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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

 */

/*

 * Copyright (C) 2000 Paolo Gai, Gerardo Lamastra and Giuseppe Lipari

 *

 * 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

 *

 *

 * CVS :        $Id: aster6.c,v 1.4 2004-04-17 11:36:12 giacomo Exp $

 this is a part of the classic Hartik demo Aster.

 it is based on test 17 (h), and the JobControl Task uses an

 SOFT_TASK_MODEL served by a polling server

*/

#include "kernel/kern.h"

#include "modules/edf.h"

#include "modules/cbs.h"

#include <drivers/shark_linuxc26.h>

#include <drivers/shark_input26.h>

#include <drivers/shark_keyb26.h>

int num_aster = 0;

#define ASTER_LIM       60

#define DISPLAY_MAX     15

#define ASTER_MAX       70

#define STAT_Y           9

#define PER_MAX          5

#define APER_MAX         8

#define PER_WCET      6200

#define APER_WCET    18400

#define JET_WCET     10000

#define APER_REP     22000

PID aper_table[APER_MAX];

mutex_t m1;

#define PIMUTEX

//#define NPPMUTEX

//#define NOPMUTEX

//#define LONGSC

#ifdef LONGSC

#define SOFT_MET      3000 /* 12000 */

#define CLOCK_WCET     200 /* 300*/

#define ASTER_WCET     200 /* 300*/

#else

#define SOFT_MET     80000 /* 4500 */

#define CLOCK_WCET    2000 /* 200*/

#define ASTER_WCET    2000 /* 200*/

#endif

PID shutdown_task_PID = -1;

int device_drivers_init() {

        KEYB_PARMS kparms = BASE_KEYB;

        LINUXC26_register_module();

        keyb_def_ctrlC(kparms, NULL);

        INPUT26_init();

        KEYB26_init(&kparms);

        return 0;

}

int device_drivers_close() {

        KEYB26_close();

        INPUT26_close();

        return 0;

}

TASK shutdown_task_body(void *arg) {

        device_drivers_close();

        sys_shutdown_message("-- S.Ha.R.K. Closed --\n");

        sys_end();

        return NULL;

}

void set_shutdown_task() {

        NRT_TASK_MODEL nrt;

        nrt_task_default_model(nrt);

        shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL);

        if (shutdown_task_PID == NIL) {

                sys_shutdown_message("Error: Cannot create shutdown task\n");

                sys_end();

        }

}

TASK asteroide(void)

{

  int i;

  int y = rand() % 7 + 1;

  int load1,j;

  char s[2];

  s[0] = '*'; s[1] = 0;

  for (;;) {

    i = 1;

    while (i < ASTER_LIM) {

      load1 = 10000; //8000 + rand()%2000;

#ifdef LONGSC

      mutex_lock(&m1);

#endif

      for (j=0; j<load1; j++) {

        s[0] = '*' + rand() % 100;

#ifndef LONGSC

        mutex_lock(&m1);

#endif

        puts_xy(i,y,rand()%15+1,s);

#ifndef LONGSC

        mutex_unlock(&m1);

#endif

      }

#ifdef LONGSC

      mutex_unlock(&m1);

#endif

      task_activate(aper_table[rand()%APER_MAX]);

      task_endcycle();

      mutex_lock(&m1);

      puts_xy(i,y,WHITE," ");

      mutex_unlock(&m1);

      i++;

    }

  }

  //num_aster--;

}

TASK aper_asteroid(void *a)

{

  int i;

  int y = rand() % 7 + 1;

  int load1,j;

  int c;

  char s[2];

  c = (int)a;

  s[0] = '*'; s[1] = 0;

  for (;;) {

    i = 1;

    while (i < ASTER_LIM) {

      load1 = APER_REP; //8000 + rand()%2000;

#ifdef LONGSC

      mutex_lock(&m1);

#endif

      for (j=0; j<load1; j++) {

        s[0] = '*' + rand() % 100;

#ifndef LONGSC

        mutex_lock(&m1);

#endif

        puts_xy(i,y,rand()%15+1,s);

#ifndef LONGSC

        mutex_unlock(&m1);

#endif

      }

      s[0] = c;

#ifndef LONGSC

      mutex_lock(&m1);

#endif

      puts_xy(i,y,rand()%15+1,s);

      mutex_unlock(&m1);

      task_endcycle();

      mutex_lock(&m1);

      puts_xy(i,y,WHITE," ");

      mutex_unlock(&m1);

      i++;

    }

  }

}

TASK soft_aster(void)

{

  int i;

  int y = rand() % 7 + 1;

  int load1,j;

  char s[2];

  s[0] = '*'; s[1] = 0;

  /*for (;;)*/ {

    i = 1;

    while (i < ASTER_LIM) {

      load1 = 1000 + rand()%9000;

#ifdef LONGSC

      mutex_lock(&m1);

#endif

      for (j=0; j<load1; j++) {

        s[0] = '*' + rand() % 100;

#ifndef LONGSC

        mutex_lock(&m1);

#endif

        puts_xy(i,y,rand()%15+1,s);

#ifndef LONGSC

        mutex_unlock(&m1);

#endif

      }

      s[0] = 1;

#ifndef LONGSC

      mutex_lock(&m1);

#endif

      puts_xy(i,y,rand()%15+1,s);

      mutex_unlock(&m1);

      task_activate(aper_table[rand()%APER_MAX]);

      task_endcycle();

      mutex_lock(&m1);

      puts_xy(i,y,WHITE," ");

      mutex_unlock(&m1);

      i++;

    }

  }

  num_aster--;

  return 0;

}

TASK aster()

{

  PID p;

  //    HARD_TASK_MODEL m;

  SOFT_TASK_MODEL m_soft;

  int r;

  int x; // adaptive bandwidth...

  srand(7);

  soft_task_default_model(m_soft);

  soft_task_def_met(m_soft,SOFT_MET);

  soft_task_def_ctrl_jet(m_soft);

  x = 128; //64;

  while (1) {

    if (num_aster < ASTER_MAX) {

      r = (rand() % 200);

      soft_task_def_period(m_soft, (x+r)*1000);

      p = task_create("aaa",soft_aster,&m_soft,NULL);

      if (p == -1)

        {

          if (x < 500 && errno != ENO_AVAIL_TASK)  x += 1;

          mutex_lock(&m1);

          printf_xy(62,3,WHITE,"adapt=%3u err=%d",

                    iq_query_first(&freedesc),errno);

          mutex_unlock(&m1);

        }

      else {

        num_aster++;

        mutex_lock(&m1);

        printf_xy(62,3,WHITE,"adapt=%3u           ",x);//,errno);

        mutex_unlock(&m1);

        task_activate(p);

        x /= 2;

        if (x<50) x = 50;

      }

    }

    task_endcycle();

  }

}

TASK clock()

{

  int s = 0, m = 0;

  while(1) {

    mutex_lock(&m1);

    printf_xy(62,1,WHITE,"%2d:%2d ast=%d",m,s, num_aster);

    printf_xy(62,2,WHITE,"Uedf=%12u",EDF_usedbandwidth(0));

    printf_xy(62,4,WHITE,"Ucbs=%12u",CBS_usedbandwidth(2));

    mutex_unlock(&m1);

    task_endcycle();

    if (++s > 59) {

      s = 0;

      m++;

    }

    mutex_lock(&m1);

    printf_xy(62,1,WHITE,"%2d:%2d ast=%d",m,s, num_aster);

    printf_xy(62,2,WHITE,"Uedf=%12u",EDF_usedbandwidth(0));

    printf_xy(62,4,WHITE,"Ucbs=%12u",CBS_usedbandwidth(2));

    mutex_unlock(&m1);

    task_endcycle();

  }

}

/* we consider the first ASTER_MAX + 2 tasks from the PID 2

   and plot on the screen the elapsed times... */

TASK jetcontrol()

{

  int i;  /* a counter */

  TIME sum, max, curr, last[5];

  int nact;

  int j; /* the elements set by jet_gettable */

  PID p;

  mutex_lock(&m1);

  printf_xy(0,STAT_Y,WHITE,"PID ³ Mean T.³ Max T. ³ N.A. ³ Curr.   ³ Last1 ³ Last2 ³ Last3 ³ Last4 ³ Last5");

  mutex_unlock(&m1);

  for (;;) {

    for (i=0,p=0; i<DISPLAY_MAX+5 && p<MAX_PROC; p++) {

      if (jet_getstat(p, &sum, &max, &nact, &curr) == -1 /*||

                                                           (proc_table[p].pclass & 0xFF00) == APERIODIC_PCLASS ||

                                                           (proc_table[p].pclass & 0xFF00) == PERIODIC_PCLASS*/ ) continue;

      for (j=0; j<5; j++) last[j] = 0;

      jet_gettable(p, &last[0], 5);

      mutex_lock(&m1);

      if (proc_table[p].task_level == 2)

        printf_xy(0,STAT_Y+i+1,WHITE,"%-3d ³ %-6d ³ %-6d ³ %-4d ³ %-7d ³ %-5d ³ %-5d ³ %-5d ³ %-5d ³ %-5d",

                  p, (int)sum/(nact==0 ? 1 : nact), (int)max, nact, (int)CBS_get_nact(2,p), (int)last[0], (int)last[1], (int)last[2], (int)last[3], (int)last[4]);

      //                   p, sum/(nact==0 ? 1 : nact), max, proc_table[p].avail_time, proc_table[p].status, proc_table[p].shadow, proc_table[p].timespec_priority.tv_sec,proc_table[p].timespec_priority.tv_nsec/1000 , CBS_get_nact(2,p), last[4]);

      else

        printf_xy(0,STAT_Y+i+1,WHITE,"%-3d ³ %-6d ³ %-6d ³ %-4d ³ %-7d ³ %-5d ³ %-5d ³ %-5d ³ %-5d ³ %-5d",

                  p, (int)sum/(nact==0 ? 1 : nact), (int)max, (int)nact, (int)curr, (int)last[0], (int)last[1], (int)last[2], (int)last[3], (int)last[4]);

      //                   p, sum/(nact==0 ? 1 : nact), max, nact, proc_table[p].status, proc_table[p].shadow, proc_table[p].timespec_priority.tv_sec,proc_table[p].timespec_priority.tv_nsec/1000 , last[3], last[4]);

      mutex_unlock(&m1);

      i++;

    }

  }

}

void fine(KEY_EVT *e)

{

  task_activate(shutdown_task_PID);

}

int main(int argc, char **argv)

{

  PID p1,p2,p3; //,p4,p5,p6;

  HARD_TASK_MODEL m;

  //    NRT_TASK_MODEL m_nrt;

  SOFT_TASK_MODEL m_aper;

  SOFT_TASK_MODEL m_soft;

  //    int i;

  struct timespec fineprg;

  set_shutdown_task();

  device_drivers_init();  

#ifdef PIMUTEX

  PI_mutexattr_t a;

#endif

#ifdef NPPMUTEX

  NPP_mutexattr_t a;

#endif

#ifdef NOPMUTEX

  NOP_mutexattr_t a;

#endif

  KEY_EVT emerg;

  emerg.ascii = 'x';

  emerg.scan = KEY_X;

  emerg.flag = ALTL_BIT;

  emerg.status = KEY_PRESSED;

  keyb_hook(emerg,fine,FALSE);

  clear();

  hard_task_default_model(m);

  hard_task_def_mit(m,100000);

  hard_task_def_wcet(m,ASTER_WCET);

  hard_task_def_group(m,1);

  hard_task_def_ctrl_jet(m);

  //    nrt_task_default_model(m_nrt);

  //    nrt_task_def_group(m_nrt,1);

  //    nrt_task_def_ctrl_jet(m_nrt);

  soft_task_default_model(m_aper);

  soft_task_def_group(m_aper,1);

  soft_task_def_ctrl_jet(m_aper);

  soft_task_def_aperiodic(m_aper);

  soft_task_default_model(m_soft);

  soft_task_def_period(m_soft,100000);

  soft_task_def_met(m_soft,JET_WCET);

  soft_task_def_group(m_soft,1);

  soft_task_def_ctrl_jet(m_soft);

  soft_task_def_aperiodic(m_soft);

  p1 = task_create("Aster",aster,&m,NULL);

  if (p1 == -1) {

    sys_shutdown_message("test7.c(main): Could not create task <aster> ...");

    task_activate(shutdown_task_PID);

    return 0;

  }

  hard_task_def_mit(m,500000);

  hard_task_def_wcet(m,CLOCK_WCET);

  p2 = task_create("Clock",clock,&m,NULL);

  if (p2 == -1) {

    sys_shutdown_message("test7.c(main): Could not create task <Clock> ...");

    task_activate(shutdown_task_PID);

    return 0;

  }

  //    p3 = task_create("JetControl",jetcontrol,&m_nrt,NULL);

  p3 = task_create("JetControl",jetcontrol,&m_aper,NULL);

  if (p3 == -1) {

    sys_shutdown_message("test7.c(main): Could not create task <JetControl> ...");

    task_activate(shutdown_task_PID);

    return 0;

  }

  task_nopreempt();

#ifdef PIMUTEX

  PI_mutexattr_default(a);

#endif

#ifdef NPPMUTEX

  NPP_mutexattr_default(a);

#endif

#ifdef NOPMUTEX

  NOP_mutexattr_default(a);

#endif

  mutex_init(&m1, &a);

  fineprg.tv_sec = 1800;

  fineprg.tv_nsec = 0;

  kern_event_post(&fineprg,(void (*)(void *))fine,NULL);

  group_activate(1);

  return 0;

}