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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1664 | pj | 1 | #include <kernel/kern.h> |
| 2 | #include <drivers/glib.h> |
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| 3 | #include <drivers/keyb.h> |
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| 4 | #include <kernel/func.h> |
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| 5 | #include <modules/cabs.h> |
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| 6 | #include <semaphore.h> |
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| 7 | #include <stdlib.h> |
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| 8 | #include <math.h> |
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| 9 | |||
| 10 | #define MAX_TRAIN 25 /* max number of trains*/ |
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| 11 | #define MAX_CITY 4 /* max number of cities*/ |
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| 12 | #define MAX_TRACK 12 /* max number of TRACKS*/ |
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| 13 | #define NCAB 10 /* max number of CABs */ |
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| 14 | #define NCAR 26 /* generated characters */ |
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| 15 | |||
| 16 | #define sgn(x) ((x<0)?-1:((x>0)?1:0)) /* macro to return the sign of a |
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| 17 | number */ |
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| 18 | #define YMENU 10 /* menu level */ |
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| 19 | #define XMIN 50 |
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| 20 | #define XMAX 1000 |
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| 21 | #define YMIN 200 |
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| 22 | #define YMAX 700 |
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| 23 | #define VEL 5 /* linear velocity (def. = 5) */ |
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| 24 | #define ANG 30 /* angolo massimo sterzata (30) */ |
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| 25 | #define D 3 /* raggio mosca */ |
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| 26 | #define ESC 27 /* ASCII code of ESCAPE key */ |
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| 27 | #define MAX_P 35 /* max number of flies */ |
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| 28 | #define FLYGROUP 1 |
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| 29 | |||
| 30 | struct{ |
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| 31 | int source,desti,tracknum,check; |
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| 32 | } train[MAX_TRAIN]; |
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| 33 | |||
| 34 | struct{ |
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| 35 | int id,col; |
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| 36 | } param; |
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| 37 | |||
| 38 | |||
| 39 | struct{ |
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| 40 | int cx,cy,source,destination,track; |
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| 41 | } traininfo[MAX_TRAIN]; |
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| 42 | |||
| 43 | static int count = 0; |
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| 44 | static int start = 0; |
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| 45 | |||
| 46 | char *cname[NCAB] = {"cab1", "cab2", "cab3", "cab4","cab5","cab6","cab7","cab8","cab10","cab11","cab12"}; |
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| 47 | char *pname1[NCAB] = {"wr1", "wr2", "wr3", "wr4"}; |
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| 48 | char *pname2[NCAB] = {"rd1", "rd2", "rd3", "rd4"}; |
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| 49 | |||
| 50 | CAB cid[NCAB]; /* CAB identifiers */ |
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| 51 | PID p1[NCAB], p2[NCAB]; /* task identifiers */ |
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| 52 | |||
| 53 | /* Task Periods */ |
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| 54 | TIME t1 = 100000; //for producer |
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| 55 | TIME t2[NCAB] = {400000, 400000, 150000, 200000}; /*for telling the reached station */ |
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| 56 | |||
| 57 | /* Task WCETS */ |
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| 58 | TIME w1 = 10000; |
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| 59 | TIME w2[NCAB] = {10000, 10000, 10000, 10000}; |
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| 60 | |||
| 61 | TIME my_time; |
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| 62 | PID ptas_for_train[MAX_TRAIN]; |
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| 63 | PID controller; |
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| 64 | |||
| 65 | |||
| 66 | sem_t mx_segments[10], mx_graphics, mx_flag[MAX_TRACK]; /** mutex semaphores */ |
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| 67 | sem_t mx_track[MAX_CITY]; |
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| 68 | int status[MAX_TRAIN]; /** THIS IS USED BY THE CONTROLLER*/ |
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| 69 | int speed[MAX_TRAIN]; /** THIS IS USED BY THE CONTROLLER*/ |
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| 70 | int plan[MAX_CITY][MAX_CITY][10]; /** THIS IS USED BY THE CONTROLLER*/ |
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| 71 | int flag[MAX_TRACK]; |
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| 72 | // variable for track |
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| 73 | int graph[MAX_CITY][2] ={ |
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| 74 | { 195,250 }, |
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| 75 | { 500,250}, |
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| 76 | { 500,600 }, |
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| 77 | { 195,600} |
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| 78 | }; |
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| 79 | |||
| 80 | int source[MAX_CITY][2] ={ |
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| 81 | { 200,250 }, |
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| 82 | { 500,255}, |
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| 83 | { 495,600 }, |
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| 84 | { 195,595} |
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| 85 | }; |
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| 86 | int destination[MAX_CITY][2] ={ |
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| 87 | { 195,255 }, |
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| 88 | { 495,250}, |
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| 89 | { 500,595 }, |
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| 90 | { 200,600} |
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| 91 | }; |
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| 92 | |||
| 93 | |||
| 94 | // look for illa.c for previous working version |
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| 95 | int track_taken; |
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| 96 | |||
| 97 | double tick = 1.0; /* system tick = 1 ms */ |
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| 98 | int H_fly_period = 20000; /* task period */ |
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| 99 | int H_fly_wcet = 1000; /* task wcet */ |
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| 100 | int S_fly_period = 30000; /* task period */ |
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| 101 | int S_fly_wcet = 1000; /* task wcet */ |
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| 102 | PID pid; |
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| 103 | sem_t mutex; |
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| 104 | float _i_blocking[MAX_TRAIN]; |