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/*

 * Project: S.Ha.R.K.

 *

 * Coordinators:

 *   Giorgio Buttazzo    <giorgio@sssup.it>

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

 *

 * Authors     :

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

 *   (see the web pages for full authors list)

 *

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

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://shark.sssup.it

 */

/*

 ------------

 CVS :        $Id: mix.c,v 1.7 2005-01-08 14:33:10 pj Exp $

 File:        $File$

 Revision:    $Revision: 1.7 $

 Last update: $Date: 2005-01-08 14:33:10 $

 ------------

*/

/*

 * Copyright (C) 2000 Giorgio Buttazzo and Paolo Gai

 *

 * This program is free software; you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation; either version 2 of the License, or

 * (at your option) any later version.

 *

 * This program is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with this program; if not, write to the Free Software

 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

 *

 */

/*--------------------------------------------------------------*/

/*              DEMO with 9 INDEPENDENT TASKS                   */

/*--------------------------------------------------------------*/

#include <kernel/kern.h>

#include <drivers/shark_fb26.h>

#include <drivers/shark_keyb26.h>

#include <semaphore.h>

#include <stdlib.h>

#include <string.h>

#include <math.h>

#define PIG     3.1415

#define DURATA  10000           /* counter duration in tick     */

#define LW      200             /* window length                */

#define HW      150             /* window height                */

#define HLOAD   30              /* Y level for the max load     */

#define LLOAD   (HW-HLOAD-5)    /* length for the max load      */

#define XWL     10              /* left X of LEFT window        */

#define XWM     220             /* left X of MIDDLE window      */

#define XWR     430             /* left X RIGHT window          */

#define YWH     5               /* top Y of HIGH window         */

#define YWM     165             /* top Y of MIDDLE window       */

#define YWL     325             /* top Y of LOW window          */

int     flen = 0;               /* file length                  */

int     fine = 0;               /* ending flag                  */

sem_t   mx_mat, mx_grf;         /* mutex semaphores             */

int     wcet[10];               /* array of task wcets          */

int     period[10];             /* array of task periods        */

double  load(long);             /* load evaluation function     */

PID     ptas;

char    talk[5][25] =  {" SHARK Demonstration ",

                        " RETIS Lab -- Scuola ",

                        " Superiore   S. Anna ",

                        " HARD REAL-TIME DEMO ",

                        "    June 5,  2001    "};

char    fbuf[1000] = "\

TASK    NAME    PERIOD          WCET\n\

------------------------------------------\n\

task1   watch:  1000000         200\n\

task2   tasto:  2000            200\n\

task3   palla:  2000            200\n\

task4   mosca:  20000           200\n\

task5   infor:  20000           300\n\

task6   ruota:  5000            400\n\

task7   color:  2000            200\n\

task8   pendo:  5000            400\n\

------------------------------------------\n";

extern int vga16color[16];

/*------------------------------------------------------*/

/*              file reading                            */

/*------------------------------------------------------*/

void    read_file(void)

{

  int   err;

  DOS_FILE *fp;

  fp = DOS_fopen("mix.dat","r");

  if (!fp) {

    err = DOS_error();

    cprintf("Error %d opening myfile.txt...\n", err);

    flen = 0;

    return;

  }

  flen = DOS_fread(&fbuf, 1, 1000, fp);

  cprintf("Read %d bytes from file\n", flen);

  DOS_fclose(fp);

}

/*------------------------------------------------------*/

/*              get data from buffer                    */

/*------------------------------------------------------*/

void    get_par(void)

{

  int   x = 0;

  int   i;

  flen = strlen(fbuf);

  for (i=1; i<=8; i++) {

    while ((fbuf[x] != ':') && (x < flen)) x++;

    x++;

    sscanf(&fbuf[x], "%d %d", &period[i], &wcet[i]);

  }

}

/*--------------------------------------------------------------*/

void    finish1()

{

  exit(1);

}

/*--------------------------------------------------------------*/

void    finish2()

{

  fine = 1;

}

/****************************************************************/

/*                      PROCESSO OROLOGIO                       */

/****************************************************************/

#define LLAN    40              /* length of watch stick        */

TASK    watch()

{

  int   x0 = XWL + LW/2;

  int   y0 = YWH + HW/2;

  int   grad;

  int   xg, yg;

  int   xt, yt, d;

  int   sec, min;

  char  s[5];

  double        rad, x, y;

  xg = x0;

  yg = y0 - LLAN;

  xt = XWL + 78;

  yt = YWH + 12;

  sec = min = 0;

  while (1) {

    sec = (sec + 1) % 60;

    if (sec == 0) min++;

    grad = 90 - sec * 6;

    rad = (double)grad * PIG / 180.;

    sem_wait(&mx_mat);

    x = (double)x0 + (double)LLAN * cos(rad);

    y = (double)y0 - (double)LLAN * sin(rad);

    sem_post(&mx_mat);

    sem_wait(&mx_grf);

    grx_line(x0, y0, xg, yg, vga16color[0]);

    sem_post(&mx_grf);

    xg = x;

    yg = y;

    sem_wait(&mx_grf);

    grx_line(x0, y0, xg, yg, vga16color[14]);

    sem_post(&mx_grf);

    sem_wait(&mx_grf);

    grx_text("0 :0 ", xt, yt, vga16color[14], vga16color[0]);

    sprintf(s, "%d", min);

    grx_text(s, xt+8, yt, vga16color[14], vga16color[0]);

    sprintf(s, "%d", sec);

    if (sec > 9) d = 24; else d = 32;

    grx_text(s, xt+d, yt, vga16color[14], vga16color[0]);

    sem_post(&mx_grf);

    task_endcycle();

  }

}

/****************************************************************/

/*               PROCESSO DI RIEMPIMENTO                        */

/****************************************************************/

#define CIMA    (YWH+5)         /* fondo del recipiente         */

#define FONDO   (YWH+HW-5)      /* cima  del recipiente         */

#define LREC    (XWM+75)        /* lato sinistro recipiente     */

#define DREC    50              /* diametro del recipiente      */

TASK    tasto()

{

  int   x, y;

  int   x0;                     /* coord. sinistra recipiente   */

  int   col, cliq, bkg;

  int   i;

  int   liv;                    /* livello del liquido          */

  cliq = 9;

  bkg = 14;

  x0 = LREC;

  x = x0 + DREC/2;

  y = CIMA;

  liv = FONDO;

  while (1) {

    col = cliq;

    for (i=0; i<2; i++) {               /* disegna goccia */

      while (y < liv) {

        sem_wait(&mx_grf);

        grx_plot(x,y,vga16color[col]);

        sem_post(&mx_grf);

        y++;

      }

      y = CIMA;

      col = bkg;

    }

    liv--;

    sem_wait(&mx_grf);

    grx_line(x0+1, liv, x0+DREC-1, liv, vga16color[cliq]);

    sem_post(&mx_grf);

    if (liv <= CIMA+1) {                /* swap colors */

      i = bkg; bkg = cliq; cliq = i;

      liv = FONDO;

    }

    task_endcycle();

  }

}

/****************************************************************/

void    kboar()

{

  task_activate(ptas);

}

/****************************************************************/

/*                      PROCESSO PALLA                          */

/****************************************************************/

#define VMIN    11.             /* velocit… minima per suono    */

#define LP      3               /* lato della pallina           */

TASK    palla()

{

  int   ox, oy;                 /* vecchia posizione pallina    */

  int   x0;                     /* posizione iniziale pallina   */

  int   xmin, xmax;

  int   base, top;

  int   xg, yg;                 /* coordinate grafiche pallina  */

  double        x, y;                   /* coordinate pallina   */

  double        G = 9.8;

  double        vx, vy, v0;             /* velocit… della pallina       */

  double        t, tx;                  /* variabile temporale          */

  double        dt;                     /* incremento temporale         */

  double        arg;                    /* variabile di appoggio        */

  xmin = XWR+LP+1;

  xmax = XWR+LW-LP-1;

  base = YWH+HW-LP-1;

  top  = HW-10-LP;

  x = ox = x0 = xmin;

  y = oy = top;

  arg = 2.*G*(double)top;

  vy = v0 = sqrt(arg);

  vx = 15.;

  tx = 0.0;

  t = vy / G;

  dt = .02;

  while (1) {

    x = x0 + vx*tx;

    y = base - vy*t + .5*G*t*t;

    if (y >= base) {

      t = 0.0;

      vy = v0;

      y = base - vy*t + .5*G*t*t;

    }

    if (x >= xmax) {

      tx = 0.0;

      x0 = xmax;

      vx = -vx;

      x = x0 + vx*tx;

    }

    if (x <= xmin) {

      tx = 0.0;

      x0 = xmin;

      vx = -vx;

      x = x0 + vx*tx;

    }

    xg = x; yg = y;

    sem_wait(&mx_grf);

    grx_disc(ox,oy,LP,vga16color[0]);

    grx_disc(xg,yg,LP,vga16color[10]);

    sem_post(&mx_grf);

    oy = yg; ox = xg;

    t += dt;

    tx += dt;

    task_endcycle();

  }

}

/****************************************************************/

/*                      PROCESSO MOSCA                          */

/****************************************************************/

TASK    mosca()

{

  int   x, y, Ax, Ay, h;

  int   x0, y0, tet;

  int   xmax,ymax;

  double        A, B;

  double        r;

  double        rnd;

  xmax = LW/2-1; ymax = HW/2-1;

  x = 0; y = 0; tet = 0;

  x0 = XWL+LW/2; y0 = YWM+HW/2;

  A = 5.; B = 30.;

  while (1) {

    rnd = (rand()%100)/100.;    /* rnd = [0,1] */

    h = (2. * B * rnd) - B;             /*  h = [-B,B] */

    tet = tet + h;

    if (tet > 360) tet = tet - 360;

    if (tet < 0) tet = tet + 360;

    r = tet * PIG / 180.;

    sem_wait(&mx_mat);

    Ax = (double)(A * cos(r));

    Ay = (double)(A * sin(r));

    sem_post(&mx_mat);

    x = x + Ax;

    y = y + Ay;

    if ((x >= xmax) || (x <= -xmax) ||

        (y >= ymax) || (y <= -ymax)) {

      x = x - Ax;

      y = y - Ay;

      tet = tet - 180;

      if (tet > 360) tet = tet - 360;

      if (tet < 0) tet = tet + 360;

      r = tet * PIG / 180.;

      sem_wait(&mx_mat);

      Ax = (double)(A * cos(r));

      Ay = (double)(A * sin(r));

      sem_post(&mx_mat);

      x = x + Ax;

      y = y + Ay;

    }

    sem_wait(&mx_grf);

    grx_plot(x+x0, y+y0, vga16color[10]);

    sem_post(&mx_grf);

    task_endcycle();

  }

}

/****************************************************************/

/*                      PROCESSO INFORMAZIONI                   */

/****************************************************************/

TASK    infor()

{

  char  s[2];

  int   x, y;

  int   r;

  int   i = 0;

  int   leng;

  int   col = 0;

  r = 0;

  x = XWM + 16;

  y = YWM + 40;

  s[1] = 0;

  leng = 0;

  while (talk[0][leng] != 0) leng++;

  while (1) {

    s[0] = talk[r][i];

    sem_wait(&mx_grf);

    grx_text(s,x+i*8,y+r*8,vga16color[col+10],vga16color[1]);

    sem_post(&mx_grf);

    i++;

    if (i == leng) {

      i = 0;

      r = (r + 1) % 5;

      if (r == 0) col = (col + 1) % 6;

    }

    task_endcycle();

  }

}

/****************************************************************/

/*                      PROCESSO RUOTA                          */

/****************************************************************/

TASK    ruota()

{

  int   x0 = XWR + LW/2;

  int   y0 = YWM + HW/2;

  int   grad = 90;

  int   xg, yg;

  double        rad, x, y;

  xg = x0;

  yg = y0 + LLAN;

  while (1) {

    rad = (double)grad * PIG / 180.;

    sem_wait(&mx_mat);

    x = (double)x0 + (double)LLAN * cos(rad);

    y = (double)y0 + (double)LLAN * sin(rad);

    sem_post(&mx_mat);

    sem_wait(&mx_grf);

    grx_disc(xg, yg, 4, vga16color[0]);

    sem_post(&mx_grf);

    xg = x; yg = y;

    sem_wait(&mx_grf);

    grx_disc(xg, yg, 4, vga16color[13]);

    sem_post(&mx_grf);

    grad = (grad + 1) % 360;

    task_endcycle();

  }

}

/****************************************************************/

/*                      PROCESSO COLORI                         */

/****************************************************************/

TASK    color()

{

  int   xx0 = XWL+5;

  int   yy0 = YWL+5;

  int   n, col;

  int   x, y;

  x = 0; y = 0;

  while (1) {

    n = 19. * ((rand()%100)/100.);

    x = xx0 + n * 10;

    n = 14. * ((rand()%100)/100.);

    y = yy0 + n * 10;

    col = 16. * ((rand()%100)/100.);

    /*          xg = xx0 + x;

                yg = yy0 + y;

                x = (x + 10)%(LW-10);

                y = (y + 10)%(HW-10);

    */

    sem_wait(&mx_grf);

    grx_box(x, y, x+9, y+9, vga16color[col]);

    sem_post(&mx_grf);

    task_endcycle();

  }

}

/****************************************************************/

/*                      PROCESSO PENDOLO                        */

/****************************************************************/

TASK    pendo()

{

  int   x0 = XWM+LW/2;

  int   y0 = YWL+10;

  int   xg, yg;

  int   col = 11;

  double        x, y, teta;

  double        v, a, dt;

  double        g, l;

  g = 9.8;

  l = 80.;

  dt = 0.1;

  teta = 40. * PIG / 180.;

  v = 0.;

  sem_wait(&mx_mat);

  x = l * sin((double)teta);

  y = l * cos((double)teta);

  a = -(g/l) * sin((double)teta);

  sem_post(&mx_mat);

  xg = x0 + x;

  yg = y0 + y;

  while (1) {

    v += a * dt;

    teta += v * dt;

    sem_wait(&mx_mat);

    x = l * sin((double)teta);

    y = l * cos((double)teta);

    a = -(g/l) * sin((double)teta);

    sem_post(&mx_mat);

    sem_wait(&mx_grf);

    grx_line(x0, y0, xg, yg, vga16color[0]);

    grx_circle(xg, yg, 5, vga16color[0]);

    grx_disc(xg, yg, 4, vga16color[0]);

    sem_post(&mx_grf);

    xg = x0+x; yg = y0+y;

    sem_wait(&mx_grf);

    grx_line(x0, y0, xg, yg, vga16color[col]);

    grx_circle(xg, yg, 5, vga16color[col+2]);

    grx_disc(xg, yg, 4, vga16color[col+1]);

    sem_post(&mx_grf);

    task_endcycle();

  }

}

/****************************** gener ******************************/

TASK    gener()

{

  HARD_TASK_MODEL m;

  SOFT_TASK_MODEL am;

  PID   pid;

  //---------------------------------------------

  hard_task_default_model(m);

  hard_task_def_wcet     (m, wcet[1]);

  hard_task_def_mit      (m, period[1]);

  hard_task_def_usemath  (m);

  pid = task_create("watch", watch, &m, NULL);

  task_activate(pid);

  keyb_getch(BLOCK);

  //---------------------------------------------

  soft_task_default_model(am);

  soft_task_def_met      (am, wcet[2]);

  soft_task_def_period   (am, period[2]);

  soft_task_def_aperiodic(am);

  soft_task_def_usemath  (am);

  ptas = task_create("tasto", tasto, &am, NULL);

  task_activate(ptas);

  keyb_getch(BLOCK);

  //---------------------------------------------

  hard_task_default_model(m);

  hard_task_def_wcet     (m, wcet[3]);

  hard_task_def_mit      (m, period[3]);

  hard_task_def_usemath  (m);

  pid = task_create("palla", palla, &m, NULL);

  task_activate(pid);

  keyb_getch(BLOCK);

  //---------------------------------------------

  hard_task_default_model(m);

  hard_task_def_wcet     (m, wcet[4]);

  hard_task_def_mit      (m, period[4]);

  hard_task_def_usemath  (m);

  pid = task_create("mosca", mosca, &m, NULL);

  task_activate(pid);

  keyb_getch(BLOCK);

  //---------------------------------------------

  hard_task_default_model(m);

  hard_task_def_wcet     (m, wcet[5]);

  hard_task_def_mit      (m, period[5]);

  hard_task_def_usemath  (m);

  pid = task_create("infor", infor, &m, NULL);

  task_activate(pid);

  keyb_getch(BLOCK);

  //---------------------------------------------

  hard_task_default_model(m);

  hard_task_def_wcet     (m, wcet[6]);

  hard_task_def_mit      (m, period[6]);

  hard_task_def_usemath  (m);

  pid = task_create("ruota", ruota, &m, NULL);

  task_activate(pid);

  keyb_getch(BLOCK);

  //---------------------------------------------

  hard_task_default_model(m);

  hard_task_def_wcet     (m, wcet[7]);

  hard_task_def_mit      (m, period[7]);

  hard_task_def_usemath  (m);

  pid = task_create("color", color, &m, NULL);

  task_activate(pid);

  keyb_getch(BLOCK);

  //---------------------------------------------

  hard_task_default_model(m);

  hard_task_def_wcet     (m, wcet[8]);

  hard_task_def_mit      (m, period[8]);

  hard_task_def_usemath  (m);

  pid = task_create("pendo", pendo, &m, NULL);

  task_activate(pid);

  //---------------------------------------------

  return NULL;

}

/****************************** MAIN ******************************/

int main()

{

  char  s[20];                  /* carattere letto da tastiera  */

  int   x0, y0;

  int   x, y;

  TIME  t1, count;              /* contatori valutazione carico */

  double        car;                    /* valore del carico corrente   */

  TIME  seme;

  PID   pid;

  NRT_TASK_MODEL m2;

  KEY_EVT       eva, evx, evs;

  /* set the keyboard handler */

  eva.ascii = 'a';

  eva.scan = KEY_A;

  eva.flag = 0;

  eva.status = KEY_PRESSED;

  keyb_hook(eva,kboar,FALSE);

  evx.ascii = 'x';

  evx.scan = KEY_X;

  evx.flag = ALTL_BIT;

  evx.status = KEY_PRESSED;

  keyb_hook(evx,finish1,FALSE);

  evs.ascii = ESC;

  evs.scan = KEY_ESC;

  evs.flag = 0;

  evs.status = KEY_PRESSED;

  keyb_hook(evs,finish2,FALSE);

  sem_init(&mx_mat,0,1);

  sem_init(&mx_grf,0,1);

  seme = sys_gettime(NULL);

  srand(seme);

  get_par();

  grx_rect(XWL,YWH,XWL+LW,YWH+HW,vga16color[14]);

  grx_rect(XWM,YWH,XWM+LW,YWH+HW,vga16color[14]);

  grx_rect(XWR,YWH,XWR+LW,YWH+HW,vga16color[14]);

  grx_rect(XWL,YWM,XWL+LW,YWM+HW,vga16color[14]);

  grx_rect(XWM,YWM,XWM+LW,YWM+HW,vga16color[14]);

  grx_rect(XWR,YWM,XWR+LW,YWM+HW,vga16color[14]);

  grx_rect(XWL,YWL,XWL+LW,YWL+HW,vga16color[14]);

  grx_rect(XWM,YWL,XWM+LW,YWL+HW,vga16color[14]);

  grx_rect(XWR,YWL,XWR+LW,YWL+HW,vga16color[14]);

  x0 = XWL + LW/2;

  y0 = YWH + HW/2;

  grx_circle(x0, y0, LLAN+3, vga16color[12]);

  grx_rect(XWL+74, YWH+7, XWL+120, YWH+22, vga16color[12]);

  x0 = LREC;

  grx_line(x0, CIMA, x0, FONDO, vga16color[15]);

  grx_line(x0+DREC, CIMA, x0+DREC, FONDO, vga16color[15]);

  grx_line(x0, FONDO, x0+DREC, FONDO, vga16color[15]);

  grx_box(x0+1, CIMA, x0+DREC-1, FONDO-1, vga16color[14]);

  grx_text("Press A", XWM+16, YWH+48, vga16color[10], vga16color[0]);

  grx_text("to fill", XWM+16, YWH+64, vga16color[10], vga16color[0]);

  grx_text("Press:", XWM+18, YWM+HW-50, vga16color[10], vga16color[0]);

  grx_text("ESC to exit", XWM+18, YWM+HW-40, vga16color[10], vga16color[0]);

  grx_text("SPACE to create", XWM+18, YWM+HW-30, vga16color[10], vga16color[0]);

  x0 = XWR + LW/2;

  y0 = YWM + HW/2;

  grx_circle(x0, y0, LLAN/3, vga16color[14]);

  grx_disc(x0, y0, LLAN/3-1, vga16color[12]);

  x0 = XWR+5;

  y0 = YWL+HW-5;

  grx_line(x0, YWL+HLOAD, x0+LW-10, YWL+HLOAD, vga16color[12]);

  grx_text("SYSTEM WORKLOAD:", x0+5, YWL+HLOAD-10, vga16color[10], vga16color[0]);

  count = 0;

  t1 = sys_gettime(NULL);

  do count++; while (sys_gettime(NULL) < (t1 + DURATA));

  nrt_task_default_model(m2);

  pid = task_create("gener", gener, &m2, NULL);

  task_activate(pid);

  x = 0;

  while (!fine) {

    car = load(count);

    y = (double)LLOAD*car;

    sem_wait(&mx_grf);

    grx_line(x0+x, y0-LLOAD+1, x0+x, y0, vga16color[0]);