34,7 → 34,7 |
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
* |
* |
* CVS : $Id: aster6.c,v 1.3 2004-01-17 18:43:07 giacomo Exp $ |
* CVS : $Id: aster6.c,v 1.4 2004-04-17 11:36:12 giacomo Exp $ |
|
this is a part of the classic Hartik demo Aster. |
|
46,8 → 46,11 |
#include "kernel/kern.h" |
#include "modules/edf.h" |
#include "modules/cbs.h" |
#include "drivers/keyb.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 |
84,6 → 87,60 |
#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; |
234,15 → 291,6 |
|
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); |
250,20 → 298,6 |
x = 128; //64; |
|
while (1) { |
/* { |
PID p; |
int x; |
p = level_table[0]->level_scheduler(0); |
printf_xy(1,8,WHITE," "); |
|
x = 0; |
do { |
printf_xy(3*x+1,8,WHITE,"%3d",p); |
p = proc_table[p].next; |
x++; |
} while (p != NIL); |
} |
*/ |
if (num_aster < ASTER_MAX) { |
r = (rand() % 200); |
|
330,7 → 364,6 |
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); |
360,7 → 393,7 |
|
void fine(KEY_EVT *e) |
{ |
sys_end(); |
task_activate(shutdown_task_PID); |
} |
|
int main(int argc, char **argv) |
373,6 → 406,10 |
// int i; |
struct timespec fineprg; |
|
set_shutdown_task(); |
|
device_drivers_init(); |
|
#ifdef PIMUTEX |
PI_mutexattr_t a; |
#endif |
385,13 → 422,13 |
NOP_mutexattr_t a; |
#endif |
|
|
KEY_EVT emerg; |
//keyb_set_map(itaMap); |
|
emerg.ascii = 'x'; |
emerg.scan = KEY_X; |
emerg.flag = ALTL_BIT; |
keyb_hook(emerg,fine); |
emerg.status = KEY_PRESSED; |
keyb_hook(emerg,fine,FALSE); |
|
clear(); |
|
418,12 → 455,11 |
soft_task_def_ctrl_jet(m_soft); |
soft_task_def_aperiodic(m_soft); |
|
|
p1 = task_create("Aster",aster,&m,NULL); |
if (p1 == -1) { |
perror("test7.c(main): Could not create task <aster> ..."); |
sys_end(); |
l1_exit(-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); |
430,34 → 466,19 |
hard_task_def_wcet(m,CLOCK_WCET); |
p2 = task_create("Clock",clock,&m,NULL); |
if (p2 == -1) { |
perror("test7.c(main): Could not create task <Clock> ..."); |
sys_end(); |
l1_exit(-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_aper,NULL); |
if (p3 == -1) { |
perror("test7.c(main): Could not create task <JetControl> ..."); |
sys_end(); |
l1_exit(-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 |