytesPerPixel

#define DEG2RAD (3.14159/180.0)

static GLint ImgWidth = 0, ImgHeight = 0;

static GLenum ImgFormat = 0;

static GLubyte *Image = NULL;

#define MAX_OBJECTS 2

static GLint table_list;

static GLint objects_list[MAX_OBJECTS];

static GLfloat xrot, yrot;

static GLfloat spin;

OSMesaContext ctx;

unsigned char *rgb_565_buf = NULL; //RGB 16 bpp Buffer

unsigned char *video_buf = NULL; //Video Buffer

unsigned long int VMEMLONG = WIDTH * HEIGHT * BYTES_PP / 4; // Used by copy_videomem_16to16

unsigned long int RGB565MEM = WIDTH * HEIGHT * BYTES_PP; // Total video mem

unsigned long int PERIOD_REFRESH = 150000;

unsigned long int PERIOD_DISEGNA = 150000;

unsigned long int WCET_REFRESH, WCET_DISEGNA;

TASK refesh(void);

TASK disegna(void);

PID refresh_PID, disegna_PID;

void read_png_file(char *file_name, GLubyte **buffer, GLint *width, GLint *height, png_byte *color_type)

{

        int y;

        png_byte bit_depth;

        png_structp png_ptr;

        png_infop info_ptr;

        int number_of_passes;

        png_bytep * row_pointers;

        char header[8]; // 8 is the maximum size that can be checked

        /* open file and test for it being a png */

        FILE *fp = fopen(file_name, "rb");

        if (!fp) {

                cprintf("[read_png_file] File %s could not be opened for reading\n", file_name);

                exit(1);

        }

        fread(header, 1, 8, fp);

        if (png_sig_cmp(header, 0, 8))

                cprintf("[read_png_file] File %s is not recognized as a PNG file\n", file_name);

        /* initialize stuff */

        png_ptr = png_create_read_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL);

        if (!png_ptr)

                cprintf("[read_png_file] png_create_read_struct failed\n");

        info_ptr = png_create_info_struct(png_ptr);

        if (!info_ptr)

                cprintf("[read_png_file] png_create_info_struct failed\n");

        png_init_io(png_ptr, fp);

        png_set_sig_bytes(png_ptr, 8);

        png_read_info(png_ptr, info_ptr);

        *width = info_ptr->width;

        *height = info_ptr->height;

        *color_type = info_ptr->color_type;

        bit_depth = info_ptr->bit_depth;

        number_of_passes = png_set_interlace_handling(png_ptr);

        cprintf("Open PNG W: %d H: %d CT: %d BD: %d\n",*width,*height,*color_type,bit_depth);

        png_read_update_info(png_ptr, info_ptr);

        row_pointers = (png_bytep*) malloc(sizeof(png_bytep) * info_ptr->height);

        for (y=0; y<info_ptr->height; y++)

                row_pointers[y] = (png_byte*) malloc(info_ptr->rowbytes);

        png_read_image(png_ptr, row_pointers);

        if(info_ptr->color_type == PNG_COLOR_TYPE_RGB) {

                *buffer = malloc(info_ptr->height * info_ptr->rowbytes);

                for(y=0; y<info_ptr->height; y++)

                        memcpy(*buffer+y*info_ptr->rowbytes,row_pointers[y],info_ptr->rowbytes);

        }

        fclose(fp);

}

static void make_table( void )

{

   static GLfloat table_mat[] = { 1.0, 1.0, 1.0, 0.6 };

   static GLfloat gray[] = { 0.4, 0.4, 0.4, 1.0 };

   table_list = glGenLists(1);

   glNewList( table_list, GL_COMPILE );

   /* load table's texture */

   glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, table_mat );

/*   glMaterialfv( GL_FRONT, GL_EMISSION, gray );*/

   glMaterialfv( GL_FRONT, GL_DIFFUSE, table_mat );

   glMaterialfv( GL_FRONT, GL_AMBIENT, gray );

   /* draw textured square for the table */

   glPushMatrix();

   glScalef( 4.0, 4.0, 4.0 );

   glBegin( GL_POLYGON );

   glNormal3f( 0.0, 1.0, 0.0 );

   glTexCoord2f( 0.0, 0.0 );   glVertex3f(  1.0, 0.0, -1.0 );

   glTexCoord2f( 1.0, 0.0 );   glVertex3f(  1.0, 0.0,  1.0 );

   glTexCoord2f( 1.0, 1.0 );   glVertex3f( -1.0, 0.0,  1.0 );

   glTexCoord2f( 0.0, 1.0 );   glVertex3f( -1.0, 0.0, -1.0 );

   glEnd();

   glPopMatrix();

   glDisable( GL_TEXTURE_2D );

   glEndList();

}

static void make_objects( void )

{

   GLUquadricObj *q;

   static GLfloat cyan[] = { 0.0, 1.0, 1.0, 1.0 };

   static GLfloat green[] = { 0.2, 1.0, 0.2, 1.0 };

   static GLfloat black[] = { 0.0, 0.0, 0.0, 0.0 };

   q = gluNewQuadric();

   gluQuadricDrawStyle( q, GLU_FILL );

   gluQuadricNormals( q, GLU_SMOOTH );

   objects_list[0] = glGenLists(1);

   glNewList( objects_list[0], GL_COMPILE );

   glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, cyan );

   glMaterialfv( GL_FRONT, GL_EMISSION, black );

   gluCylinder( q, 0.5, 0.5,  1.0, 15, 1 );

   glEndList();

   objects_list[1] = glGenLists(1);

   glNewList( objects_list[1], GL_COMPILE );

   glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, green );

   glMaterialfv( GL_FRONT, GL_EMISSION, black );

   gluCylinder( q, 1.5, 0.0,  2.5, 15, 1 );

   glEndList();

}

static void gl_init( void )

{

   png_byte img_color;

   GLfloat yAspect = 2.5;

   GLfloat xAspect = yAspect * (float) WIDTH / (float) HEIGHT;

   //Create the OSMesa Context

   ctx = OSMesaCreateContext(OSMESA_RGB_565, NULL);

   //Make Current Context

   OSMesaMakeCurrent(ctx, rgb_565_buf, GL_UNSIGNED_SHORT_5_6_5, WIDTH, HEIGHT);

   read_png_file("test.png",&Image,&ImgWidth,&ImgHeight,&img_color);

   if (img_color == PNG_COLOR_TYPE_RGB && Image != NULL)

           ImgFormat = GL_RGB;

   else {

           cprintf("Texture Load Falied !!\n");

           exit(1);

   }

   make_table();

   make_objects();

   gluBuild2DMipmaps(GL_TEXTURE_2D, 3, ImgWidth, ImgHeight,

                     ImgFormat, GL_UNSIGNED_BYTE, Image);

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT );

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT );

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST );

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST );

   xrot = 30.0;

   yrot = 50.0;

   spin = 0.0;

   glShadeModel( GL_FLAT );

   glEnable( GL_LIGHT0 );

   glEnable( GL_LIGHTING );

   glClearColor( 0.5, 0.5, 0.9, 0.0 );

   glEnable( GL_NORMALIZE );

   glViewport(0, 0, WIDTH, HEIGHT);

   glMatrixMode(GL_PROJECTION);

   glLoadIdentity();

   glFrustum( -xAspect, xAspect, yAspect, -yAspect, 10.0, 30.0 );

   glMatrixMode(GL_MODELVIEW);

   glLoadIdentity();

}

static void draw_objects( GLfloat eyex, GLfloat eyey, GLfloat eyez )

{

   (void) eyex;

   (void) eyey;

   (void) eyez;

#ifndef USE_ZBUFFER

   if (eyex<0.5) {

#endif

           glPushMatrix();

           glTranslatef( 1.0, 1.5, 0.0 );

           glRotatef( spin, 1.0, 0.5, 0.0 );

           glRotatef( 0.5*spin, 0.0, 0.5, 1.0 );

           glCallList( objects_list[0] );

           glPopMatrix();

           glPushMatrix();

           glTranslatef( -1.0, 0.85+3.0*fabs( cos(0.01*spin) ), 0.0 );

           glRotatef( 0.5*spin, 0.0, 0.5, 1.0 );

           glRotatef( spin, 1.0, 0.5, 0.0 );

           glScalef( 0.5, 0.5, 0.5 );

           glCallList( objects_list[1] );

           glPopMatrix();

#ifndef USE_ZBUFFER

   }

   else {      

           glPushMatrix();

           glTranslatef( -1.0, 0.85+3.0*fabs( cos(0.01*spin) ), 0.0 );

           glRotatef( 0.5*spin, 0.0, 0.5, 1.0 );

           glRotatef( spin, 1.0, 0.5, 0.0 );

           glScalef( 0.5, 0.5, 0.5 );

           glCallList( objects_list[1] );

           glPopMatrix();

           glPushMatrix();

           glTranslatef( 1.0, 1.5, 0.0 );

           glRotatef( spin, 1.0, 0.5, 0.0 );

           glRotatef( 0.5*spin, 0.0, 0.5, 1.0 );

           glCallList( objects_list[0] );

           glPopMatrix();

   }

#endif

}

static void draw_table( void )

{

  glCallList( table_list );

}

static void draw( void )

{

   static GLfloat light_pos[] = { 0.0, 20.0, 0.0, 1.0 };

   GLfloat dist = 20.0;

   GLfloat eyex, eyey, eyez;

   glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);

   eyex = dist * cos(yrot*DEG2RAD) * cos(xrot*DEG2RAD);

   eyez = dist * sin(yrot*DEG2RAD) * cos(xrot*DEG2RAD);

   eyey = dist * sin(xrot*DEG2RAD);

   /* view from top */

   glPushMatrix();

   gluLookAt( eyex, eyey, eyez, 0.0, 0.0, 0.0,  0.0, 1.0, 0.0 );

   glLightfv( GL_LIGHT0, GL_POSITION, light_pos );

   /* draw table into stencil planes */

   glDisable( GL_DEPTH_TEST );

   glEnable( GL_STENCIL_TEST );

   glStencilFunc( GL_ALWAYS, 1, 0xffffffff );

   glStencilOp( GL_REPLACE, GL_REPLACE, GL_REPLACE );

   glColorMask( GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE );

   draw_table();

   glColorMask( GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE );

   glEnable( GL_DEPTH_TEST );

   /* render view from below (reflected viewport) */

   /* only draw where stencil==1 */

   if (eyey>0.0) {

      glPushMatrix();

      glStencilFunc( GL_EQUAL, 1, 0xffffffff );  /* draw if ==1 */

      glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP );

      glScalef( 1.0, -1.0, 1.0 );

      /* Reposition light in reflected space. */

      glLightfv(GL_LIGHT0, GL_POSITION, light_pos);

      draw_objects(eyex, eyey, eyez);

      glPopMatrix();

      /* Restore light's original unreflected position. */

      glLightfv(GL_LIGHT0, GL_POSITION, light_pos);

   }

   glDisable( GL_STENCIL_TEST );

   glEnable( GL_BLEND );

   glBlendFunc( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA );

   glEnable( GL_TEXTURE_2D );

   draw_table();

   glDisable( GL_TEXTURE_2D );

   glDisable( GL_BLEND );

   /* view from top */

   glPushMatrix();

   draw_objects(eyex, eyey, eyez);

   glPopMatrix();

   glPopMatrix();

   glFinish();

}

static int screen()

{

  extern DWORD flbaddr;

  /* graphic card Initialization */

  if (grx_init() < 1) {

     exit(1);

  }

  if (grx_open(640, 480, 16) < 0) {

     cprintf("GRX Err\n");

     exit(1);

  }

  video_buf = (unsigned char *)flbaddr;

  return 0;

}

void program_end(void *arg)

{

  OSMesaDestroyContext(ctx);

  free(rgb_565_buf);

  grx_close();

  exit(1);

}

void program_key_end(KEY_EVT *k)

{

  exit(1);

}

TASK refresh(void)

{

  while(1) {

    memcpy(rgb_565_buf, video_buf, RGB565MEM);

    task_endcycle();

  }

  exit(1);

}

TASK disegna(void)

{

  char text[100];

  TIME disegna_TIME, refresh_TIME;

  while(1) {

    jet_gettable(refresh_PID, &refresh_TIME, 1);

    jet_gettable(disegna_PID, &disegna_TIME, 1);

    spin += 2.0;

    yrot += 3.0;

    draw();

    sprintf(text,"Hard Task Refresh PER:%6d us EX:%6d us",(int)PERIOD_REFRESH,(int)refresh_TIME);

    grx_text(text,10,5,rgb16(0,0,255),0);    

    sprintf(text,"Hard Task Draw    PER:%6d us EX:%6d us",(int)PERIOD_DISEGNA,(int)disegna_TIME);

    grx_text(text,10,15,rgb16(0,0,255),0);

    task_endcycle();

  }

  exit(1);

}

int main (int argc, char *argv[])

{

    HARD_TASK_MODEL ht_refresh, ht_disegna;

    sys_atrunlevel(program_end,NULL, RUNLEVEL_BEFORE_EXIT);

    WCET_REFRESH =((long int) PERIOD_REFRESH * (0.2));

    WCET_DISEGNA =((long int) PERIOD_DISEGNA * (0.7));

    hard_task_default_model(ht_refresh);

    hard_task_def_wcet(ht_refresh,WCET_REFRESH);

    hard_task_def_mit(ht_refresh,PERIOD_REFRESH);

    hard_task_def_usemath(ht_refresh);

    hard_task_def_group(ht_refresh,1);

    hard_task_def_ctrl_jet(ht_refresh);

    refresh_PID = task_create("refresh", refresh, &ht_refresh, NULL);

    if (refresh_PID == -1) {

      exit(4);

    }

    hard_task_default_model(ht_disegna);

    hard_task_def_mit(ht_disegna,PERIOD_DISEGNA);

    hard_task_def_wcet(ht_disegna,WCET_DISEGNA);

    hard_task_def_group(ht_disegna,1);

    hard_task_def_ctrl_jet(ht_disegna);

    hard_task_def_usemath(ht_disegna);

    hard_task_def_stack(ht_disegna, 30000);

    disegna_PID = task_create("disegna", disegna, &ht_disegna, NULL);

    if (disegna_PID == -1) {

      exit(4);

    }

    {

      KEY_EVT k;

      k.flag = ALTL_BIT;

      k.scan = KEY_C;

      k.ascii = 'c';

      keyb_hook(k,program_key_end);

    }

    rgb_565_buf = malloc(RGB565MEM);

    gl_init();

    if (screen()) {

        printk(KERN_INFO "Graphical initialization failed !!\n");

        exit(1);

    }

    group_activate(1);

    return 0;

}