18,11 → 18,11 |
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/** |
------------ |
CVS : $Id: fly.c,v 1.3 2003-01-07 17:10:15 pj Exp $ |
CVS : $Id: fly.c,v 1.4 2004-04-17 11:36:13 giacomo Exp $ |
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File: $File$ |
Revision: $Revision: 1.3 $ |
Last update: $Date: 2003-01-07 17:10:15 $ |
Revision: $Revision: 1.4 $ |
Last update: $Date: 2004-04-17 11:36:13 $ |
------------ |
**/ |
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50,12 → 50,17 |
/*--------------------------------------------------------------*/ |
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#include <kernel/kern.h> |
#include <drivers/glib.h> |
#include <drivers/keyb.h> |
#include <semaphore.h> |
#include <stdlib.h> |
#include <math.h> |
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#include <drivers/shark_linuxc26.h> |
#include <drivers/shark_pci26.h> |
#include <drivers/shark_fb26.h> |
#include <drivers/shark_input26.h> |
#include <drivers/shark_keyb26.h> |
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#define FRAME_BUFFER_DEVICE 0 |
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#define YMENU 10 /* menu level */ |
#define XMIN 50 |
#define XMAX 600 |
64,6 → 69,7 |
#define VEL 5 /* linear velocity (def. = 5) */ |
#define ANG 30 /* angolo massimo sterzata (30) */ |
#define D 3 /* raggio mosca */ |
#undef ESC |
#define ESC 27 /* ASCII code of ESCAPE key */ |
#define MAX_P 35 /* max number of flies */ |
#define FLYGROUP 1 |
72,15 → 78,78 |
int fly_period = 40000; /* task period */ |
int fly_wcet = 1000; /* task wcet */ |
PID pid; |
sem_t mutex; |
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PID shutdown_task_PID = -1; |
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int device_drivers_init() { |
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KEYB_PARMS kparms = BASE_KEYB; |
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LINUXC26_register_module(); |
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PCI26_init(); |
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keyb_def_ctrlC(kparms, NULL); |
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INPUT26_init(); |
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KEYB26_init(&kparms); |
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FB26_init(); |
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FB26_open(FRAME_BUFFER_DEVICE); |
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FB26_use_grx(FRAME_BUFFER_DEVICE); |
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FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16"); |
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return 0; |
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} |
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int device_drivers_close() { |
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FB26_close(FRAME_BUFFER_DEVICE); |
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KEYB26_close(); |
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INPUT26_close(); |
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return 0; |
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} |
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TASK shutdown_task_body(void *arg) { |
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device_drivers_close(); |
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sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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sys_end(); |
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return NULL; |
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} |
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void set_shutdown_task() { |
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NRT_TASK_MODEL nrt; |
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nrt_task_default_model(nrt); |
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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(); |
} |
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} |
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/*--------------------------------------------------------------*/ |
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void draw_fly(int x, int y, int c) |
{ |
sem_wait(&mutex); |
grx_disc(x, y, D, c); |
sem_post(&mutex); |
} |
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/******************************************************************/ |
141,15 → 210,6 |
} |
} |
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/****************************************************************/ |
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/* This function is called when the system exits */ |
void byebye(void *arg) |
{ |
grx_close(); |
cprintf("Bye Bye!\n"); |
} |
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/****************************** MAIN ******************************/ |
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int main(int argc, char **argv) |
160,19 → 220,10 |
int i = 0; /* number of tasks created */ |
TIME seme; /* used to init the random seed */ |
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/* Set the closing function */ |
sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT); |
set_shutdown_task(); |
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/* graphic card Initialization */ |
if (grx_init() < 1) { |
sys_abort(1); |
} |
device_drivers_init(); |
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if (grx_open(640, 480, 8) < 0) { |
cprintf("GRX Err\n"); |
sys_abort(1); |
} |
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/* The scenario */ |
grx_rect(XMIN-D-1, YMIN-D-1, XMAX+D+1, YMAX+D+1, 14); |
grx_text("Simulation of Random Flies", XMIN, YMENU+10, 13, 0); |
197,9 → 248,9 |
hard_task_def_usemath (m); |
pid = task_create("fly", fly, &m, NULL); |
if (pid == NIL) { |
grx_close(); |
perror("Could not create task <fly>"); |
sys_abort(1); |
sys_shutdown_message("Could not create task <fly>"); |
task_activate(shutdown_task_PID); |
return 0; |
} |
task_activate(pid); |
i++; |
208,9 → 259,10 |
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} while (c != ESC); |
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sys_end(); |
task_activate(shutdown_task_PID); |
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return 0; |
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} |
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/*--------------------------------------------------------------*/ |