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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: ego.c,v 1.2 2002-10-28 08:11:29 pj Exp $

 File:        $File$

 Revision:    $Revision: 1.2 $

 Last update: $Date: 2002-10-28 08:11:29 $

 ------------

**/

/*

 * Copyright (C) 2000 Paolo Gai and Giorgio Buttazzo

 *

 * 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

 *

 */

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

/*      PERIODIC PROCESS TEST                                   */

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

#include <kernel/kern.h>

#include <drivers/glib.h>

#include <drivers/keyb.h>

#include <semaphore.h>

#define X0      10

/* task periods */

#define PERIOD_T1 100000

#define PERIOD_T2 200000

#define PERIOD_T3 300000

/* X position of the text printed by each task */

int     y[3] = {100, 180, 260};

/* text printed by each task */

char    talk[3][50] = { "I am ego1 and I print a character every 100 ms",

                        "I am ego2 and I print a character every 200 ms",

                        "I am ego3 and I print a character every 300 ms"};

/* A semaphore used to access Video Cards in mutual exclusion */

sem_t   mutex;

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

TASK    ego(void *arg)

{

int     i = (int)arg;

int     leng;

char    s[2];

int     x;

int     j = 0;

        /* compute the length of the string to print */

        leng = 0;

        while (talk[i][leng] != 0) leng++;

        x = X0;

        s[1] = 0;

        task_endcycle();

        while (1) {

                s[0] = talk[i][j];

                sem_wait(&mutex);

                /* grx_text("TEST", 100,100,12,0); */

                grx_text(s,x,y[i],12+i,0);

                sem_post(&mutex);

                x += 8;

                if (++j == leng) {

                        j = 0;

                        x = X0;

                        y[i] += 8;

                        if (y[i]>340) y[i]=100;

                }

                task_endcycle();

        }

}

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

/* This is the exception handler. It is called when an exception

   is raised.

   It exits from the graphical mode, then it prints a message and

   shutdown the kernel using sys_abort()

*/

void demo_exc_handler(int signo, siginfo_t *info, void *extra)

{

  struct timespec t;

  grx_close();

  /* Default action for an kern exception is  */

  kern_cli();

  ll_gettime(TIME_EXACT, &t),

  cprintf("\nS.Ha.R.K. Exception raised!!!"

          "\nTime (s:ns)     :%ld:%ld"

          "\nException number:%d (numbers in include/bits/errno.h)"

          "\nPID             :%d\n",

          t.tv_sec, t.tv_nsec, info->si_value.sival_int,

          info->si_task);

  sys_abort(1);

}

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

/* This function is called when Alt-X is pressed.

   It simply shutdown the system using sys_end.

   Note that the byebye() function is called only if we exit from

   the system using sys_end()!!!!

*/

void my_end(KEY_EVT* e)

{

        sys_end();

}

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

/* This function is called when the system exit correctly after Alt-X.

   It exits from the graphic mode and then it prints a small greeting.

   Note that:

   - The function calls grx_exit, so it must be registered using

     RUNLEVEL_BEFORE_EXIT (RUNLEVEL_AFTER_EXIT does not work because

     at that point the kernel is already returned in real mode!!!)

   - When an exception is raised, the exception handler is called.

     Since the exception handler already exits from the graphic mode,

     this funcion has not to be called. For this reason:

     . we registered byebye using the flag NO_AT_ABORT

     . the exception handler exits using sys_abort; in that way byebye is

       NOT called

*/

void byebye(void *arg)

{

  grx_close();

  cprintf("Bye Bye!\n");

}

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

int main(int argc, char **argv)

{

  PID             pid1, pid2, pid3;

  KEY_EVT         emerg;

  HARD_TASK_MODEL m1, m2, m3;

  struct sigaction action;

        /* Init the standard S.Ha.R.K. exception handler */

        action.sa_flags = SA_SIGINFO;            /* Set the signal action */

        action.sa_sigaction = demo_exc_handler;

        action.sa_handler = 0;

        sigfillset(&action.sa_mask); /* we block all the other signals... */

        if (sigaction(SIGHEXC, &action, NULL) == -1) {  /* set the signal */

          perror("Error initializing signals...");

          sys_end();

        }

        /* Set the closing function */

        sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT|NO_AT_ABORT);

        /* Initializes the semaphore */

        sem_init(&mutex,0,1);

        /* graphic card Initialization */

        if (grx_init() < 1) {

           sys_abort(1);

        }

        if (grx_open(640, 480, 8) < 0) {

            cprintf("GRX Err\n");

            sys_abort(1);

        }

        /* set the keyboard handler to exit correctly */

        emerg.ascii = 'x';

        emerg.scan = KEY_X;

        emerg.flag = ALTL_BIT;

        keyb_hook(emerg,my_end);

        emerg.ascii = 'x';

        emerg.scan = KEY_X;

        emerg.flag = ALTR_BIT;

        keyb_hook(emerg,my_end);

        /* a small banner */

        grx_text("EGO Test",8,8,WHITE,0);

        grx_text("Press Alt-X to exit",8,16,WHITE,0);

        /* ego1 creation */

        hard_task_default_model(m1);

        hard_task_def_ctrl_jet (m1);

        hard_task_def_arg      (m1, (void *)0);

        hard_task_def_wcet     (m1, 5000);

        hard_task_def_mit      (m1, PERIOD_T1);

        hard_task_def_group    (m1,1);

        pid1 = task_create("ego1", ego, &m1, NULL);

        if (pid1 == NIL) {

          grx_close();

          perror("Could not create task <ego1>");

          sys_abort(1);

        }

        /* ego2 creation */

        hard_task_default_model(m2);

        hard_task_def_ctrl_jet (m2);

        hard_task_def_arg      (m2, (void *)1);

        hard_task_def_wcet     (m2, 5000);

        hard_task_def_mit      (m2, PERIOD_T2);

        hard_task_def_group    (m2,1);

        pid2 = task_create("ego2", ego, &m2, NULL);

        if (pid2 == NIL) {

          grx_close();

          perror("Could not create task <ego2>");

          sys_abort(1);

        }

        /* ego3 creation */

        hard_task_default_model(m3);

        hard_task_def_ctrl_jet (m3);

        hard_task_def_arg      (m3, (void *)2);

        hard_task_def_wcet     (m3, 5000);

        hard_task_def_mit      (m3, PERIOD_T3);

        hard_task_def_group    (m3,1);

        pid3 = task_create("ego3", ego, &m3, NULL);

        if (pid3 == NIL) {

          grx_close();

          perror("Could not create task <ego3>");

          sys_abort(1);

        }

        /* and finally we activate the three threads... */

        group_activate(1);

        /*

           now the task main ends, but the system does not shutdown because

           there are the three task ego1, ego2, and ego3 running.

           The demo will finish if a Alt-X key is pressed.

        */

        return 0;

}

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