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/*

 * Project: S.Ha.R.K

 *

 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>

 *

 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)

 *

 * Authors:

 *   ...

 *   Tullio Facchinetti  <tullio.facchinetti@unipv.it>

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://hartik.sssup.it

 */

#include "kernel/kern.h"

#include "edf/edf/edf.h"

#include "cbs/cbs/cbs.h"

#include "rr/rr/rr.h"

#include "dummy/dummy/dummy.h"

#include "intdrive/intdrive/intdrive.h"

#include "sem/sem/sem.h"

#include "hartport/hartport/hartport.h"

#include "pi/pi/pi.h"

#include "pc/pc/pc.h"

#include "srp/srp/srp.h"

#include "npp/npp/npp.h"

#include "nop/nop/nop.h"

#include <drivers/shark_linuxc26.h>

#include <drivers/shark_input26.h>

#include <drivers/shark_keyb26.h>

#define FRAME_BUFFER_DEVICE 0

/*+ sysyem tick in us +*/

#define TICK 0

/*+ RR tick in us +*/

#define RRTICK 10000

/*+ Interrupt Server +*/

#define INTDRIVE_Q 1000

#define INTDRIVE_U 0.1*MAX_BANDWIDTH

#define INTDRIVE_FLAG 0

void call_shutdown_task(void *arg);

int device_drivers_init();

int device_drivers_close();

void set_shutdown_task();

TASK shutdown_task_body(void *arg);

PID shutdown_task_PID = -1;

TIME __kernel_register_levels__(void *arg)

{

  struct multiboot_info *mb = (struct multiboot_info *)arg;

  LEVEL EDF_level;

  INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG);

  EDF_level = EDF_register_level(EDF_ENABLE_ALL);

  CBS_register_level(CBS_ENABLE_ALL, EDF_level);

  RR_register_level(RRTICK, RR_MAIN_YES, mb);

  dummy_register_level();

  SEM_register_module();

  PI_register_module();

  PC_register_module();

  NPP_register_module();

  SRP_register_module();

  NOP_register_module();

  return TICK;

}

TASK __init__(void *arg)

{

  struct multiboot_info *mb = (struct multiboot_info *)arg;

  HARTPORT_init();

  /* Create the shutdown task. It will be activated at RUNLEVEL

     SHUTDOWN */

  set_shutdown_task();

  /* Init the drivers */

  device_drivers_init();

  /* Set the shutdown task activation */

  sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);

  __call_main__(mb);

  return (void *)0;

}

void set_shutdown_task() {

  /* WARNING: the shutdown task is a background thread. It cannot execute

              if the system is overloaded */

  NRT_TASK_MODEL nrt;

  nrt_task_default_model(nrt);

  nrt_task_def_system(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");

    exit(1);

  }

}

int device_drivers_init() {

  KEYB_PARMS kparms = BASE_KEYB;

  LINUXC26_register_module(TRUE);

  INPUT26_init();

  keyb_def_ctrlC(kparms, NULL);

  KEYB26_init(&kparms);

  return 0;

}

int device_drivers_close() {

  KEYB26_close();

  INPUT26_close();

  return 0;

}

#define SHUTDOWN_TIMEOUT_SEC 3

void call_shutdown_task(void *arg)

{

  struct timespec t;

  sys_gettime(&t);

  t.tv_sec += SHUTDOWN_TIMEOUT_SEC;

  /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */

  kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);

  task_activate(shutdown_task_PID);

}

TASK shutdown_task_body(void *arg) {

  device_drivers_close();

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

  return NULL;

}