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 <math.h> |
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| 41 | |||
| 42 | #include "joy.h" |
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| 43 | |||
| 44 | PID pid; |
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| 45 | |||
| 46 | void endfun(KEY_EVT *k) |
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| 47 | { |
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| 48 | cprintf("Ctrl-Brk pressed! Ending...\n"); |
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| 49 | sys_end(); |
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| 50 | } |
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| 51 | |||
| 52 | void my_close(void *arg) |
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| 53 | { |
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| 54 | int i; |
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| 55 | TIME tmp; |
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| 56 | |||
| 57 | kern_printf("Taskset Execution Time\n\n"); |
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| 58 | for (i=3; i<MAX_PROC; i++){ |
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| 59 | if (!jet_getstat(i, NULL, &tmp, NULL, NULL)) |
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| 60 | kern_printf("Task Name : %s - Max Time : %d\n", proc_table[i].name, (int)tmp); |
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| 61 | } |
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| 62 | } |
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| 63 | |||
| 64 | |||
| 65 | TASK write() |
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| 66 | { |
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| 67 | JOY_STATE jsa; |
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| 68 | |||
| 69 | while (1) { |
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| 70 | get_joystick_A(&jsa); |
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| 71 | place(2,4); |
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| 72 | cprintf("The X coord. is: %3d and the Y coord. is: %3d of the joystick1\n", jsa.x, jsa.y); |
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| 73 | place(2,12); |
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| 74 | cprintf("The button 1, joystick 1 is: %3d\n", jsa.b1); |
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| 75 | place(2,14); |
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| 76 | cprintf("The button 2, joystick 1 is: %3d\n", jsa.b2); |
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| 77 | |||
| 78 | task_endcycle(); |
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| 79 | } |
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| 80 | return 0; |
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| 81 | } |
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| 82 | |||
| 83 | int main(int argc, char **argv) |
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| 84 | { |
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| 85 | SOFT_TASK_MODEL ms; |
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| 86 | KEY_EVT k; |
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| 87 | TIME seme; |
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| 88 | |||
| 89 | JOY_BOUND jb; |
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| 90 | |||
| 91 | k.flag = CNTR_BIT; |
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| 92 | k.scan = KEY_C; |
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| 93 | k.ascii = 'c'; |
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| 94 | keyb_hook(k,endfun); |
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| 95 | |||
| 96 | k.flag = CNTL_BIT; |
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| 97 | k.scan = KEY_C; |
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| 98 | k.ascii = 'c'; |
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| 99 | keyb_hook(k,endfun); |
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| 100 | |||
| 101 | seme = sys_gettime(NULL); |
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| 102 | srand(seme); |
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| 103 | |||
| 104 | sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT); |
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| 105 | |||
| 106 | clear(); |
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| 107 | |||
| 108 | if (get_joystick_bound_A(&jb)) { |
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| 109 | perror("Could not find Joystick."); |
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| 110 | sys_end(); |
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| 111 | } |
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| 112 | |||
| 113 | place(2,2); |
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| 114 | cprintf("The X bounds are: [ %3d - %3d ] and the Y bounds are: [ %3d - %3d ]\n", jb.x_min,jb.x_max,jb.y_min,jb.y_max); |
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| 115 | |||
| 116 | soft_task_default_model(ms); |
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| 117 | soft_task_def_level(ms,1); |
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| 118 | soft_task_def_ctrl_jet(ms); |
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| 119 | soft_task_def_met(ms,100); |
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| 120 | soft_task_def_period(ms,10000); |
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| 121 | soft_task_def_usemath(ms); |
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| 122 | pid = task_create("Write", write, &ms, NULL); |
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| 123 | if (pid == NIL) { |
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| 124 | perror("Could not create task <Write>"); |
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| 125 | sys_end(); |
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| 126 | } else { |
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| 127 | task_activate(pid); |
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| 128 | } |
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| 129 | |||
| 130 | return 0; |
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| 131 | } |