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1562 | trimarchi | 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 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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12 | * |
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13 | * http://www.sssup.it |
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14 | * http://retis.sssup.it |
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15 | * http://shark.sssup.it |
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16 | */ |
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17 | |||
18 | /* |
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19 | * Copyright (C) 2000 Paolo Gai |
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20 | * |
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21 | * This program is free software; you can redistribute it and/or modify |
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22 | * it under the terms of the GNU General Public License as published by |
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23 | * the Free Software Foundation; either version 2 of the License, or |
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24 | * (at your option) any later version. |
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25 | * |
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26 | * This program is distributed in the hope that it will be useful, |
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27 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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28 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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29 | * GNU General Public License for more details. |
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30 | * |
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31 | * You should have received a copy of the GNU General Public License |
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32 | * along with this program; if not, write to the Free Software |
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33 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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34 | */ |
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35 | |||
36 | #include "kernel/kern.h" |
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37 | |||
38 | #include "fsf.h" |
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39 | #include "fsf_server.h" |
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40 | |||
41 | #include "stdlib.h" |
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42 | #include "unistd.h" |
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43 | #include "string.h" |
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44 | #include "pistar.h" |
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45 | |||
46 | #include "pthread.h" |
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47 | |||
48 | #include "drivers/glib.h" |
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49 | #include "global.h" |
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50 | |||
51 | #include <drivers/shark_keyb26.h> |
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52 | |||
53 | |||
54 | char *readFilePortName = "readFilePort"; |
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55 | char *displayPortName = "displayPortName"; |
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56 | |||
57 | #define TEST_PERIOD 50000 |
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58 | |||
59 | mutex_t mux; |
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60 | int main_chunk; |
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61 | |||
62 | |||
63 | |||
64 | |||
65 | |||
66 | void program_end() |
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67 | { |
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68 | |||
69 | grx_close(); |
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70 | exit(0); |
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71 | } |
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72 | |||
73 | void *mpeg2decoder(void *arg); |
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74 | void *readTask(void *arg); |
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75 | void *displayTask(void *arg); |
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76 | void *overLoadTask(void *arg); |
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77 | |||
78 | /*************************************************************** |
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79 | * |
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80 | * Create the display task and bind it to a server |
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81 | * |
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82 | * Author: Robert Bäckgren |
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83 | ******************************************************************/ |
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84 | void addDisplayTaskToServer(fsf_server_id_t server) |
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85 | { |
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86 | int err; |
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87 | pthread_t j = -1; |
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88 | HARD_TASK_MODEL ht; |
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89 | static fsf_sched_params_t pr; |
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90 | |||
91 | |||
92 | pr.policy=FSF_EDF; |
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93 | pr.params=&ht; |
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94 | |||
95 | |||
96 | hard_task_default_model(ht); |
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97 | hard_task_def_mit(ht,40000); |
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98 | hard_task_def_wcet(ht,18000); |
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99 | nrt_task_def_group(ht,3); |
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100 | |||
101 | |||
102 | err = pthread_create(&j, NULL, displayTask, NULL); |
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103 | if (err) { |
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104 | grx_close(); |
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105 | grx_text("failed to create displayTask",0,0,rgb16(255,255,255),0); |
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106 | exit(err); |
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107 | } |
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108 | |||
109 | err=fsf_bind_local_thread_to_server(server, j,(fsf_sched_params_t *)(&pr)); |
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110 | if (err) { |
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111 | grx_close(); |
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112 | exit(err); |
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113 | |||
114 | } |
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115 | } |
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116 | |||
117 | /*********************************************************************' |
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118 | * |
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119 | * Create the input task and bind it to a server |
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120 | * |
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121 | * Author: Robert Bäckgren |
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122 | *********************************************************************/ |
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123 | void addReadTaskToServer(fsf_server_id_t server) |
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124 | { |
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125 | int err; |
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126 | pthread_t j = -1; |
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127 | NRT_TASK_MODEL ht; |
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128 | static fsf_sched_params_t pr; |
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129 | |||
130 | |||
131 | pr.policy=FSF_RR; |
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132 | pr.params=&ht; |
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133 | |||
134 | |||
135 | nrt_task_default_model(ht); |
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136 | nrt_task_def_group(ht,1); |
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137 | |||
138 | |||
139 | err = pthread_create(&j, NULL, readTask, NULL); |
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140 | if (err) { |
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141 | grx_close(); |
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142 | perror("Could not create task..."); |
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143 | exit(err); |
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144 | } |
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145 | |||
146 | err=fsf_bind_local_thread_to_server(server, j,(fsf_sched_params_t *)(&pr)); |
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147 | if (err) { |
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148 | grx_close(); |
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149 | //perror("Could not bind task.."); |
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150 | exit(err); |
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151 | } |
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152 | } |
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153 | |||
154 | /********************************************************************** |
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155 | * |
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156 | * Create the decoder task and bind it to a server |
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157 | * |
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158 | * Author: Robert Bäckgren |
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159 | **********************************************************************/ |
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160 | void addDecoderThreadToServer(fsf_server_id_t server) |
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161 | { |
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162 | |||
163 | int err; |
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164 | pthread_t j = -1; |
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165 | NRT_TASK_MODEL ht; |
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166 | static fsf_sched_params_t pr; |
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167 | |||
168 | |||
169 | |||
170 | pr.policy=FSF_RR; |
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171 | pr.params=&ht; |
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172 | |||
173 | |||
174 | nrt_task_default_model(ht); |
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175 | nrt_task_def_group(ht,1); |
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176 | |||
177 | |||
178 | err = pthread_create(&j, NULL, mpeg2decoder, NULL); |
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179 | if (err) { |
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180 | grx_close(); |
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181 | perror("Could not create task..."); |
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182 | exit(err); |
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183 | } |
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184 | |||
185 | err=fsf_bind_local_thread_to_server(server, j,(fsf_sched_params_t *)(&pr)); |
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186 | if (err) { |
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187 | grx_close(); |
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188 | //perror("Could not bind task.."); |
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189 | exit(err); |
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190 | } |
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191 | } |
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192 | |||
193 | |||
194 | /*************************************************************************** |
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195 | * |
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196 | * Create a dummy task and bind it to a server |
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197 | * |
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198 | * Author: Robert Bäckgren |
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199 | *****************************************************************************/ |
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200 | int addOverLoadTaskToServer(fsf_server_id_t server) |
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201 | { |
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202 | int err; |
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203 | pthread_t j = -1; |
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204 | HARD_TASK_MODEL ht; |
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205 | static fsf_sched_params_t pr; |
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206 | |||
207 | |||
208 | |||
209 | pr.policy=FSF_EDF; |
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210 | pr.params=&ht; |
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211 | |||
212 | |||
213 | hard_task_default_model(ht); |
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214 | hard_task_def_mit(ht,200000); |
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215 | hard_task_def_wcet(ht,20000); |
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216 | nrt_task_def_group(ht,4); |
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217 | |||
218 | |||
219 | err = pthread_create(&j, NULL, overLoadTask, NULL); |
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220 | if (err) { |
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221 | grx_text("Failed to create the decoder task",270,270,rgb16(255,255,255),0); |
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222 | return 0; |
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223 | } |
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224 | |||
225 | err=fsf_bind_local_thread_to_server(server, j,(fsf_sched_params_t *)(&pr)); |
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226 | if (err) { |
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227 | grx_close(); |
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228 | //perror("Could not bind task.."); |
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229 | exit(err); |
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230 | } |
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231 | |||
232 | return 1; |
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233 | } |
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234 | void ending_system(KEY_EVT *e) { |
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235 | |||
236 | grx_close(); |
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237 | |||
238 | exit(0); |
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239 | } |
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240 | |||
241 | |||
242 | int main(int argc, char **argv) |
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243 | { |
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244 | |||
245 | char ch; |
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246 | int err; |
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247 | int i = 1; |
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248 | char tmp[100]; |
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249 | //KEY_EVT k; |
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250 | |||
251 | PI_mutexattr_t a; |
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252 | KEY_EVT ev; |
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253 | |||
254 | |||
255 | struct timespec decoderPeriod = {0,30000000}; |
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256 | struct timespec decoderBudget = {0,3000000}; |
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257 | |||
258 | struct timespec readTaskPeriod = {0,30000000}; |
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259 | struct timespec readTaskBudget = {0,3000000}; |
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260 | |||
261 | struct timespec displayPeriod = {0,40000000}; |
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262 | struct timespec displayBudget = {0,18000000}; |
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263 | |||
264 | // 30 % |
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265 | struct timespec overloadPeriod = {0,10000000}; |
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266 | struct timespec overloadBudget = {0,3000000}; |
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267 | |||
268 | fsf_server_id_t decoderServer; |
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269 | fsf_server_id_t readTaskServer; |
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270 | fsf_server_id_t displayServer; |
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271 | fsf_server_id_t overloadServer; |
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272 | |||
273 | fsf_contract_parameters_t overloadContract; |
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274 | fsf_contract_parameters_t decoderContract; |
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275 | fsf_contract_parameters_t readTaskContract; |
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276 | fsf_contract_parameters_t displayContract; |
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277 | |||
278 | union sigval sval; |
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279 | |||
280 | |||
281 | ev.ascii = 'c'; |
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282 | ev.scan = KEY_C; |
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283 | ev.status = KEY_PRESSED; |
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284 | ev.flag = CNTR_BIT; |
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285 | keyb_hook(ev, ending_system, FALSE); |
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286 | |||
287 | PI_mutexattr_default(a); |
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288 | FSF_start_service_task(); |
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289 | |||
290 | mutex_init(&mux,&a); |
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291 | |||
292 | // Set up the different servers |
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293 | fsf_initialize_contract(&readTaskContract); |
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294 | fsf_set_contract_basic_parameters(&readTaskContract,&readTaskBudget,&readTaskPeriod,FSF_DEFAULT_WORKLOAD); |
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295 | fsf_set_contract_scheduling_policy(&readTaskContract, FSF_RR); |
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296 | |||
297 | fsf_initialize_contract(&decoderContract); |
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298 | fsf_set_contract_basic_parameters(&decoderContract,&decoderBudget,&decoderPeriod,FSF_DEFAULT_WORKLOAD); |
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299 | fsf_set_contract_scheduling_policy(&decoderContract, FSF_RR); |
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300 | |||
301 | fsf_initialize_contract(&displayContract); |
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302 | fsf_set_contract_basic_parameters(&displayContract,&displayBudget,&displayPeriod,FSF_DEFAULT_WORKLOAD); |
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303 | fsf_set_contract_scheduling_policy(&displayContract, FSF_EDF); |
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304 | |||
305 | fsf_initialize_contract(&overloadContract); |
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306 | fsf_set_contract_basic_parameters(&overloadContract,&overloadBudget,&overloadPeriod,FSF_DEFAULT_WORKLOAD); |
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307 | fsf_set_contract_scheduling_policy(&overloadContract, FSF_EDF); |
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308 | |||
309 | err = fsf_negotiate_contract(&readTaskContract,&readTaskServer); |
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310 | if (err) cprintf("(FSF ERROR %d)",err); |
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311 | err = fsf_negotiate_contract(&decoderContract,&decoderServer); |
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312 | if (err) cprintf("(FSF ERROR %d)",err); |
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313 | err = fsf_negotiate_contract(&displayContract,&displayServer); |
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314 | if (err) cprintf("(FSF ERROR %d)",err); |
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315 | err = fsf_negotiate_contract(&overloadContract,&overloadServer); |
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316 | if (err) cprintf("(FSF ERROR %d)",err); |
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317 | |||
318 | |||
319 | // Create and bind different ports to communication links (This ports a declared in global.h) |
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320 | if((readTaskPort = port_create(readFilePortName, sizeof(struct readDecodeMessage), NUMBER_OF_MESSAGE, STREAM, WRITE)) == -1) |
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321 | { |
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322 | grx_text("failed to create readTask Port",0,0,rgb16(255,255,255),0); |
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323 | exit(-1); |
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324 | } |
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325 | if((decoderTaskPort->displayTaskPort = port_create(displayPortName, sizeof(struct decodeDisplayMessage), NUMBER_OF_MESSAGE, STREAM, WRITE)) == -1) |
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326 | { |
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327 | grx_text("failed to create displayTask Port",0,0,rgb16(255,255,255),0); |
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328 | exit(-1); |
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329 | } |
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330 | if((decoderTaskPort->readTaskPort = port_connect(readFilePortName, sizeof(struct readDecodeMessage), STREAM, READ)) == -1) |
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331 | { |
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332 | grx_text("failed to connect to readTask Port",0,0,rgb16(255,255,255),0); |
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333 | exit(-1); |
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334 | } |
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335 | if((displayTaskPort = port_connect(displayPortName, sizeof(struct decodeDisplayMessage), STREAM, READ)) == -1) |
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336 | { |
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337 | grx_text("failed to connect to displayTask Port",0,0,rgb16(255,255,255),0); |
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338 | exit(-1); |
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339 | } |
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340 | |||
341 | //graphic card Initialization |
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342 | if (grx_init() < 1) { |
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343 | exit(-1); |
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344 | } |
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345 | |||
346 | if (grx_open(800, 600, 16) < 0) { |
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347 | cprintf("GRX Err\n"); |
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348 | exit(-1); |
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349 | } |
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350 | |||
351 | |||
352 | ch = keyb_getch(BLOCK); |
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353 | |||
354 | while(ch != ESC) { |
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355 | |||
356 | switch (ch) |
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357 | { |
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358 | |||
359 | case '1': |
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360 | addReadTaskToServer(readTaskServer); |
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361 | addDecoderThreadToServer(decoderServer); |
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362 | addDisplayTaskToServer(displayServer); |
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363 | break; |
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364 | case '2': |
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365 | sprintf(tmp,"Number of dummy task: %d", i); |
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366 | grx_text(tmp,0,0,rgb16(255,255,255),0); |
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367 | i++; |
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368 | addOverLoadTaskToServer(overloadServer); |
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369 | break; |
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370 | case '4': |
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371 | ending_system(NULL); |
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372 | break; |
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373 | } |
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374 | |||
375 | ch = keyb_getch(BLOCK); |
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376 | |||
377 | } |
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378 | |||
379 | ending_system(NULL); |
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380 | |||
381 | return 0; |
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382 | |||
383 | } |
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384 |