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/*

 * Project: S.Ha.R.K.

 *

 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>

 *

 * Authors     : Paolo Gai <pj@hartik.sssup.it>

 * (see authors.txt for full list of hartik's authors)

 *

 * 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

 *

 * 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 <kernel/func.h>

#include <stdlib.h>

#include <drivers/keyb.h>

#include <drivers/glib.h>

#include <semaphore.h>

#include "modules/sem.h"

#include "modules/hartport.h"

#include <math.h>

#include "joy.h"

#define RGB_BLACK     rgb16(  0,  0,  0)

#define RGB_GRAY      rgb16(127,127,127)

#define RGB_WHITE     rgb16(255,255,255)

#define RGB_RED       rgb16(255,  0,  0)

#define RGB_GREEN     rgb16(  0,255,  0)

#define RGB_BLUE      rgb16(  0,  0,255)

#define RGB_YELLOW    rgb16(255,255,  0)

#define RGB_MAGENTA   rgb16(255,  0,255)

#define RGB_CYAN      rgb16(  0,255,255)

#define RGB_D_RED     rgb16(127,  0,  0)

#define RGB_D_GREEN   rgb16(  0,127,  0)

#define RGB_D_BLUE    rgb16(  0,  0,127)

#define RGB_D_YELLOW  rgb16(127,127,  0)

#define RGB_D_MAGENTA rgb16(127,  0,127)

#define RGB_D_CYAN    rgb16(  0,127,127)

sem_t           mx_mat, mx_grf;         /* mutex semaphores */

PID             pid;

JOY_BOUND       jb;

TASK write()

{

        int             x = 319, y = 239;

        float           dx, dy;

        JOY_STATE       jsa;

        clear();

        dx = 640 / (jb.x_max - jb.x_min);

        dy = 480 / (jb.y_max - jb.y_min);

        while (1) {

                sem_wait(&mx_grf);

                grx_circle(10 + x, 10 + y, 9, RGB_BLACK);

                sem_post(&mx_grf);

                get_joystick_A(&jsa);

                x = (jsa.x - jb.x_min) * dx;

                y = (jsa.y - jb.y_min) * dy;

                sem_wait(&mx_grf);

                if (jsa.b1==1)

                        grx_circle(10 + dx * x, 10 + dy * y, 9, RGB_RED);

                else

                        grx_circle(10 + dx * x, 10 + dy * y, 9, RGB_YELLOW);

                sem_post(&mx_grf);

                task_endcycle();

        }

        return 0;

}

void endfun(KEY_EVT *k)

{

        cprintf("Ctrl-Brk pressed! Ending...\n");

        sys_end();

}

void my_close(void *arg)

{

        int i;

        TIME tmp;

        grx_close();

        kern_printf("Taskset Execution Time\n\n");

        for (i=3; i<MAX_PROC; i++){

                if (!jet_getstat(i, NULL, &tmp, NULL, NULL))

                        kern_printf("Task Name : %s - Max Time  : %d\n", proc_table[i].name, (int)tmp);

        }

}

void init_graph() {

        grx_box( 0, 0,639,479,RGB_BLACK);

}

int main(int argc, char **argv)

{

        SOFT_TASK_MODEL ms;

        KEY_EVT         k;

        TIME            seme;

        int             modenum;

        k.flag = CNTR_BIT;

        k.scan = KEY_C;

        k.ascii = 'c';

        keyb_hook(k,endfun);

        k.flag = CNTL_BIT;

        k.scan = KEY_C;

        k.ascii = 'c';

        keyb_hook(k,endfun);

        sem_init(&mx_mat,0,1);

        sem_init(&mx_grf,0,1);

        seme = sys_gettime(NULL);

        srand(seme);

        sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT);

        if (get_joystick_bound_A(&jb)) {

                perror("Could not find Joystick.");

                sys_end();

        }

        grx_init();

        modenum = grx_getmode(640, 480, 16);

        grx_setmode(modenum);

        init_graph();

        soft_task_default_model(ms);

        soft_task_def_level(ms,1);

        soft_task_def_ctrl_jet(ms);

        soft_task_def_met(ms,100);

        soft_task_def_period(ms,10000);

        soft_task_def_usemath(ms);

        pid = task_create("Write", write, &ms, NULL);

        if (pid == NIL) {

                grx_close();

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

                sys_end();

        } else {

                task_activate(pid);

        }

        return 0;

}