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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 1.4 2004-04-17 11:36:13 giacomo Exp $

 File:        $File$

 Revision:    $Revision: 1.4 $

 Last update: $Date: 2004-04-17 11:36:13 $

 ------------

**/

/*

 * 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/shark_linuxc26.h>

#include <drivers/shark_pci26.h>

#include <drivers/shark_fb26.h>

#include <drivers/shark_input26.h>

#include <drivers/shark_keyb26.h>

#define FRAME_BUFFER_DEVICE 0

#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"};

PID shutdown_task_PID = -1;

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

int device_drivers_init() {

        KEYB_PARMS kparms = BASE_KEYB;

        LINUXC26_register_module();

        PCI26_init();

        keyb_def_ctrlC(kparms, NULL);

        INPUT26_init();

        KEYB26_init(&kparms);

        FB26_init();

        FB26_open(FRAME_BUFFER_DEVICE);

        FB26_use_grx(FRAME_BUFFER_DEVICE);

        FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16");

        return 0;

}

int device_drivers_close() {

        FB26_close(FRAME_BUFFER_DEVICE);

        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    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];

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

                x += 8;

                if (++j == leng) {

                        j = 0;

                        x = X0;

                        y[i] += 8;

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

                }

                task_endcycle();

        }

}

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

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

*/

void my_end(KEY_EVT* e)

{

        task_activate(shutdown_task_PID);

}

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

/* 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

*/

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

int main(int argc, char **argv)

{

  PID             pid1, pid2, pid3;

  KEY_EVT         emerg;

  HARD_TASK_MODEL m1, m2, m3;

        set_shutdown_task();

        device_drivers_init();

        /* set the keyboard handler to exit correctly */

        emerg.ascii = 'x';

        emerg.scan = KEY_X;

        emerg.flag = ALTL_BIT;

        emerg.status = KEY_PRESSED;

        keyb_hook(emerg,my_end,FALSE);

        /* 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) {

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

          task_activate(shutdown_task_PID);

          return 0;

        }

        /* 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) {

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

          task_activate(shutdown_task_PID);

          return 0;

        }

        /* 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) {

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

          task_activate(shutdown_task_PID);

          return 0;

        }

        /* 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;

}

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