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Rev | Author | Line No. | Line |
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1129 | 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 | |||
1315 | giacomo | 19 | #include <drivers/glib.h> |
1129 | giacomo | 20 | #include <drivers/keyb.h> |
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 | #include <assert.h> |
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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 | |||
39 | OSMesaContext ctx; |
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40 | |||
41 | static GLuint TexObj[2]; |
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42 | static GLfloat Angle = 0.0f; |
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43 | static GLboolean UseObj = GL_FALSE; |
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44 | |||
45 | #if defined(GL_VERSION_1_1) || defined(GL_VERSION_1_2) |
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46 | # define TEXTURE_OBJECT 1 |
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47 | #elif defined(GL_EXT_texture_object) |
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48 | # define TEXTURE_OBJECT 1 |
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49 | # define glBindTexture(A,B) glBindTextureEXT(A,B) |
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50 | # define glGenTextures(A,B) glGenTexturesEXT(A,B) |
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51 | # define glDeleteTextures(A,B) glDeleteTexturesEXT(A,B) |
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52 | #endif |
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53 | |||
54 | unsigned char *rgb_565_buf = NULL; //RGB 16 bpp Buffer |
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55 | unsigned char *video_buf = NULL; //Video Buffer |
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56 | |||
57 | unsigned long int VMEMLONG = WIDTH * HEIGHT * BYTES_PP / 4; // Used by copy_videomem_16to16 |
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58 | unsigned long int RGB565MEM = WIDTH * HEIGHT * BYTES_PP; // Total video mem |
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59 | |||
1155 | giacomo | 60 | unsigned long int PERIOD_REFRESH = 60000; |
61 | unsigned long int PERIOD_DISEGNA = 60000; |
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1129 | giacomo | 62 | |
63 | unsigned long int WCET_REFRESH, WCET_DISEGNA; |
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64 | |||
65 | TASK refesh(void); |
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66 | TASK disegna(void); |
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67 | |||
68 | PID refresh_PID, disegna_PID; |
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69 | |||
70 | static void draw( void ) |
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71 | { |
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72 | glDepthFunc(GL_EQUAL); |
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73 | /* glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );*/ |
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74 | glClear( GL_COLOR_BUFFER_BIT ); |
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75 | |||
76 | glColor3f( 1.0, 1.0, 1.0 ); |
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77 | |||
78 | /* draw first polygon */ |
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79 | glPushMatrix(); |
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80 | glTranslatef( -1.0, 0.0, 0.0 ); |
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81 | glRotatef( Angle, 0.0, 0.0, 1.0 ); |
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82 | if (UseObj) { |
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83 | #ifdef TEXTURE_OBJECT |
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84 | glBindTexture( GL_TEXTURE_2D, TexObj[0] ); |
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85 | #endif |
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86 | } |
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87 | else { |
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88 | glCallList( TexObj[0] ); |
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89 | } |
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90 | glBegin( GL_POLYGON ); |
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91 | glTexCoord2f( 0.0, 0.0 ); glVertex2f( -1.0, -1.0 ); |
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92 | glTexCoord2f( 1.0, 0.0 ); glVertex2f( 1.0, -1.0 ); |
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93 | glTexCoord2f( 1.0, 1.0 ); glVertex2f( 1.0, 1.0 ); |
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94 | glTexCoord2f( 0.0, 1.0 ); glVertex2f( -1.0, 1.0 ); |
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95 | glEnd(); |
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96 | glPopMatrix(); |
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97 | |||
98 | /* draw second polygon */ |
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99 | glPushMatrix(); |
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100 | glTranslatef( 1.0, 0.0, 0.0 ); |
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101 | glRotatef( Angle-90.0, 0.0, 1.0, 0.0 ); |
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102 | if (UseObj) { |
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103 | #ifdef TEXTURE_OBJECT |
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104 | glBindTexture( GL_TEXTURE_2D, TexObj[1] ); |
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105 | #endif |
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106 | } |
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107 | else { |
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108 | glCallList( TexObj[1] ); |
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109 | } |
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110 | glBegin( GL_POLYGON ); |
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111 | glTexCoord2f( 0.0, 0.0 ); glVertex2f( -1.0, -1.0 ); |
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112 | glTexCoord2f( 1.0, 0.0 ); glVertex2f( 1.0, -1.0 ); |
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113 | glTexCoord2f( 1.0, 1.0 ); glVertex2f( 1.0, 1.0 ); |
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114 | glTexCoord2f( 0.0, 1.0 ); glVertex2f( -1.0, 1.0 ); |
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115 | glEnd(); |
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116 | glPopMatrix(); |
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117 | |||
118 | } |
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119 | |||
120 | |||
121 | static void gl_init() |
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122 | { |
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123 | |||
124 | static int twidth=8, theight=8; |
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125 | static GLubyte tex1[] = { |
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126 | 0, 0, 0, 0, 0, 0, 0, 0, |
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127 | 0, 0, 0, 0, 1, 0, 0, 0, |
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128 | 0, 0, 0, 1, 1, 0, 0, 0, |
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129 | 0, 0, 0, 0, 1, 0, 0, 0, |
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130 | 0, 0, 0, 0, 1, 0, 0, 0, |
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131 | 0, 0, 0, 0, 1, 0, 0, 0, |
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132 | 0, 0, 0, 1, 1, 1, 0, 0, |
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133 | 0, 0, 0, 0, 0, 0, 0, 0 }; |
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134 | |||
135 | static GLubyte tex2[] = { |
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136 | 0, 0, 0, 0, 0, 0, 0, 0, |
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137 | 0, 0, 0, 2, 2, 0, 0, 0, |
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138 | 0, 0, 2, 0, 0, 2, 0, 0, |
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139 | 0, 0, 0, 0, 0, 2, 0, 0, |
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140 | 0, 0, 0, 0, 2, 0, 0, 0, |
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141 | 0, 0, 0, 2, 0, 0, 0, 0, |
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142 | 0, 0, 2, 2, 2, 2, 0, 0, |
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143 | 0, 0, 0, 0, 0, 0, 0, 0 }; |
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144 | |||
145 | GLubyte tex[64][3]; |
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146 | GLint i, j; |
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147 | |||
148 | //Create the OSMesa Context |
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149 | ctx = OSMesaCreateContext(OSMESA_RGB_565, NULL); |
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150 | |||
151 | //Make Current Context |
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152 | OSMesaMakeCurrent(ctx, rgb_565_buf, GL_UNSIGNED_SHORT_5_6_5, WIDTH, HEIGHT); |
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153 | |||
154 | UseObj = GL_TRUE; |
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155 | |||
156 | glDisable( GL_DITHER ); |
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157 | |||
158 | /* Setup texturing */ |
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159 | glEnable( GL_TEXTURE_2D ); |
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160 | glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL ); |
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161 | glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_FASTEST ); |
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162 | |||
163 | /* generate texture object IDs */ |
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164 | if (UseObj) { |
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165 | #ifdef TEXTURE_OBJECT |
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166 | glGenTextures( 2, TexObj ); |
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167 | #endif |
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168 | } |
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169 | else { |
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170 | TexObj[0] = glGenLists(2); |
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171 | TexObj[1] = TexObj[0]+1; |
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172 | } |
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173 | |||
174 | /* setup first texture object */ |
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175 | if (UseObj) { |
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176 | #ifdef TEXTURE_OBJECT |
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177 | glBindTexture( GL_TEXTURE_2D, TexObj[0] ); |
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178 | assert(glIsTexture(TexObj[0])); |
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179 | #endif |
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180 | } |
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181 | else { |
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182 | glNewList( TexObj[0], GL_COMPILE ); |
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183 | } |
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184 | /* red on white */ |
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185 | for (i=0;i<theight;i++) { |
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186 | for (j=0;j<twidth;j++) { |
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187 | int p = i*twidth+j; |
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188 | if (tex1[(theight-i-1)*twidth+j]) { |
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189 | tex[p][0] = 255; tex[p][1] = 0; tex[p][2] = 0; |
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190 | } |
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191 | else { |
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192 | tex[p][0] = 255; tex[p][1] = 255; tex[p][2] = 255; |
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193 | } |
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194 | } |
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195 | } |
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196 | |||
197 | glTexImage2D( GL_TEXTURE_2D, 0, 3, twidth, theight, 0, |
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198 | GL_RGB, GL_UNSIGNED_BYTE, tex ); |
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199 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST ); |
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200 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST ); |
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201 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT ); |
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202 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT ); |
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203 | if (!UseObj) { |
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204 | glEndList(); |
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205 | } |
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206 | /* end of texture object */ |
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207 | |||
208 | /* setup second texture object */ |
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209 | if (UseObj) { |
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210 | #ifdef TEXTURE_OBJECT |
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211 | glBindTexture( GL_TEXTURE_2D, TexObj[1] ); |
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212 | assert(glIsTexture(TexObj[1])); |
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213 | #endif |
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214 | assert(!glIsTexture(TexObj[1] + 999)); |
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215 | } |
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216 | else { |
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217 | glNewList( TexObj[1], GL_COMPILE ); |
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218 | } |
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219 | /* green on blue */ |
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220 | for (i=0;i<theight;i++) { |
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221 | for (j=0;j<twidth;j++) { |
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222 | int p = i*twidth+j; |
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223 | if (tex2[(theight-i-1)*twidth+j]) { |
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224 | tex[p][0] = 0; tex[p][1] = 255; tex[p][2] = 0; |
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225 | } |
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226 | else { |
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227 | tex[p][0] = 0; tex[p][1] = 0; tex[p][2] = 255; |
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228 | } |
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229 | } |
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230 | } |
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231 | glTexImage2D( GL_TEXTURE_2D, 0, 3, twidth, theight, 0, |
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232 | GL_RGB, GL_UNSIGNED_BYTE, tex ); |
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233 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST ); |
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234 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST ); |
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235 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT ); |
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236 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT ); |
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237 | if (!UseObj) { |
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238 | glEndList(); |
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239 | } |
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240 | /* end texture object */ |
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241 | |||
242 | glViewport(0, 0, (GLint)WIDTH, (GLint)HEIGHT); |
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243 | glMatrixMode(GL_PROJECTION); |
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244 | glLoadIdentity(); |
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245 | /* glOrtho( -3.0, 3.0, -3.0, 3.0, -10.0, 10.0 );*/ |
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246 | glFrustum( -2.0, 2.0, 2.0, -2.0, 6.0, 20.0 ); |
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247 | glMatrixMode(GL_MODELVIEW); |
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248 | glLoadIdentity(); |
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249 | glTranslatef( 0.0, 0.0, -8.0 ); |
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250 | |||
251 | } |
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252 | |||
1315 | giacomo | 253 | static int screen() |
1129 | giacomo | 254 | { |
255 | |||
1315 | giacomo | 256 | extern DWORD flbaddr; |
257 | |||
258 | /* graphic card Initialization */ |
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259 | if (grx_init() < 1) { |
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260 | sys_abort(1); |
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1129 | giacomo | 261 | } |
1315 | giacomo | 262 | |
263 | if (grx_open(640, 480, 16) < 0) { |
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264 | cprintf("GRX Err\n"); |
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265 | sys_abort(1); |
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1129 | giacomo | 266 | } |
1315 | giacomo | 267 | |
268 | video_buf = (unsigned char *)flbaddr; |
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1129 | giacomo | 269 | |
270 | return 0; |
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271 | |||
272 | } |
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273 | |||
274 | void program_end(void *arg) |
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275 | { |
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276 | |||
277 | OSMesaDestroyContext(ctx); |
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278 | free(rgb_565_buf); |
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279 | |||
1315 | giacomo | 280 | grx_close(); |
1129 | giacomo | 281 | |
282 | sys_end(); |
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283 | |||
284 | } |
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285 | |||
286 | void program_key_end(KEY_EVT *k) |
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287 | { |
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288 | |||
289 | sys_end(); |
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290 | |||
291 | } |
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292 | |||
293 | TASK refresh(void) |
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294 | { |
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295 | |||
296 | while(1) { |
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297 | |||
1315 | giacomo | 298 | memcpy(rgb_565_buf, video_buf, RGB565MEM); |
1129 | giacomo | 299 | task_endcycle(); |
300 | |||
301 | } |
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302 | |||
303 | sys_end(); |
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304 | |||
305 | } |
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306 | |||
307 | |||
308 | TASK disegna(void) |
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309 | { |
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310 | |||
311 | char text[100]; |
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312 | TIME disegna_TIME, refresh_TIME; |
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313 | |||
314 | while(1) { |
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315 | |||
316 | jet_gettable(refresh_PID, &refresh_TIME, 1); |
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317 | jet_gettable(disegna_PID, &disegna_TIME, 1); |
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318 | |||
319 | Angle += 2.0; |
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320 | |||
321 | draw(); |
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322 | |||
323 | sprintf(text,"Hard Task Refresh PER:%6d us EX:%6d us",(int)PERIOD_REFRESH,(int)refresh_TIME); |
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324 | grx_text(text,10,5,rgb16(0,0,255),0); |
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325 | sprintf(text,"Hard Task Draw PER:%6d us EX:%6d us",(int)PERIOD_DISEGNA,(int)disegna_TIME); |
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326 | grx_text(text,10,15,rgb16(0,0,255),0); |
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327 | |||
328 | task_endcycle(); |
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329 | |||
330 | } |
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331 | |||
332 | sys_end(); |
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333 | |||
334 | } |
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335 | |||
336 | int main (int argc, char *argv[]) |
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337 | { |
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338 | |||
339 | HARD_TASK_MODEL ht_refresh, ht_disegna; |
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340 | |||
341 | sys_atrunlevel(program_end,NULL, RUNLEVEL_BEFORE_EXIT); |
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342 | |||
343 | clear(); |
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344 | |||
345 | WCET_REFRESH =((long int) PERIOD_REFRESH * (0.45)); |
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346 | WCET_DISEGNA =((long int) PERIOD_DISEGNA * (0.45)); |
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347 | |||
348 | hard_task_default_model(ht_refresh); |
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349 | hard_task_def_wcet(ht_refresh,WCET_REFRESH); |
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350 | hard_task_def_mit(ht_refresh,PERIOD_REFRESH); |
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351 | hard_task_def_usemath(ht_refresh); |
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352 | hard_task_def_group(ht_refresh,1); |
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353 | hard_task_def_ctrl_jet(ht_refresh); |
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354 | |||
355 | refresh_PID = task_create("refresh", refresh, &ht_refresh, NULL); |
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356 | if (refresh_PID == -1) { |
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357 | sys_end(); |
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358 | exit(4); |
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359 | } |
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360 | |||
361 | hard_task_default_model(ht_disegna); |
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362 | hard_task_def_mit(ht_disegna,PERIOD_DISEGNA); |
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363 | hard_task_def_wcet(ht_disegna,WCET_DISEGNA); |
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364 | hard_task_def_group(ht_disegna,1); |
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365 | hard_task_def_ctrl_jet(ht_disegna); |
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366 | hard_task_def_usemath(ht_disegna); |
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1156 | giacomo | 367 | hard_task_def_stack(ht_disegna,30000); |
368 | |||
1129 | giacomo | 369 | disegna_PID = task_create("disegna", disegna, &ht_disegna, NULL); |
370 | if (disegna_PID == -1) { |
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371 | sys_end(); |
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372 | exit(4); |
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373 | } |
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374 | |||
375 | { |
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376 | KEY_EVT k; |
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377 | k.flag = ALTL_BIT; |
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378 | k.scan = KEY_C; |
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379 | k.ascii = 'c'; |
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380 | keyb_hook(k,program_key_end); |
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381 | } |
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1155 | giacomo | 382 | |
383 | rgb_565_buf = malloc(RGB565MEM); |
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1129 | giacomo | 384 | |
1155 | giacomo | 385 | gl_init(); |
386 | |||
1315 | giacomo | 387 | if (screen()) { |
1129 | giacomo | 388 | printk(KERN_INFO "Graphical initialization failed !!\n"); |
389 | sys_end(); |
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390 | } |
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391 | |||
392 | memset(rgb_565_buf, 0, RGB565MEM); |
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393 | |||
394 | group_activate(1); |
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395 | |||
396 | return 0; |
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397 | |||
398 | } |