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/*

 * Project: S.Ha.R.K.

 *

 * Coordinators:

 *   Giorgio Buttazzo    <giorgio@sssup.it>

 *   Paolo Gai           <pj@gandalf.sssup.it>

 *

 * Authors     :

 *   Paolo Gai           <pj@gandalf.sssup.it>

 *   (see the web pages for full authors list)

 *

 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://shark.sssup.it

 */

/*

 * Copyright (C) 2000 Paolo Gai, Gerardo Lamastra and Giuseppe Lipari

 *

 * This program is free software; you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation; either version 2 of the License, or

 * (at your option) any later version.

 *

 * This program is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with this program; if not, write to the Free Software

 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

 *

 *

 * CVS :        $Id: aster5.c,v 1.3 2004-04-17 11:36:12 giacomo Exp $

 this is a part of the classic Hartik demo Aster.

 it is based on test 13 (d), and use the CBS to serve the periodic tasks.

 There are not periodic tasks, only CBS tasks.

 The tasks use a PI, NPP or NOP mutex to access the video memory.

 A flag (LONGSC) is provided to try long and short critical sections.

 This demo is really interesting because you can note the behavior of

 the system, and the differences between the various protocols...

*/

#include "kernel/kern.h"

#include "modules/edf.h"

#include "modules/cbs.h"

#include <drivers/shark_linuxc26.h>

#include <drivers/shark_input26.h>

#include <drivers/shark_keyb26.h>

int num_aster = 0;

#define ASTER_LIM       60

#define DISPLAY_MAX     15

#define ASTER_MAX       70

#define STAT_Y           9

#define PER_MAX          5

#define APER_MAX         8

#define PER_WCET      6200

#define APER_WCET    18400

#define JET_WCET     10000

#define JET_PERIOD  100000

#define APER_REP     22000

//PID aper_table[APER_MAX];

mutex_t m1;

#define PIMUTEX

//#define NPPMUTEX

//#define NOPMUTEX

#define LONGSC

#ifdef LONGSC

#define SOFT_MET      3000 /* 3000 12000 */

#define CLOCK_WCET     400 /*  200   300*/

#define ASTER_WCET     400 /*  200   300*/

#else

#define SOFT_MET     80000 /* 4500 */

#define CLOCK_WCET    2000 /* 200*/

#define ASTER_WCET    2000 /* 200*/

#endif

PID shutdown_task_PID = -1;

int device_drivers_init() {

        KEYB_PARMS kparms = BASE_KEYB;

        LINUXC26_register_module();

        keyb_def_ctrlC(kparms, NULL);

        INPUT26_init();

        KEYB26_init(&kparms);

        return 0;

}

int device_drivers_close() {

        KEYB26_close();

        INPUT26_close();

        return 0;

}

TASK shutdown_task_body(void *arg) {

        device_drivers_close();

        sys_shutdown_message("-- S.Ha.R.K. Closed --\n");

        sys_end();

        return NULL;

}

void set_shutdown_task() {

        NRT_TASK_MODEL nrt;

        nrt_task_default_model(nrt);

        shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL);

        if (shutdown_task_PID == NIL) {

                sys_shutdown_message("Error: Cannot create shutdown task\n");

                sys_end();

        }

}

TASK asteroide(void)

{

  int i;

  int y = rand() % 7 + 1;

  int load1,j;

  char s[2];

  s[0] = '*'; s[1] = 0;

  for (;;) {

    i = 1;

    while (i < ASTER_LIM) {

      load1 = 10000; //8000 + rand()%2000;

#ifdef LONGSC

      mutex_lock(&m1);

#endif

      for (j=0; j<load1; j++) {

        s[0] = '*' + rand() % 100;

#ifndef LONGSC

        mutex_lock(&m1);

#endif

        puts_xy(i,y,rand()%15+1,s);

#ifndef LONGSC

        mutex_unlock(&m1);

#endif

      }

#ifdef LONGSC

      mutex_unlock(&m1);

#endif

      //        task_activate(aper_table[rand()%APER_MAX]);

      task_endcycle();

      mutex_lock(&m1);

      puts_xy(i,y,WHITE," ");

      mutex_unlock(&m1);

      i++;

    }

  }

  //num_aster--;

}

TASK aper_asteroid(void *a)

{

  int i;

  int y = rand() % 7 + 1;

  int load1,j;

  int c;

  char s[2];

  c = (int)a;

  s[0] = '*'; s[1] = 0;

  for (;;) {

    i = 1;

    while (i < ASTER_LIM) {

      load1 = APER_REP; //8000 + rand()%2000;

#ifdef LONGSC

      mutex_lock(&m1);

#endif

      for (j=0; j<load1; j++) {

        s[0] = '*' + rand() % 100;

#ifndef LONGSC

        mutex_lock(&m1);

#endif

        puts_xy(i,y,rand()%15+1,s);

#ifndef LONGSC

        mutex_unlock(&m1);

#endif

      }

      s[0] = c;

#ifndef LONGSC

      mutex_lock(&m1);

#endif

      puts_xy(i,y,rand()%15+1,s);

      mutex_unlock(&m1);

      task_endcycle();

      mutex_lock(&m1);

      puts_xy(i,y,WHITE," ");

      mutex_unlock(&m1);

      i++;

    }

  }

}

TASK soft_aster(void)

{

  int i;

  int y = rand() % 7 + 1;

  int load1,j;

  char s[2];

  s[0] = '*'; s[1] = 0;

  /*for (;;)*/ {

    i = 1;

    while (i < ASTER_LIM) {

      load1 = 1000 + rand()%9000;

#ifdef LONGSC

      mutex_lock(&m1);

#endif

      for (j=0; j<load1; j++) {

        s[0] = '*' + rand() % 100;

#ifndef LONGSC

        mutex_lock(&m1);

#endif

        puts_xy(i,y,rand()%15+1,s);

#ifndef LONGSC

        mutex_unlock(&m1);

#endif

      }

      s[0] = 1;

#ifndef LONGSC

      mutex_lock(&m1);

#endif

      puts_xy(i,y,rand()%15+1,s);

      mutex_unlock(&m1);

      //        task_activate(aper_table[rand()%APER_MAX]);

      task_endcycle();

      mutex_lock(&m1);

      puts_xy(i,y,WHITE," ");

      mutex_unlock(&m1);

      i++;

    }

  }

  num_aster--;

  return 0;

}

TASK aster()

{

  PID p;

  //    HARD_TASK_MODEL m;

  SOFT_TASK_MODEL m_soft;

  int r;

  int x; // adaptive bandwidth...

  srand(7);

  /*    periodic_task_default_model(m,0,PER_WCET);

        periodic_task_def_ctrl_jet(m);

        for (x=0; x<PER_MAX; x++) {

        r = (rand() % 200);

        periodic_task_def_period(m, (64+r)*1000);

        p = task_create("per",asteroide,&m,NULL);

        if (p!=-1) task_activate(p);

        }

  */

  soft_task_default_model(m_soft);

  soft_task_def_met(m_soft,SOFT_MET);

  soft_task_def_ctrl_jet(m_soft);

  x = 128; //64;

  while (1) {

    if (num_aster < ASTER_MAX) {

      r = (rand() % 200);

      soft_task_def_period(m_soft, (x+r)*1000);

      p = task_create("aaa",soft_aster,&m_soft,NULL);

      if (p == -1)

        {

          if (x < 500 && errno != ENO_AVAIL_TASK)  x += 1;

          mutex_lock(&m1);

          printf_xy(62,3,WHITE,"adapt=%3u err=%d",

                    iq_query_first(&freedesc),errno);

          mutex_unlock(&m1);

        }

      else {

        num_aster++;

        mutex_lock(&m1);

        printf_xy(62,3,WHITE,"adapt=%3u           ",x);//,errno);

        mutex_unlock(&m1);

        task_activate(p);

        x /= 2;

        if (x<50) x = 50;

      }

    }

    task_endcycle();

  }

}

TASK clock()

{

  int s = 0, m = 0;

  while(1) {

    mutex_lock(&m1);

    printf_xy(62,1,WHITE,"%2d:%2d ast=%d",m,s, num_aster);

    printf_xy(62,2,WHITE,"Uedf=%12u",EDF_usedbandwidth(0));

    printf_xy(62,4,WHITE,"Ucbs=%12u",CBS_usedbandwidth(2));

    mutex_unlock(&m1);

    task_endcycle();

    if (++s > 59) {

      s = 0;

      m++;

    }

    mutex_lock(&m1);

    printf_xy(62,1,WHITE,"%2d:%2d ast=%d",m,s, num_aster);

    printf_xy(62,2,WHITE,"Uedf=%12u",EDF_usedbandwidth(0));

    printf_xy(62,4,WHITE,"Ucbs=%12u",CBS_usedbandwidth(2));

    mutex_unlock(&m1);

    task_endcycle();

  }

}

/* we consider the first ASTER_MAX + 2 tasks from the PID 2

   and plot on the screen the elapsed times... */

TASK jetcontrol()

{

  int i;  /* a counter */

  TIME sum, max, curr, last[5];

  int nact;

  int j; /* the elements set by jet_gettable */

  PID p;

  mutex_lock(&m1);

  printf_xy(0,STAT_Y,WHITE,"PID ³ Mean T.³ Max T. ³ N.A. ³ Curr.   ³ Last1 ³ Last2 ³ Last3 ³ Last4 ³ Last5");

  mutex_unlock(&m1);

  for (;;) {

    for (i=0,p=0; i<DISPLAY_MAX+5 && p<MAX_PROC; p++) {

      if (jet_getstat(p, &sum, &max, &nact, &curr) == -1 /*||

                                                           (proc_table[p].pclass & 0xFF00) == APERIODIC_PCLASS ||

                                                           (proc_table[p].pclass & 0xFF00) == PERIODIC_PCLASS*/ ) continue;

      for (j=0; j<5; j++) last[j] = 0;

      jet_gettable(p, &last[0], 5);

      mutex_lock(&m1);

      if (proc_table[p].task_level == 2)

        printf_xy(0,STAT_Y+i+1,WHITE,"%-3d ³ %-6d ³ %-6d ³ %-4d ³p%-7d ³ %-5d ³ %-5d ³ %-5d ³ %-5d ³ %-5d",

                  p, (int)sum/(nact==0 ? 1 : nact), (int)max, nact, (int)CBS_get_nact(2,p), (int)last[0], (int)last[1], (int)last[2], (int)last[3], (int)last[4]);

      //                   p, sum/(nact==0 ? 1 : nact), max, proc_table[p].avail_time, proc_table[p].status, proc_table[p].shadow, proc_table[p].timespec_priority.tv_sec,proc_table[p].timespec_priority.tv_nsec/1000 , CBS_get_nact(2,p), last[4]);

      else

        printf_xy(0,STAT_Y+i+1,WHITE,"%-3d ³ %-6d ³ %-6d ³ %-4d ³ %-7d ³ %-5d ³ %-5d ³ %-5d ³ %-5d ³ %-5d",

                  p, (int)sum/(nact==0 ? 1 : nact), (int)max, nact, (int)curr, (int)last[0], (int)last[1], (int)last[2], (int)last[3], (int)last[4]);

      //                   p, (int)sum/(nact==0 ? 1 : nact), (int)max, nact, (int)proc_table[p].status, (int)proc_table[p].shadow, (int)proc_table[p].timespec_priority.tv_sec,(int)proc_table[p].timespec_priority.tv_nsec/1000 , (int)last[3], (int)last[4]);

      mutex_unlock(&m1);

      i++;

    }

  }

}

void fine(KEY_EVT *e)

{

  task_activate(shutdown_task_PID);

}

int main(int argc, char **argv)

{

  PID p1,p2,p3;//,p4,p5,p6;

  HARD_TASK_MODEL m;

  //    NRT_TASK_MODEL m_nrt;

  SOFT_TASK_MODEL m_aper;

  SOFT_TASK_MODEL m_soft;

  //    int i;

  struct timespec fineprg;

  set_shutdown_task();

  device_drivers_init();

#ifdef PIMUTEX

  PI_mutexattr_t a;

#endif

#ifdef NPPMUTEX

  NPP_mutexattr_t a;

#endif

#ifdef NOPMUTEX

  NOP_mutexattr_t a;

#endif

  KEY_EVT emerg;

  emerg.ascii = 'x';

  emerg.scan = KEY_X;

  emerg.flag = ALTL_BIT;

  emerg.status = KEY_PRESSED;

  keyb_hook(emerg,fine,FALSE);

  clear();

  hard_task_default_model(m);

  hard_task_def_wcet(m,ASTER_WCET);

  hard_task_def_mit(m,100000);

  hard_task_def_group(m,1);

  hard_task_def_ctrl_jet(m);

  //    nrt_task_default_model(m_nrt);

  //    nrt_task_def_group(m_nrt,1);

  //    nrt_task_def_ctrl_jet(m_nrt);

  soft_task_default_model(m_aper);

  soft_task_def_group(m_aper,1);

  soft_task_def_ctrl_jet(m_aper);

  soft_task_def_aperiodic(m_aper);

  soft_task_default_model(m_soft);

  soft_task_def_period(m_soft,JET_PERIOD);

  soft_task_def_met(m_soft,JET_WCET);

  soft_task_def_group(m_soft,1);

  soft_task_def_ctrl_jet(m_soft);

  soft_task_def_aperiodic(m_soft);

  p1 = task_create("Aster",aster,&m,NULL);

  if (p1 == -1) {

    sys_shutdown_message("test7.c(main): Could not create task <aster> ...");

    task_activate(shutdown_task_PID);

    return 0;

  }

  hard_task_def_mit(m,500000);

  hard_task_def_wcet(m,CLOCK_WCET);

  p2 = task_create("Clock",clock,&m,NULL);

  if (p2 == -1) {

    sys_shutdown_message("test7.c(main): Could not create task <Clock> ...");

    task_activate(shutdown_task_PID);

    return 0;

  }

  //    p3 = task_create("JetControl",jetcontrol,&m_nrt,NULL);

  p3 = task_create("JetControl",jetcontrol,&m_soft,NULL);

  if (p2 == -1) {

    sys_shutdown_message("test7.c(main): Could not create task <JetControl> ...");

    task_activate(shutdown_task_PID);

    return 0;

  }

  /*

    aperiodic_task_default_model(m_aper,APER_WCET);

    aperiodic_task_def_ctrl_jet(m_aper);

    aperiodic_task_def_system(m_aper);

    for (i=0; i<APER_MAX; i++) {

    aperiodic_task_def_level(m_aper, i/4 + 2);

    aperiodic_task_def_arg(m_aper, (i/4 ? 'Û' : '±'));

    aper_table[i] = task_create("aper",aper_asteroid,&m_aper,NULL);

    if (aper_table[i] == -1) {

    perror("test7.c(main): Could not create task <aper> ...");

    sys_end();

    l1_exit(-1);

    }

    }

  */

  task_nopreempt();

#ifdef PIMUTEX

  PI_mutexattr_default(a);

#endif

#ifdef NPPMUTEX

  NPP_mutexattr_default(a);

#endif

#ifdef NOPMUTEX

  NOP_mutexattr_default(a);

#endif

  mutex_init(&m1, &a);

  fineprg.tv_sec = 1800;

  fineprg.tv_nsec = 0;

  group_activate(1);

  return 0;

}