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1085 | 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 | ------------ |
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1098 | pj | 21 | CVS : $Id: ego.c,v 1.2 2002-10-28 08:11:29 pj Exp $ |
1085 | pj | 22 | |
23 | File: $File$ |
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1098 | pj | 24 | Revision: $Revision: 1.2 $ |
25 | Last update: $Date: 2002-10-28 08:11:29 $ |
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1085 | pj | 26 | ------------ |
27 | **/ |
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28 | |||
29 | /* |
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30 | * Copyright (C) 2000 Paolo Gai and Giorgio Buttazzo |
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31 | * |
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32 | * This program is free software; you can redistribute it and/or modify |
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33 | * it under the terms of the GNU General Public License as published by |
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34 | * the Free Software Foundation; either version 2 of the License, or |
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35 | * (at your option) any later version. |
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36 | * |
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37 | * This program is distributed in the hope that it will be useful, |
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38 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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39 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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40 | * GNU General Public License for more details. |
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41 | * |
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42 | * You should have received a copy of the GNU General Public License |
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43 | * along with this program; if not, write to the Free Software |
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44 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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45 | * |
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46 | */ |
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47 | |||
48 | /****************************************************************/ |
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49 | /* PERIODIC PROCESS TEST */ |
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50 | /****************************************************************/ |
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51 | |||
52 | #include <kernel/kern.h> |
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53 | #include <drivers/glib.h> |
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54 | #include <drivers/keyb.h> |
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55 | |||
56 | #include <semaphore.h> |
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57 | |||
58 | #define X0 10 |
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59 | |||
60 | /* task periods */ |
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61 | #define PERIOD_T1 100000 |
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62 | #define PERIOD_T2 200000 |
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63 | #define PERIOD_T3 300000 |
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64 | |||
65 | /* X position of the text printed by each task */ |
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66 | int y[3] = {100, 180, 260}; |
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67 | |||
68 | /* text printed by each task */ |
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69 | char talk[3][50] = { "I am ego1 and I print a character every 100 ms", |
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70 | "I am ego2 and I print a character every 200 ms", |
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71 | "I am ego3 and I print a character every 300 ms"}; |
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72 | |||
73 | /* A semaphore used to access Video Cards in mutual exclusion */ |
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74 | sem_t mutex; |
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75 | |||
76 | /***************************************************************/ |
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77 | |||
78 | TASK ego(void *arg) |
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79 | { |
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80 | int i = (int)arg; |
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81 | int leng; |
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82 | char s[2]; |
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83 | int x; |
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84 | int j = 0; |
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85 | |||
86 | /* compute the length of the string to print */ |
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87 | leng = 0; |
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88 | while (talk[i][leng] != 0) leng++; |
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89 | |||
90 | x = X0; |
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91 | s[1] = 0; |
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92 | task_endcycle(); |
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93 | |||
94 | while (1) { |
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95 | s[0] = talk[i][j]; |
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96 | sem_wait(&mutex); |
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97 | /* grx_text("TEST", 100,100,12,0); */ |
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98 | grx_text(s,x,y[i],12+i,0); |
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99 | sem_post(&mutex); |
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100 | x += 8; |
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101 | if (++j == leng) { |
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102 | j = 0; |
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103 | x = X0; |
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104 | y[i] += 8; |
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105 | if (y[i]>340) y[i]=100; |
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106 | } |
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107 | task_endcycle(); |
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108 | } |
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109 | } |
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110 | |||
111 | |||
112 | /****************************************************************/ |
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113 | |||
114 | /* This is the exception handler. It is called when an exception |
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115 | is raised. |
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116 | It exits from the graphical mode, then it prints a message and |
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117 | shutdown the kernel using sys_abort() |
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118 | */ |
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119 | |||
120 | void demo_exc_handler(int signo, siginfo_t *info, void *extra) |
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121 | { |
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122 | struct timespec t; |
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123 | |||
124 | grx_close(); |
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125 | |||
126 | /* Default action for an kern exception is */ |
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127 | kern_cli(); |
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128 | ll_gettime(TIME_EXACT, &t), |
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1098 | pj | 129 | cprintf("\nS.Ha.R.K. Exception raised!!!" |
130 | "\nTime (s:ns) :%ld:%ld" |
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131 | "\nException number:%d (numbers in include/bits/errno.h)" |
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132 | "\nPID :%d\n", |
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133 | t.tv_sec, t.tv_nsec, info->si_value.sival_int, |
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134 | info->si_task); |
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1085 | pj | 135 | sys_abort(1); |
136 | } |
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137 | |||
138 | /******************************************************************/ |
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139 | |||
140 | /* This function is called when Alt-X is pressed. |
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141 | It simply shutdown the system using sys_end. |
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142 | Note that the byebye() function is called only if we exit from |
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143 | the system using sys_end()!!!! |
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144 | */ |
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145 | void my_end(KEY_EVT* e) |
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146 | { |
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147 | sys_end(); |
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148 | } |
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149 | |||
150 | /******************************************************************/ |
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151 | |||
152 | /* This function is called when the system exit correctly after Alt-X. |
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153 | It exits from the graphic mode and then it prints a small greeting. |
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154 | Note that: |
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155 | - The function calls grx_exit, so it must be registered using |
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156 | RUNLEVEL_BEFORE_EXIT (RUNLEVEL_AFTER_EXIT does not work because |
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157 | at that point the kernel is already returned in real mode!!!) |
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158 | - When an exception is raised, the exception handler is called. |
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159 | Since the exception handler already exits from the graphic mode, |
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160 | this funcion has not to be called. For this reason: |
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161 | . we registered byebye using the flag NO_AT_ABORT |
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162 | . the exception handler exits using sys_abort; in that way byebye is |
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163 | NOT called |
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164 | */ |
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165 | |||
166 | void byebye(void *arg) |
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167 | { |
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168 | grx_close(); |
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1098 | pj | 169 | cprintf("Bye Bye!\n"); |
1085 | pj | 170 | } |
171 | |||
172 | /****************************** MAIN ******************************/ |
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173 | |||
174 | int main(int argc, char **argv) |
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175 | { |
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176 | PID pid1, pid2, pid3; |
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177 | KEY_EVT emerg; |
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178 | HARD_TASK_MODEL m1, m2, m3; |
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179 | struct sigaction action; |
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180 | |||
181 | /* Init the standard S.Ha.R.K. exception handler */ |
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182 | action.sa_flags = SA_SIGINFO; /* Set the signal action */ |
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183 | action.sa_sigaction = demo_exc_handler; |
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184 | action.sa_handler = 0; |
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185 | sigfillset(&action.sa_mask); /* we block all the other signals... */ |
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186 | |||
187 | if (sigaction(SIGHEXC, &action, NULL) == -1) { /* set the signal */ |
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188 | perror("Error initializing signals..."); |
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189 | sys_end(); |
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190 | } |
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191 | |||
192 | /* Set the closing function */ |
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193 | sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT|NO_AT_ABORT); |
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194 | |||
195 | /* Initializes the semaphore */ |
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196 | sem_init(&mutex,0,1); |
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197 | |||
198 | /* graphic card Initialization */ |
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199 | if (grx_init() < 1) { |
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200 | sys_abort(1); |
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201 | } |
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202 | |||
203 | if (grx_open(640, 480, 8) < 0) { |
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1098 | pj | 204 | cprintf("GRX Err\n"); |
1085 | pj | 205 | sys_abort(1); |
206 | } |
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207 | |||
208 | /* set the keyboard handler to exit correctly */ |
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209 | emerg.ascii = 'x'; |
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210 | emerg.scan = KEY_X; |
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211 | emerg.flag = ALTL_BIT; |
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212 | keyb_hook(emerg,my_end); |
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213 | |||
214 | emerg.ascii = 'x'; |
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215 | emerg.scan = KEY_X; |
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216 | emerg.flag = ALTR_BIT; |
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217 | keyb_hook(emerg,my_end); |
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218 | |||
219 | /* a small banner */ |
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220 | grx_text("EGO Test",8,8,WHITE,0); |
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221 | grx_text("Press Alt-X to exit",8,16,WHITE,0); |
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222 | |||
223 | /* ego1 creation */ |
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224 | hard_task_default_model(m1); |
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225 | hard_task_def_ctrl_jet (m1); |
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226 | hard_task_def_arg (m1, (void *)0); |
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227 | hard_task_def_wcet (m1, 5000); |
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228 | hard_task_def_mit (m1, PERIOD_T1); |
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229 | hard_task_def_group (m1,1); |
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230 | pid1 = task_create("ego1", ego, &m1, NULL); |
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231 | if (pid1 == NIL) { |
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232 | grx_close(); |
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233 | perror("Could not create task <ego1>"); |
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234 | sys_abort(1); |
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235 | } |
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236 | |||
237 | /* ego2 creation */ |
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238 | hard_task_default_model(m2); |
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239 | hard_task_def_ctrl_jet (m2); |
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240 | hard_task_def_arg (m2, (void *)1); |
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241 | hard_task_def_wcet (m2, 5000); |
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242 | hard_task_def_mit (m2, PERIOD_T2); |
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243 | hard_task_def_group (m2,1); |
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244 | pid2 = task_create("ego2", ego, &m2, NULL); |
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245 | if (pid2 == NIL) { |
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246 | grx_close(); |
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247 | perror("Could not create task <ego2>"); |
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248 | sys_abort(1); |
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249 | } |
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250 | |||
251 | /* ego3 creation */ |
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252 | hard_task_default_model(m3); |
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253 | hard_task_def_ctrl_jet (m3); |
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254 | hard_task_def_arg (m3, (void *)2); |
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255 | hard_task_def_wcet (m3, 5000); |
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256 | hard_task_def_mit (m3, PERIOD_T3); |
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257 | hard_task_def_group (m3,1); |
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258 | pid3 = task_create("ego3", ego, &m3, NULL); |
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259 | if (pid3 == NIL) { |
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260 | grx_close(); |
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261 | perror("Could not create task <ego3>"); |
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262 | sys_abort(1); |
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263 | } |
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264 | |||
265 | /* and finally we activate the three threads... */ |
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266 | group_activate(1); |
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267 | |||
268 | /* |
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269 | now the task main ends, but the system does not shutdown because |
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270 | there are the three task ego1, ego2, and ego3 running. |
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271 | |||
272 | The demo will finish if a Alt-X key is pressed. |
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273 | */ |
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274 | |||
275 | return 0; |
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276 | } |
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277 | |||
278 | /****************************************************************/ |