0,0 → 1,409 |
/* |
* 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 |
*/ |
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#include <drivers/vga.h> |
#include <drivers/keyb.h> |
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#include <GL/osmesa.h> |
#include <GL/glut.h> |
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#include <math.h> |
#include <stdlib.h> |
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#include <kernel/log.h> |
#include <kernel/kern.h> |
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#ifndef M_PI |
#define M_PI 3.14159265 |
#endif |
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#define WIDTH 640 |
#define HEIGHT 480 |
#define BYTES_PP 2 //BytesPerPixel |
#define INITSTR G640x480x64K //SVGAlib standard mode definitions |
#define CARD NV3 //Video driver (Supported SAVAGE, NV3, R128 from SVGALib) |
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OSMesaContext ctx; |
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unsigned char *rgb_565_buf = NULL; //RGB 16 bpp Buffer |
unsigned char *video_buf = NULL; //Video Buffer |
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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 |
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unsigned long int PERIOD_REFRESH = 50000; //fps = 20 Test |
unsigned long int PERIOD_DISEGNA = 50000; |
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unsigned long int WCET_REFRESH, WCET_DISEGNA; |
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TASK refesh(void); |
TASK disegna(void); |
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PID refresh_PID, disegna_PID; |
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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; |
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r0 = inner_radius; |
r1 = outer_radius - tooth_depth / 2.0; |
r2 = outer_radius + tooth_depth / 2.0; |
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da = 2.0 * M_PI / teeth / 4.0; |
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glShadeModel(GL_FLAT); |
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glNormal3f(0.0, 0.0, 1.0); |
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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(); |
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glBegin(GL_QUADS); |
da = 2.0 * M_PI / teeth / 4.0; |
for (i = 0; i < teeth; i++) { |
angle = i * 2.0 * M_PI / teeth; |
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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(); |
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glNormal3f(0.0, 0.0, -1.0); |
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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(); |
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glBegin(GL_QUADS); |
da = 2.0 * M_PI / teeth / 4.0; |
for (i = 0; i < teeth; i++) { |
angle = i * 2.0 * M_PI / teeth; |
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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(); |
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glBegin(GL_QUAD_STRIP); |
for (i = 0; i < teeth; i++) { |
angle = i * 2.0 * M_PI / teeth; |
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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); |
} |
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glVertex3f(r1 * cos(0), r1 * sin(0), width * 0.5); |
glVertex3f(r1 * cos(0), r1 * sin(0), -width * 0.5); |
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glEnd(); |
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glShadeModel(GL_SMOOTH); |
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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(); |
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} |
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static GLfloat view_rotx = 20.0, view_roty = 30.0, view_rotz = 0.0; |
static GLint gear1, gear2, gear3; |
static GLfloat angle = 0.0; |
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static void draw(void) |
{ |
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); |
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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); |
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glPushMatrix(); |
glTranslatef(-3.0, -2.0, 0.0); |
glRotatef(angle, 0.0, 0.0, 1.0); |
glCallList(gear1); |
glPopMatrix(); |
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glPushMatrix(); |
glTranslatef(3.1, -2.0, 0.0); |
glRotatef(-2.0 * angle - 9.0, 0.0, 0.0, 1.0); |
glCallList(gear2); |
glPopMatrix(); |
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glPushMatrix(); |
glTranslatef(-3.1, 4.2, 0.0); |
glRotatef(-2.0 * angle - 25.0, 0.0, 0.0, 1.0); |
glCallList(gear3); |
glPopMatrix(); |
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glPopMatrix(); |
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glFinish(); |
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} |
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static void gl_init() |
{ |
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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; |
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//Create the OSMesa Context |
ctx = OSMesaCreateContext(OSMESA_RGB_565, NULL); |
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//Make Current Context |
OSMesaMakeCurrent(ctx, rgb_565_buf, GL_UNSIGNED_SHORT_5_6_5, WIDTH, HEIGHT); |
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glLightfv(GL_LIGHT0, GL_POSITION, pos); |
glEnable(GL_CULL_FACE); |
glEnable(GL_LIGHTING); |
glEnable(GL_LIGHT0); |
glEnable(GL_DEPTH_TEST); |
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/* 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(); |
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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(); |
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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(); |
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glEnable(GL_NORMALIZE); |
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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); |
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} |
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static int screen(int mode) |
{ |
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vga_modeinfo *minf; |
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vga_setmode(mode,CARD); |
minf = vga_getmodeinfo(mode); |
if(! (minf->flags & CAPABLE_LINEAR)){ |
vga_setmode(TEXT,CARD); |
printk(KERN_INFO "The mode %d is not capable of linear\n",mode); |
return 1; |
} |
vga_setpage(0); |
if(vga_setlinearaddressing() == -1) { |
vga_setmode(TEXT,CARD); |
printk(KERN_INFO "Could not set linear addressing for mode %d\n",mode); |
return 1; |
} |
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video_buf = vga_getgraphmem(); |
rgb_565_buf = malloc(RGB565MEM); |
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grx_setbuffer(rgb_565_buf, WIDTH, HEIGHT); //Init of RGB16 version of grx functions |
//created to work with Mesa buffer |
return 0; |
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} |
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void program_end(void *arg) |
{ |
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OSMesaDestroyContext(ctx); |
free(rgb_565_buf); |
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vga_setmode(TEXT,CARD); |
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sys_end(); |
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} |
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void program_key_end(KEY_EVT *k) |
{ |
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sys_end(); |
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} |
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TASK refresh(void) |
{ |
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while(1) { |
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copy_videomem_16to16(rgb_565_buf, video_buf, VMEMLONG); |
task_endcycle(); |
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} |
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sys_end(); |
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} |
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TASK disegna(void) |
{ |
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char text[100]; |
TIME disegna_TIME, refresh_TIME; |
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while(1) { |
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jet_gettable(refresh_PID, &refresh_TIME, 1); |
jet_gettable(disegna_PID, &disegna_TIME, 1); |
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angle += 1.0; |
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draw(); |
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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); |
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task_endcycle(); |
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} |
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sys_end(); |
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} |
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int main (int argc, char *argv[]) |
{ |
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HARD_TASK_MODEL ht_refresh, ht_disegna; |
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sys_atrunlevel(program_end,NULL, RUNLEVEL_BEFORE_EXIT); |
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clear(); |
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WCET_REFRESH =((long int) PERIOD_REFRESH * (0.3)); |
WCET_DISEGNA =((long int) PERIOD_DISEGNA * (0.65)); |
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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); |
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refresh_PID = task_create("refresh", refresh, &ht_refresh, NULL); |
if (refresh_PID == -1) { |
sys_end(); |
exit(4); |
} |
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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); |
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disegna_PID = task_create("disegna", disegna, &ht_disegna, NULL); |
if (disegna_PID == -1) { |
sys_end(); |
exit(4); |
} |
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{ |
KEY_EVT k; |
k.flag = ALTL_BIT; |
k.scan = KEY_C; |
k.ascii = 'c'; |
keyb_hook(k,program_key_end); |
} |
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if (screen(INITSTR)) { |
printk(KERN_INFO "Graphical initialization failed !!\n"); |
sys_end(); |
} |
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memset(rgb_565_buf, 0, RGB565MEM); |
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gl_init(); |
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group_activate(1); |
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return 0; |
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} |