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Rev | Author | Line No. | Line |
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1127 | giacomo | 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 | * Giacomo Guidi <giacomo@gandalf.sssup.it> |
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10 | * |
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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 | #include <drivers/vga.h> |
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20 | #include <drivers/keyb.h> |
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21 | |||
22 | #include <GL/osmesa.h> |
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23 | #include <GL/glut.h> |
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24 | |||
25 | #include <math.h> |
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26 | #include <stdlib.h> |
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27 | |||
28 | #include <kernel/log.h> |
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29 | #include <kernel/kern.h> |
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30 | |||
31 | #ifndef M_PI |
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32 | #define M_PI 3.14159265 |
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33 | #endif |
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34 | |||
35 | #define WIDTH 640 |
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36 | #define HEIGHT 480 |
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37 | #define BYTES_PP 2 //BytesPerPixel |
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38 | #define INITSTR G640x480x64K //SVGAlib standard mode definitions |
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1154 | giacomo | 39 | #define CARD VESA //Video driver |
1127 | giacomo | 40 | |
41 | OSMesaContext ctx; |
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42 | |||
43 | unsigned char *rgb_565_buf = NULL; //RGB 16 bpp Buffer |
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44 | unsigned char *video_buf = NULL; //Video Buffer |
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45 | |||
46 | unsigned long int VMEMLONG = WIDTH * HEIGHT * BYTES_PP / 4; // Used by copy_videomem_16to16 |
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47 | unsigned long int RGB565MEM = WIDTH * HEIGHT * BYTES_PP; // Total video mem |
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48 | |||
1156 | giacomo | 49 | unsigned long int PERIOD_REFRESH = 100000; |
50 | unsigned long int PERIOD_DISEGNA = 100000; |
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1127 | giacomo | 51 | |
52 | unsigned long int WCET_REFRESH, WCET_DISEGNA; |
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53 | |||
54 | TASK refesh(void); |
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55 | TASK disegna(void); |
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56 | |||
57 | PID refresh_PID, disegna_PID; |
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58 | |||
59 | static void |
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60 | gear(GLfloat inner_radius, GLfloat outer_radius, GLfloat width, |
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61 | GLint teeth, GLfloat tooth_depth) |
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62 | { |
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63 | GLint i; |
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64 | GLfloat r0, r1, r2; |
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65 | GLfloat angle, da; |
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66 | GLfloat u, v, len; |
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67 | |||
68 | r0 = inner_radius; |
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69 | r1 = outer_radius - tooth_depth / 2.0; |
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70 | r2 = outer_radius + tooth_depth / 2.0; |
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71 | |||
72 | da = 2.0 * M_PI / teeth / 4.0; |
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73 | |||
74 | glShadeModel(GL_FLAT); |
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75 | |||
76 | glNormal3f(0.0, 0.0, 1.0); |
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77 | |||
78 | glBegin(GL_QUAD_STRIP); |
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79 | for (i = 0; i <= teeth; i++) { |
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80 | angle = i * 2.0 * M_PI / teeth; |
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81 | glVertex3f(r0 * cos(angle), r0 * sin(angle), width * 0.5); |
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82 | glVertex3f(r1 * cos(angle), r1 * sin(angle), width * 0.5); |
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83 | if (i < teeth) { |
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84 | glVertex3f(r0 * cos(angle), r0 * sin(angle), width * 0.5); |
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85 | glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), width * 0.5); |
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86 | } |
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87 | } |
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88 | glEnd(); |
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89 | |||
90 | glBegin(GL_QUADS); |
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91 | da = 2.0 * M_PI / teeth / 4.0; |
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92 | for (i = 0; i < teeth; i++) { |
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93 | angle = i * 2.0 * M_PI / teeth; |
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94 | |||
95 | glVertex3f(r1 * cos(angle), r1 * sin(angle), width * 0.5); |
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96 | glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), width * 0.5); |
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97 | glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), width * 0.5); |
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98 | glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), width * 0.5); |
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99 | } |
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100 | glEnd(); |
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101 | |||
102 | glNormal3f(0.0, 0.0, -1.0); |
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103 | |||
104 | glBegin(GL_QUAD_STRIP); |
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105 | for (i = 0; i <= teeth; i++) { |
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106 | angle = i * 2.0 * M_PI / teeth; |
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107 | glVertex3f(r1 * cos(angle), r1 * sin(angle), -width * 0.5); |
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108 | glVertex3f(r0 * cos(angle), r0 * sin(angle), -width * 0.5); |
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109 | if (i < teeth) { |
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110 | glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), -width * 0.5); |
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111 | glVertex3f(r0 * cos(angle), r0 * sin(angle), -width * 0.5); |
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112 | } |
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113 | } |
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114 | glEnd(); |
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115 | |||
116 | glBegin(GL_QUADS); |
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117 | da = 2.0 * M_PI / teeth / 4.0; |
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118 | for (i = 0; i < teeth; i++) { |
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119 | angle = i * 2.0 * M_PI / teeth; |
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120 | |||
121 | glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), -width * 0.5); |
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122 | glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), -width * 0.5); |
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123 | glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), -width * 0.5); |
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124 | glVertex3f(r1 * cos(angle), r1 * sin(angle), -width * 0.5); |
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125 | } |
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126 | glEnd(); |
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127 | |||
128 | glBegin(GL_QUAD_STRIP); |
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129 | for (i = 0; i < teeth; i++) { |
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130 | angle = i * 2.0 * M_PI / teeth; |
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131 | |||
132 | glVertex3f(r1 * cos(angle), r1 * sin(angle), width * 0.5); |
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133 | glVertex3f(r1 * cos(angle), r1 * sin(angle), -width * 0.5); |
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134 | u = r2 * cos(angle + da) - r1 * cos(angle); |
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135 | v = r2 * sin(angle + da) - r1 * sin(angle); |
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136 | len = sqrt(u * u + v * v); |
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137 | u /= len; |
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138 | v /= len; |
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139 | glNormal3f(v, -u, 0.0); |
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140 | glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), width * 0.5); |
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141 | glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), -width * 0.5); |
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142 | glNormal3f(cos(angle), sin(angle), 0.0); |
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143 | glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), width * 0.5); |
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144 | glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), -width * 0.5); |
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145 | u = r1 * cos(angle + 3 * da) - r2 * cos(angle + 2 * da); |
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146 | v = r1 * sin(angle + 3 * da) - r2 * sin(angle + 2 * da); |
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147 | glNormal3f(v, -u, 0.0); |
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148 | glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), width * 0.5); |
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149 | glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), -width * 0.5); |
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150 | glNormal3f(cos(angle), sin(angle), 0.0); |
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151 | } |
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152 | |||
153 | glVertex3f(r1 * cos(0), r1 * sin(0), width * 0.5); |
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154 | glVertex3f(r1 * cos(0), r1 * sin(0), -width * 0.5); |
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155 | |||
156 | glEnd(); |
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157 | |||
158 | glShadeModel(GL_SMOOTH); |
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159 | |||
160 | glBegin(GL_QUAD_STRIP); |
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161 | for (i = 0; i <= teeth; i++) { |
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162 | angle = i * 2.0 * M_PI / teeth; |
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163 | glNormal3f(-cos(angle), -sin(angle), 0.0); |
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164 | glVertex3f(r0 * cos(angle), r0 * sin(angle), -width * 0.5); |
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165 | glVertex3f(r0 * cos(angle), r0 * sin(angle), width * 0.5); |
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166 | } |
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167 | glEnd(); |
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168 | |||
169 | } |
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170 | |||
171 | static GLfloat view_rotx = 20.0, view_roty = 30.0, view_rotz = 0.0; |
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172 | static GLint gear1, gear2, gear3; |
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173 | static GLfloat angle = 0.0; |
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174 | |||
175 | static void draw(void) |
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176 | { |
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177 | glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); |
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178 | |||
179 | glPushMatrix(); |
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180 | glRotatef(view_rotx, 1.0, 0.0, 0.0); |
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181 | glRotatef(view_roty, 0.0, 1.0, 0.0); |
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182 | glRotatef(view_rotz, 0.0, 0.0, 1.0); |
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183 | |||
184 | glPushMatrix(); |
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185 | glTranslatef(-3.0, -2.0, 0.0); |
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186 | glRotatef(angle, 0.0, 0.0, 1.0); |
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187 | glCallList(gear1); |
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188 | glPopMatrix(); |
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189 | |||
190 | glPushMatrix(); |
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191 | glTranslatef(3.1, -2.0, 0.0); |
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192 | glRotatef(-2.0 * angle - 9.0, 0.0, 0.0, 1.0); |
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193 | glCallList(gear2); |
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194 | glPopMatrix(); |
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195 | |||
196 | glPushMatrix(); |
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197 | glTranslatef(-3.1, 4.2, 0.0); |
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198 | glRotatef(-2.0 * angle - 25.0, 0.0, 0.0, 1.0); |
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199 | glCallList(gear3); |
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200 | glPopMatrix(); |
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201 | |||
202 | glPopMatrix(); |
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203 | |||
204 | glFinish(); |
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205 | |||
206 | } |
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207 | |||
208 | static void gl_init() |
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209 | { |
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210 | |||
211 | static GLfloat red[4] = {1.0, 0.0, 0.0, 1.0}; |
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212 | static GLfloat green[4] = {0.0, 0.8, 0.2, 1.0}; |
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213 | static GLfloat blue[4] = {0.2, 0.2, 1.0, 1.0}; |
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214 | static GLfloat pos[4] = {5.0, 5.0, 10.0, 1.0}; |
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215 | static GLfloat h = (GLfloat) HEIGHT / (GLfloat) WIDTH; |
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216 | |||
217 | //Create the OSMesa Context |
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218 | ctx = OSMesaCreateContext(OSMESA_RGB_565, NULL); |
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219 | |||
220 | //Make Current Context |
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221 | OSMesaMakeCurrent(ctx, rgb_565_buf, GL_UNSIGNED_SHORT_5_6_5, WIDTH, HEIGHT); |
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222 | |||
223 | glLightfv(GL_LIGHT0, GL_POSITION, pos); |
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224 | glEnable(GL_CULL_FACE); |
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225 | glEnable(GL_LIGHTING); |
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226 | glEnable(GL_LIGHT0); |
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227 | glEnable(GL_DEPTH_TEST); |
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228 | |||
229 | /* make the gears */ |
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230 | gear1 = glGenLists(1); |
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231 | glNewList(gear1, GL_COMPILE); |
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232 | glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, red); |
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233 | gear(1.0, 4.0, 1.0, 20, 0.7); |
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234 | glEndList(); |
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235 | |||
236 | gear2 = glGenLists(1); |
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237 | glNewList(gear2, GL_COMPILE); |
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238 | glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, green); |
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239 | gear(0.5, 2.0, 2.0, 10, 0.7); |
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240 | glEndList(); |
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241 | |||
242 | gear3 = glGenLists(1); |
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243 | glNewList(gear3, GL_COMPILE); |
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244 | glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, blue); |
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245 | gear(1.3, 2.0, 0.5, 10, 0.7); |
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246 | glEndList(); |
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247 | |||
248 | glEnable(GL_NORMALIZE); |
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249 | |||
250 | glViewport(0, 0, (GLint) WIDTH, (GLint) HEIGHT); |
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251 | glMatrixMode(GL_PROJECTION); |
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252 | glLoadIdentity(); |
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253 | glFrustum(-1.0, 1.0, -h, h, 5.0, 60.0); |
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254 | glMatrixMode(GL_MODELVIEW); |
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255 | glLoadIdentity(); |
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256 | glTranslatef(0.0, 0.0, -40.0); |
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257 | |||
258 | } |
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259 | |||
260 | static int screen(int mode) |
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261 | { |
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262 | |||
263 | vga_modeinfo *minf; |
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264 | |||
265 | vga_setmode(mode,CARD); |
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266 | minf = vga_getmodeinfo(mode); |
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267 | if(! (minf->flags & CAPABLE_LINEAR)){ |
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268 | vga_setmode(TEXT,CARD); |
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269 | printk(KERN_INFO "The mode %d is not capable of linear\n",mode); |
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270 | return 1; |
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271 | } |
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272 | vga_setpage(0); |
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273 | if(vga_setlinearaddressing() == -1) { |
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274 | vga_setmode(TEXT,CARD); |
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275 | printk(KERN_INFO "Could not set linear addressing for mode %d\n",mode); |
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276 | return 1; |
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277 | } |
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278 | |||
279 | video_buf = vga_getgraphmem(); |
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280 | |||
281 | grx_setbuffer(rgb_565_buf, WIDTH, HEIGHT); //Init of RGB16 version of grx functions |
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282 | //created to work with Mesa buffer |
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283 | return 0; |
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284 | |||
285 | } |
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286 | |||
287 | void program_end(void *arg) |
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288 | { |
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289 | |||
290 | OSMesaDestroyContext(ctx); |
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291 | free(rgb_565_buf); |
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292 | |||
293 | vga_setmode(TEXT,CARD); |
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294 | |||
295 | sys_end(); |
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296 | |||
297 | } |
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298 | |||
299 | void program_key_end(KEY_EVT *k) |
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300 | { |
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301 | |||
302 | sys_end(); |
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303 | |||
304 | } |
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305 | |||
306 | TASK refresh(void) |
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307 | { |
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308 | |||
309 | while(1) { |
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310 | |||
311 | copy_videomem_16to16(rgb_565_buf, video_buf, VMEMLONG); |
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312 | task_endcycle(); |
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313 | |||
314 | } |
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315 | |||
316 | sys_end(); |
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317 | |||
318 | } |
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319 | |||
320 | |||
321 | TASK disegna(void) |
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322 | { |
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323 | |||
324 | char text[100]; |
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325 | TIME disegna_TIME, refresh_TIME; |
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326 | |||
327 | while(1) { |
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328 | |||
329 | jet_gettable(refresh_PID, &refresh_TIME, 1); |
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330 | jet_gettable(disegna_PID, &disegna_TIME, 1); |
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331 | |||
332 | angle += 1.0; |
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333 | |||
334 | draw(); |
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335 | |||
336 | sprintf(text,"Hard Task Refresh PER:%6d us EX:%6d us",(int)PERIOD_REFRESH,(int)refresh_TIME); |
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337 | grx_text(text,10,5,rgb16(0,0,255),0); |
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338 | sprintf(text,"Hard Task Draw PER:%6d us EX:%6d us",(int)PERIOD_DISEGNA,(int)disegna_TIME); |
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339 | grx_text(text,10,15,rgb16(0,0,255),0); |
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340 | |||
341 | task_endcycle(); |
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342 | |||
343 | } |
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344 | |||
345 | sys_end(); |
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346 | |||
347 | } |
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348 | |||
349 | int main (int argc, char *argv[]) |
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350 | { |
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351 | |||
352 | HARD_TASK_MODEL ht_refresh, ht_disegna; |
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353 | |||
354 | sys_atrunlevel(program_end,NULL, RUNLEVEL_BEFORE_EXIT); |
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355 | |||
356 | clear(); |
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357 | |||
1156 | giacomo | 358 | WCET_REFRESH =((long int) PERIOD_REFRESH * (0.25)); |
1155 | giacomo | 359 | WCET_DISEGNA =((long int) PERIOD_DISEGNA * (0.6)); |
1127 | giacomo | 360 | |
361 | hard_task_default_model(ht_refresh); |
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362 | hard_task_def_wcet(ht_refresh,WCET_REFRESH); |
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363 | hard_task_def_mit(ht_refresh,PERIOD_REFRESH); |
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364 | hard_task_def_usemath(ht_refresh); |
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365 | hard_task_def_group(ht_refresh,1); |
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366 | hard_task_def_ctrl_jet(ht_refresh); |
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367 | |||
368 | refresh_PID = task_create("refresh", refresh, &ht_refresh, NULL); |
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369 | if (refresh_PID == -1) { |
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370 | sys_end(); |
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371 | exit(4); |
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372 | } |
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373 | |||
374 | hard_task_default_model(ht_disegna); |
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375 | hard_task_def_mit(ht_disegna,PERIOD_DISEGNA); |
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376 | hard_task_def_wcet(ht_disegna,WCET_DISEGNA); |
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377 | hard_task_def_group(ht_disegna,1); |
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378 | hard_task_def_ctrl_jet(ht_disegna); |
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379 | hard_task_def_usemath(ht_disegna); |
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1156 | giacomo | 380 | hard_task_def_stack(ht_disegna,30000); //VERY IMPORTANT FOR glCallList !! |
1127 | giacomo | 381 | |
382 | disegna_PID = task_create("disegna", disegna, &ht_disegna, NULL); |
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383 | if (disegna_PID == -1) { |
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384 | sys_end(); |
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385 | exit(4); |
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386 | } |
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387 | |||
388 | { |
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389 | KEY_EVT k; |
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390 | k.flag = ALTL_BIT; |
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391 | k.scan = KEY_C; |
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392 | k.ascii = 'c'; |
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393 | keyb_hook(k,program_key_end); |
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394 | } |
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1155 | giacomo | 395 | |
396 | rgb_565_buf = malloc(RGB565MEM); |
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397 | |||
398 | gl_init(); |
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399 | |||
1127 | giacomo | 400 | if (screen(INITSTR)) { |
401 | printk(KERN_INFO "Graphical initialization failed !!\n"); |
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402 | sys_end(); |
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403 | } |
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404 | |||
405 | memset(rgb_565_buf, 0, RGB565MEM); |
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406 | |||
407 | group_activate(1); |
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408 | |||
409 | return 0; |
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410 | |||
411 | } |