Rev 1655 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1655 | giacomo | 1 | |
| 2 | /* |
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| 3 | * Project: S.Ha.R.K. |
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| 4 | * |
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| 5 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
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| 6 | * |
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| 7 | * Authors : Paolo Gai <pj@hartik.sssup.it> |
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| 8 | * (see authors.txt for full list of hartik's authors) |
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| 9 | * |
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| 10 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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| 11 | * |
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| 12 | * http://www.sssup.it |
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| 13 | * http://retis.sssup.it |
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| 14 | * http://shark.sssup.it |
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| 15 | */ |
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| 16 | |||
| 17 | /* |
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| 18 | * Copyright (C) 2000 Paolo Gai |
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| 19 | * |
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| 20 | * This program is free software; you can redistribute it and/or modify |
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| 21 | * it under the terms of the GNU General Public License as published by |
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| 22 | * the Free Software Foundation; either version 2 of the License, or |
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| 23 | * (at your option) any later version. |
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| 24 | * |
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| 25 | * This program is distributed in the hope that it will be useful, |
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| 26 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 27 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 28 | * GNU General Public License for more details. |
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| 29 | * |
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| 30 | * You should have received a copy of the GNU General Public License |
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| 31 | * along with this program; if not, write to the Free Software |
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| 32 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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| 33 | * |
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| 34 | */ |
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| 35 | |||
| 36 | #include <kernel/kern.h> |
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| 37 | #include <kernel/func.h> |
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| 38 | #include <stdlib.h> |
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| 39 | #include <drivers/keyb.h> |
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| 40 | #include <drivers/glib.h> |
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| 41 | #include <semaphore.h> |
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| 42 | #include "modules/sem.h" |
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| 43 | #include "modules/hartport.h" |
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| 44 | |||
| 45 | #include <math.h> |
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| 46 | |||
| 47 | #include "joy.h" |
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| 48 | |||
| 49 | #define RGB_BLACK rgb16( 0, 0, 0) |
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| 50 | #define RGB_GRAY rgb16(127,127,127) |
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| 51 | #define RGB_WHITE rgb16(255,255,255) |
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| 52 | #define RGB_RED rgb16(255, 0, 0) |
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| 53 | #define RGB_GREEN rgb16( 0,255, 0) |
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| 54 | #define RGB_BLUE rgb16( 0, 0,255) |
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| 55 | #define RGB_YELLOW rgb16(255,255, 0) |
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| 56 | #define RGB_MAGENTA rgb16(255, 0,255) |
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| 57 | #define RGB_CYAN rgb16( 0,255,255) |
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| 58 | #define RGB_D_RED rgb16(127, 0, 0) |
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| 59 | #define RGB_D_GREEN rgb16( 0,127, 0) |
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| 60 | #define RGB_D_BLUE rgb16( 0, 0,127) |
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| 61 | #define RGB_D_YELLOW rgb16(127,127, 0) |
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| 62 | #define RGB_D_MAGENTA rgb16(127, 0,127) |
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| 63 | #define RGB_D_CYAN rgb16( 0,127,127) |
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| 64 | |||
| 65 | sem_t mx_mat, mx_grf; /* mutex semaphores */ |
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| 66 | PID pid; |
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| 67 | JOY_BOUND jb; |
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| 68 | |||
| 69 | |||
| 70 | TASK write() |
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| 71 | { |
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| 72 | int x = 319, y = 239; |
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| 73 | float dx, dy; |
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| 74 | JOY_STATE jsa; |
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| 75 | |||
| 76 | clear(); |
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| 77 | |||
| 78 | dx = 640 / (jb.x_max - jb.x_min); |
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| 79 | dy = 480 / (jb.y_max - jb.y_min); |
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| 80 | |||
| 81 | while (1) { |
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| 82 | sem_wait(&mx_grf); |
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| 83 | grx_circle(10 + x, 10 + y, 9, RGB_BLACK); |
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| 84 | sem_post(&mx_grf); |
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| 85 | |||
| 86 | get_joystick_A(&jsa); |
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| 87 | |||
| 88 | x = (jsa.x - jb.x_min) * dx; |
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| 89 | y = (jsa.y - jb.y_min) * dy; |
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| 90 | |||
| 91 | sem_wait(&mx_grf); |
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| 92 | if (jsa.b1==1) |
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| 93 | grx_circle(10 + dx * x, 10 + dy * y, 9, RGB_RED); |
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| 94 | else |
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| 95 | grx_circle(10 + dx * x, 10 + dy * y, 9, RGB_YELLOW); |
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| 96 | sem_post(&mx_grf); |
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| 97 | |||
| 98 | task_endcycle(); |
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| 99 | } |
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| 100 | return 0; |
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| 101 | } |
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| 102 | |||
| 103 | void endfun(KEY_EVT *k) |
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| 104 | { |
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| 105 | cprintf("Ctrl-Brk pressed! Ending...\n"); |
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| 106 | sys_end(); |
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| 107 | } |
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| 108 | |||
| 109 | void my_close(void *arg) |
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| 110 | { |
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| 111 | int i; |
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| 112 | TIME tmp; |
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| 113 | |||
| 114 | grx_close(); |
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| 115 | kern_printf("Taskset Execution Time\n\n"); |
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| 116 | for (i=3; i<MAX_PROC; i++){ |
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| 117 | if (!jet_getstat(i, NULL, &tmp, NULL, NULL)) |
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| 118 | kern_printf("Task Name : %s - Max Time : %d\n", proc_table[i].name, (int)tmp); |
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| 119 | } |
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| 120 | } |
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| 121 | |||
| 122 | void init_graph() { |
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| 123 | grx_box( 0, 0,639,479,RGB_BLACK); |
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| 124 | } |
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| 125 | |||
| 126 | int main(int argc, char **argv) |
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| 127 | { |
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| 128 | SOFT_TASK_MODEL ms; |
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| 129 | KEY_EVT k; |
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| 130 | TIME seme; |
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| 131 | int modenum; |
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| 132 | |||
| 133 | k.flag = CNTR_BIT; |
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| 134 | k.scan = KEY_C; |
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| 135 | k.ascii = 'c'; |
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| 136 | keyb_hook(k,endfun); |
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| 137 | |||
| 138 | k.flag = CNTL_BIT; |
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| 139 | k.scan = KEY_C; |
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| 140 | k.ascii = 'c'; |
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| 141 | keyb_hook(k,endfun); |
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| 142 | |||
| 143 | sem_init(&mx_mat,0,1); |
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| 144 | sem_init(&mx_grf,0,1); |
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| 145 | |||
| 146 | seme = sys_gettime(NULL); |
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| 147 | srand(seme); |
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| 148 | |||
| 149 | sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT); |
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| 150 | |||
| 151 | if (get_joystick_bound_A(&jb)) { |
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| 152 | perror("Could not find Joystick."); |
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| 153 | sys_end(); |
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| 154 | } |
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| 155 | |||
| 156 | grx_init(); |
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| 157 | modenum = grx_getmode(640, 480, 16); |
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| 158 | grx_setmode(modenum); |
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| 159 | init_graph(); |
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| 160 | |||
| 161 | soft_task_default_model(ms); |
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| 162 | soft_task_def_level(ms,1); |
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| 163 | soft_task_def_ctrl_jet(ms); |
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| 164 | soft_task_def_met(ms,100); |
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| 165 | soft_task_def_period(ms,10000); |
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| 166 | soft_task_def_usemath(ms); |
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| 167 | pid = task_create("Write", write, &ms, NULL); |
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| 168 | if (pid == NIL) { |
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| 169 | grx_close(); |
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| 170 | perror("Could not create task <Write>"); |
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| 171 | sys_end(); |
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| 172 | } else { |
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| 173 | task_activate(pid); |
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| 174 | } |
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| 175 | |||
| 176 | return 0; |
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| 177 | } |