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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 | |||
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 | #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 | #define INITSTR G640x480x64K //SVGAlib standard mode definitions |
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1154 | giacomo | 39 | #define CARD VESA //Video driver |
1129 | giacomo | 40 | |
41 | OSMesaContext ctx; |
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42 | |||
43 | static GLuint TexObj[2]; |
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44 | static GLfloat Angle = 0.0f; |
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45 | static GLboolean UseObj = GL_FALSE; |
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46 | |||
47 | #if defined(GL_VERSION_1_1) || defined(GL_VERSION_1_2) |
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48 | # define TEXTURE_OBJECT 1 |
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49 | #elif defined(GL_EXT_texture_object) |
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50 | # define TEXTURE_OBJECT 1 |
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51 | # define glBindTexture(A,B) glBindTextureEXT(A,B) |
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52 | # define glGenTextures(A,B) glGenTexturesEXT(A,B) |
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53 | # define glDeleteTextures(A,B) glDeleteTexturesEXT(A,B) |
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54 | #endif |
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55 | |||
56 | unsigned char *rgb_565_buf = NULL; //RGB 16 bpp Buffer |
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57 | unsigned char *video_buf = NULL; //Video Buffer |
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58 | |||
59 | unsigned long int VMEMLONG = WIDTH * HEIGHT * BYTES_PP / 4; // Used by copy_videomem_16to16 |
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60 | unsigned long int RGB565MEM = WIDTH * HEIGHT * BYTES_PP; // Total video mem |
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61 | |||
62 | unsigned long int PERIOD_REFRESH = 40000; //fps = 25 |
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63 | unsigned long int PERIOD_DISEGNA = 40000; |
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64 | |||
65 | unsigned long int WCET_REFRESH, WCET_DISEGNA; |
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66 | |||
67 | TASK refesh(void); |
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68 | TASK disegna(void); |
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69 | |||
70 | PID refresh_PID, disegna_PID; |
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71 | |||
72 | static void draw( void ) |
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73 | { |
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74 | glDepthFunc(GL_EQUAL); |
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75 | /* glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );*/ |
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76 | glClear( GL_COLOR_BUFFER_BIT ); |
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77 | |||
78 | glColor3f( 1.0, 1.0, 1.0 ); |
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79 | |||
80 | /* draw first polygon */ |
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81 | glPushMatrix(); |
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82 | glTranslatef( -1.0, 0.0, 0.0 ); |
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83 | glRotatef( Angle, 0.0, 0.0, 1.0 ); |
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84 | if (UseObj) { |
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85 | #ifdef TEXTURE_OBJECT |
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86 | glBindTexture( GL_TEXTURE_2D, TexObj[0] ); |
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87 | #endif |
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88 | } |
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89 | else { |
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90 | glCallList( TexObj[0] ); |
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91 | } |
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92 | glBegin( GL_POLYGON ); |
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93 | glTexCoord2f( 0.0, 0.0 ); glVertex2f( -1.0, -1.0 ); |
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94 | glTexCoord2f( 1.0, 0.0 ); glVertex2f( 1.0, -1.0 ); |
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95 | glTexCoord2f( 1.0, 1.0 ); glVertex2f( 1.0, 1.0 ); |
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96 | glTexCoord2f( 0.0, 1.0 ); glVertex2f( -1.0, 1.0 ); |
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97 | glEnd(); |
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98 | glPopMatrix(); |
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99 | |||
100 | /* draw second polygon */ |
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101 | glPushMatrix(); |
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102 | glTranslatef( 1.0, 0.0, 0.0 ); |
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103 | glRotatef( Angle-90.0, 0.0, 1.0, 0.0 ); |
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104 | if (UseObj) { |
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105 | #ifdef TEXTURE_OBJECT |
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106 | glBindTexture( GL_TEXTURE_2D, TexObj[1] ); |
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107 | #endif |
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108 | } |
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109 | else { |
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110 | glCallList( TexObj[1] ); |
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111 | } |
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112 | glBegin( GL_POLYGON ); |
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113 | glTexCoord2f( 0.0, 0.0 ); glVertex2f( -1.0, -1.0 ); |
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114 | glTexCoord2f( 1.0, 0.0 ); glVertex2f( 1.0, -1.0 ); |
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115 | glTexCoord2f( 1.0, 1.0 ); glVertex2f( 1.0, 1.0 ); |
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116 | glTexCoord2f( 0.0, 1.0 ); glVertex2f( -1.0, 1.0 ); |
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117 | glEnd(); |
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118 | glPopMatrix(); |
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119 | |||
120 | } |
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121 | |||
122 | |||
123 | static void gl_init() |
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124 | { |
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125 | |||
126 | static GLfloat h = (GLfloat) HEIGHT / (GLfloat) WIDTH; |
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127 | static int twidth=8, theight=8; |
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128 | static GLubyte tex1[] = { |
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129 | 0, 0, 0, 0, 0, 0, 0, 0, |
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130 | 0, 0, 0, 0, 1, 0, 0, 0, |
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131 | 0, 0, 0, 1, 1, 0, 0, 0, |
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132 | 0, 0, 0, 0, 1, 0, 0, 0, |
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133 | 0, 0, 0, 0, 1, 0, 0, 0, |
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134 | 0, 0, 0, 0, 1, 0, 0, 0, |
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135 | 0, 0, 0, 1, 1, 1, 0, 0, |
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136 | 0, 0, 0, 0, 0, 0, 0, 0 }; |
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137 | |||
138 | static GLubyte tex2[] = { |
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139 | 0, 0, 0, 0, 0, 0, 0, 0, |
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140 | 0, 0, 0, 2, 2, 0, 0, 0, |
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141 | 0, 0, 2, 0, 0, 2, 0, 0, |
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142 | 0, 0, 0, 0, 0, 2, 0, 0, |
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143 | 0, 0, 0, 0, 2, 0, 0, 0, |
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144 | 0, 0, 0, 2, 0, 0, 0, 0, |
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145 | 0, 0, 2, 2, 2, 2, 0, 0, |
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146 | 0, 0, 0, 0, 0, 0, 0, 0 }; |
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147 | |||
148 | GLubyte tex[64][3]; |
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149 | GLint i, j; |
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150 | |||
151 | //Create the OSMesa Context |
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152 | ctx = OSMesaCreateContext(OSMESA_RGB_565, NULL); |
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153 | |||
154 | //Make Current Context |
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155 | OSMesaMakeCurrent(ctx, rgb_565_buf, GL_UNSIGNED_SHORT_5_6_5, WIDTH, HEIGHT); |
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156 | |||
157 | UseObj = GL_TRUE; |
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158 | |||
159 | glDisable( GL_DITHER ); |
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160 | |||
161 | /* Setup texturing */ |
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162 | glEnable( GL_TEXTURE_2D ); |
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163 | glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL ); |
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164 | glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_FASTEST ); |
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165 | |||
166 | /* generate texture object IDs */ |
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167 | if (UseObj) { |
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168 | #ifdef TEXTURE_OBJECT |
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169 | glGenTextures( 2, TexObj ); |
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170 | #endif |
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171 | } |
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172 | else { |
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173 | TexObj[0] = glGenLists(2); |
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174 | TexObj[1] = TexObj[0]+1; |
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175 | } |
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176 | |||
177 | /* setup first texture object */ |
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178 | if (UseObj) { |
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179 | #ifdef TEXTURE_OBJECT |
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180 | glBindTexture( GL_TEXTURE_2D, TexObj[0] ); |
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181 | assert(glIsTexture(TexObj[0])); |
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182 | #endif |
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183 | } |
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184 | else { |
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185 | glNewList( TexObj[0], GL_COMPILE ); |
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186 | } |
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187 | /* red on white */ |
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188 | for (i=0;i<theight;i++) { |
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189 | for (j=0;j<twidth;j++) { |
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190 | int p = i*twidth+j; |
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191 | if (tex1[(theight-i-1)*twidth+j]) { |
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192 | tex[p][0] = 255; tex[p][1] = 0; tex[p][2] = 0; |
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193 | } |
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194 | else { |
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195 | tex[p][0] = 255; tex[p][1] = 255; tex[p][2] = 255; |
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196 | } |
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197 | } |
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198 | } |
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199 | |||
200 | glTexImage2D( GL_TEXTURE_2D, 0, 3, twidth, theight, 0, |
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201 | GL_RGB, GL_UNSIGNED_BYTE, tex ); |
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202 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST ); |
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203 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST ); |
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204 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT ); |
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205 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT ); |
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206 | if (!UseObj) { |
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207 | glEndList(); |
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208 | } |
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209 | /* end of texture object */ |
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210 | |||
211 | /* setup second texture object */ |
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212 | if (UseObj) { |
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213 | #ifdef TEXTURE_OBJECT |
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214 | glBindTexture( GL_TEXTURE_2D, TexObj[1] ); |
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215 | assert(glIsTexture(TexObj[1])); |
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216 | #endif |
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217 | assert(!glIsTexture(TexObj[1] + 999)); |
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218 | } |
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219 | else { |
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220 | glNewList( TexObj[1], GL_COMPILE ); |
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221 | } |
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222 | /* green on blue */ |
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223 | for (i=0;i<theight;i++) { |
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224 | for (j=0;j<twidth;j++) { |
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225 | int p = i*twidth+j; |
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226 | if (tex2[(theight-i-1)*twidth+j]) { |
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227 | tex[p][0] = 0; tex[p][1] = 255; tex[p][2] = 0; |
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228 | } |
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229 | else { |
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230 | tex[p][0] = 0; tex[p][1] = 0; tex[p][2] = 255; |
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231 | } |
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232 | } |
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233 | } |
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234 | glTexImage2D( GL_TEXTURE_2D, 0, 3, twidth, theight, 0, |
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235 | GL_RGB, GL_UNSIGNED_BYTE, tex ); |
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236 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST ); |
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237 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST ); |
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238 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT ); |
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239 | glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT ); |
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240 | if (!UseObj) { |
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241 | glEndList(); |
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242 | } |
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243 | /* end texture object */ |
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244 | |||
245 | glViewport(0, 0, (GLint)WIDTH, (GLint)HEIGHT); |
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246 | glMatrixMode(GL_PROJECTION); |
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247 | glLoadIdentity(); |
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248 | /* glOrtho( -3.0, 3.0, -3.0, 3.0, -10.0, 10.0 );*/ |
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249 | glFrustum( -2.0, 2.0, 2.0, -2.0, 6.0, 20.0 ); |
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250 | glMatrixMode(GL_MODELVIEW); |
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251 | glLoadIdentity(); |
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252 | glTranslatef( 0.0, 0.0, -8.0 ); |
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253 | |||
254 | } |
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255 | |||
256 | static int screen(int mode) |
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257 | { |
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258 | |||
259 | vga_modeinfo *minf; |
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260 | |||
261 | vga_setmode(mode,CARD); |
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262 | minf = vga_getmodeinfo(mode); |
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263 | if(! (minf->flags & CAPABLE_LINEAR)){ |
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264 | vga_setmode(TEXT,CARD); |
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265 | printk(KERN_INFO "The mode %d is not capable of linear\n",mode); |
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266 | return 1; |
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267 | } |
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268 | vga_setpage(0); |
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269 | if(vga_setlinearaddressing() == -1) { |
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270 | vga_setmode(TEXT,CARD); |
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271 | printk(KERN_INFO "Could not set linear addressing for mode %d\n",mode); |
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272 | return 1; |
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273 | } |
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274 | |||
275 | video_buf = vga_getgraphmem(); |
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276 | rgb_565_buf = malloc(RGB565MEM); |
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277 | |||
278 | grx_setbuffer(rgb_565_buf, WIDTH, HEIGHT); //Init of RGB16 version of grx functions |
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279 | //created to work with Mesa buffer |
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280 | return 0; |
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281 | |||
282 | } |
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283 | |||
284 | void program_end(void *arg) |
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285 | { |
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286 | |||
287 | OSMesaDestroyContext(ctx); |
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288 | free(rgb_565_buf); |
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289 | |||
290 | vga_setmode(TEXT,CARD); |
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291 | |||
292 | sys_end(); |
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293 | |||
294 | } |
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295 | |||
296 | void program_key_end(KEY_EVT *k) |
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297 | { |
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298 | |||
299 | sys_end(); |
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300 | |||
301 | } |
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302 | |||
303 | TASK refresh(void) |
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304 | { |
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305 | |||
306 | while(1) { |
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307 | |||
308 | copy_videomem_16to16(rgb_565_buf, video_buf, VMEMLONG); |
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309 | task_endcycle(); |
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310 | |||
311 | } |
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312 | |||
313 | sys_end(); |
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314 | |||
315 | } |
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316 | |||
317 | |||
318 | TASK disegna(void) |
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319 | { |
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320 | |||
321 | char text[100]; |
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322 | TIME disegna_TIME, refresh_TIME; |
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323 | |||
324 | while(1) { |
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325 | |||
326 | jet_gettable(refresh_PID, &refresh_TIME, 1); |
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327 | jet_gettable(disegna_PID, &disegna_TIME, 1); |
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328 | |||
329 | Angle += 2.0; |
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330 | |||
331 | draw(); |
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332 | |||
333 | sprintf(text,"Hard Task Refresh PER:%6d us EX:%6d us",(int)PERIOD_REFRESH,(int)refresh_TIME); |
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334 | grx_text(text,10,5,rgb16(0,0,255),0); |
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335 | sprintf(text,"Hard Task Draw PER:%6d us EX:%6d us",(int)PERIOD_DISEGNA,(int)disegna_TIME); |
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336 | grx_text(text,10,15,rgb16(0,0,255),0); |
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337 | |||
338 | task_endcycle(); |
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339 | |||
340 | } |
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341 | |||
342 | sys_end(); |
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343 | |||
344 | } |
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345 | |||
346 | int main (int argc, char *argv[]) |
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347 | { |
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348 | |||
349 | HARD_TASK_MODEL ht_refresh, ht_disegna; |
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350 | |||
351 | sys_atrunlevel(program_end,NULL, RUNLEVEL_BEFORE_EXIT); |
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352 | |||
353 | clear(); |
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354 | |||
355 | WCET_REFRESH =((long int) PERIOD_REFRESH * (0.45)); |
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356 | WCET_DISEGNA =((long int) PERIOD_DISEGNA * (0.45)); |
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357 | |||
358 | hard_task_default_model(ht_refresh); |
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359 | hard_task_def_wcet(ht_refresh,WCET_REFRESH); |
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360 | hard_task_def_mit(ht_refresh,PERIOD_REFRESH); |
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361 | hard_task_def_usemath(ht_refresh); |
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362 | hard_task_def_group(ht_refresh,1); |
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363 | hard_task_def_ctrl_jet(ht_refresh); |
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364 | |||
365 | refresh_PID = task_create("refresh", refresh, &ht_refresh, NULL); |
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366 | if (refresh_PID == -1) { |
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367 | sys_end(); |
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368 | exit(4); |
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369 | } |
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370 | |||
371 | hard_task_default_model(ht_disegna); |
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372 | hard_task_def_mit(ht_disegna,PERIOD_DISEGNA); |
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373 | hard_task_def_wcet(ht_disegna,WCET_DISEGNA); |
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374 | hard_task_def_group(ht_disegna,1); |
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375 | hard_task_def_ctrl_jet(ht_disegna); |
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376 | hard_task_def_usemath(ht_disegna); |
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377 | |||
378 | disegna_PID = task_create("disegna", disegna, &ht_disegna, NULL); |
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379 | if (disegna_PID == -1) { |
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380 | sys_end(); |
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381 | exit(4); |
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382 | } |
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383 | |||
384 | { |
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385 | KEY_EVT k; |
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386 | k.flag = ALTL_BIT; |
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387 | k.scan = KEY_C; |
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388 | k.ascii = 'c'; |
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389 | keyb_hook(k,program_key_end); |
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390 | } |
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391 | |||
392 | if (screen(INITSTR)) { |
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393 | printk(KERN_INFO "Graphical initialization failed !!\n"); |
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394 | sys_end(); |
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395 | } |
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396 | |||
397 | memset(rgb_565_buf, 0, RGB565MEM); |
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398 | |||
399 | gl_init(); |
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400 | |||
401 | group_activate(1); |
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402 | |||
403 | return 0; |
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404 | |||
405 | } |