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1120 | pj | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: |
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5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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6 | * Paolo Gai <pj@gandalf.sssup.it> |
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7 | * |
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8 | * Authors : |
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9 | * Paolo Gai <pj@gandalf.sssup.it> |
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10 | * (see the web pages for full authors list) |
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11 | * |
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12 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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13 | * |
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14 | * http://www.sssup.it |
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15 | * http://retis.sssup.it |
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16 | * http://shark.sssup.it |
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17 | */ |
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18 | |||
19 | /* |
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20 | * Copyright (C) 2000 Paolo Gai, Gerardo Lamastra and Giuseppe Lipari |
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21 | * |
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22 | * This program is free software; you can redistribute it and/or modify |
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23 | * it under the terms of the GNU General Public License as published by |
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24 | * the Free Software Foundation; either version 2 of the License, or |
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25 | * (at your option) any later version. |
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26 | * |
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27 | * This program is distributed in the hope that it will be useful, |
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28 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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29 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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30 | * GNU General Public License for more details. |
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31 | * |
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32 | * You should have received a copy of the GNU General Public License |
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33 | * along with this program; if not, write to the Free Software |
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34 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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35 | * |
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36 | * |
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1123 | pj | 37 | * CVS : $Id: aster.c,v 1.2 2003-01-07 17:10:15 pj Exp $ |
1120 | pj | 38 | |
39 | Author: Gerardo Lamastra |
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40 | Giuseppe Lipari |
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41 | Date: 1/10/96 |
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42 | |||
43 | File: Aster.C |
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44 | Revision: 1.6 |
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45 | |||
46 | */ |
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47 | |||
48 | /* |
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49 | Well, this is only a stupid demo which intend to show many |
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50 | HARTIK+ capabilities; the application is structured in the followig |
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51 | way: there is an ASTER task wich randomly creates some ASTEROID tasks |
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52 | which are displayed into the first window; each task is HARD/PERIODIC |
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53 | and auto-kills itself when it reaches the window end! |
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54 | An other couple of tasks, TITLE & PUT give an example of port |
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55 | communication facility; the server task creates the port, the client |
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56 | task connect to it and uses the server to accomplish some stuff. |
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57 | Port can be declared READ/WRITE and can model ONE-TO-ONE communication |
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58 | or MANY-TO-ONE communication. |
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59 | Finally a second couple of tasks realizes a communiation through CABs; |
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60 | each time a key is pressed, the ascii code is posted into the CAB by the |
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61 | CCC task while the second task, WRITE, displays it on the screen and |
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62 | perform other silly actions. |
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63 | Finally a CLOCK task is implemented to test system clock. |
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64 | Please note that usually the HARTIK+ application is made up of a task |
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65 | group which interacts among them, while the main() function, which |
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66 | became a task itself when the kernel is activated, is suspended until |
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67 | the system is ready to terminate; the MAIN task can also be used to make |
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68 | other background activities, but it should not be killed; when the |
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69 | application terminates, the control is passed to MAIN which kills |
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70 | everybody, shut down the system and can handle other operations using |
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71 | the services available with the previou operating system (I.E. the DOS). |
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72 | If you need to manage sudden abort/exception you should install your own |
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73 | exception handler and raise it through the exc_raise() primitive to |
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74 | make the system abort safely! |
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75 | Remember that the exit functions posted through sys_atexit() will be |
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76 | executed in both cases, to allow clean system shutdown. |
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77 | */ |
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78 | |||
79 | //#include <string.h> |
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80 | //#include <stdlib.h> |
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81 | |||
82 | #include <kernel/kern.h> |
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83 | #include <modules/sem.h> |
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84 | #include <modules/hartport.h> |
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85 | #include <modules/cabs.h> |
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86 | #include <drivers/keyb.h> |
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87 | #include <string.h> |
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88 | |||
89 | |||
90 | #define __VPAGING__ |
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91 | |||
92 | #include <drivers/keyb.h> |
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93 | #include <drivers/crtwin.h> |
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94 | |||
95 | int num_aster = 0; |
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96 | #define ASTER_LIM 67 |
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97 | |||
98 | CAB cc; |
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99 | BYTE esc = FALSE; |
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100 | |||
101 | TASK asteroide(void) |
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102 | { |
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103 | int i = 1; |
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104 | int y = rand() % 7 + 1; |
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105 | while (i < ASTER_LIM) { |
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106 | puts_xy(i,y,WHITE,"*"); |
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107 | task_endcycle(); |
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108 | |||
109 | puts_xy(i,y,WHITE," "); |
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110 | i++; |
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111 | } |
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112 | num_aster--; |
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113 | return 0; |
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114 | } |
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115 | |||
116 | DWORD taskCreated = 0; |
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117 | |||
118 | TASK aster(void) |
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119 | { |
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120 | PID p; |
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121 | SOFT_TASK_MODEL m_soft; |
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122 | int r; |
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123 | WIN w; |
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124 | |||
125 | win_init(&w,0,0,ASTER_LIM,8); |
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126 | win_frame(&w,BLACK,WHITE,"Asteroids",2); |
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127 | |||
128 | soft_task_default_model(m_soft); |
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129 | soft_task_def_met(m_soft,2000); |
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130 | soft_task_def_ctrl_jet(m_soft); |
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131 | |||
132 | srand(7); |
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133 | while (1) { |
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134 | if (num_aster < 5) { |
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135 | r = (rand() % 50) - 25; |
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136 | soft_task_def_arg(m_soft,(void *)((rand() % 7)+1)); |
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137 | soft_task_def_period(m_soft,(50 + r)*1000); |
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138 | p = task_create("aaa",asteroide,(TASK_MODEL *)&m_soft,NULL); |
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139 | taskCreated++; |
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140 | task_activate(p); |
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141 | num_aster++; |
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142 | } |
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143 | |||
144 | task_endcycle(); |
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145 | } |
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146 | } |
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147 | |||
148 | TASK clock() |
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149 | { |
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150 | WIN w; |
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151 | int s = 0, m = 0; |
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152 | |||
153 | win_init(&w,68,0,11,2); |
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154 | win_frame(&w,BLACK,WHITE,"Clk",1); |
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155 | |||
156 | while(1) { |
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157 | printf_xy(70,1,WHITE,"%2d : %2d",m,s); |
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158 | task_endcycle(); |
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159 | |||
160 | if (++s > 59) { |
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161 | s = 0; |
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162 | m++; |
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163 | } |
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164 | printf_xy(70,1,WHITE,"%2d : %2d",m,s); |
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165 | task_endcycle(); |
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166 | } |
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167 | } |
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168 | |||
169 | TASK title() |
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170 | { |
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171 | PORT t; |
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172 | WIN w; |
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173 | int i,pos = 77; |
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174 | char msg[85],tmp[85],ss[2]; |
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175 | BYTE c; |
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176 | |||
177 | win_init(&w,0,9,79,2); |
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178 | win_frame(&w,BLACK,WHITE,"Title",2); |
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179 | |||
180 | for (i=0; i < 77; i++) msg[i] = ' '; |
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181 | msg[77] = 0; |
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182 | |||
183 | t = port_connect("title",1,STREAM,READ); |
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184 | |||
185 | while (1) { |
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186 | port_receive(t,&c,BLOCK); |
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187 | ss[0] = c; |
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188 | ss[1] = 0; |
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189 | strcat(msg,ss); |
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190 | puts_xy(1,10,WHITE,msg); |
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191 | pos++; |
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192 | if (pos > 77) { |
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193 | strcpy(tmp,&(msg[1])); |
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194 | tmp[pos-1] = 0; |
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195 | pos -= 1; |
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196 | strcpy(msg,tmp); |
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197 | } |
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198 | task_endcycle(); |
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199 | } |
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200 | } |
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201 | |||
202 | #define STR "..................... Hartik+ ....................."\ |
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203 | " Guarantees hard tasks "\ |
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204 | " Includes soft periodic tasks "\ |
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205 | "TB server for decrementing the aperiodic response time "\ |
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206 | "SRP for both hard & soft aperiodic tasks "\ |
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207 | "Portability toward other compilers/system "\ |
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208 | "Support for different C compiler: Watcom C 16 bit & 32 bit"\ |
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209 | " -- GNU C (32 bit) -- Borland C (16 bit) -- MS C (16 bit)"\ |
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210 | " "\ |
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211 | "Programmers : Gerardo Lamastra (lamastra@sssup2.sssup.it) "\ |
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212 | " Giuseppe Lipari (lipari@sssup2.sssup.it) "\ |
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213 | "Alpha AXP PCI-33 porting by Antonino Casile "\ |
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214 | "(casile@sssup1.sssup.it) "\ |
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215 | "Research coordinator: Giorgio Buttazzo (giorgio@sssup1.sssup.it)"\ |
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216 | " "\ |
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217 | " "\ |
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218 | " " |
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219 | |||
220 | static char GreetMsg[1600]; |
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221 | |||
222 | TASK put(void) |
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223 | { |
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224 | PORT p; |
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225 | |||
226 | strcpy(GreetMsg,STR); |
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227 | |||
228 | p = port_create("title",strlen(GreetMsg),1,STREAM,WRITE); |
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229 | while(1) { |
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230 | port_send(p,GreetMsg,BLOCK); |
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231 | task_endcycle(); |
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232 | } |
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233 | } |
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234 | |||
235 | TASK ccc(void) |
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236 | { |
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237 | WIN w; |
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238 | char *m; |
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239 | |||
240 | win_init(&w,68,3,10,3); |
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241 | win_frame(&w,BLACK,WHITE,"CCC",2); |
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242 | puts_xy(70,4,WHITE,"Cab"); |
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243 | |||
244 | while(1) { |
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245 | m = cab_getmes(cc); |
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246 | puts_xy(72,5,WHITE,m); |
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247 | cab_unget(cc,m); |
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248 | task_endcycle(); |
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249 | } |
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250 | } |
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251 | |||
252 | |||
253 | TASK write_keyb() |
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254 | { |
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255 | BYTE c; |
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256 | char *msg; |
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257 | |||
258 | while (1) { |
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259 | c = keyb_getchar(); |
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260 | if (c == ESC) { |
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261 | esc = TRUE; |
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1123 | pj | 262 | task_endcycle(); |
1120 | pj | 263 | } |
264 | else { |
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265 | #ifdef __VPAGING__ |
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266 | if (c == 's') { |
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267 | if (get_visual_page() == 0) set_visual_page(1); |
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268 | else if (get_visual_page() == 1) set_visual_page(0); |
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269 | } |
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270 | #endif |
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271 | msg = cab_reserve(cc); |
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272 | msg[0] = c; |
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273 | msg[1] = 0; |
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274 | cab_putmes(cc,msg); |
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275 | } |
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276 | } |
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277 | } |
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278 | |||
279 | #define DELTA 200000.0 |
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280 | double carico(double rif,BYTE init) |
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281 | { |
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282 | double i; |
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283 | DWORD t1 = 0,t2 = 1000; |
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284 | double u; |
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285 | |||
286 | i = 0.0; |
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287 | do { |
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288 | i += 1; |
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289 | } while (i <= DELTA); |
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290 | |||
291 | u = i / ((double) (t2 - t1)); |
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292 | |||
293 | if (init) return u; |
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294 | else return (1.0 - u/rif); |
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295 | } |
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296 | |||
297 | void my_end(KEY_EVT *e) |
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298 | { |
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299 | set_active_page(0); |
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300 | set_visual_page(0); |
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301 | cprintf("Ctrl-Brk pressed!\n"); |
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302 | sys_end(); |
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303 | } |
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304 | |||
305 | int main(int argc, char **argv) |
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306 | { |
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307 | PID p1,p2,p3,p4,p5,p6; |
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308 | |||
309 | HARD_TASK_MODEL m_per; |
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310 | SOFT_TASK_MODEL m_soft; |
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311 | NRT_TASK_MODEL m_nrt; |
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312 | |||
313 | KEY_EVT emerg; |
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314 | // double rif; |
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315 | struct timespec t; |
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316 | |||
317 | //keyb_set_map(itaMap); |
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318 | emerg.ascii = 'x'; |
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319 | emerg.scan = KEY_X; |
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320 | emerg.flag = ALTL_BIT; |
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321 | keyb_hook(emerg,my_end); |
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322 | |||
323 | #ifdef __VPAGING__ |
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324 | set_active_page(1); |
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325 | set_visual_page(1); |
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326 | #endif |
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327 | |||
328 | |||
329 | CRSR_OFF(); |
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330 | clear(); |
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331 | puts_xy(0,20,WHITE,"Press ESC to exit demo."); |
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332 | cc = cab_create("Cab",2,2); |
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333 | |||
334 | soft_task_default_model(m_soft); |
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335 | soft_task_def_period(m_soft,500000); |
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336 | soft_task_def_met(m_soft,1000); |
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337 | soft_task_def_group(m_soft, 1); |
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338 | p1 = task_create("Aster",aster,&m_soft,NULL); |
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339 | if (p1 == -1) { |
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340 | perror("Aster.C(main): Could not create task <aster>"); |
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341 | sys_abort(-1); |
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342 | } |
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343 | |||
344 | hard_task_default_model(m_per); |
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345 | hard_task_def_mit(m_per,500000); |
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346 | hard_task_def_wcet(m_per,1000); |
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347 | hard_task_def_group(m_per, 1); |
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348 | p2 = task_create("Clock",clock,&m_per,NULL); |
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349 | if (p2 == -1) { |
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350 | perror("Aster.C(main): Could not create task <Clock>"); |
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351 | sys_abort(-1); |
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352 | } |
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353 | |||
354 | soft_task_def_period(m_soft, 50000); |
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355 | p3 = task_create("Title",title,&m_soft, NULL); |
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356 | if (p3 == -1) { |
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357 | perror("Aster.C(main): Could not create task <Title>"); |
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358 | sys_abort(-1); |
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359 | } |
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360 | |||
361 | soft_task_def_period(m_soft, 1000000); |
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362 | p4 = task_create("Put",put,&m_soft, NULL); |
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363 | if (p4 == -1) { |
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364 | perror("Aster.C(main): Could not create task <Put>"); |
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365 | sys_abort(-1); |
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366 | } |
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367 | |||
368 | nrt_task_default_model(m_nrt); |
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369 | nrt_task_def_group(m_nrt, 1); |
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370 | p5 = task_create("Write",write_keyb,&m_nrt,NULL); |
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371 | if (p5 == -1) { |
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372 | perror("Aster.C(main): Could not create task <Write>"); |
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373 | sys_abort(-1); |
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374 | } |
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375 | |||
376 | hard_task_def_mit(m_per, 50000); |
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377 | p6 = task_create("CabTask",ccc,&m_per,NULL); |
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378 | if (p6 == -1) { |
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379 | perror("Aster.C(main): Could not create task <CabTask>\n"); |
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380 | sys_abort(-1); |
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381 | } |
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382 | |||
383 | /* |
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384 | task_activate(p1); |
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385 | task_activate(p2); |
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386 | task_activate(p3); |
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387 | task_activate(p4); |
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388 | task_activate(p5); |
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389 | task_activate(p6); |
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390 | */ |
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391 | group_activate(1); |
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392 | |||
393 | while (!esc) { |
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1123 | pj | 394 | sys_gettime(&t); |
1120 | pj | 395 | printf_xy(0,21,WHITE,"Clock : %-9ds %-9dns",(int)t.tv_sec, (int)t.tv_nsec); |
396 | } |
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397 | |||
398 | group_kill(1); |
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399 | clear(); |
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400 | CRSR_STD(); |
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401 | #ifdef __VPAGING__ |
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402 | set_active_page(0); |
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403 | set_visual_page(0); |
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404 | #endif |
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405 | cprintf("System closed\n"); |
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406 | sys_end(); |
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407 | /* |
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408 | sys_status(NORM_STATUS|BLOCKED_STATUS|SLEEP_STATUS|IDLE_STATUS); |
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409 | sys_status(NORM_STATUS|SLEEP_STATUS); |
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410 | */ |
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411 | return 0; |
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412 | } |
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413 |