Subversion Repositories shark

/*

 * Project: S.Ha.R.K.

 *

 * Coordinators:

 *   Giorgio Buttazzo    <giorgio@sssup.it>

 *   Paolo Gai           <pj@gandalf.sssup.it>

 *

 * Authors     :

 *   Giacomo Guidi       <giacomo@gandalf.sssup.it>

 *

 *

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

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://shark.sssup.it

 */

#include <drivers/glib.h>

#include <drivers/keyb.h>

#include <GL/osmesa.h>

#include <GL/glut.h>

#include <math.h>

#include <stdlib.h>

#include <assert.h>

#include <kernel/log.h>

#include <kernel/kern.h>

#ifndef M_PI

#define M_PI 3.14159265

#endif

#define WIDTH 640

#define HEIGHT 430

#define BYTES_PP 2 //BytesPerPixel

OSMesaContext ctx;

static GLuint TexObj[2];

static GLfloat Angle = 0.0f;

static GLboolean UseObj = GL_FALSE;

#if defined(GL_VERSION_1_1) || defined(GL_VERSION_1_2)

#  define TEXTURE_OBJECT 1

#elif defined(GL_EXT_texture_object)

#  define TEXTURE_OBJECT 1

#  define glBindTexture(A,B)     glBindTextureEXT(A,B)

#  define glGenTextures(A,B)     glGenTexturesEXT(A,B)

#  define glDeleteTextures(A,B)  glDeleteTexturesEXT(A,B)

#endif

unsigned char *rgb_565_buf = NULL; //RGB 16 bpp Buffer

unsigned char *video_buf = NULL; //Video Buffer

unsigned long int VMEMLONG = WIDTH * HEIGHT * BYTES_PP / 4; // Used by copy_videomem_16to16

unsigned long int RGB565MEM = WIDTH * HEIGHT * BYTES_PP; // Total video mem

unsigned long int PERIOD_REFRESH = 30000;

unsigned long int PERIOD_DISEGNA = 30000;

unsigned long int WCET_REFRESH, WCET_DISEGNA;

TASK refesh(void);

TASK disegna(void);

PID refresh_PID, disegna_PID;

static void draw( void )

{

   glDepthFunc(GL_EQUAL);

   /*   glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );*/

   glClear( GL_COLOR_BUFFER_BIT );

   glColor3f( 1.0, 1.0, 1.0 );

   /* draw first polygon */

   glPushMatrix();

   glTranslatef( -1.0, 0.0, 0.0 );

   glRotatef( Angle, 0.0, 0.0, 1.0 );

   if (UseObj) {

#ifdef TEXTURE_OBJECT

      glBindTexture( GL_TEXTURE_2D, TexObj[0] );

#endif

   }

   else {

      glCallList( TexObj[0] );

   }

   glBegin( GL_POLYGON );

   glTexCoord2f( 0.0, 0.0 );   glVertex2f( -1.0, -1.0 );

   glTexCoord2f( 1.0, 0.0 );   glVertex2f(  1.0, -1.0 );

   glTexCoord2f( 1.0, 1.0 );   glVertex2f(  1.0,  1.0 );

   glTexCoord2f( 0.0, 1.0 );   glVertex2f( -1.0,  1.0 );

   glEnd();

   glPopMatrix();

   /* draw second polygon */

   glPushMatrix();

   glTranslatef( 1.0, 0.0, 0.0 );

   glRotatef( Angle-90.0, 0.0, 1.0, 0.0 );

   if (UseObj) {

#ifdef TEXTURE_OBJECT

      glBindTexture( GL_TEXTURE_2D, TexObj[1] );

#endif

   }

   else {

      glCallList( TexObj[1] );

   }

   glBegin( GL_POLYGON );

   glTexCoord2f( 0.0, 0.0 );   glVertex2f( -1.0, -1.0 );

   glTexCoord2f( 1.0, 0.0 );   glVertex2f(  1.0, -1.0 );

   glTexCoord2f( 1.0, 1.0 );   glVertex2f(  1.0,  1.0 );

   glTexCoord2f( 0.0, 1.0 );   glVertex2f( -1.0,  1.0 );

   glEnd();

   glPopMatrix();

}

static void gl_init()

{

   static int twidth=8, theight=8;

   static GLubyte tex1[] = {

     0, 0, 0, 1, 1, 1, 0, 0,

     0, 0, 1, 0, 0, 0, 0, 0,

     0, 0, 1, 0, 0, 0, 0, 0,

     0, 0, 1, 0, 0, 0, 0, 0,

     0, 0, 1, 0, 0, 0, 0, 0,

     0, 0, 1, 0, 0, 0, 0, 0,

     0, 0, 1, 0, 0, 0, 0, 0,

     0, 0, 0, 1, 1, 1, 0, 0 };

   static GLubyte tex2[] = {

     0, 0, 0, 2, 2, 2, 0, 0,

     0, 0, 2, 0, 0, 0, 0, 0,

     0, 0, 2, 0, 0, 0, 0, 0,

     0, 0, 0, 2, 0, 0, 0, 0,

     0, 0, 0, 0, 2, 0, 0, 0,

     0, 0, 0, 0, 0, 2, 0, 0,

     0, 0, 0, 0, 0, 2, 0, 0,

     0, 0, 2, 2, 2, 0, 0, 0 };

   GLubyte tex[64][3];

   GLint i, j;

    //Create the OSMesa Context

   ctx = OSMesaCreateContext(OSMESA_RGB_565, NULL);

   //Make Current Context

   OSMesaMakeCurrent(ctx, rgb_565_buf, GL_UNSIGNED_SHORT_5_6_5, WIDTH, HEIGHT);

   UseObj = GL_TRUE;

   glDisable( GL_DITHER );

   /* Setup texturing */

   glEnable( GL_TEXTURE_2D );

   glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL );

   glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_FASTEST );

   /* generate texture object IDs */

   if (UseObj) {

#ifdef TEXTURE_OBJECT

      glGenTextures( 2, TexObj );

#endif

   }

   else {

      TexObj[0] = glGenLists(2);

      TexObj[1] = TexObj[0]+1;

   }

   /* setup first texture object */

   if (UseObj) {

#ifdef TEXTURE_OBJECT

      glBindTexture( GL_TEXTURE_2D, TexObj[0] );

      assert(glIsTexture(TexObj[0]));

#endif

   }

   else {

      glNewList( TexObj[0], GL_COMPILE );

   }

   /* red on white */

   for (i=0;i<theight;i++) {

      for (j=0;j<twidth;j++) {

         int p = i*twidth+j;

         if (tex1[(theight-i-1)*twidth+j]) {

            tex[p][0] = 255;   tex[p][1] = 0;     tex[p][2] = 0;

         }

         else {

            tex[p][0] = 255;   tex[p][1] = 255;   tex[p][2] = 255;

         }

      }

   }

   glTexImage2D( GL_TEXTURE_2D, 0, 3, twidth, theight, 0,

                 GL_RGB, GL_UNSIGNED_BYTE, tex );

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST );

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST );

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT );

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT );

   if (!UseObj) {

      glEndList();

   }

   /* end of texture object */

   /* setup second texture object */

   if (UseObj) {

#ifdef TEXTURE_OBJECT

      glBindTexture( GL_TEXTURE_2D, TexObj[1] );

      assert(glIsTexture(TexObj[1]));

#endif

      assert(!glIsTexture(TexObj[1] + 999));

   }

   else {

      glNewList( TexObj[1], GL_COMPILE );

   }

   /* green on blue */

   for (i=0;i<theight;i++) {

      for (j=0;j<twidth;j++) {

         int p = i*twidth+j;

         if (tex2[(theight-i-1)*twidth+j]) {

            tex[p][0] = 0;     tex[p][1] = 255;   tex[p][2] = 0;

         }

         else {

            tex[p][0] = 0;     tex[p][1] = 0;     tex[p][2] = 255;

         }

      }

   }

   glTexImage2D( GL_TEXTURE_2D, 0, 3, twidth, theight, 0,

                 GL_RGB, GL_UNSIGNED_BYTE, tex );

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST );

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST );

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT );

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT );

   if (!UseObj) {

      glEndList();

   }

   /* end texture object */

   glViewport(0, 0, (GLint)WIDTH, (GLint)HEIGHT);

   glMatrixMode(GL_PROJECTION);

   glLoadIdentity();

   /*   glOrtho( -3.0, 3.0, -3.0, 3.0, -10.0, 10.0 );*/

   glFrustum( -2.0, 2.0, 2.0, -2.0, 6.0, 20.0 );

   glMatrixMode(GL_MODELVIEW);

   glLoadIdentity();

   glTranslatef( 0.0, 0.0, -8.0 );

}

static int screen()

{

  extern DWORD flbaddr;

  /* graphic card Initialization */

  if (grx_init() < 1) {

     sys_abort(1);

  }

  if (grx_open(640, 480, 16) < 0) {

     cprintf("GRX Err\n");

     sys_abort(1);

  }

  video_buf = (unsigned char *)flbaddr;

  return 0;

}

void program_end(void *arg)

{

  OSMesaDestroyContext(ctx);

  free(rgb_565_buf);

  grx_close();

  sys_end();

}

void program_key_end(KEY_EVT *k)

{

  sys_end();

}

TASK refresh(void)

{

  while(1) {

    memcpy((video_buf+40*WIDTH*2), rgb_565_buf, RGB565MEM);

    task_endcycle();

  }

  sys_end();

}

TASK disegna(void)

{

  char text[100];

  TIME disegna_TIME, refresh_TIME;

  while(1) {

    jet_gettable(refresh_PID, &refresh_TIME, 1);

    jet_gettable(disegna_PID, &disegna_TIME, 1);

    Angle += 2.0;

    draw();

    sprintf(text,"Hard Task Refresh PER:%6d us EX:%6d us",(int)PERIOD_REFRESH,(int)refresh_TIME);

    grx_text(text,10,5,rgb16(0,0,255),0);    

    sprintf(text,"Hard Task Draw    PER:%6d us EX:%6d us",(int)PERIOD_DISEGNA,(int)disegna_TIME);

    grx_text(text,10,15,rgb16(0,0,255),0);

    task_endcycle();

  }

  sys_end();

}

int main (int argc, char *argv[])

{

    HARD_TASK_MODEL ht_refresh, ht_disegna;

    sys_atrunlevel(program_end,NULL, RUNLEVEL_BEFORE_EXIT);

    clear();

    WCET_REFRESH =((long int) PERIOD_REFRESH * (0.45));

    WCET_DISEGNA =((long int) PERIOD_DISEGNA * (0.45));

    hard_task_default_model(ht_refresh);

    hard_task_def_wcet(ht_refresh,WCET_REFRESH);

    hard_task_def_mit(ht_refresh,PERIOD_REFRESH);

    hard_task_def_usemath(ht_refresh);

    hard_task_def_group(ht_refresh,1);

    hard_task_def_ctrl_jet(ht_refresh);

    refresh_PID = task_create("refresh", refresh, &ht_refresh, NULL);

    if (refresh_PID == -1) {

      sys_end();

      exit(4);

    }

    hard_task_default_model(ht_disegna);

    hard_task_def_mit(ht_disegna,PERIOD_DISEGNA);

    hard_task_def_wcet(ht_disegna,WCET_DISEGNA);

    hard_task_def_group(ht_disegna,1);

    hard_task_def_ctrl_jet(ht_disegna);

    hard_task_def_usemath(ht_disegna);

    hard_task_def_stack(ht_disegna,30000);

    disegna_PID = task_create("disegna", disegna, &ht_disegna, NULL);

    if (disegna_PID == -1) {

      sys_end();

      exit(4);

    }

    {

      KEY_EVT k;

      k.flag = ALTL_BIT;

      k.scan = KEY_C;

      k.ascii = 'c';

      keyb_hook(k,program_key_end);

    }

    rgb_565_buf = malloc(RGB565MEM);

    gl_init();

    if (screen()) {

        printk(KERN_INFO "Graphical initialization failed !!\n");

        sys_end();

    }

    memset(rgb_565_buf, 0, RGB565MEM);

    group_activate(1);

    return 0;

}