0,0 → 1,131 |
|
/* |
* 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 <math.h> |
|
#include "joy.h" |
|
PID pid; |
|
void endfun(KEY_EVT *k) |
{ |
cprintf("Ctrl-Brk pressed! Ending...\n"); |
sys_end(); |
} |
|
void my_close(void *arg) |
{ |
int i; |
TIME tmp; |
|
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); |
} |
} |
|
|
TASK write() |
{ |
JOY_STATE jsa; |
|
while (1) { |
get_joystick_A(&jsa); |
place(2,4); |
cprintf("The X coord. is: %3d and the Y coord. is: %3d of the joystick1\n", jsa.x, jsa.y); |
place(2,12); |
cprintf("The button 1, joystick 1 is: %3d\n", jsa.b1); |
place(2,14); |
cprintf("The button 2, joystick 1 is: %3d\n", jsa.b2); |
|
task_endcycle(); |
} |
return 0; |
} |
|
int main(int argc, char **argv) |
{ |
SOFT_TASK_MODEL ms; |
KEY_EVT k; |
TIME seme; |
|
JOY_BOUND jb; |
|
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); |
|
seme = sys_gettime(NULL); |
srand(seme); |
|
sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT); |
|
clear(); |
|
if (get_joystick_bound_A(&jb)) { |
perror("Could not find Joystick."); |
sys_end(); |
} |
|
place(2,2); |
cprintf("The X bounds are: [ %3d - %3d ] and the Y bounds are: [ %3d - %3d ]\n", jb.x_min,jb.x_max,jb.y_min,jb.y_max); |
|
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) { |
perror("Could not create task <Write>"); |
sys_end(); |
} else { |
task_activate(pid); |
} |
|
return 0; |
} |
Property changes: |
Added: svn:executable |
## -0,0 +1 ## |
+* |
\ No newline at end of property |
Index: trunk/joy/joy_grx.c |
=================================================================== |
--- trunk/joy/joy_grx.c (nonexistent) |
+++ trunk/joy/joy_grx.c (revision 1283) |
@@ -0,0 +1,177 @@ |
+ |
+/* |
+ * 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; |
+} |