Subversion Repositories shark

#define PI

#include "kernel/kern.h"

#include "modules/edf.h"

#include "modules/cbs.h"

#include "modules/rr.h"

#ifndef PI

#include "modules/rrsoft.h"

#endif

#include "modules/dummy.h"

#include "modules/sem.h"

#include "modules/hartport.h"

#include "modules/cabs.h"

#include "modules/pi.h"

#include "modules/pc.h"

#include "modules/srp.h"

#include "modules/npp.h"

#include "modules/nop.h"

#include "drivers/keyb.h"

#include "drivers/glib.h"

/*+ system tick in us +*/

#define TICK 1000

/*+ RR tick in us +*/

#define RRTICK 10000

//#define RRTICK 3000

TIME __kernel_register_levels__(void *arg)

{

  struct multiboot_info *mb = (struct multiboot_info *)arg;

#ifdef PI

  EDF_register_level(EDF_ENABLE_WCET_CHECK);

  CBS_register_level(0,0); //CBS_ENABLE_ALL, 0);

#else

  RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD|RRSOFT_ONLY_SOFT);

  RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_SOFT); //cbs

#endif

  RR_register_level(RRTICK, RR_MAIN_YES, mb);

  dummy_register_level();

  SEM_register_module();

  CABS_register_module();

  PI_register_module();

  NOP_register_module();

  return TICK;

}

TASK __init__(void *arg)

{

  struct multiboot_info *mb = (struct multiboot_info *)arg;

  HARTPORT_init();

  kern_printf("TIME=%d\n",sys_gettime(NULL));

  KEYB_init(NULL);

  kern_printf("TIME=%d\n",sys_gettime(NULL));

  grx_init();

  __call_main__(mb);

  return (void *)0;

}

#ifdef PI

void app_mutex_init(mutex_t *m)

{

  PI_mutexattr_t attr;

  PI_mutexattr_default(attr);

  mutex_init(m, &attr);

}

#else

void app_mutex_init(mutex_t *m)

{

  NOP_mutexattr_t attr;

  NOP_mutexattr_default(attr);

  mutex_init(m, &attr);

}

#endif

E_WCET_CHECK);

  CBS_register_level(0,0); //CBS_ENABLE_ALL, 0);

#else

  RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD|RRSOFT_ONLY_SOFT);

  RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_SOFT); //cbs

#endif

  RR_register_level(RRTICK, RR_MAIN_YES, mb

  B cab1, cab2;

extern struct Parametri prm;

void app_mutex_init(mutex_t *);

int da_motor(float v);

float v2x(float v);

float v2theta(float v);

float bass1(float u);

float bass2(float u);

float bass3(float u);

float bass4(float u);

float  dx(float u);

float  dth(float u);

/* scenario */

#define SCENARIO_NLABEL 16

/*

 * Global Stuffs

 */

/* graphic mutex... */

extern mutex_t mutex;

/* useful colors... */

int white;

int black;

int red;

int gray;

int green;

int blue;

void init_jetcontrol();

void init_framegrabber();

/*

 *

 * JETCONTROL stuffs

 *

 */

#define JET_NTASK   13

#define JET_Y_NAME  480  //500

#define DUMMY_PID    1

#define JET_DUMMY_WIDTH    210

#define JET_DUMMY_HEIGHT    40

/* the point (x, y) is the top left corner */

#define JET_DUMMY_X        60

#define JET_DUMMY_Y        514

#define JET_SLIDE_WIDTH     50

#define JET_SLIDE_X        (384+200)

/*

 *

 * FRAMEGRABBER stuffs

 *

 */

// if defined... object black on a white background

#ifndef __BLACK_ON_WHITE

#define __BLACK_ON_WHITE

#endif

#define ABS_NUM(a) ((a >= 0) ? a : -a)

#define MIN_NUM(a, b) ((a < b) ? a : b)

#define MAX_NUM(a, b) ((a > b) ? a : b)

// Cols and rows  of the framegrabber image

#define N_COL     384 //   384

#define N_ROW        288

#define N_BPS        8   // Bits per pixel

#define N_GRIGI     256

#define N_FRAMES    20 //  100

/* pixel of the video image */

#define IMG_COL 230    //  230 //256

#define IMG_ROW 160   // 160 //192

/* position of the video image */

#define IMG_X   500  //   644  // 384

#define IMG_Y   32   // 200     // 32

// I singoli pixel sono caratteri a 8 bit

typedef unsigned char TPixel;

typedef struct {

  int x1, y1;

  int x2, y2;

  int xb, yb;

  TIME time_stamp;

} TDataObj;

typedef struct {

  int found;

  int top_frame;

  int vx,vy;

  int predx;

  int predy;

  TDataObj current;

} TTracking;

float distance(unsigned int x1, unsigned int y1,

               unsigned int x2, unsigned int y2);

char scan_all_frame(TDataObj *data, TPixel *in_frame);

char scan_window_frame(TDataObj *data, TPixel *in_frame,  \

                unsigned int xc, unsigned int yc, int border, int border_y);

void threshold_up_function(KEY_EVT key);

void threshold_down_function(KEY_EVT key);

void border_up_function(KEY_EVT key);

void border_down_function(KEY_EVT key);

void tracking(int top_frame, int *track_x, int *track_y, int *int_vx, int *int_vy, int time_to);

TASK elab_image_TASK(void);