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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

 */

/*

 ------------

 CVS :        $Id: test7.c,v 1.1 2003-06-18 08:16:00 trimarchi Exp $

 File:        $File$

 Revision:    $Revision: 1.1 $

 Last update: $Date: 2003-06-18 08:16:00 $

 ------------

 this test shows a set of 5 tasks (+main+dummy+keyboard driver).

 The first 4 tasks are scheduled by a EDFSTAR Module, whereas the

 fifth one is a standard traditional EDF task. The 4 tasks uses a

 budget of 10000/100000.

 if edfstar.c is compiled with edfstar_printf3 active, a couple

 (dline, curtime) is showed (in ms).

 if cbsstar.c is compiled with cbsstar_printf3 active, the budget

 replenishments are showed.

*/

/*

 * Copyright (C) 2002 Paolo Gai

 *

 * 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

 *

 */

#include "kernel/kern.h"

#include "modules/edf.h"

#include "modules/cbs.h"

#include "cbsstar.h"

#include "posixstar.h"

#include "modules/rr.h"

#include "modules/dummy.h"

#include "modules/sem.h"

#include "modules/hartport.h"

#include "modules/cabs.h"

#include "modules/pi.h"

// --------------------------------------------------

// --------------------------------------------------

// Init Part

// --------------------------------------------------

// --------------------------------------------------

/*+ sysyem tick in us +*/

#define TICK 0

/*+ RR tick in us +*/

#define RRTICK 10000

TIME __kernel_register_levels__(void *arg)

{

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

  int cbsstar_level, posixstar_level, mybudget, mybudget1, posixstar_level1;

  EDF_register_level(EDF_ENABLE_ALL);

  cbsstar_level = CBSSTAR_register_level(3, 0);

  mybudget = CBSSTAR_setbudget(cbsstar_level, 10000, 100000);

  mybudget1 = CBSSTAR_setbudget(cbsstar_level, 10000, 70000);

  posixstar_level = POSIXSTAR_register_level(mybudget, cbsstar_level, 3000,1);

  posixstar_level1 = POSIXSTAR_register_level(mybudget1, cbsstar_level, 5000,1);

  RR_register_level(RRTICK, RR_MAIN_YES, mb);

  dummy_register_level();

  // for the keyboard...

  //CBS_register_level(CBS_ENABLE_ALL, 0);

  //SEM_register_module();

  PI_register_module();

  return TICK;

}

TASK __init__(void *arg)

{

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

  //CABS_register_module();

  //keyb_def_map(kparms,itaMap);

  //KEYB_init(&kparms);

  __call_main__(mb);

  return (void *)0;

}

// --------------------------------------------------

// --------------------------------------------------

// The Test

// --------------------------------------------------

// --------------------------------------------------

#include <kernel/kern.h>

#include <drivers/keyb.h>

#include <semaphore.h>

mutex_t s;

void *star(void *arg)

{

  int j;

  for (;;) {

    for (j=0; j<5000; j++);

    //sem_wait(&s);

    mutex_lock(&s);

    cputc('°');

    cputs((char *)arg);

    mutex_unlock(&s);

    //kern_printf("ril");

    //sem_post(&s);

    //task_endcycle();

  }

  return NULL;

}

void *edftask(void *arg)

{

  int i,j;

  while(1) {

  for (i=0;i<5; i++) {

    for (j=0; j<10; j++);

    //sem_wait(&s);

    mutex_lock(&s);

    cputc('°');

    cputs((char *)arg);

    mutex_unlock(&s);

    //sem_post(&s);

  }

  task_endcycle();

  }

  return NULL;

}

void create1()

{

  int i;

  NRT_TASK_MODEL m1;

  HARD_TASK_MODEL m2;

  PID p1a, p1b, p1c[20],p2,p3;

  struct timespec fineprg;

  nrt_task_default_model(m1);

  nrt_task_def_group(m1, 1);

  nrt_task_def_level(m1,2);

  nrt_task_def_arg(m1,(void *)"#");

  nrt_task_def_weight(m1,0);

  p1a = task_create("a",star,&m1,NULL);

  if (p1a == -1) {

    perror("Could not create task <Write>");

    sys_abort(-1);

  }

  nrt_task_def_level(m1,1);

  nrt_task_def_arg(m1,(void *)"+");

  nrt_task_def_group(m1, 1);

  nrt_task_def_level(m1,2);

  p1b = task_create("b", star, &m1, NULL);

  if (p1b == -1) {

    perror("Could not create task b ...");

    sys_end();

  }

  nrt_task_def_arg(m1,(void *)"Q");

  nrt_task_def_group(m1, 1);

  nrt_task_def_level(m1,3);

  p1c[0] = task_create("c", star, &m1, NULL);

  if (p1c[0] == -1) {

    perror("Could not create task b ...");

    sys_end();

  }

  nrt_task_def_arg(m1,(void *)"E");

  p1c[1] = task_create("d", star, &m1, NULL);

  if (p1c[1] == -1) {

    perror("Could not create task b ...");

    sys_end();

  }

  nrt_task_def_arg(m1,(void *)"R");

  p1c[2] = task_create("e", star, &m1, NULL);

  if (p1c[2] == -1) {

    perror("Could not create task b ...");

    sys_end();

  }

  hard_task_default_model(m2);

  hard_task_def_ctrl_jet(m2);

  hard_task_def_mit(m2,50000); // the budget has dline 100,000!

  hard_task_def_wcet(m2, 3000);

  hard_task_def_arg(m2,(void *)"Û");

  hard_task_def_group(m2,1);

  hard_task_def_periodic(m2);

  p2 = task_create("2", edftask, &m2, NULL);

  if (p2 == -1) {

    perror("Could not create task edf ...");

    sys_end();

  }

  hard_task_def_mit(m2,6000); // the budget has dline 100,000!

  hard_task_def_wcet(m2, 3000);

  hard_task_def_arg(m2,(void *)"A");

  p3 = task_create("3", edftask, &m2, NULL);

  if (p3 == -1) {

    perror("Could not create task edf ...");

    sys_end();

  }

  cprintf("stars=%d", p2);

  fineprg.tv_sec=550;

  fineprg.tv_nsec=0;

  kern_event_post(&fineprg,(void(*)(void *))sys_end, NULL);

  group_activate(1);

}

int main(int argc, char **argv)

{

  char c='t';

  PI_mutexattr_t a;

  PI_mutexattr_default(a);

  mutex_init(&s,&a);

  clear();

  cprintf("Hello, world!\nPress ESC to end the demo...\n");

  create1();

  do {

    //c =keyb_getch(BLOCK);

  } while (c != ESC);

  cprintf("ESC pressed!");

  sys_end();

  return 0;

}