Subversion Repositories shark

/*

 * Project: S.Ha.R.K.

 *

 * Coordinators:

 *   Giorgio Buttazzo    <giorgio@sssup.it>

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

 *

 * Authors     :

 *   Giacomo Guidi       <giacomo@gandalf.sssup.it>

 *

 *

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

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://shark.sssup.it

 */

#include <drivers/glib.h>

#include <drivers/keyb.h>

#include <GL/osmesa.h>

#include <GL/glut.h>

#include <math.h>

#include <stdlib.h>

#include <kernel/log.h>

#include <kernel/kern.h>

#ifndef M_PI

#define M_PI 3.14159265

#endif

#define WIDTH 640

#define HEIGHT 480

#define BYTES_PP 2 //BytesPerPixel

OSMesaContext ctx;

unsigned char *rgb_565_buf = NULL; //RGB 16 bpp Buffer

unsigned char *video_buf = NULL; //Video Buffer

unsigned long int VMEMLONG = WIDTH * HEIGHT * BYTES_PP / 4; // Used by copy_videomem_16to16

unsigned long int RGB565MEM = WIDTH * HEIGHT * BYTES_PP; // Total video mem

unsigned long int PERIOD_REFRESH = 100000;

unsigned long int PERIOD_DISEGNA = 100000;

unsigned long int WCET_REFRESH, WCET_DISEGNA;

TASK refesh(void);

TASK disegna(void);

PID refresh_PID, disegna_PID;

static void

gear(GLfloat inner_radius, GLfloat outer_radius, GLfloat width,

  GLint teeth, GLfloat tooth_depth)

{

  GLint i;

  GLfloat r0, r1, r2;

  GLfloat angle, da;

  GLfloat u, v, len;

  r0 = inner_radius;

  r1 = outer_radius - tooth_depth / 2.0;

  r2 = outer_radius + tooth_depth / 2.0;

  da = 2.0 * M_PI / teeth / 4.0;

  glShadeModel(GL_FLAT);

  glNormal3f(0.0, 0.0, 1.0);

  glBegin(GL_QUAD_STRIP);

  for (i = 0; i <= teeth; i++) {

    angle = i * 2.0 * M_PI / teeth;

    glVertex3f(r0 * cos(angle), r0 * sin(angle), width * 0.5);

    glVertex3f(r1 * cos(angle), r1 * sin(angle), width * 0.5);

    if (i < teeth) {

      glVertex3f(r0 * cos(angle), r0 * sin(angle), width * 0.5);

      glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), width * 0.5);

    }

  }

  glEnd();

  glBegin(GL_QUADS);

  da = 2.0 * M_PI / teeth / 4.0;

  for (i = 0; i < teeth; i++) {

    angle = i * 2.0 * M_PI / teeth;

    glVertex3f(r1 * cos(angle), r1 * sin(angle), width * 0.5);

    glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), width * 0.5);

    glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), width * 0.5);

    glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), width * 0.5);

  }

  glEnd();

  glNormal3f(0.0, 0.0, -1.0);

  glBegin(GL_QUAD_STRIP);

  for (i = 0; i <= teeth; i++) {

    angle = i * 2.0 * M_PI / teeth;

    glVertex3f(r1 * cos(angle), r1 * sin(angle), -width * 0.5);

    glVertex3f(r0 * cos(angle), r0 * sin(angle), -width * 0.5);

    if (i < teeth) {

      glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), -width * 0.5);

      glVertex3f(r0 * cos(angle), r0 * sin(angle), -width * 0.5);

    }

  }

  glEnd();

  glBegin(GL_QUADS);

  da = 2.0 * M_PI / teeth / 4.0;

  for (i = 0; i < teeth; i++) {

    angle = i * 2.0 * M_PI / teeth;

    glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), -width * 0.5);

    glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), -width * 0.5);

    glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), -width * 0.5);

    glVertex3f(r1 * cos(angle), r1 * sin(angle), -width * 0.5);

  }

  glEnd();

  glBegin(GL_QUAD_STRIP);

  for (i = 0; i < teeth; i++) {

    angle = i * 2.0 * M_PI / teeth;

    glVertex3f(r1 * cos(angle), r1 * sin(angle), width * 0.5);

    glVertex3f(r1 * cos(angle), r1 * sin(angle), -width * 0.5);

    u = r2 * cos(angle + da) - r1 * cos(angle);

    v = r2 * sin(angle + da) - r1 * sin(angle);

    len = sqrt(u * u + v * v);

    u /= len;

    v /= len;

    glNormal3f(v, -u, 0.0);

    glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), width * 0.5);

    glVertex3f(r2 * cos(angle + da), r2 * sin(angle + da), -width * 0.5);

    glNormal3f(cos(angle), sin(angle), 0.0);

    glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), width * 0.5);

    glVertex3f(r2 * cos(angle + 2 * da), r2 * sin(angle + 2 * da), -width * 0.5);

    u = r1 * cos(angle + 3 * da) - r2 * cos(angle + 2 * da);

    v = r1 * sin(angle + 3 * da) - r2 * sin(angle + 2 * da);

    glNormal3f(v, -u, 0.0);

    glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), width * 0.5);

    glVertex3f(r1 * cos(angle + 3 * da), r1 * sin(angle + 3 * da), -width * 0.5);

    glNormal3f(cos(angle), sin(angle), 0.0);

  }

  glVertex3f(r1 * cos(0), r1 * sin(0), width * 0.5);

  glVertex3f(r1 * cos(0), r1 * sin(0), -width * 0.5);

  glEnd();

  glShadeModel(GL_SMOOTH);

  glBegin(GL_QUAD_STRIP);

  for (i = 0; i <= teeth; i++) {

    angle = i * 2.0 * M_PI / teeth;

    glNormal3f(-cos(angle), -sin(angle), 0.0);

    glVertex3f(r0 * cos(angle), r0 * sin(angle), -width * 0.5);

    glVertex3f(r0 * cos(angle), r0 * sin(angle), width * 0.5);

  }

  glEnd();

}

static GLfloat view_rotx = 20.0, view_roty = 30.0, view_rotz = 0.0;

static GLint gear1, gear2, gear3;

static GLfloat angle = 0.0;

static void draw(void)

{

  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

  glPushMatrix();

    glRotatef(view_rotx, 1.0, 0.0, 0.0);

    glRotatef(view_roty, 0.0, 1.0, 0.0);

    glRotatef(view_rotz, 0.0, 0.0, 1.0);

    glPushMatrix();

      glTranslatef(-3.0, -2.0, 0.0);

      glRotatef(angle, 0.0, 0.0, 1.0);

      glCallList(gear1);

    glPopMatrix();

    glPushMatrix();

      glTranslatef(3.1, -2.0, 0.0);

      glRotatef(-2.0 * angle - 9.0, 0.0, 0.0, 1.0);

      glCallList(gear2);

    glPopMatrix();

    glPushMatrix();

      glTranslatef(-3.1, 4.2, 0.0);

      glRotatef(-2.0 * angle - 25.0, 0.0, 0.0, 1.0);

      glCallList(gear3);

    glPopMatrix();

  glPopMatrix();

  glFinish();

}

static void gl_init()

{

  static GLfloat red[4] = {1.0, 0.0, 0.0, 1.0};

  static GLfloat green[4] = {0.0, 0.8, 0.2, 1.0};

  static GLfloat blue[4] = {0.2, 0.2, 1.0, 1.0};

  static GLfloat pos[4] = {5.0, 5.0, 10.0, 1.0};

  static GLfloat h = (GLfloat) HEIGHT / (GLfloat) WIDTH;

  //Create the OSMesa Context

  ctx = OSMesaCreateContext(OSMESA_RGB_565, NULL);

  //Make Current Context

  OSMesaMakeCurrent(ctx, rgb_565_buf, GL_UNSIGNED_SHORT_5_6_5, WIDTH, HEIGHT);

  glLightfv(GL_LIGHT0, GL_POSITION, pos);

  glEnable(GL_CULL_FACE);

  glEnable(GL_LIGHTING);

  glEnable(GL_LIGHT0);

  glEnable(GL_DEPTH_TEST);

  /* make the gears */

  gear1 = glGenLists(1);

  glNewList(gear1, GL_COMPILE);

  glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, red);

  gear(1.0, 4.0, 1.0, 20, 0.7);

  glEndList();

  gear2 = glGenLists(1);

  glNewList(gear2, GL_COMPILE);

  glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, green);

  gear(0.5, 2.0, 2.0, 10, 0.7);

  glEndList();

  gear3 = glGenLists(1);

  glNewList(gear3, GL_COMPILE);

  glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, blue);

  gear(1.3, 2.0, 0.5, 10, 0.7);

  glEndList();

  glEnable(GL_NORMALIZE);

  glViewport(0, 0, (GLint) WIDTH, (GLint) HEIGHT);

  glMatrixMode(GL_PROJECTION);

  glLoadIdentity();

  glFrustum(-1.0, 1.0, -h, h, 5.0, 60.0);

  glMatrixMode(GL_MODELVIEW);

  glLoadIdentity();

  glTranslatef(0.0, 0.0, -40.0);

}

static int screen()

{

  extern DWORD flbaddr;

  /* graphic card Initialization */

  if (grx_init() < 1) {

     sys_abort(1);

  }

  if (grx_open(640, 480, 16) < 0) {

     cprintf("GRX Err\n");

     sys_abort(1);

  }

  video_buf = (unsigned char *)flbaddr;

  return 0;

}

void program_end(void *arg)

{

  OSMesaDestroyContext(ctx);

  free(rgb_565_buf);

  grx_close();

  sys_end();

}

void program_key_end(KEY_EVT *k)

{

  sys_end();

}

TASK refresh(void)

{

  while(1) {

    memcpy(video_buf, rgb_565_buf, RGB565MEM);

    task_endcycle();

  }

  sys_end();

}

TASK disegna(void)

{

  char text[100];

  TIME disegna_TIME, refresh_TIME;

  while(1) {

    jet_gettable(refresh_PID, &refresh_TIME, 1);

    jet_gettable(disegna_PID, &disegna_TIME, 1);

    angle += 1.0;

    draw();

    sprintf(text,"Hard Task Refresh PER:%6d us EX:%6d us",(int)PERIOD_REFRESH,(int)refresh_TIME);

    grx_text(text,10,5,rgb16(0,0,255),0);    

    sprintf(text,"Hard Task Draw    PER:%6d us EX:%6d us",(int)PERIOD_DISEGNA,(int)disegna_TIME);

    grx_text(text,10,15,rgb16(0,0,255),0);

    task_endcycle();

  }

  sys_end();

}

int main (int argc, char *argv[])

{

    HARD_TASK_MODEL ht_refresh, ht_disegna;

    sys_atrunlevel(program_end,NULL, RUNLEVEL_BEFORE_EXIT);

    clear();

    WCET_REFRESH =((long int) PERIOD_REFRESH * (0.25));

    WCET_DISEGNA =((long int) PERIOD_DISEGNA * (0.6));

    hard_task_default_model(ht_refresh);

    hard_task_def_wcet(ht_refresh,WCET_REFRESH);

    hard_task_def_mit(ht_refresh,PERIOD_REFRESH);

    hard_task_def_usemath(ht_refresh);

    hard_task_def_group(ht_refresh,1);

    hard_task_def_ctrl_jet(ht_refresh);

    refresh_PID = task_create("refresh", refresh, &ht_refresh, NULL);

    if (refresh_PID == -1) {

      sys_end();

      exit(4);

    }

    hard_task_default_model(ht_disegna);

    hard_task_def_mit(ht_disegna,PERIOD_DISEGNA);

    hard_task_def_wcet(ht_disegna,WCET_DISEGNA);

    hard_task_def_group(ht_disegna,1);

    hard_task_def_ctrl_jet(ht_disegna);

    hard_task_def_usemath(ht_disegna);

    hard_task_def_stack(ht_disegna,30000); //VERY IMPORTANT FOR glCallList !!

    disegna_PID = task_create("disegna", disegna, &ht_disegna, NULL);

    if (disegna_PID == -1) {

      sys_end();

      exit(4);

    }

    {

      KEY_EVT k;

      k.flag = ALTL_BIT;

      k.scan = KEY_C;

      k.ascii = 'c';

      keyb_hook(k,program_key_end);

    }

    rgb_565_buf = malloc(RGB565MEM);

    gl_init();

    if (screen()) {

        printk(KERN_INFO "Graphical initialization failed !!\n");

        sys_end();

    }

    memset(rgb_565_buf, 0, RGB565MEM);

    group_activate(1);

    return 0;

}