WebSVN - shark - Path Comparison - /demos/branches/ Rev 1344 and /demos/branches Rev 1084

Ignore whitespace Rev 1344 → Rev 1084

/demos/branches/pj/pse51/ptest1
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-J (pid=%d) exits
-main: creating prova_key
-main: provakey =%d
-main: creating J1
-Error creating J1
-main: J1 has PID %d
-main: creating J2
-Error creating J2
-main: J2 has PID %d
-main: waiting 0.4 sec
-main: kill J1 and J2
-main: ending...
-J (pid=%d) destructor called with value %d
-J (pid=%d) printtest value=%d
-J (pid=%d) starts and call setspecific
-Error during Keyboard Initialization!!!Ctrl-C pressed!
-KeybPortKeyTasktask_create
-scheduletime %lus %luns * caplasttime %lus %luns * exec=%d TIME = %lu
-The system tick must be less than 55 mSec!Abort detected
-Code : %u
-Too many scheduling levels!!!
-Too many resource levels!!!
-debug info noticewarn err crit alert emerg <%i>[%s] %sPosix task
-Signal number %d...
-with value : %d
-POSIX_ReadyPOSIX_DelayPOSIX_UnknownSlice: %d
-MainPOSIX_register_level
- alloco descrittore %d %d
- lev=%d
-POSIX schedulerPid: %d Name: %20s Prio: %3ld Status: %s
-
-Panic!!! can't create main task...
-dummy PID: %d
-Dummy1Dummy2Dummy3Dummy4Dummy5Dummy6Dummy7Dummy8Dummy9Dummy0DummyaDummybDummycDummydDummyeDummyfDummygDummyhDummyDummy (RR) Posto dummy_create
-
-Panic!!! can't create dummy task...
-Entro in dummy_register_level
-Port des :
-Free port des : %d
-%d %s vt: %d pn: %d
-%d pd: %d vt: %d pn: %d Resources owned by the tasks:
-%-4dPI_register_module
-PI module
-PC priority of the tasks:
-%-4ldPC_register_module
-PC moduleTR %x
-SS:SP %x:%lx
-Stack0 : %x:%lx
-Stack1 : %x:%lx
-Stack2 : %x:%lx
-CS : %x DS : %x
-Descriptor [%x] InfoNo more Descriptors...
-%x (Hex)Base : %lx Lim : %lx Acc : %x Gran %x
-2Coprocessor error#Page faultGeneral protection faultStack exceptionSegment not presentUnvalid TSS#INTEL reservedDouble defect1FPU context switchUnvalid opcode#BOUND limit exceeded#Overflow detected on INTO#Breakpoint trap#NMI detected#Debug fault#Division by 0Exception %d occurred
-ABORT %d !!!LL Time Panic!!!
-time.cError! File:%s Line:%d %sOne-shot timer selected...
-Periodic timer selected...
-Unhandled Exc or Int occured!!!
-32/LINUX CrossCompiled/ELFHalt called1234567890-+12345678901234567890xabcdefABCDEF1234567890.e+-0123456789ABCDEF$@ -Æ@,ú1°<NaN+Inf-Infacosacosfacos: DOMAIN error
-asinasinfasin: DOMAIN error
-atan2atan2fatan2: DOMAIN error
-hypothypotfexpexpfy0fy0: DOMAIN error
-y1fy1: DOMAIN error
-ynynfyn: DOMAIN error
-lgammalgammaflgamma: SING error
-loglogflog: SING error
-log: DOMAIN error
-log10log10flog10: SING error
-log10: DOMAIN error
-powpowfpow(0,0): DOMAIN error
-pow(0,neg): DOMAIN error
-sinhsinhfsqrtsqrtfsqrt: DOMAIN error
-fmodfmodffmod: DOMAIN error
-remainderremainderfremainder: DOMAIN error
-acoshacoshfacosh: DOMAIN error
-atanhatanhfatanh: DOMAIN error
-atanh: SING error
-scalbscalbfj0j0f: TLOSS error
-j1j1fjnjnfneg**non-integral: DOMAIN error
-à?addfree.cmax >= minreg->min < reg->maxnew_max > new_min(reg->min & (sizeof(struct lmm_node) - 1)) == 0(reg->max & (sizeof(struct lmm_node) - 1)) == 0addregio.cr != reg(reg->max <= r->min) \|\| (reg->min >= r->max)alloc.clmm != 0size > 0reg->free >= 0(DWORD)node < reg->maxreg->free >= size(reg->nodes == 0 && reg->free == 0) \|\| (DWORD)reg->nodes >= reg->minreg->nodes == 0 \|\| (DWORD)reg->nodes < reg->maxreg->free <= reg->max - reg->min((DWORD)node & (sizeof(struct lmm_node) - 1)) == 0((DWORD)node->size & (sizeof(struct lmm_node) - 1)) == 0(node->next == 0) \|\| (node->next > node)alloc_ge.canode >= node(split_size & (sizeof(struct lmm_node) - 1)) == 0lmm_dump(lmm=%p)
-dump.cnode->size >= sizeof(*node) free_check=%08lx
-reg->free == free_checklmm_dump done
- region %08lx-%08lx size=%08lx flags=%08lx pri=%d free=%08lx
- node %p-%08lx size=%08lx next=%p
-(node->size & (sizeof(struct lmm_node) - 1)) == 0block != 0reg != 0(DWORD)prevnode + prevnode->size == (DWORD)node(DWORD)node + size == (DWORD)nextnodestats.cLMM=%p: %u bytes in %u regions, %d nodes
-assertion %s failed in %s at line %i (task:%i_%i)
-MAGIC assertion failed in %s at line %i (task:%i_%i): %s
-KERNEL PANIC (sys_panic_stub): %s
-KERNEL PANIC (sys_panic): %s
-FreeExeSleepWaiting on joinTime (EXACT) : %lus %luns
-< Memory Dump >
-< Level %d : %s Code: %d Version: %d >
-8ÿÿÏÿÿÏÿÈP#ÿà[#ÿÿÿÿÿÿÿÿÿÿÿÿ1234567890!@#$%^&()-_=+[{]};:'"`~/?,<.>\\| - -1234567890.+/-+-aAbBcCdDeEfFgGhHiIjJkKlLmMnNoOpPqQrRsStTuUvVwWxXyYzZ 1234567890!"$%&/()='?^+ø\\|<_,:.;õ - -1234567890.+/-+-aAbBcCdDeEfFgGhHiIjJkKlLmMnNoOpPqQrRsStTuUvVwWxXyYzZ[]@#ìX#ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ0#¦0#0#0#0#0#0#\|0#èz"ðz"ðz"Ó5#Æ5#¸5#§5#5#v5#f5#R5#C5#35#&5#5#5#æ4#Ú4#35#Ç4#þþAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA7#ðÿÿÿÿGCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)01.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.01.symtab.strtab.shstrtab.text.rodata.data.sbss.bss.comment.note"'! '# '¨ )ÈP#HA/Ð[#`L5à[#`L8ã :`LLC¬]hdI
\ No newline at end of file

/pj/pse51/ptest2
Property changes:
Deleted: svn:executable
## -1 +0,0 ##
-*
\ No newline at end of property
Index: pj/pse51/ptest1.c
===================================================================
--- pj/pse51/ptest1.c (revision 1344)
+++ pj/pse51/ptest1.c (nonexistent)
@@ -1,221 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: ptest1.c,v 1.1.1.1 2002-09-02 09:37:47 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:47 $
- ------------
-
- Posix test 1:
-
- the main task create 4 tasks, J1, J2, J3, J4
- at t = 0.2 sec. it raise a signal to J1
- at t = 0.4 sec. it raise a signal to J2
- at t = 0.8 sec. it kill J4
-
- J1: it simply calls sigwait
-
- J2: it simply calls sigwaitinfo
-
- J3: it simply calls sigtimedwait with a timeout of 0.5 sec.
-
- J4: it simply calls sigtimedwait with a -long- timeout
- (J4 will be killed by main)
-
- non standard function used:
- cprintf
- sys_gettime
- keyboard stuffs
- sys_end
-
-**/
-
-/*
- * 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 <sys/types.h>
-#include <pthread.h>
-#include <signal.h>
-
-#include <kernel/kern.h>
-#include <drivers/keyb.h>
-
-void J1(void arg)
-{
- int sig, err;
- sigset_t mask;
-
- cprintf("J1 starts and call sigwait(31)\n");
-
- sigemptyset(&mask);
- sigaddset(&mask,31);
- err = sigwait(&mask,&sig);
-
- cprintf("J1 exit from sigwait(), err=%d, sig=%d\n", err, sig);
-
- return 0;
-}
-
-void J2(void arg)
-{
- int err;
- siginfo_t info;
- sigset_t mask;
-
- cprintf("J2 starts and call sigwaitinfo(30)\n");
-
- sigemptyset(&mask);
- sigaddset(&mask,30);
- err = sigwaitinfo(&mask,&info);
-
- cprintf("J2 exit from sigwaitinfo(), err=%d, signo=%d code=%d value=%d\n",
- err, info.si_signo, info.si_code, info.si_value.sival_int);
-
- return 0;
-}
-
-void J3(void arg)
-{
- int err;
- siginfo_t info;
- sigset_t mask;
- struct timespec t;
-
- cprintf("J3 starts and call sigtimedwait(29)\n");
-
- sigemptyset(&mask);
- sigaddset(&mask,29);
- t.tv_sec = 0;
- t.tv_nsec = 300000000;
- err = sigtimedwait(&mask,&info,&t);
-
- cprintf("J3 exit from sigtimedwait(), err=%d, signo=%d code=%d value=%d\n",
- err, info.si_signo, info.si_code, info.si_value.sival_int);
-
- return 0;
-}
-
-void uscitaJ4(void *arg)
-{
- cprintf("J4: AAAARRRRGGGHHH!!! killed by someone...\n");
-}
-
-void J4(void arg)
-{
- int err;
- siginfo_t info;
- sigset_t mask;
- struct timespec t;
-
- cprintf("J4 starts and call sigtimedwait(28)\n");
-
- sigemptyset(&mask);
- sigaddset(&mask,28);
- t.tv_sec = 10;
- t.tv_nsec = 0;
-
- pthread_cleanup_push(uscitaJ4,NULL);
- err = sigtimedwait(&mask,&info,&t);
- pthread_cleanup_pop(0);
-
- cprintf("J4 exit from sigtimedwait(), err=%d, signo=%d code=%d value=%d\n",
- err, info.si_signo, info.si_code, info.si_value.sival_int);
-
- return 0;
-}
-
-void fine(KEY_EVT *e)
-{
- sys_end();
-}
-
-
-int main(int argc, char **argv)
-{
- int err;
- sigset_t mask;
- pthread_t j1, j2, j3, j4;
- union sigval value;
-
- KEY_EVT emerg;
- //keyb_set_map(itaMap);
- emerg.ascii = 'x';
- emerg.scan = KEY_X;
- emerg.flag = ALTL_BIT;
- keyb_hook(emerg,fine);
-
-
- /* main blocks signals for all the tasks */
- sigfillset(&mask);
- pthread_sigmask(SIG_BLOCK, &mask, NULL);
-
- cprintf("main: creating J1\n");
- err = pthread_create(&j1, NULL, J1, NULL);
- if (err) cprintf("Error creating J1\n");
-
- cprintf("main: creating J2\n");
- err = pthread_create(&j2, NULL, J2, NULL);
- if (err) cprintf("Error creating J2\n");
-
- cprintf("main: creating J3\n");
- err = pthread_create(&j3, NULL, J3, NULL);
- if (err) cprintf("Error creating J3\n");
-
- cprintf("main: creating J4\n");
- err = pthread_create(&j4, NULL, J4, NULL);
- if (err) cprintf("Error creating J4\n");
-
- cprintf("main: waiting 0.2 sec\n");
- while (sys_gettime(NULL) < 200000);
-
- cprintf("main: kill(31), then wait until t=0.4 sec \n");
- kill(0, 31);
-
- while (sys_gettime(NULL) < 400000);
- cprintf("main: sigqueue(30), then wait until t=0.8 sec \n");
- value.sival_int = 300;
- sigqueue(0, 30, value);
-
- while (sys_gettime(NULL) < 800000);
- cprintf("main: kill(J4)\n");
- pthread_cancel(j4);
-
- cprintf("main: ending...\n");
-
- return 0;
-}
Index: pj/pse51/ptest3
===================================================================
--- pj/pse51/ptest3 (revision 1344)
+++ pj/pse51/ptest3 (nonexistent)
@@ -1,423 +0,0 @@
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-#Ä
-###(#´#@ -#Ì -#@#\####,#°#(###l#Ð##`## #¼#Ø#ô#t#ì#t#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô#Ô###ì#\#¬#ü#L#\|### #¬ #8
-#Ä
-###(#´#@ -#Ì -#@#\####,#°#(###l#Ð##`## #¼#Ø#ô#t#ì#t#TimerOthermain: unable to set timer 1
-main: unable to set timer 2
-main: unable to set timer 3
-main: waiting signals...
-main: disarm the timer2
-main: disarm the timer1
-main: arm timer1
-main: unable to arm timer 1
-main: ending...
-Signal %d code=%s value=%d task=%d count25=%d count26=%d time=%ldusec
-task_timer: value = %d, time = %ldusec
-main: unable to create timer 1
-main: unable to create timer 2
-main: unable to create timer 3
-main: unable to disarm timer 2
-main: timer2 disarmed, itvalue=%ld.%ld
-main: unable to disarm timer 1
-main: timer1 disarmed, itvalue=%ld.%ld
-Error during Keyboard Initialization!!!Ctrl-C pressed!
-KeybPortKeyTasktask_create
-scheduletime %lus %luns * caplasttime %lus %luns * exec=%d TIME = %lu
-The system tick must be less than 55 mSec!Abort detected
-Code : %u
-Too many scheduling levels!!!
-Too many resource levels!!!
-debug info noticewarn err crit alert emerg <%i>[%s] %sPosix task
-Signal number %d...
-with value : %d
-POSIX_ReadyPOSIX_DelayPOSIX_UnknownSlice: %d
-MainPOSIX_register_level
- alloco descrittore %d %d
- lev=%d
-POSIX schedulerPid: %d Name: %20s Prio: %3ld Status: %s
-
-Panic!!! can't create main task...
-dummy PID: %d
-Dummy1Dummy2Dummy3Dummy4Dummy5Dummy6Dummy7Dummy8Dummy9Dummy0DummyaDummybDummycDummydDummyeDummyfDummygDummyhDummyDummy (RR) Posto dummy_create
-
-Panic!!! can't create dummy task...
-Entro in dummy_register_level
-Port des :
-Free port des : %d
-%d %s vt: %d pn: %d
-%d pd: %d vt: %d pn: %d Resources owned by the tasks:
-%-4dPI_register_module
-PI module
-PC priority of the tasks:
-%-4ldPC_register_module
-PC moduleTR %x
-SS:SP %x:%lx
-Stack0 : %x:%lx
-Stack1 : %x:%lx
-Stack2 : %x:%lx
-CS : %x DS : %x
-Descriptor [%x] InfoNo more Descriptors...
-%x (Hex)Base : %lx Lim : %lx Acc : %x Gran %x
-2Coprocessor error#Page faultGeneral protection faultStack exceptionSegment not presentUnvalid TSS#INTEL reservedDouble defect1FPU context switchUnvalid opcode#BOUND limit exceeded#Overflow detected on INTO#Breakpoint trap#NMI detected#Debug fault#Division by 0Exception %d occurred
-ABORT %d !!!LL Time Panic!!!
-time.cError! File:%s Line:%d %sOne-shot timer selected...
-Periodic timer selected...
-Unhandled Exc or Int occured!!!
-32/LINUX CrossCompiled/ELFHalt called1234567890-+12345678901234567890xabcdefABCDEF1234567890.e+-0123456789ABCDEF$@ -Æ@,ú1°<NaN+Inf-Infacosacosfacos: DOMAIN error
-asinasinfasin: DOMAIN error
-atan2atan2fatan2: DOMAIN error
-hypothypotfexpexpfy0fy0: DOMAIN error
-y1fy1: DOMAIN error
-ynynfyn: DOMAIN error
-lgammalgammaflgamma: SING error
-loglogflog: SING error
-log: DOMAIN error
-log10log10flog10: SING error
-log10: DOMAIN error
-powpowfpow(0,0): DOMAIN error
-pow(0,neg): DOMAIN error
-sinhsinhfsqrtsqrtfsqrt: DOMAIN error
-fmodfmodffmod: DOMAIN error
-remainderremainderfremainder: DOMAIN error
-acoshacoshfacosh: DOMAIN error
-atanhatanhfatanh: DOMAIN error
-atanh: SING error
-scalbscalbfj0j0f: TLOSS error
-j1j1fjnjnfneg**non-integral: DOMAIN error
-à?addfree.cmax >= minreg->min < reg->maxnew_max > new_min(reg->min & (sizeof(struct lmm_node) - 1)) == 0(reg->max & (sizeof(struct lmm_node) - 1)) == 0addregio.cr != reg(reg->max <= r->min) \|\| (reg->min >= r->max)alloc.clmm != 0size > 0reg->free >= 0(DWORD)node < reg->maxreg->free >= size(reg->nodes == 0 && reg->free == 0) \|\| (DWORD)reg->nodes >= reg->minreg->nodes == 0 \|\| (DWORD)reg->nodes < reg->maxreg->free <= reg->max - reg->min((DWORD)node & (sizeof(struct lmm_node) - 1)) == 0((DWORD)node->size & (sizeof(struct lmm_node) - 1)) == 0(node->next == 0) \|\| (node->next > node)alloc_ge.canode >= node(split_size & (sizeof(struct lmm_node) - 1)) == 0lmm_dump(lmm=%p)
-dump.cnode->size >= sizeof(*node) free_check=%08lx
-reg->free == free_checklmm_dump done
- region %08lx-%08lx size=%08lx flags=%08lx pri=%d free=%08lx
- node %p-%08lx size=%08lx next=%p
-(node->size & (sizeof(struct lmm_node) - 1)) == 0block != 0reg != 0(DWORD)prevnode + prevnode->size == (DWORD)node(DWORD)node + size == (DWORD)nextnodestats.cLMM=%p: %u bytes in %u regions, %d nodes
-assertion %s failed in %s at line %i (task:%i_%i)
-MAGIC assertion failed in %s at line %i (task:%i_%i): %s
-KERNEL PANIC (sys_panic_stub): %s
-KERNEL PANIC (sys_panic): %s
-FreeExeSleepWaiting on joinTime (EXACT) : %lus %luns
-< Memory Dump >
-< Level %d : %s Code: %d Version: %d >
-8ÿÿÏÿÿÏÿ(T#ÿ@_#ÿÿÿÿÿÿÿÿÿÿÿÿ1234567890!@#$%^&()-_=+[{]};:'"`~/?,<.>\\| - -1234567890.+/-+-aAbBcCdDeEfFgGhHiIjJkKlLmMnNoOpPqQrRsStTuUvVwWxXyYzZ 1234567890!"$%&/()='?^+ø\\|<_,:.;õ - -1234567890.+/-+-aAbBcCdDeEfFgGhHiIjJkKlLmMnNoOpPqQrRsStTuUvVwWxXyYzZ[]@#P\#ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ -4#4#ÿ3#ø3#ñ3#ê3#ã3#Ü3#T}"\}"\}"39#&9#9#9#ì8#Ö8#Æ8#²8#£8#8#8#q8#`8#F8#:8#8#'8#þþAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAg:#ðÿÿÿÿGCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)01.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.01.symtab.strtab.shstrtab.text.rodata.data.sbss.bss.comment.note")!)#*¨ )(T#¨D/4_#ÀO5@_#ÀO8ã :ÀOLCahtgI
\ No newline at end of file

/pj/pse51/ptest3
Property changes:
Deleted: svn:executable
## -1 +0,0 ##
-*
\ No newline at end of property
Index: pj/pse51/ptest2.c
===================================================================
--- pj/pse51/ptest2.c (revision 1344)
+++ pj/pse51/ptest2.c (nonexistent)
@@ -1,152 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: ptest2.c,v 1.1.1.1 2002-09-02 09:37:47 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:47 $
- ------------
-
- Posix test 2:
-
- pthread_once + thread_specific_data
-
- the main task:
- creates a key
- creates 2 tasks, J1, J2
- at t = 0.4 sec. it kills J1 and J2
-
- J1 and J2 will set and check the thread specific data
- and when the die, a destructor is called (twice, because the value
- is not set to null...)
-
- non standard function used:
- cprintf
- sys_gettime
- keyboard stuffs
- sys_end
-
-**/
-
-/*
- * 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 <sys/types.h>
-#include <pthread.h>
-
-#include <kernel/kern.h>
-#include <drivers/keyb.h>
-
-pthread_key_t prova_key;
-
-pthread_once_t once = PTHREAD_ONCE_INIT;
-
-void once_init()
-{
- cprintf("ONCE: (pid=%d)\n", exec_shadow);
-}
-
-void destr_key(void *arg)
-{
- cprintf("J (pid=%d) destructor called with value %d\n", exec_shadow,(int)arg);
- pthread_setspecific(prova_key,(void *)((int)arg/100));
-}
-
-void print_test()
-{
- int val;
-
- val = (int)pthread_getspecific(prova_key);
- cprintf("J (pid=%d) printtest value=%d\n", exec_shadow, val);
-}
-
-void J(void arg)
-{
- pthread_once(&once, once_init);
- cprintf("J (pid=%d) starts and call setspecific\n", exec_shadow);
- pthread_setspecific(prova_key,arg);
- print_test();
- cprintf("J (pid=%d) exits\n", exec_shadow);
-
- return 0;
-}
-
-void fine(KEY_EVT *e)
-{
- sys_end();
-}
-
-
-int main(int argc, char **argv)
-{
- int err;
- pthread_t j1, j2;
-
- KEY_EVT emerg;
- //keyb_set_map(itaMap);
- emerg.ascii = 'x';
- emerg.scan = KEY_X;
- emerg.flag = ALTL_BIT;
- keyb_hook(emerg,fine);
-
-
- cprintf("main: creating prova_key\n");
- pthread_key_create(&prova_key, destr_key);
-
- cprintf("main: provakey =%d\n", prova_key);
-
- cprintf("main: creating J1\n");
- err = pthread_create(&j1, NULL, J, (void *)1414);
- if (err) cprintf("Error creating J1\n");
- cprintf("main: J1 has PID %d\n",j1);
-
- cprintf("main: creating J2\n");
- err = pthread_create(&j2, NULL, J, (void *)3141);
- if (err) cprintf("Error creating J2\n");
- cprintf("main: J2 has PID %d\n",j2);
-
- cprintf("main: waiting 0.4 sec\n");
- while (sys_gettime(NULL) < 400000);
-
- cprintf("main: kill J1 and J2\n");
- pthread_cancel(j1);
- pthread_cancel(j2);
-
- cprintf("main: ending...\n");
-
- return 0;
-}
Index: pj/pse51/ptest4
===================================================================
--- pj/pse51/ptest4 (revision 1344)
+++ pj/pse51/ptest4 (nonexistent)
@@ -1,418 +0,0 @@
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-#ä
-#p#ü## -#d -#ì -#x#####¬#Ü#h#ì#\|##x#ä#P#¼# #l#°#Ô#ð##(#D#Ä#<#Ä#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#$#d#Ð#<#¬#ü#L # #Ì #X
-#ä
-#p#ü## -#d -#ì -#x#####¬#Ü#h#ì#\|##x#ä#P#¼# #l#°#Ô#ð##(#D#Ä#<#Ä#J: (pid=%d) AAAARRRRGGGHHH!!! killed by someone...
-J (pid=%d) starts and call nanosleep
-J (pid=%d) ending, nanosleep returns errno=%d, t2=%ld.%ld
-main: pthread_kill on j1, then wait until t=2 sec
-SIGNAL HANDLER: pid=%d
-main: creating J1
-Error creating J1
-main: creating J2
-Error creating J2
-main: creating J3
-Error creating J3
-main: waiting 1 sec
-main: pthread_cancel(J2)
-main: ending...
-Error during Keyboard Initialization!!!Ctrl-C pressed!
-KeybPortKeyTasktask_create
-scheduletime %lus %luns * caplasttime %lus %luns * exec=%d TIME = %lu
-The system tick must be less than 55 mSec!Abort detected
-Code : %u
-Too many scheduling levels!!!
-Too many resource levels!!!
-debug info noticewarn err crit alert emerg <%i>[%s] %sPosix task
-Signal number %d...
-with value : %d
-POSIX_ReadyPOSIX_DelayPOSIX_UnknownSlice: %d
-MainPOSIX_register_level
- alloco descrittore %d %d
- lev=%d
-POSIX schedulerPid: %d Name: %20s Prio: %3ld Status: %s
-
-Panic!!! can't create main task...
-dummy PID: %d
-Dummy1Dummy2Dummy3Dummy4Dummy5Dummy6Dummy7Dummy8Dummy9Dummy0DummyaDummybDummycDummydDummyeDummyfDummygDummyhDummyDummy (RR) Posto dummy_create
-
-Panic!!! can't create dummy task...
-Entro in dummy_register_level
-Port des :
-Free port des : %d
-%d %s vt: %d pn: %d
-%d pd: %d vt: %d pn: %d Resources owned by the tasks:
-%-4dPI_register_module
-PI module
-PC priority of the tasks:
-%-4ldPC_register_module
-PC moduleTR %x
-SS:SP %x:%lx
-Stack0 : %x:%lx
-Stack1 : %x:%lx
-Stack2 : %x:%lx
-CS : %x DS : %x
-Descriptor [%x] InfoNo more Descriptors...
-%x (Hex)Base : %lx Lim : %lx Acc : %x Gran %x
-2Coprocessor error#Page faultGeneral protection faultStack exceptionSegment not presentUnvalid TSS#INTEL reservedDouble defect1FPU context switchUnvalid opcode#BOUND limit exceeded#Overflow detected on INTO#Breakpoint trap#NMI detected#Debug fault#Division by 0Exception %d occurred
-ABORT %d !!!LL Time Panic!!!
-time.cError! File:%s Line:%d %sOne-shot timer selected...
-Periodic timer selected...
-Unhandled Exc or Int occured!!!
-32/LINUX CrossCompiled/ELFHalt called1234567890-+12345678901234567890xabcdefABCDEF1234567890.e+-0123456789ABCDEF$@ -Æ@,ú1°<NaN+Inf-Infacosacosfacos: DOMAIN error
-asinasinfasin: DOMAIN error
-atan2atan2fatan2: DOMAIN error
-hypothypotfexpexpfy0fy0: DOMAIN error
-y1fy1: DOMAIN error
-ynynfyn: DOMAIN error
-lgammalgammaflgamma: SING error
-loglogflog: SING error
-log: DOMAIN error
-log10log10flog10: SING error
-log10: DOMAIN error
-powpowfpow(0,0): DOMAIN error
-pow(0,neg): DOMAIN error
-sinhsinhfsqrtsqrtfsqrt: DOMAIN error
-fmodfmodffmod: DOMAIN error
-remainderremainderfremainder: DOMAIN error
-acoshacoshfacosh: DOMAIN error
-atanhatanhfatanh: DOMAIN error
-atanh: SING error
-scalbscalbfj0j0f: TLOSS error
-j1j1fjnjnfneg**non-integral: DOMAIN error
-à?addfree.cmax >= minreg->min < reg->maxnew_max > new_min(reg->min & (sizeof(struct lmm_node) - 1)) == 0(reg->max & (sizeof(struct lmm_node) - 1)) == 0addregio.cr != reg(reg->max <= r->min) \|\| (reg->min >= r->max)alloc.clmm != 0size > 0reg->free >= 0(DWORD)node < reg->maxreg->free >= size(reg->nodes == 0 && reg->free == 0) \|\| (DWORD)reg->nodes >= reg->minreg->nodes == 0 \|\| (DWORD)reg->nodes < reg->maxreg->free <= reg->max - reg->min((DWORD)node & (sizeof(struct lmm_node) - 1)) == 0((DWORD)node->size & (sizeof(struct lmm_node) - 1)) == 0(node->next == 0) \|\| (node->next > node)alloc_ge.canode >= node(split_size & (sizeof(struct lmm_node) - 1)) == 0lmm_dump(lmm=%p)
-dump.cnode->size >= sizeof(*node) free_check=%08lx
-reg->free == free_checklmm_dump done
- region %08lx-%08lx size=%08lx flags=%08lx pri=%d free=%08lx
- node %p-%08lx size=%08lx next=%p
-(node->size & (sizeof(struct lmm_node) - 1)) == 0block != 0reg != 0(DWORD)prevnode + prevnode->size == (DWORD)node(DWORD)node + size == (DWORD)nextnodestats.cLMM=%p: %u bytes in %u regions, %d nodes
-assertion %s failed in %s at line %i (task:%i_%i)
-MAGIC assertion failed in %s at line %i (task:%i_%i): %s
-KERNEL PANIC (sys_panic_stub): %s
-KERNEL PANIC (sys_panic): %s
-FreeExeSleepWaiting on joinTime (EXACT) : %lus %luns
-< Memory Dump >
-< Level %d : %s Code: %d Version: %d >
-8ÿÿÏÿÿÏÿ¨U#ÿÀ`#ÿÿÿÿÿÿÿÿÿÿÿÿ1234567890!@#$%^&()-_=+[{]};:'"`~/?,<.>\\| - -1234567890.+/-+-aAbBcCdDeEfFgGhHiIjJkKlLmMnNoOpPqQrRsStTuUvVwWxXyYzZ 1234567890!"$%&/()='?^+ø\\|<_,:.;õ - -1234567890.+/-+-aAbBcCdDeEfFgGhHiIjJkKlLmMnNoOpPqQrRsStTuUvVwWxXyYzZ[]@#È]#ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ5#5#5#x5#q5#j5#c5#\5#¤"¬"¬"³:#¦:#:#:#l:#V:#F:#2:##:#:#:#ñ9#à9#Æ9#º9#:#§9#þþAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAç;#ðÿÿÿÿGCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)01.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.01.symtab.strtab.shstrtab.text.rodata.data.sbss.bss.comment.note"Ð+!à+#`,È )¨U#(F/°`#@Q5À`#@Qè :@QCÂb\|>iI
\ No newline at end of file

/pj/pse51/ptest4
Property changes:
Deleted: svn:executable
## -1 +0,0 ##
-*
\ No newline at end of property
Index: pj/pse51/ptest3.c
===================================================================
--- pj/pse51/ptest3.c (revision 1344)
+++ pj/pse51/ptest3.c (nonexistent)
@@ -1,229 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: ptest3.c,v 1.1.1.1 2002-09-02 09:37:47 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:47 $
- ------------
-
- Posix test 3:
-
- timers...
- it creates two periodic timers that queues signals, a periodic timer
- that create tasks and an one-shot timer.
-
- non standard function used:
- cprintf
- sys_gettime
- keyboard stuffs
- sys_end
-
-**/
-
-/*
- * 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 <sys/types.h>
-#include <pthread.h>
-#include <time.h>
-
-#include <kernel/kern.h>
-#include <drivers/keyb.h>
-
-int count25 = 0, count26 = 0;
-
-void signal_handler(int signo, siginfo_t info, void extra)
-{
- switch (signo) {
- case 25:
- count25++;
- break;
- case 26:
- count26++;
- break;
- }
-
- cprintf("Signal %d code=%s value=%d task=%d count25=%d count26=%d time=%ldusec\n",
- info->si_signo,
- (info->si_code == SI_TIMER) ? "Timer" : "Other",
- info->si_value.sival_int,
- info->si_task,
- count25,
- count26,
- sys_gettime(NULL));
-}
-
-void fine(KEY_EVT *e)
-{
- sys_end();
-}
-
-void task_timer(union sigval value)
-{
- cprintf("task_timer: value = %d, time = %ldusec\n",
- value.sival_int, sys_gettime(NULL));
-}
-
-int main(int argc, char **argv)
-{
- int err;
- timer_t timer1, timer2, timer3;
- struct itimerspec timeout1, timeout2, timeout3, nulltimeout;
- struct sigaction sig_act;
- struct sigevent ev25, ev26, evtask;
- pthread_attr_t task_attr;
- struct sched_param task_param;
-
- KEY_EVT emerg;
- //keyb_set_map(itaMap);
- emerg.ascii = 'x';
- emerg.scan = KEY_X;
- emerg.flag = ALTL_BIT;
- keyb_hook(emerg,fine);
-
- sig_act.sa_sigaction = (void *) signal_handler;
- sig_act.sa_flags = SA_SIGINFO;
- sigemptyset(&sig_act.sa_mask);
-
- sigaction(25, &sig_act, NULL);
- sigaction(26, &sig_act, NULL);
-
- // set ev25, ev26, evtask
- ev25.sigev_notify = SIGEV_SIGNAL;
- ev25.sigev_signo = 25;
- ev25.sigev_value.sival_int = 555;
-
- ev26.sigev_notify = SIGEV_SIGNAL;
- ev26.sigev_signo = 26;
- ev26.sigev_value.sival_int = 666;
-
- evtask.sigev_notify = SIGEV_THREAD;
- evtask.sigev_value.sival_int = 777;
- evtask.sigev_notify_function = task_timer;
- evtask.sigev_notify_attributes = &task_attr;
-
- pthread_attr_init(&task_attr);
- pthread_attr_setdetachstate(&task_attr, PTHREAD_CREATE_DETACHED);
- pthread_attr_setschedpolicy(&task_attr, SCHED_FIFO);
- task_param.sched_priority = 10;
- pthread_attr_setschedparam(&task_attr, &task_param);
-
- // set timeout1, timeout2, nulltimeout
- timeout1.it_interval.tv_sec = 0;
- timeout1.it_interval.tv_nsec = 500000000;
- timeout1.it_value.tv_sec = 3;
- timeout1.it_value.tv_nsec = 0;
-
- timeout2.it_interval.tv_sec = 0;
- timeout2.it_interval.tv_nsec = 200000000;
- timeout2.it_value.tv_sec = 7;
- timeout2.it_value.tv_nsec = 0;
-
- timeout3.it_interval.tv_sec = 0;
- timeout3.it_interval.tv_nsec = 300000000;
- timeout3.it_value.tv_sec = 5;
- timeout3.it_value.tv_nsec = 0;
-
- NULL_TIMESPEC(&nulltimeout.it_value);
- NULL_TIMESPEC(&nulltimeout.it_interval);
-
- // create the timers
- err = timer_create(CLOCK_REALTIME, &ev25, &timer1);
- if (err == -1) { cprintf("main: unable to create timer 1\n"); }
-
- err = timer_create(CLOCK_REALTIME, &ev26, &timer2);
- if (err == -1) { cprintf("main: unable to create timer 2\n"); }
-
- err = timer_create(CLOCK_REALTIME, &evtask, &timer3);
- if (err == -1) { cprintf("main: unable to create timer 3\n"); }
-
- // arm the timers
- err = timer_settime(timer1, TIMER_ABSTIME, &timeout1, NULL);
- if (err == -1) { cprintf("main: unable to set timer 1\n"); }
-
- err = timer_settime(timer2, 0, &timeout2, NULL);
- if (err == -1) { cprintf("main: unable to set timer 2\n"); }
-
- err = timer_settime(timer3, TIMER_ABSTIME, &timeout3, NULL);
- if (err == -1) { cprintf("main: unable to set timer 3\n"); }
-
- cprintf("main: waiting signals...\n");
- while (sys_gettime(NULL) < 8500000) {
- //kern_deliver_pending_signals();
- }
-
- cprintf("main: disarm the timer2\n");
- err = timer_settime(timer2, 0, &nulltimeout, &timeout2);
- if (err == -1) { cprintf("main: unable to disarm timer 2\n"); }
-
- cprintf("main: timer2 disarmed, itvalue=%ld.%ld\n",
- timeout2.it_value.tv_sec,timeout2.it_value.tv_nsec/1000);
-
- while (sys_gettime(NULL) < 10000000) {
- //kern_deliver_pending_signals();
- }
-
- cprintf("main: disarm the timer1\n");
- err = timer_settime(timer1, TIMER_ABSTIME, &nulltimeout, &timeout1);
- if (err == -1) { cprintf("main: unable to disarm timer 1\n"); }
-
- cprintf("main: timer1 disarmed, itvalue=%ld.%ld\n",
- timeout1.it_value.tv_sec,timeout1.it_value.tv_nsec/1000);
-
- while (sys_gettime(NULL) < 12000000) {
- //kern_deliver_pending_signals();
- }
-
- cprintf("main: arm timer1\n");
- timeout1.it_interval.tv_sec = 0;
- timeout1.it_interval.tv_nsec = 0;
- timeout1.it_value.tv_sec = 13;
- timeout1.it_value.tv_nsec = 0;
- err = timer_settime(timer1, TIMER_ABSTIME, &timeout1, NULL);
- if (err == -1) { cprintf("main: unable to arm timer 1\n"); }
-
- while (sys_gettime(NULL) < 14000000) {
- //kern_deliver_pending_signals();
- }
-
-
-
- cprintf("main: ending...\n");
-
- return 0;
-}
Index: pj/pse51/ptest5
===================================================================
--- pj/pse51/ptest5 (revision 1344)
+++ pj/pse51/ptest5 (nonexistent)
@@ -1,403 +0,0 @@
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-#l##(#¬#< -#À -#8#¤##\|#à#,#p##°#Ì#è###ü##ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#ä#$##ü#l#¼##\###¤#0#¼#H#Ô#$#¬#8#Ä#P #Ü #P
-#l##(#¬#< -#À -#8#¤##\|#à#,#p##°#Ì#è###ü##SIGNAL HANDLER: pid=%d
-main: ending...
-main: alarm(5), waiting t=2 sec
-main: alarm(3) return %d, waiting t=6 sec
-Error during Keyboard Initialization!!!Ctrl-C pressed!
-KeybPortKeyTasktask_create
-scheduletime %lus %luns * caplasttime %lus %luns * exec=%d TIME = %lu
-The system tick must be less than 55 mSec!Abort detected
-Code : %u
-Too many scheduling levels!!!
-Too many resource levels!!!
-debug info noticewarn err crit alert emerg <%i>[%s] %sPosix task
-Signal number %d...
-with value : %d
-POSIX_ReadyPOSIX_DelayPOSIX_UnknownSlice: %d
-MainPOSIX_register_level
- alloco descrittore %d %d
- lev=%d
-POSIX schedulerPid: %d Name: %20s Prio: %3ld Status: %s
-
-Panic!!! can't create main task...
-dummy PID: %d
-Dummy1Dummy2Dummy3Dummy4Dummy5Dummy6Dummy7Dummy8Dummy9Dummy0DummyaDummybDummycDummydDummyeDummyfDummygDummyhDummyDummy (RR) Posto dummy_create
-
-Panic!!! can't create dummy task...
-Entro in dummy_register_level
-Port des :
-Free port des : %d
-%d %s vt: %d pn: %d
-%d pd: %d vt: %d pn: %d Resources owned by the tasks:
-%-4dPI_register_module
-PI module
-PC priority of the tasks:
-%-4ldPC_register_module
-PC moduleTR %x
-SS:SP %x:%lx
-Stack0 : %x:%lx
-Stack1 : %x:%lx
-Stack2 : %x:%lx
-CS : %x DS : %x
-Descriptor [%x] InfoNo more Descriptors...
-%x (Hex)Base : %lx Lim : %lx Acc : %x Gran %x
-2Coprocessor error#Page faultGeneral protection faultStack exceptionSegment not presentUnvalid TSS#INTEL reservedDouble defect1FPU context switchUnvalid opcode#BOUND limit exceeded#Overflow detected on INTO#Breakpoint trap#NMI detected#Debug fault#Division by 0Exception %d occurred
-ABORT %d !!!LL Time Panic!!!
-time.cError! File:%s Line:%d %sOne-shot timer selected...
-Periodic timer selected...
-Unhandled Exc or Int occured!!!
-32/LINUX CrossCompiled/ELFHalt called1234567890-+12345678901234567890xabcdefABCDEF1234567890.e+-0123456789ABCDEF$@ -Æ@,ú1°<NaN+Inf-Infacosacosfacos: DOMAIN error
-asinasinfasin: DOMAIN error
-atan2atan2fatan2: DOMAIN error
-hypothypotfexpexpfy0fy0: DOMAIN error
-y1fy1: DOMAIN error
-ynynfyn: DOMAIN error
-lgammalgammaflgamma: SING error
-loglogflog: SING error
-log: DOMAIN error
-log10log10flog10: SING error
-log10: DOMAIN error
-powpowfpow(0,0): DOMAIN error
-pow(0,neg): DOMAIN error
-sinhsinhfsqrtsqrtfsqrt: DOMAIN error
-fmodfmodffmod: DOMAIN error
-remainderremainderfremainder: DOMAIN error
-acoshacoshfacosh: DOMAIN error
-atanhatanhfatanh: DOMAIN error
-atanh: SING error
-scalbscalbfj0j0f: TLOSS error
-j1j1fjnjnfneg**non-integral: DOMAIN error
-à?addfree.cmax >= minreg->min < reg->maxnew_max > new_min(reg->min & (sizeof(struct lmm_node) - 1)) == 0(reg->max & (sizeof(struct lmm_node) - 1)) == 0addregio.cr != reg(reg->max <= r->min) \|\| (reg->min >= r->max)alloc.clmm != 0size > 0reg->free >= 0(DWORD)node < reg->maxreg->free >= size(reg->nodes == 0 && reg->free == 0) \|\| (DWORD)reg->nodes >= reg->minreg->nodes == 0 \|\| (DWORD)reg->nodes < reg->maxreg->free <= reg->max - reg->min((DWORD)node & (sizeof(struct lmm_node) - 1)) == 0((DWORD)node->size & (sizeof(struct lmm_node) - 1)) == 0(node->next == 0) \|\| (node->next > node)alloc_ge.canode >= node(split_size & (sizeof(struct lmm_node) - 1)) == 0lmm_dump(lmm=%p)
-dump.cnode->size >= sizeof(*node) free_check=%08lx
-reg->free == free_checklmm_dump done
- region %08lx-%08lx size=%08lx flags=%08lx pri=%d free=%08lx
- node %p-%08lx size=%08lx next=%p
-(node->size & (sizeof(struct lmm_node) - 1)) == 0block != 0reg != 0(DWORD)prevnode + prevnode->size == (DWORD)node(DWORD)node + size == (DWORD)nextnodestats.cLMM=%p: %u bytes in %u regions, %d nodes
-assertion %s failed in %s at line %i (task:%i_%i)
-MAGIC assertion failed in %s at line %i (task:%i_%i): %s
-KERNEL PANIC (sys_panic_stub): %s
-KERNEL PANIC (sys_panic): %s
-FreeExeSleepWaiting on joinTime (EXACT) : %lus %luns
-< Memory Dump >
-< Level %d : %s Code: %d Version: %d >
-8ÿÿÏÿÿÏÿHN#ÿ`Y#ÿÿÿÿÿÿÿÿÿÿÿÿ1234567890!@#$%^&()-_=+[{]};:'"`~/?,<.>\\| - -1234567890.+/-+-aAbBcCdDeEfFgGhHiIjJkKlLmMnNoOpPqQrRsStTuUvVwWxXyYzZ 1234567890!"$%&/()='?^+ø\\|<_,:.;õ - -1234567890.+/-+-aAbBcCdDeEfFgGhHiIjJkKlLmMnNoOpPqQrRsStTuUvVwWxXyYzZ[]@#hV#ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ-.#&.#.#.#.#
-.#.#ü-#hy"py"py"S3#F3#83#'3#3#ö2#æ2#Ò2#Ã2#³2#¦2#2#2#f2#Z2#³2#G2#þþAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA4#ðÿÿÿÿGCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)01.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.01.symtab.strtab.shstrtab.text.rodata.data.sbss.bss.comment.note"%! %# &¨ )HN#È>/LY#àI5`Y#àI8ã :àILC,[haI
\ No newline at end of file

/pj/pse51/ptest5
Property changes:
Deleted: svn:executable
## -1 +0,0 ##
-*
\ No newline at end of property
Index: pj/pse51/pinit.c
===================================================================
--- pj/pse51/pinit.c (revision 1344)
+++ pj/pse51/pinit.c (nonexistent)
@@ -1,126 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: pinit.c,v 1.1.1.1 2002-09-02 09:37:47 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:47 $
- ------------
-
- This is a minimal initialization file for the PSE51 profile.
-
- It initializes the POSIX scheduler, the Hartik Ports and the Keyboard driver.
-
-**/
-
-/*
- * 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 "modules/posix.h"
-#include "modules/dummy.h"
-
-#include "modules/pi.h"
-#include "modules/pc.h"
-
-#include "modules/sem.h"
-#include "modules/hartport.h"
-
-#include "drivers/keyb.h"
-
-#include "pthread.h"
-#include "time.h"
-
-
-/+ sysyem tick in us +/
-#define TICK 1000
-
-/+ RR tick in us +/
-#define RRTICK 10000
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- POSIX_register_level(RRTICK, POSIX_MAIN_YES, mb, 32);
- dummy_register_level();
-
- PI_register_module();
- PC_register_module();
-
- SEM_register_module();
-
- /* for the Pthread library */
- PTHREAD_register_module(1, 0, 1);
-
- /* for the real time clock extensions */
- TIMER_register_module();
-
- return TICK;
-}
-
-TASK __init__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
- NRT_TASK_MODEL m; // the scheduling model for the Keyboard
-
- KEYB_PARMS k = BASE_KEYB;
- keyb_def_task(k, &m);
-
- nrt_task_default_model(m);
- nrt_task_def_arg(m,arg);
- nrt_task_def_usemath(m);
- nrt_task_def_ctrl_jet(m);
- nrt_task_def_save_arrivals(m);
- nrt_task_def_unjoinable(m);
- nrt_task_def_weight(m, sched_get_priority_max(SCHED_RR));
- nrt_task_def_policy(m,SCHED_RR);
- nrt_task_def_inherit(m,PTHREAD_EXPLICIT_SCHED);
- nrt_task_def_nokill(m);
- nrt_task_def_system(m);
-
- HARTPORT_init();
-
- if (KEYB_init(&k) < 0)
- kern_printf("Error during Keyboard Initialization!!!");
-
- __call_main__(mb);
-
- return (void *)0;
-}
Index: pj/pse51/ptest4.c
===================================================================
--- pj/pse51/ptest4.c (revision 1344)
+++ pj/pse51/ptest4.c (nonexistent)
@@ -1,151 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: ptest4.c,v 1.1.1.1 2002-09-02 09:37:47 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:47 $
- ------------
-
- Posix test 4:
-
- the main task create 3 tasks, J1, J2, J3
- at t = 1 sec. it raise a signal to J1
- at t = 2 sec. it kills J2
-
- J1,J2,J3: it simply calls nanosleep
-
- non standard function used:
- cprintf
- sys_gettime
- keyboard stuffs
- sys_end
-
-**/
-
-/*
- * 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 <sys/types.h>
-#include <pthread.h>
-#include <signal.h>
-#include <time.h>
-
-#include <kernel/kern.h>
-#include <drivers/keyb.h>
-
-void uscitaJ(void *arg)
-{
- cprintf("J: (pid=%d) AAAARRRRGGGHHH!!! killed by someone...\n", exec_shadow);
-}
-
-void J(void arg)
-{
- struct timespec t1, t2;
- int err;
-
- cprintf("J (pid=%d) starts and call nanosleep\n",exec_shadow);
-
- t1.tv_sec = 3;
- t1.tv_nsec = 0;
- NULL_TIMESPEC(&t2);
- pthread_cleanup_push(uscitaJ,NULL);
- err = nanosleep(&t1, &t2);
- pthread_cleanup_pop(0);
-
- cprintf("J (pid=%d) ending, nanosleep returns errno=%d, t2=%ld.%ld\n",
- exec_shadow, err, t2.tv_sec, t2.tv_nsec/1000);
-
- return 0;
-}
-
-void signal_handler(int signo, siginfo_t info, void extra)
-{
- cprintf("SIGNAL HANDLER: pid=%d\n",exec_shadow);
-}
-
-void fine(KEY_EVT *e)
-{
- sys_end();
-}
-
-
-int main(int argc, char **argv)
-{
- int err;
- pthread_t j1, j2, j3;
- struct sigaction sig_act;
-
- KEY_EVT emerg;
- //keyb_set_map(itaMap);
- emerg.ascii = 'x';
- emerg.scan = KEY_X;
- emerg.flag = ALTL_BIT;
- keyb_hook(emerg,fine);
-
- sig_act.sa_sigaction = (void *) signal_handler;
- sig_act.sa_flags = SA_SIGINFO;
- sigemptyset(&sig_act.sa_mask);
-
- sigaction(31, &sig_act, NULL);
-
- cprintf("main: creating J1\n");
- err = pthread_create(&j1, NULL, J, NULL);
- if (err) cprintf("Error creating J1\n");
-
- cprintf("main: creating J2\n");
- err = pthread_create(&j2, NULL, J, NULL);
- if (err) cprintf("Error creating J2\n");
-
- cprintf("main: creating J3\n");
- err = pthread_create(&j3, NULL, J, NULL);
- if (err) cprintf("Error creating J3\n");
-
- cprintf("main: waiting 1 sec\n");
- while (sys_gettime(NULL) < 1000000);
-
- cprintf("main: pthread_kill on j1, then wait until t=2 sec \n");
- pthread_kill(j1, 31);
-
- while (sys_gettime(NULL) < 2000000);
- cprintf("main: pthread_cancel(J2)\n");
- pthread_cancel(j2);
-
- cprintf("main: ending...\n");
-
- return 0;
-}
Index: pj/pse51/ptest6
===================================================================
--- pj/pse51/ptest6 (revision 1344)
+++ pj/pse51/ptest6 (nonexistent)
@@ -1,527 +0,0 @@
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-#È #######Ð#Ð#Ð#Ð#Ð#Ð#Ð#Ð#Ð#Ð############################################ -# -# -#ô -####è -##ô -#######ô### -#$@$@d#Ð#<#¬#ü#L##Ì#X #ä #p!#ü!#"###d##ì##x$#%#%#&#&#¬'#Ü'#h(#ì(#\|)##x#ä#P+#¼+# ,#l,#°,#Ô,#ð,#-#(-#D-#Ä-#<.#Ä.#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#$/#d#Ð#<#¬#ü#L##Ì#X #ä #p!#ü!#"###d##ì##x$#%#%#&#&#¬'#Ü'#h(#ì(#\|)##x#ä#P+#¼+# ,#l,#°,#Ô,#ð,#-#(-#D-#Ä-#<.#Ä.#T1: started, sending a message
-T2: value = %d, receiving a message
-T2: received message: length=%ld, prio=%d, text=°%s°, notify...
-T2: mq_notify returns errno %d
-T2: 1 sec. reached, sending another message and creating T3 and T4,
-T3: received message: length=%ld, prio=%d, text=°%s°
-T3: 2 sec. reached, sending 5 messages
-T3: mq_send1 returns errno %d
-T3: mq_send2 returns errno %d
-T3: mq_send3 returns errno %d
-T3: mq_send4 returns errno %d
-T3: mq_send5 returns errno %d
-T4: AAAARRRRGGGHHH!!! killed by someone...
-T4: received message: length=%ld, prio=%d, text=°%s°
-Signal %d code=%s value=%d task=%d time=%ldusec
-main: mq_open returns errno %d
-main: mq_notify returns errno %d
-main: created mq, creating T1...
-main: waiting t= 3.5 sec., then kill T4...
-Donald DuckT1: mq_send returns errno %d
-T1: ending...
-T2: waiting t = 1 sec.
-Mickey MouseT2: mq_send returns errno %d
-T2: ending...
-T3: waiting a message...
-T3: waiting t = 1.5 sec.
-GoofyÛMinniePlutoRocker DuckOncle ScroodgeT3: ending...
-T4: waiting t = 2.2 sec.
-TimerOthermqmain: ending...
-Error during Keyboard Initialization!!!Ctrl-C pressed!
-KeybPortKeyTasktask_create
-scheduletime %lus %luns * caplasttime %lus %luns * exec=%d TIME = %lu
-The system tick must be less than 55 mSec!Abort detected
-Code : %u
-Too many scheduling levels!!!
-Too many resource levels!!!
-debug info noticewarn err crit alert emerg <%i>[%s] %sPosix task
-Signal number %d...
-with value : %d
-POSIX_ReadyPOSIX_DelayPOSIX_UnknownSlice: %d
-MainPOSIX_register_level
- alloco descrittore %d %d
- lev=%d
-POSIX schedulerPid: %d Name: %20s Prio: %3ld Status: %s
-
-Panic!!! can't create main task...
-dummy PID: %d
-Dummy1Dummy2Dummy3Dummy4Dummy5Dummy6Dummy7Dummy8Dummy9Dummy0DummyaDummybDummycDummydDummyeDummyfDummygDummyhDummyDummy (RR) Posto dummy_create
-
-Panic!!! can't create dummy task...
-Entro in dummy_register_level
-Port des :
-Free port des : %d
-%d %s vt: %d pn: %d
-%d pd: %d vt: %d pn: %d Resources owned by the tasks:
-%-4dPI_register_module
-PI module
-PC priority of the tasks:
-%-4ldPC_register_module
-PC moduleTR %x
-SS:SP %x:%lx
-Stack0 : %x:%lx
-Stack1 : %x:%lx
-Stack2 : %x:%lx
-CS : %x DS : %x
-Descriptor [%x] InfoNo more Descriptors...
-%x (Hex)Base : %lx Lim : %lx Acc : %x Gran %x
-2Coprocessor error#Page faultGeneral protection faultStack exceptionSegment not presentUnvalid TSS#INTEL reservedDouble defect1FPU context switchUnvalid opcode#BOUND limit exceeded#Overflow detected on INTO#Breakpoint trap#NMI detected#Debug fault#Division by 0Exception %d occurred
-ABORT %d !!!LL Time Panic!!!
-time.cError! File:%s Line:%d %sOne-shot timer selected...
-Periodic timer selected...
-Unhandled Exc or Int occured!!!
-32/LINUX CrossCompiled/ELFHalt called1234567890-+12345678901234567890xabcdefABCDEF1234567890.e+-0123456789ABCDEF$@ -Æ@,ú1°<NaN+Inf-Infacosacosfacos: DOMAIN error
-asinasinfasin: DOMAIN error
-atan2atan2fatan2: DOMAIN error
-hypothypotfexpexpfy0fy0: DOMAIN error
-y1fy1: DOMAIN error
-ynynfyn: DOMAIN error
-lgammalgammaflgamma: SING error
-loglogflog: SING error
-log: DOMAIN error
-log10log10flog10: SING error
-log10: DOMAIN error
-powpowfpow(0,0): DOMAIN error
-pow(0,neg): DOMAIN error
-sinhsinhfsqrtsqrtfsqrt: DOMAIN error
-fmodfmodffmod: DOMAIN error
-remainderremainderfremainder: DOMAIN error
-acoshacoshfacosh: DOMAIN error
-atanhatanhfatanh: DOMAIN error
-atanh: SING error
-scalbscalbfj0j0f: TLOSS error
-j1j1fjnjnfneg**non-integral: DOMAIN error
-à?addfree.cmax >= minreg->min < reg->maxnew_max > new_min(reg->min & (sizeof(struct lmm_node) - 1)) == 0(reg->max & (sizeof(struct lmm_node) - 1)) == 0addregio.cr != reg(reg->max <= r->min) \|\| (reg->min >= r->max)alloc.clmm != 0size > 0reg->free >= 0(DWORD)node < reg->maxreg->free >= size(reg->nodes == 0 && reg->free == 0) \|\| (DWORD)reg->nodes >= reg->minreg->nodes == 0 \|\| (DWORD)reg->nodes < reg->maxreg->free <= reg->max - reg->min((DWORD)node & (sizeof(struct lmm_node) - 1)) == 0((DWORD)node->size & (sizeof(struct lmm_node) - 1)) == 0(node->next == 0) \|\| (node->next > node)alloc_ge.canode >= node(split_size & (sizeof(struct lmm_node) - 1)) == 0lmm_dump(lmm=%p)
-dump.cnode->size >= sizeof(*node) free_check=%08lx
-reg->free == free_checklmm_dump done
- region %08lx-%08lx size=%08lx flags=%08lx pri=%d free=%08lx
- node %p-%08lx size=%08lx next=%p
-(node->size & (sizeof(struct lmm_node) - 1)) == 0block != 0reg != 0(DWORD)prevnode + prevnode->size == (DWORD)node(DWORD)node + size == (DWORD)nextnodestats.cLMM=%p: %u bytes in %u regions, %d nodes
-assertion %s failed in %s at line %i (task:%i_%i)
-MAGIC assertion failed in %s at line %i (task:%i_%i): %s
-KERNEL PANIC (sys_panic_stub): %s
-KERNEL PANIC (sys_panic): %s
-FreeExeSleepWaiting on joinTime (EXACT) : %lus %luns
-< Memory Dump >
-< Level %d : %s Code: %d Version: %d >
-8ÿÿÏÿÿÏÿHk#ÿ`v#ÿÿÿÿÿÿÿÿÿÿÿÿ1234567890!@#$%^&()-_=+[{]};:'"`~/?,<.>\\| - -1234567890.+/-+-aAbBcCdDeEfFgGhHiIjJkKlLmMnNoOpPqQrRsStTuUvVwWxXyYzZ 1234567890!"$%&/()='?^+ø\\|<_,:.;õ - -1234567890.+/-+-aAbBcCdDeEfFgGhHiIjJkKlLmMnNoOpPqQrRsStTuUvVwWxXyYzZ[]@#hs#ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ-K#&K#K#K#K#
-K#K#üJ#¨"°"°"SP#FP#8P#'P#P#öO#æO#ÒO#ÃO#³O#¦O#O#O#fO#ZO#³O#GO#þþAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAQ#ðÿÿÿÿGCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)GCC: (GNU) 2.96 20000731 (Red Hat Linux 7.1 2.96-98)01.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.0101.01.symtab.strtab.shstrtab.text.rodata.data.sbss.bss.comment.note"ä=!>#>H )Hk#È[/Pv#àf5`v#àfØê :àfCbx\|Þ~I
\ No newline at end of file

/pj/pse51/ptest6
Property changes:
Deleted: svn:executable
## -1 +0,0 ##
-*
\ No newline at end of property
Index: pj/pse51/ptest5.c
===================================================================
--- pj/pse51/ptest5.c (revision 1344)
+++ pj/pse51/ptest5.c (nonexistent)
@@ -1,109 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: ptest5.c,v 1.1.1.1 2002-09-02 09:37:47 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:47 $
- ------------
-
- Posix test 5:
- an alarm test
-
- non standard function used:
- cprintf
- sys_gettime
- keyboard stuffs
- sys_end
-
-**/
-
-/*
- * 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 <sys/types.h>
-#include <pthread.h>
-#include <signal.h>
-#include <unistd.h>
-
-#include <kernel/kern.h>
-#include <drivers/keyb.h>
-
-
-
-void signal_handler(int signo, siginfo_t info, void extra)
-{
- cprintf("SIGNAL HANDLER: pid=%d\n",exec_shadow);
-}
-
-void fine(KEY_EVT *e)
-{
- sys_end();
-}
-
-
-int main(int argc, char **argv)
-{
- struct sigaction sig_act;
-
- KEY_EVT emerg;
- //keyb_set_map(itaMap);
- emerg.ascii = 'x';
- emerg.scan = KEY_X;
- emerg.flag = ALTL_BIT;
- keyb_hook(emerg,fine);
-
- sig_act.sa_sigaction = (void *) signal_handler;
- sig_act.sa_flags = SA_SIGINFO;
- sigemptyset(&sig_act.sa_mask);
-
- sigaction(SIGALRM, &sig_act, NULL);
-
- cprintf("main: alarm(5), waiting t=2 sec\n");
- alarm(5);
-
- while (sys_gettime(NULL) < 2000000);
-
- cprintf("main: alarm(3) return %d, waiting t=6 sec\n",alarm(3));
-
- pause();
-// while (sys_gettime(NULL) < 6000000);
-
- cprintf("main: ending...\n");
-
- return 0;
-}
Index: pj/pse51/ptest6.c
===================================================================
--- pj/pse51/ptest6.c (revision 1344)
+++ pj/pse51/ptest6.c (nonexistent)
@@ -1,300 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: ptest6.c,v 1.1.1.1 2002-09-02 09:37:47 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:47 $
- ------------
-
- Posix test 6:
-
- message queues
-
- main thread:
- set a sigevent to sigev_thread on a mailbox (that creates thread 2)
- creates thread 1
- waits t=3.5 sec.
- pthread_cancel(T4)
-
- thread 1:
- send a msg to the mailbox (the event fires and thread 2 is created)
-
- thread 2:
- receive the msg sent by thread 1
- set the event to a signal
- creates thread 3 and 4
- waits t = 1 sec
- send another msg
-
- thread 3:
- receive the msg sent by 2 (it blocks!)
- waits t = 2 sec
- send 5 msgs (with different priorities!!!
-
- thread 4:
- receives 5 msgs every 0.5 sec.
- then receive another message that never will arrive...
-
- non standard function used:
- cprintf
- sys_gettime
- keyboard stuffs
- sys_end
-
-**/
-
-/*
- * 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 <sys/types.h>
-#include <pthread.h>
-#include <mqueue.h>
-
-#include <kernel/kern.h>
-#include <drivers/keyb.h>
-
-struct sigevent ev25, evtask;
-pthread_attr_t task_attr;
-struct sched_param task_param;
-mqd_t mq;
-pthread_t T1,T2,T3,T4,T5;
-
-#define MESSAGE_LENGTH 100
-
-void t1(void arg)
-{
- cprintf("T1: started, sending a message\n");
- if (mq_send(mq,"Donald Duck",12,1))
- { cprintf("T1: mq_send returns errno %d\n",errno); return 0; }
-
- cprintf("T1: ending...\n");
- return 0;
-}
-
-void t4(void arg);
-void t3(void arg);
-
-void t2(union sigval value)
-{
- ssize_t x;
- char buf[MESSAGE_LENGTH];
- int prio;
-
- cprintf("T2: value = %d, receiving a message\n", value.sival_int);
-
- x = mq_receive(mq,buf,MESSAGE_LENGTH,&prio);
-
- cprintf("T2: received message: length=%ld, prio=%d, text=°%s°, notify...\n",
- x,prio,buf);
-
- if (mq_notify(mq, &ev25))
- { cprintf("T2: mq_notify returns errno %d\n",errno); sys_end(); }
-
- cprintf("T2: waiting t = 1 sec.\n");
- while (sys_gettime(NULL)<1000000);
- cprintf("T2: 1 sec. reached, sending another message and creating T3 and T4, \n");
-
- if (mq_send(mq,"Mickey Mouse",13,1))
- { cprintf("T2: mq_send returns errno %d\n",errno); sys_end(); }
-
- pthread_create(&T3, NULL, t3, NULL);
- pthread_create(&T4, NULL, t4, NULL);
-
- cprintf("T2: ending...\n");
-}
-
-void t3(void arg)
-{
- ssize_t x;
- char buf[MESSAGE_LENGTH];
- int prio;
-
- cprintf("T3: waiting a message...\n");
-
- x = mq_receive(mq,buf,MESSAGE_LENGTH,&prio);
-
- // mickey mouse
- cprintf("T3: received message: length=%ld, prio=%d, text=°%s°\n",
- x,prio,buf);
-
- cprintf("T3: waiting t = 1.5 sec.\n");
- while (sys_gettime(NULL)<1500000);
- cprintf("T3: 2 sec. reached, sending 5 messages\n");
-
- if (mq_send(mq,"Goofy",6,1))
- { cprintf("T3: mq_send1 returns errno %d\n",errno); sys_end(); }
- cprintf("Û");
-
- if (mq_send(mq,"Minnie",7,1))
- { cprintf("T3: mq_send2 returns errno %d\n",errno); sys_end(); }
- cprintf("Û");
-
- if (mq_send(mq,"Pluto",6,2)) // NB: different priority!!!
- { cprintf("T3: mq_send3 returns errno %d\n",errno); sys_end(); }
- cprintf("Û");
-
- if (mq_send(mq,"Rocker Duck",12,2)) // NB: different priority!!!
- { cprintf("T3: mq_send4 returns errno %d\n",errno); sys_end(); }
- cprintf("Û");
-
- if (mq_send(mq,"Oncle Scroodge",15,2)) // NB: different priority!!!
- { cprintf("T3: mq_send5 returns errno %d\n",errno); sys_end(); }
- cprintf("Û");
-
- cprintf("T3: ending...\n");
-
- return 0;
-}
-
-void t4exit(void *arg)
-{
- cprintf("T4: AAAARRRRGGGHHH!!! killed by someone...\n");
-}
-
-void t4(void arg)
-{
- ssize_t x;
- char buf[MESSAGE_LENGTH];
- int prio;
-
- cprintf("T4: waiting t = 2.2 sec.\n");
-
- while (sys_gettime(NULL)<2200000);
- x = mq_receive(mq,buf,MESSAGE_LENGTH,&prio);
- cprintf("T4: received message: length=%ld, prio=%d, text=°%s°\n",x,prio,buf);
-
- while (sys_gettime(NULL)<2400000);
- x = mq_receive(mq,buf,MESSAGE_LENGTH,&prio);
- cprintf("T4: received message: length=%ld, prio=%d, text=°%s°\n",x,prio,buf);
- while (sys_gettime(NULL)<2600000);
-
- x = mq_receive(mq,buf,MESSAGE_LENGTH,&prio);
- cprintf("T4: received message: length=%ld, prio=%d, text=°%s°\n",x,prio,buf);
- while (sys_gettime(NULL)<2800000);
-
- x = mq_receive(mq,buf,MESSAGE_LENGTH,&prio);
- cprintf("T4: received message: length=%ld, prio=%d, text=°%s°\n",x,prio,buf);
- while (sys_gettime(NULL)<3000000);
-
- x = mq_receive(mq,buf,MESSAGE_LENGTH,&prio);
- cprintf("T4: received message: length=%ld, prio=%d, text=°%s°\n",x,prio,buf);
-
- pthread_cleanup_push(t4exit,NULL);
- x = mq_receive(mq,buf,MESSAGE_LENGTH,&prio);
- cprintf("T4: received message: length=%ld, prio=%d, text=°%s°\n",x,prio,buf);
- pthread_cleanup_pop(0);
-
- return 0;
-}
-
-void signal_handler(int signo, siginfo_t info, void extra)
-{
- cprintf("Signal %d code=%s value=%d task=%d time=%ldusec\n",
- info->si_signo,
- (info->si_code == SI_TIMER) ? "Timer" : "Other",
- info->si_value.sival_int,
- info->si_task,
- sys_gettime(NULL));
-}
-
-void fine(KEY_EVT *e)
-{
- sys_end();
-}
-
-int main(int argc, char **argv)
-{
-// int err;
- struct sigaction sig_act;
- struct mq_attr attr;
-
- KEY_EVT emerg;
- //keyb_set_map(itaMap);
- emerg.ascii = 'x';
- emerg.scan = KEY_X;
- emerg.flag = ALTL_BIT;
- keyb_hook(emerg,fine);
-
- sig_act.sa_sigaction = (void *) signal_handler;
- sig_act.sa_flags = SA_SIGINFO;
- sigemptyset(&sig_act.sa_mask);
- sigaction(25, &sig_act, NULL);
-
- // set ev25, evtask
- ev25.sigev_notify = SIGEV_SIGNAL;
- ev25.sigev_signo = 25;
- ev25.sigev_value.sival_int = 555;
-
- evtask.sigev_notify = SIGEV_THREAD;
- evtask.sigev_value.sival_int = 777;
- evtask.sigev_notify_function = t2;
- evtask.sigev_notify_attributes = &task_attr;
-
- // set pthread attributes
- pthread_attr_init(&task_attr);
- pthread_attr_setdetachstate(&task_attr, PTHREAD_CREATE_DETACHED);
- pthread_attr_setschedpolicy(&task_attr, SCHED_FIFO);
- task_param.sched_priority = 10;
- pthread_attr_setschedparam(&task_attr, &task_param);
-
- // set mqueue attributes
- attr.mq_flags = 0;
- attr.mq_maxmsg = 3;
- attr.mq_msgsize = MESSAGE_LENGTH;
-
- // create the message queue
- if ((mq = mq_open("mq", O_CREAT\|O_RDWR, 0, &attr)) == -1)
- { cprintf("main: mq_open returns errno %d\n",errno); return 0; }
-
- if (mq_notify(mq, &evtask))
- { cprintf("main: mq_notify returns errno %d\n",errno); return 0; }
-
- cprintf("main: created mq, creating T1...\n");
-
- pthread_create(&T1, NULL, t1, NULL);
-
- cprintf("main: waiting t= 3.5 sec., then kill T4...\n");
-
- while (sys_gettime(NULL)<3500000);
-
- pthread_cancel(T4);
-
- cprintf("main: ending...\n");
-
- return 0;
-}
Index: pj/pse51/makefile
===================================================================
--- pj/pse51/makefile (revision 1344)
+++ pj/pse51/makefile (nonexistent)
@@ -1,25 +0,0 @@
-#
-#
-#
-
-ifndef BASE
-BASE=../..
-endif
-include $(BASE)/config/config.mk
-
-PROGS+= ptest1 ptest2 ptest3 ptest4 ptest5 ptest6
-
-include $(BASE)/config/example.mk
-
-ptest1:
- make -f $(SUBMAKE) APP=ptest1 INIT= OTHEROBJS="pinit.o"
-ptest2:
- make -f $(SUBMAKE) APP=ptest2 INIT= OTHEROBJS="pinit.o"
-ptest3:
- make -f $(SUBMAKE) APP=ptest3 INIT= OTHEROBJS="pinit.o"
-ptest4:
- make -f $(SUBMAKE) APP=ptest4 INIT= OTHEROBJS="pinit.o"
-ptest5:
- make -f $(SUBMAKE) APP=ptest5 INIT= OTHEROBJS="pinit.o"
-ptest6:
- make -f $(SUBMAKE) APP=ptest6 INIT= OTHEROBJS="pinit.o"
Index: pj/pci6025e/test_dio.c
===================================================================
--- pj/pci6025e/test_dio.c (revision 1344)
+++ pj/pci6025e/test_dio.c (nonexistent)
@@ -1,184 +0,0 @@
-/*****************************************************************************
-* Filename: Test_dio.c *
-* Author: Marco Ziglioli (Doctor Stein) *
-* Date: 22/03/2001 *
-* Last update: 22/03/2001 *
-* Description: Test STC digital lines (8 lines) *
-----------------------------------------------------------------------------
-* Notes: Configure DIO 4 5 6 7 in input and DIO 0 1 2 3 in output *
-* Two way to test this 8 lines: *
-* 1) Connect 4 LEDs to output lines and check LEDs lights *
-* themselves in counting order. Connect input lines to Vcc *
-* or GND and check on video that STC has readed the right *
-* nibble *
-* 2) Connect 4 output lines with 4 input lines and check on *
-* video that the nibble readed by STC change in counting *
-* order *
-*****************************************************************************/
-
-/* This file is part of the S.Ha.R.K. Project - http://shark.sssup.it
- *
- * Copyright (C) 2001 Marco Ziglioli
- *
- * 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 <drivers/glib.h>
-#include <drivers/keyb.h>
-#include <drivers/pci6025e/dio_ppi.h>
-
-BYTE system = 0;
-
-void close_event(void *);
-TASK test_DIO(int dummy);
-void exit_fun(KEY_EVT *);
-void draw_screen(void);
-
-
-int main(int argc, char **argv)
-{
- HARD_TASK_MODEL m;
- KEY_EVT k;
- PID pid_m;
- int modenum;
-
- sys_atrunlevel(close_event, NULL, RUNLEVEL_BEFORE_EXIT);
-
- keyb_set_map(itaMap);
- k.flag = CNTL_BIT;
- k.scan = KEY_C;
- k.ascii = 'c';
- keyb_hook(k, exit_fun);
- k.flag = CNTR_BIT;
- k.scan = KEY_C;
- k.ascii = 'c';
- keyb_hook(k, exit_fun);
-
- hard_task_default_model(m);
- hard_task_def_wcet(m, 90000);
- hard_task_def_mit(m, 250000);
- pid_m = task_create("TEST DIO", test_DIO, &m, NULL);
- if(pid_m == NIL){
- system = 10;
- sys_end();
- }
-
- //Check if PCI bus is present
- if(pci_init() == -1){
- system = 20;
- sys_end();
- }
-
- //Look for a National board on PCI bus
- if(!reMap()){
- system = 21;
- sys_end();
- }
-
- //Start configuring DIO module
- DIO_init();
-
- grx_init();
- modenum = grx_getmode(640, 480, 16);
- if(modenum == -1){
- system = 30;
- sys_end();
- }
- grx_setmode(modenum);
-
- draw_screen();
-
- task_activate(pid_m);
-
- return 0;
-}
-
-void draw_screen(void)
-{
- grx_rect(5, 5, 405, 130, rgb16(255, 0, 0));
- grx_rect(4, 4, 406, 131, rgb16(0,255,255));
- grx_rect(3, 3, 407, 132, rgb16(255, 0, 0));
- grx_rect(15, 45, 195, 100, rgb16(255, 0, 0));
- grx_rect(215, 45, 395, 100, rgb16(0, 255, 0));
- grx_text("Test of PCI6025E DIO function",
- 9, 7, rgb16(0, 255, 0), rgb16(0, 0, 0));
- grx_text("DIO 4-5-6-7 are configured in input mode",
- 9, 20, rgb16(255, 70, 70), rgb16(0, 0, 0));
- grx_text("DIO 0-1-2-3 are configured in output mode",
- 9, 28, rgb16(255, 70, 70), rgb16(0, 0, 0));
- grx_text("Output bits", 35, 50, rgb16(200, 0, 0), rgb16(0, 0, 0));
- grx_text("input bits", 235, 50, rgb16(30,255,30), rgb16(0, 0, 0));
- grx_text("CTRL + C to exit", 9, 115, rgb16(255,255,0), rgb16(0,0,0));
-}
-
-/*
-* At each activation this task change output value of lowest digitals line
-* and read value on highest digital lines, showing them at video
-*/
-TASK test_DIO(int dummy)
-{
- BYTE out_val = 0x00,
- in_val = 0;
- int i;
- char buf[10];
-
- //DIO 0..3 configured as output
- //DIO 4..7 configured as input
- DIO_setup(0x0F);
-
- while(1){
- DIO_write(out_val); //sends out value
- in_val = DIO_read() >> 4; //reads value
-
- for(i=3; i>=0; i--){
- if( (out_val>>i)%2 )
- grx_text("1", 25+10*(3-i), 75, rgb16(255,0,0), rgb16(0,0,0));
- else
- grx_text("0", 25+10*(3-i), 75, rgb16(255,0,0), rgb16(0,0,0));
- if( (in_val>>i)%2 )
- grx_text("1", 225+10*(3-i), 75, rgb16(0,255,0), rgb16(0,0,0));
- else
- grx_text("0", 225+10*(3-i), 75, rgb16(0,255,0), rgb16(0,0,0));
- }
- sprintf(buf, "%03d", out_val);
- grx_text(buf, 80, 75, rgb16(255,0,0), rgb16(0,0,0));
- sprintf(buf, "%03d", in_val);
- grx_text(buf, 280, 75, rgb16(0,255,0), rgb16(0,0,0));
-
- out_val = (out_val+1)%16;
- task_endcycle();
- }
-}
-
-void close_event(void *arg)
-{
- grx_close();
- switch(system){
- case 0: kern_printf("Regular end\n"); break;
- case 10:kern_printf("Cannot create task TEST DIO\n"); break;
- case 20:kern_printf("Pci bus don't find\n"); break;
- case 21:kern_printf("No National board on PC\n"); break;
- case 30:kern_printf("Cannot start graphic envirorment\n"); break;
- default: kern_printf("Unknown exit\n"); break;
- }
-}
-
-void exit_fun(KEY_EVT *k)
-{
- system = 0;
- sys_end();
-}
-
Index: pj/pci6025e/readme
===================================================================
--- pj/pci6025e/readme (revision 1344)
+++ pj/pci6025e/readme (nonexistent)
@@ -1,7 +0,0 @@
-These are the demos available for the National Instruments PCI6025e boards.
-
-These demos and the PCI driver have been made by
-Marco Ziglioli (zi_mar@libero.it). Please send any comments to:
-zi_mar@libero.it or to shark-help@gandalf.sssup.it.
-
-Paolo
Index: pj/pci6025e/makefile
===================================================================
--- pj/pci6025e/makefile (revision 1344)
+++ pj/pci6025e/makefile (nonexistent)
@@ -1,32 +0,0 @@
-#
-#
-# PCI6025E Examples and Test programs
-#
-#
-
-ifndef BASE
-BASE=../..
-endif
-include $(BASE)/config/config.mk
-
-PROGS= test_dac wave test_dio test_ppi test_ec test_bec test_mes test_bms
-
-include $(BASE)/config/example.mk
-
-test_dac:
- make -f $(SUBMAKE) APP=test_dac INIT= OTHEROBJS=initfile.o
-wave:
- make -f $(SUBMAKE) APP=wave INIT= OTHEROBJS=initfile.o
-test_dio:
- make -f $(SUBMAKE) APP=test_dio INIT= OTHEROBJS=initfile.o
-test_ppi:
- make -f $(SUBMAKE) APP=test_ppi INIT= OTHEROBJS=initfile.o
-test_ec:
- make -f $(SUBMAKE) APP=test_ec INIT= OTHEROBJS=initfile.o
-test_bec:
- make -f $(SUBMAKE) APP=test_bec INIT= OTHEROBJS=initfile.o
-test_mes:
- make -f $(SUBMAKE) APP=test_mes INIT= OTHEROBJS=initfile.o
-test_bms:
- make -f $(SUBMAKE) APP=test_bms INIT= OTHEROBJS=initfile.o
-
Index: pj/pci6025e/test_bms.c
===================================================================
--- pj/pci6025e/test_bms.c (revision 1344)
+++ pj/pci6025e/test_bms.c (nonexistent)
@@ -1,279 +0,0 @@
-/*****************************************************************************
-* Filename: test_bms.c *
-* Author: Marco Ziglioli (Doctor Stein) *
-* Date: 27/06/2001 *
-* Description: Test program for buffered period and semiperiod measurement *
-* capacity of National PCI6025E board *
-----------------------------------------------------------------------------
-* Notes: FOUT are enable and avaiable on pin 50 to provide 1 Mhz frequency *
-* You should connect source 0 (PIN 41) and source 1 (pin 45) to this *
-* freq source. Gate 0 (pin 42) and gate 1 (pin 44) must be connected *
-* rispectivly to DIO7 (pin 32) and DIO6 (pin 30). *
-* Use 'g' button to activate gate_action_task which generate a square *
-* wave with a freq of 0.5 Hz and Duty cycle of 75%. *
-* 's' button should show counters countent but gate_action_task *
-* when active shows counters content automatically so 's' button isn't*
-* useful. *
-*****************************************************************************/
-
-/* This file is part of the S.Ha.R.K. Project - http://shark.sssup.it
- *
- * Copyright (C) 2001 Marco Ziglioli
- *
- * 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 <drivers/keyb.h>
-#include <drivers/glib.h>
-
-#include <drivers/pci6025e/timer.h>
-#include <drivers/pci6025e/dio_ppi.h>
-
-#define SHOW_MET 30000
-#define SHOW_WCET 50000
-#define SHOW_PERIOD 1000000
-
-#define GATE_MET 2000
-#define GATE_WCET 5000
-#define GATE_PERIOD 2000000
-
-#define GATE_ACTION_P 500000
-#define GATE_ACTION_W 10000
-
-#define black rgb16(0, 0, 0)
-
-void endFun(KEY_EVT *);
-void gateEvent(KEY_EVT *);
-void showEvent(KEY_EVT *);
-
-void closeEvent(void *);
-
-void drawInterface(void);
-
-TASK show_val_body(int);
-TASK gate_action_body(int);
-
-BYTE sys = 0;
-PID show_val_pid, gate_action_pid;
-
-int main(int argc, char **argv)
-{
- KEY_EVT k;
- int modenum;
- SOFT_TASK_MODEL show_val_mod;
- HARD_TASK_MODEL gate_action_model;
-
- sys_atrunlevel(closeEvent, NULL, RUNLEVEL_BEFORE_EXIT);
-
- k.flag = CNTL_BIT;
- k.scan = KEY_X;
- k.ascii = 'x';
- keyb_hook(k, endFun);
-
- k.flag = CNTR_BIT;
- keyb_hook(k, endFun);
-
- k.flag = 0;
- k.scan = KEY_G;
- k.ascii = 'g';
- keyb_hook(k, gateEvent);
-
- k.scan = KEY_S;
- k.ascii = 's';
- keyb_hook(k, showEvent);
-
- if(pci_init()==-1){
- sys = 10;
- sys_end();
- }
-
- if(!reMap()){
- sys = 11;
- sys_end();
- }
-
- soft_task_default_model(show_val_mod);
- soft_task_def_aperiodic(show_val_mod);
- soft_task_def_level(show_val_mod, 1);
- soft_task_def_met(show_val_mod, SHOW_MET);
- soft_task_def_wcet(show_val_mod, SHOW_WCET);
- soft_task_def_period(show_val_mod, SHOW_PERIOD);
- if( (show_val_pid = task_create("Show task", show_val_body, &show_val_mod, NULL))
- == NIL ){
- sys = 20;
- sys_end();
- }
-
- hard_task_default_model(gate_action_model);
- hard_task_def_mit(gate_action_model, GATE_ACTION_P);
- hard_task_def_wcet(gate_action_model, GATE_ACTION_W);
- if( (gate_action_pid = task_create("Gate Action", gate_action_body, &gate_action_model, NULL))
- == NIL ){
- sys = 22;
- sys_end();
- }
-
- if(grx_init()==-1){
- sys = 30;
- sys_end();
- }
-
- if( (modenum = grx_getmode(800, 600, 16)) == -1){
- sys = 31;
- sys_end();
- }
-
- if(grx_setmode(modenum) == -1){
- sys = 32;
- sys_end();
- }
-
- drawInterface();
-
- DIO_init();
- DIO_setup(0xFF);
- DIO_write(0x00);
-
- //All PFI configured as input
- PFIprogramming(0x0000);
-
- //Fout provide 1MHz: timebase = 20MHz; divided by 2; on FOUT pin also divided by 10
- setIntClock(0, 1, 10);
-
- //Reset both counters
- TIM_reset(2);
-
- //C0 measures period on PFI3 with gate from PFI 4 driven by DIO7
- TIM_bufferedTimeMeasurement(C0, 0x04, 0x45, 0, 0);
-
- //C1 measures semiperiod on PFI 6 with gate from PFI 5 driven by FIO6
- TIM_bufferedTimeMeasurement(C1, 0x87, 0x46, 1, 0);
-
- //arm both counters
- TIM_arm(2);
-
- return 0;
-}
-
-void endFun(KEY_EVT *k)
-{
- sys_end();
-}
-
-void showEvent(KEY_EVT *k)
-{
- task_activate(show_val_pid);
-}
-
-void gateEvent(KEY_EVT *k)
-{
- task_activate(gate_action_pid);
-}
-
-void drawInterface(void)
-{
- grx_rect(1, 1, 799, 129, rgb16(105, 0, 0));
- grx_rect(2, 2, 798, 128, rgb16(155, 0, 0));
- grx_rect(3, 3, 797, 127, rgb16(205, 0, 0));
- grx_rect(4, 4, 796, 126, rgb16(255, 0, 0));
-
- grx_text("Test program for Buffered Period and Semiperiod measure through PCI6025E timers",
- 7, 10, rgb16(50, 255, 50), black);
-
- grx_text("This program counting rise edges on counters source (PFI3 & PFI6) between two rising",
- 7, 25, rgb16(0, 255, 255), black);
- grx_text("edges on gate (PFI 42) and beetwen each gate edge (PFI44).FOUT is enabled and",
- 7, 33, rgb16(0, 255, 255), black);
- grx_text("provides a frequency of 1 MHz", 7, 41, rgb16(0, 255, 255), black);
- grx_text("Instruction:",7, 53, rgb16(255, 0, 0), black);
- grx_text("Use 's' to see counters value",
- 7, 61, rgb16(0, 255, 255), black);
- grx_text("Use 'g' to enbale automatic tasks which generate square wave with freq of 0.5Hz",
- 7, 68, rgb16(0, 255, 255), black);
-
- grx_text("And duty cycle of 75%. Counter 0 must be loaded with about 2E6 ticks and counter 1",
- 7, 75, rgb16(0, 255, 255), black);
- grx_text("must be loaded alternativly with about 1.5E6 and 0.5E6 ticks",
- 7, 83, rgb16(0, 255, 255), black);
-
- grx_text("Please connect DIO7 (pin 32) to PFI4 (pin 42) and DIO6 (pin 30) to PFI5 (pin 44)",
- 7, 95, rgb16(0, 255, 0), black);
- grx_text("CTRL-X for Exit", 7, 110, rgb16(200, 200, 0), black);
-
- grx_rect(1, 147, 355, 183, rgb16(0, 105, 0));
- grx_rect(2, 148, 354, 182, rgb16(0, 155, 0));
- grx_rect(3, 149, 353, 181, rgb16(0, 205, 0));
- grx_rect(4, 150, 352, 180, rgb16(0, 255, 0));
- grx_text("Period", 7, 155, rgb16(255, 255, 0), black);
-
- grx_rect(455, 147, 799, 183, rgb16(0, 105, 0));
- grx_rect(456, 148, 798, 182, rgb16(0, 155, 0));
- grx_rect(457, 149, 797, 181, rgb16(0, 205, 0));
- grx_rect(458, 150, 796, 180, rgb16(0, 255, 0));
- grx_text("Semiperiod", 461, 155, rgb16(255, 0, 255), black);
-}
-
-TASK show_val_body(int dummy)
-{
- DWORD val;
- char buf[40];
-
- while(1){
- val = TIM_readHWSaveReg(C0);
- sprintf(buf,"C0 %07ld", val);
- grx_text(buf, 7, 165, rgb16(255, 0, 0), rgb16(0, 0, 0));
- val = TIM_readHWSaveReg(C1);
- sprintf(buf,"C1 %07ld", val);
- grx_text(buf, 461, 165, rgb16(0, 255, 0), rgb16(0, 0, 0));
-
- task_endcycle();
- }
-}
-
-TASK gate_action_body(int dummy)
-{
- int i;
- i = 0;
-
- while(1){
- if( (i%4)==0 ) DIO_write(0xC0);
- if( (i%4)==3 ) DIO_write(0x00);
-
- i++;
-
- task_activate(show_val_pid);
-
- task_endcycle();
- }
-}
-
-void closeEvent(void *arg)
-{
- grx_close();
- TIM_disarm(2);
- switch(sys){
- case 0: cprintf("Ok\n"); break;
- case 10: cprintf("No PCI\n"); break;
- case 11: cprintf("No National Board\n"); break;
- case 20: cprintf("task <show val> down\n"); break;
- case 22: cprintf("task <gate action> down\n"); break;
- case 30: cprintf("Cannot initialize grx\n"); break;
- case 31: cprintf("Resolution 800x600x16 not supported\n"); break;
- case 32: cprintf("Cannot sets up graphic envirorment\n"); break;
- default: cprintf("????????????\n"); break;
- }
-}
Index: pj/pci6025e/wave.c
===================================================================
--- pj/pci6025e/wave.c (revision 1344)
+++ pj/pci6025e/wave.c (nonexistent)
@@ -1,328 +0,0 @@
-/*****************************************************************************
-* Filename: wave.c *
-* Author: Marco Ziglioli (Doctor Stein) *
-* Date: 12/06/2001 *
-* Description: Little test program for Analog Output section of PCI6025E *
-----------------------------------------------------------------------------
-* Notes: Connect an oscilloscope to DACs output pins (20 & 21) and *
-* watch the waveforms. *
-* and decrise voltage *
-*****************************************************************************/
-
-/* This file is part of the S.Ha.R.K. Project - http://shark.sssup.it
- *
- * Copyright (C) 2001 Marco Ziglioli
- *
- * 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 <drivers/glib.h>
-#include <drivers/keyb.h>
-#include <modules/sem.h>
-
-#include <drivers/pci6025e/dac.h>
-
-#define MAX_VAL 500
-
-#define WAVE_PERIOD 1000
-#define WAVE_WCET 200
-#define GRAPH_PERIOD 1000
-#define GRAPH_WCET 550
-
-#define TASK_GROUP 1
-
-#define DAC0_CONV 0.1
-#define DAC1_CONV 0.05
-
-#define INC 40
-
-void createWaves(void);
-void drawInterface(void);
-
-void endfun(KEY_EVT *);
-void close_event(void *);
-
-TASK wave_body(int);
-TASK video_body(int);
-
-WORD wave0[MAX_VAL], wave1[MAX_VAL];
-int black = rgb16(0,0,0),
- white = rgb16(255, 255, 255);
-
-BYTE sys = 0;
-
-int main(int argc, char **argv)
-{
- KEY_EVT k;
- HARD_TASK_MODEL wave0, wave1;
- HARD_TASK_MODEL video;
- PID wave0_pid, wave1_pid, video_pid;
- int modenum;
-
- k.flag = CNTR_BIT;
- k.scan = KEY_X;
- k.ascii = 'x';
- keyb_hook(k, endfun);
-
- k.flag = CNTL_BIT;
- keyb_hook(k, endfun);
-
- sys_atrunlevel(close_event, NULL, RUNLEVEL_BEFORE_EXIT);
-
- hard_task_default_model(wave0);
- hard_task_def_wcet(wave0, WAVE_WCET);
- hard_task_def_mit(wave0, WAVE_PERIOD);
- hard_task_def_arg(wave0, 0);
- hard_task_def_group(wave0, TASK_GROUP);
- if( (wave0_pid = task_create("Wave 0", wave_body, &wave0, NULL)) == NIL ){
- sys = 10;
- sys_end();
- }
-
- hard_task_default_model(wave1);
- hard_task_def_wcet(wave1, WAVE_WCET);
- hard_task_def_mit(wave1, WAVE_PERIOD);
- hard_task_def_arg(wave1, (void *)1);
- hard_task_def_group(wave1, TASK_GROUP);
- if( (wave1_pid = task_create("Wave 1", wave_body, &wave1, NULL)) == NIL ){
- sys = 11;
- sys_end();
- }
-
- hard_task_default_model(video);
- hard_task_def_wcet(video, GRAPH_WCET);
- hard_task_def_mit(video, GRAPH_PERIOD);
- hard_task_def_group(video, TASK_GROUP);
- if( (video_pid = task_create("Video task", video_body, &video, NULL))
- == NIL ){
- sys = 12;
- sys_end();
- }
-
- if(pci_init() == -1){
- sys = 20;
- sys_end();
- }
-
- if(!reMap()){
- sys = 21;
- sys_end();
- }
-
- if(grx_init() == -1){
- sys = 30;
- sys_end();
- }
-
- if( (modenum = grx_getmode(800, 600, 16)) == -1 ){
- sys = 31;
- sys_end();
- }
-
- grx_setmode(modenum);
-
- createWaves();
- drawInterface();
- //Analog output section set up
- DAC_Init();
-
- /*
- *AI_TIMEBASE div by 2; OUT_TIMEBASE div by 2; single DAC mode
- *TMRDACWR = 3 OUT_TIMEBASE period; FIFO flags polarity active low
- *TMRDACWR disabled; DMA PIO control = FIFO DATA interface mode
- *UPDATE signal timebase = AO_UPDATE pulse width
- *UPDATE pulsewidth = 3-3.5 OUT_TIMEBASE period
- *UPDATE signal polarity = HIGH Z
- */
- DAC_boardInit(0x02, 0x4000);
-
- /*
- *LDAC0 source = UPDATE
- *DAC0 update immediately
- *LDAC1 source = UPDATE
- *DAC1 update immediately
- */
- DAC_LDACSourceUpdate(0x00);
- //End of Analog output section setup
-
-
- group_activate(TASK_GROUP);
-
- return 0;
-}
-
-void endfun(KEY_EVT *k)
-{
- sys_end();
-}
-
-void close_event(void *arg)
-{
- grx_close();
- switch(sys){
- case 0: cprintf("Regular End!\n"); break;
- case 10: cprintf("Cannot create <wave 0> task!\n"); break;
- case 11: cprintf("Cannot create <wave 1> task!\n"); break;
- case 12: cprintf("Cannot create <video> task!\n"); break;
- case 20: cprintf("No PCI bus found!\n"); break;
- case 21: cprintf("No NATIONAL PCI E-Series board found on PCI bus!\n");
- break;
- case 30: cprintf("Cannot start graphic envirorment!\n"); break;
- case 31: cprintf("800x600x16 video mode not supported!\n");
- default: cprintf("Unknown exit event!\n"); break;
- }
-}
-
-/*
-* Wave's samples generation
-*/
-void createWaves(void)
-{
- int i;
- WORD value0, value1;
- BYTE direction;
-
- /* Wave0
- * * * * * * * *
-
- * ** * * ** *
- * * ** * * * * * *
- --------------------------...
-
- Wave 1
- * *
- * * * *
- * * * *
- * * * *
- ---------------------*--...
- * * *
- * * *
- * *
- * */
-
- value0 = 0;
- value1 = 0;
- direction = 0;
- for(i=0; i<MAX_VAL; i++){
- wave0[i] = (value0 & 0x0FFF);
- wave1[i] = (value1 & 0x0FFF);
-
- value0 = (value0 + INC) % 2000;
- if(!direction) value1 += INC;
- else value1 -= INC;
-
- if(value1 >= 2000) direction = 1;
- if(value1 <= -2000) direction = 0;
- }
-}
-
-void drawInterface(void)
-{
- int i;
-
- grx_rect(1, 1, 799, 69, rgb16(105, 0, 105));
- grx_rect(2, 2, 798, 68, rgb16(155, 0, 155));
- grx_rect(3, 3, 797, 67, rgb16(205, 0, 205));
- grx_rect(4, 4, 796, 66, rgb16(255, 0, 255));
-
- grx_text("Test program for Analog output section of PCI6025E",
- 7, 10, rgb16(50, 255, 50), black);
- grx_text("DAC0 and DAC1 should generate saw-toothed wave and triangular wave",
- 7, 33, rgb16(0, 255, 255), black);
- grx_text("Use an oscilloscope to test this software",
- 7, 40, rgb16(0, 255, 255), black);
-
- grx_text("CTRL-X for Exit", 7, 55, rgb16(200, 200, 0), black);
-
- grx_text("DAC 0", 100, 92, rgb16(200, 200, 0), black);
- grx_rect(1, 100, 799, 325, rgb16(0, 105, 0));
- grx_rect(2, 101, 798, 324, rgb16(0, 155, 0));
- grx_rect(3, 102, 797, 323, rgb16(0, 205, 0));
- grx_rect(4, 103, 796, 322, rgb16(0, 255, 0));
- grx_line(19, 115, 19, 320, white);
- grx_line(14, 315, 530, 315, white);
-
- grx_text("DAC 1", 100, 362, rgb16(200, 200, 0), black);
- grx_rect(1, 370, 799, 595, rgb16(105, 0, 0));
- grx_rect(2, 371, 798, 594, rgb16(155, 0, 0));
- grx_rect(3, 372, 797, 593, rgb16(205, 0, 0));
- grx_rect(4, 373, 796, 592, rgb16(255, 0, 0));
- grx_line(19, 385, 19, 585, white);
- grx_line(14, 485, 530, 485, white);
-
- for(i=22; i<530; i+=2){
- //DAC0
- grx_plot(i, 115, white);
- grx_plot(i, 215, white);
- //DAC1
- grx_plot(i, 385, white);
- grx_plot(i, 435, white);
- grx_plot(i, 535, white);
- grx_plot(i, 585, white);
- }
-
- grx_text("5 V", 540, 211, rgb16(0, 255, 0), black);
- grx_text("10 V", 540, 111, rgb16(0, 255, 0), black);
- grx_text("+5 V", 540, 431, rgb16(0, 255, 0), black);
- grx_text("+10 V", 540, 381, rgb16(0, 255, 0), black);
- grx_text("-5 V", 540, 531, rgb16(255, 0, 0), black);
- grx_text("-10 V", 540, 581, rgb16(255, 0 , 0), black);
-}
-
-/*
-* Sends out waves' samples
-*/
-TASK wave_body(int wv)
-{
- int i = 0;
- while(1){
- if(wv)
- DAC_output(DAC1, wave1[i]);
- else
- DAC_output(DAC0, wave0[i]);
-
- i = (i + 1) % 500;
- task_endcycle();
- }
-}
-
-/*
-* Shows wave on screen
-*/
-TASK video_body(int dummy)
-{
- int i = 0;
- int n_tmp, o_tmp;
- //char buf[10];
-
- while(1){
- o_tmp = n_tmp;
- if( (wave1[i] & 0x0800) != 0 ) n_tmp = wave1[i]-0x0FFF;
- else n_tmp = wave1[i];
-
- if(i>0){
- grx_line(19+i, 314-wave0[i-1]*DAC0_CONV,
- 20+i, 314-wave0[i]*DAC0_CONV, rgb16(255, 255, 0));
- grx_line(19+i, 485-o_tmp*DAC1_CONV,
- 20+i, 485-n_tmp*DAC1_CONV, rgb16(0, 255, 255));
- }
-
- i = (i + 1) % 500;
- task_endcycle();
- }
-}
Index: pj/pci6025e/initfile.c
===================================================================
--- pj/pci6025e/initfile.c (revision 1344)
+++ pj/pci6025e/initfile.c (nonexistent)
@@ -1,63 +0,0 @@
-/*
-* Filename: Initfile.c
-* Author: Marco Ziglioli (Doctor Stein)
-* Date: (I don't remeber... I'm sorry)
-* Description: this file is the same for every examples in this section
-*/
-
-/* This file is part of the S.Ha.R.K. Project - http://shark.sssup.it
- *
- * Copyright (C) 2001 Marco Ziglioli
- *
- * 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 <modules/edf.h>
-#include <modules/cbs.h>
-#include <modules/rr.h>
-#include <modules/hartport.h>
-#include <modules/dummy.h>
-#include <modules/sem.h>
-
-#include <drivers/keyb.h>
-
-#define TICK 1000
-#define RRTICK 5000
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- EDF_register_level(EDF_ENABLE_ALL);
- CBS_register_level(CBS_ENABLE_ALL, 0);
- RR_register_level(RRTICK, RR_MAIN_YES, mb);
- dummy_register_level();
-
- return TICK;
-}
-
-TASK __init__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- HARTPORT_init();
- KEYB_init(NULL);
-
- __call_main__(mb);
-
- return (void *)0;
-}
Index: pj/pci6025e/test_mes.c
===================================================================
--- pj/pci6025e/test_mes.c (revision 1344)
+++ pj/pci6025e/test_mes.c (nonexistent)
@@ -1,290 +0,0 @@
-/*****************************************************************************
-* Filename: test_mes.c *
-* Author: Marco Ziglioli (Doctor Stein) *
-* Date: 25/06/2001 *
-* Description: Test file for single period and pulsewidth measurement feature*
-* of PCI6025E timers/counters *
-----------------------------------------------------------------------------
-* Notes: board is configured to provide a frequency of 1 MHZ through its FOUT*
-* pin (50). PFI3 (41) and PFI6 (45) are configured like source pins *
-* counter 0 and counter 1. PFI4 (42) and PFI 5(44) are the gates for *
-* the two counters. Please connect DIO7(32) to PFI4 and DIO6(30) to *
-* PFI 5. *
-* With 'g' key a task is started which generate a square wave on DIO7 *
-* with a period of 2 secs. With 'h' key the same square wave is *
-* generated on DIO6. *
-* When measurement is performed data are stored into Hardware Save *
-* Registers: use key 's' to show this values *
-*****************************************************************************/
-
-
-/* This file is part of the S.Ha.R.K. Project - http://shark.sssup.it
- *
- * Copyright (C) 2001 Marco Ziglioli
- *
- * 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 <drivers/keyb.h>
-#include <drivers/glib.h>
-
-#include <drivers/pci6025e/timer.h>
-#include <drivers/pci6025e/dio_ppi.h>
-
-#define TASK_MET 20000
-#define TASK_WCET 50000
-#define TASK_PERIOD 100000
-
-#define PERIOD 1000000
-
-void endFun(KEY_EVT *);
-void gateEvent(KEY_EVT *);
-
-void drawInterface(void);
-void closeEvent(void *);
-
-TASK show_body(int);
-TASK gate_body(int);
-
-BYTE sys = 0;
-PID c0_gate_pid, c1_gate_pid, show_pid;
-int black = rgb16(0, 0, 0);
-
-int main(int argc, char **argv)
-{
- KEY_EVT k;
- int modenum;
- SOFT_TASK_MODEL show_model;
- HARD_TASK_MODEL gating;
-
- sys_atrunlevel(closeEvent, NULL, RUNLEVEL_BEFORE_EXIT);
-
- k.flag = CNTL_BIT;
- k.scan = KEY_X;
- k.ascii = 'x';
- keyb_hook(k, endFun);
-
- k.flag = CNTR_BIT;
- keyb_hook(k, endFun);
-
- k.flag = 0;
- k.scan = KEY_G;
- k.ascii = 'g';
- keyb_hook(k, gateEvent);
-
- k.scan = KEY_H;
- k.ascii = 'h';
- keyb_hook(k, gateEvent);
-
- k.scan = KEY_S;
- k.ascii = 's';
- keyb_hook(k, gateEvent);
-
- if(pci_init()==-1){
- sys = 10;
- sys_end();
- }
-
- if(!reMap()){
- sys = 11;
- sys_end();
- }
-
- soft_task_default_model(show_model);
- soft_task_def_level(show_model, 1);
- soft_task_def_met(show_model, TASK_MET);
- soft_task_def_wcet(show_model, TASK_WCET);
- soft_task_def_aperiodic(show_model);
- soft_task_def_period(show_model, TASK_PERIOD);
- if( (show_pid = task_create("Show task", show_body, &show_model, NULL))
- == NIL ){
- sys = 20;
- sys_end();
- }
-
- hard_task_default_model(gating);
- hard_task_def_mit(gating, PERIOD);
- hard_task_def_wcet(gating, 20000);
- hard_task_def_arg(gating, C0);
- if( (c0_gate_pid = task_create("C0 Gate task", gate_body, &gating, NULL)) == NIL ){
- sys = 21;
- sys_end();
- }
-
- hard_task_def_arg(gating, (void *)C1);
- if( (c1_gate_pid = task_create("C1 Gate task", gate_body, &gating, NULL)) == NIL ){
- sys = 22;
- sys_end();
- }
-
- if(grx_init()==-1){
- sys = 30;
- sys_end();
- }
-
- if( (modenum = grx_getmode(800, 600, 16)) == 0 ){
- sys = 31;
- sys_end();
- }
-
- grx_setmode(modenum);
- drawInterface();
- //Enable DIO to manage gates
- DIO_init();
- DIO_setup(0xFF);
- DIO_write(0x00);
-
- //All PFI configured as input
- PFIprogramming(0x0000);
- //Fout provide 1MHz: timebase = 20MHz; divided by 2; on FOUT pin also divided by 10
- setIntClock(0, 1, 10);
-
- //Reset both counters
- TIM_reset(2);
-
- //Source PFI3(41); Gate PFI 4(42); Measure period
- TIM_timeMeasurement(C0, 0x04, 0x45, 0, 0x00, 0);
-
- //Source PFI6(45); Gate PFI 5(44); Measure pulsewidth
- TIM_timeMeasurement(C1, 0x87, 0x46, 1, 0x00, 0);
-
- //Arm both counter
- TIM_arm(2);
-
- return 0;
-}
-
-TASK show_body(int dummy)
-{
- DWORD val;
- char buf[20];
-
- while(1){
- val = TIM_readHWSaveReg(C0);
- sprintf(buf, "%ld", val);
- grx_text(buf, 600, 471, rgb16(0, 255, 0), black);
- val = TIM_readHWSaveReg(C1);
- sprintf(buf, "%ld", val);
- grx_text(buf, 200, 471, rgb16(255, 0, 0), black);
-
- task_endcycle();
- }
-}
-
-TASK gate_body(int counter)
-{
- BYTE out;
-
- if(counter == C0) out = 0x80;
- else out = 0x40;
-
- while(1){
- DIO_write(out);
- if(counter == C0){
- if(out) out = 0x00;
- else out = 0x80;
- } else {
- if(out) out = 0x40;
- else out = 0x00;
- }
-
- task_endcycle();
- }
-}
-
-void drawInterface(void)
-{
- grx_rect(1, 1, 799, 120, rgb16(105, 0, 0));
- grx_rect(2, 2, 798, 119, rgb16(155, 0, 0));
- grx_rect(3, 3, 797, 118, rgb16(205, 0, 0));
- grx_rect(4, 4, 796, 117, rgb16(255, 0, 0));
-
- grx_text("Test program for single period and pulsewidth measurement features",
- 7, 10, rgb16(200, 200, 0), black);
-
- grx_text("This program measures single period and pulsewidth of a square wave",
- 7, 20, rgb16(0, 255, 0), black);
- grx_text("with frequency of 0.5 Hz", 7, 28, rgb16(0, 255, 0), black);
- grx_text("Please connect PFI3 & PFI6 (41 & 45) to FOUT pin (50) or to 1Mhz frequency source",
- 7, 40, rgb16(255, 0, 0), black);
- grx_text("Connect also DIO7 (32) to PFI4 (42) and DIO6 to PFI5 (44)",
- 7, 48, rgb16(255, 0, 0), black);
- grx_text("Commands:", 7, 60, rgb16(0, 120, 0), black);
- grx_text("Use 'g' to start wave generation on DIO7",
- 7, 70, rgb16(0, 255, 255), black);
- grx_text("Use 'h' to start wave generation on DIO6",
- 7, 78, rgb16(0, 255, 255), black);
- grx_text("Use 's' to show Hardware Save Registers content",
- 7, 86, rgb16(0, 255, 255), black);
- grx_text("CTRL-X to exit", 7, 105, rgb16(255, 255, 0), black);
-
- grx_rect(197, 127, 603, 423, rgb16(0, 255, 0));
- grx_rect(198, 128, 602, 422, rgb16(0, 205, 0));
- grx_rect(199, 129, 601, 421, rgb16(0, 155, 0));
- grx_rect(200, 130, 600, 420, rgb16(0, 105, 0));
- grx_line(215, 405, 215, 150, rgb16(255, 255, 255));
- grx_line(210, 400, 580, 400, rgb16(255, 255, 255));
- grx_line(220, 395, 220, 170, rgb16(0, 0, 255));
- grx_line(220, 170, 390, 170, rgb16(0, 0, 255));
- grx_line(390, 170, 390, 395, rgb16(0, 0, 255));
- grx_line(390, 395, 560, 395, rgb16(0, 0, 255));
- grx_line(220, 150, 560, 150, rgb16(0, 255, 0));
- grx_line(220, 155, 390, 155, rgb16(255, 0, 0));
-
- grx_rect(1, 450, 390, 503, rgb16(105, 0, 0));
- grx_rect(2, 451, 389, 502, rgb16(155, 0, 0));
- grx_rect(3, 452, 388, 501, rgb16(205, 0, 0));
- grx_rect(4, 453, 387, 500, rgb16(255, 0, 0));
- grx_text("Pulsewidth: [us]", 7, 471, rgb16(255, 0, 0), black);
-
- grx_rect(410, 450, 799, 503, rgb16(105, 0, 0));
- grx_rect(411, 451, 798, 502, rgb16(155, 0, 0));
- grx_rect(412, 452, 797, 501, rgb16(205, 0, 0));
- grx_rect(413, 453, 796, 500, rgb16(255, 0, 0));
- grx_text("Period: [us]", 416, 471, rgb16(0, 255, 0), black);
-}
-
-void endFun(KEY_EVT *k)
-{
- sys_end();
-}
-
-void gateEvent(KEY_EVT *k)
-{
- if(k->scan == KEY_G) task_activate(c0_gate_pid);
- if(k->scan == KEY_H) task_activate(c1_gate_pid);
- if(k->scan == KEY_S) task_activate(show_pid);
-}
-
-void closeEvent(void *arg)
-{
- TIM_disarm(2);
- grx_close();
-
- switch(sys){
- case 0: cprintf("OK\n"); break;
- case 10: cprintf("No PCI bus found\n"); break;
- case 11: cprintf("No NATIONAL board found\n"); break;
- case 20: cprintf("task <show value> down!!\n"); break;
- case 21: cprintf("task <C0 gate manage> down!!!\n"); break;
- case 22: cprintf("task <C1 gate manage> down!!!\n"); break;
- case 30: cprintf("Cannot init graphic envirorment\n"); break;
- case 31: cprintf("graphic mode 800x600x16 not supported\n"); break;
- default: cprintf("???????????????\n"); break;
- }
-}
Index: pj/pci6025e/test_ec.c
===================================================================
--- pj/pci6025e/test_ec.c (revision 1344)
+++ pj/pci6025e/test_ec.c (nonexistent)
@@ -1,405 +0,0 @@
-/*****************************************************************************
-* Filename: test_ec.c *
-* Author: Marco Ziglioli (Doctor Stein) *
-* Date: 20/06/2001 *
-* Description: Test program for gated event counting using PCI6025E board *
-----------------------------------------------------------------------------
-* Notes: FOUT are enabled to provide a frequency of 6250 Hz. You could *
-* connect PFI3 (pin 41) and PFI6 (pin 45) to this source for counting *
-* edges. Gated counting are enabled and PFI4 (pin 42) is gate pin for *
-* counter 0 and PFI5 (pin 44) is gate pin for counter 0. DIO 7 and 6 *
-* are als configured to switch between 0 and 5 V. Connect DIO 7 to *
-* gate 0 and DIO 6 to gate 1. Use 'g' (counter 0) and 'h' (counter 1) *
-* to change DIO lines value. On left area of the screen you should *
-* see counter while counting and on the right area you should lock *
-* counter values by pressing 's' key. *
-* Notice that line parameters are enabled and accept inital value *
-* for the two counters. If they aren't specified or they are wrong *
-* counters start from 0x00FFFFFF (counter 0 which counts down) and *
-* 0x00000000 (counter 1 which counts up). *
-* Last time addiction: TC Interrupts and Gate interrupts are enabled *
-* Bottom squares indicates when an interrupt is *
-* raised *
-*****************************************************************************/
-
-/* This file is part of the S.Ha.R.K. Project - http://shark.sssup.it
- *
- * Copyright (C) 2001 Marco Ziglioli
- *
- * 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 <drivers/keyb.h>
-#include <drivers/glib.h>
-
-#include <drivers/pci6025e/timer.h>
-#include <drivers/pci6025e/dio_ppi.h>
-
-#ifndef INT_NO
- #define INT_NO NIDevice_info[0].InterruptLevel
-#endif
-
-BYTE sys = 0;
-
-PID show_aper_pid;
-BYTE out = 0x00;
-
-int black = rgb16(0, 0, 0),
- white = rgb16(255, 255, 255);
-
-void endfun(KEY_EVT *);
-void close_event(void *);
-void show_evt(KEY_EVT *k);
-void gate_change(KEY_EVT *k);
-
-void drawInterface(void);
-
-void int_evt(int intno);
-
-TASK show_per(int);
-TASK show_aper(int);
-
-int main(int argc, char **argv)
-{
- KEY_EVT k;
- SOFT_TASK_MODEL show_per_mod, show_aper_mod;
- PID show_per_pid;
- int result, modenum;
- DWORD init_val_c0, init_val_c1;
-
- if(argc >= 3){
- if( (result = sscanf(argv[1], "%ld", &init_val_c0)) != 1)
- init_val_c0 = 0x00FFFFFF;
- if( (result = sscanf(argv[2], "%ld", &init_val_c1)) != 1)
- init_val_c1 = 0x00000000;
- }
- if(argc == 2){
- if( (result = sscanf(argv[1], "%ld", &init_val_c0)) != 1)
- init_val_c0 = 0x00FFFFFF;
- init_val_c1 = 0x00000000;
- }
- if(argc == 1){
- init_val_c0 = 0x00FFFFFF;
- init_val_c1 = 0x00000000;
- }
-
- sys_atrunlevel(close_event, NULL, RUNLEVEL_BEFORE_EXIT);
-
- k.flag = CNTL_BIT;
- k.scan = KEY_X;
- k.ascii = 'x';
- keyb_hook(k, endfun);
-
- k.flag = CNTR_BIT;
- keyb_hook(k, endfun);
-
- soft_task_default_model(show_aper_mod);
- soft_task_def_aperiodic(show_aper_mod);
- soft_task_def_level(show_aper_mod, 1);
- soft_task_def_period(show_aper_mod, 250000);
- soft_task_def_met(show_aper_mod, 30000);
- soft_task_def_wcet(show_aper_mod, 60000);
- if( (show_aper_pid = task_create("Show aperiodic task", show_aper, &show_aper_mod, NULL)) == NIL ){
- sys = 10;
- sys_end();
- }
-
- k.flag = 0;
- k.scan = KEY_S;
- k.ascii = 's';
- keyb_hook(k, show_evt);
-
- k.flag = 0;
- k.scan = KEY_G;
- k.ascii = 'g';
- keyb_hook(k, gate_change);
-
- k.scan = KEY_H;
- k.ascii = 'h';
- keyb_hook(k, gate_change);
-
- soft_task_default_model(show_per_mod);
- soft_task_def_level(show_per_mod, 1);
- soft_task_def_met(show_per_mod, 1000);
- soft_task_def_period(show_per_mod, 10000);
- if( (show_per_pid = task_create("Show periodic task", show_per, &show_per_mod, NULL)) == NIL){
- sys = 11;
- sys_end();
- }
-
- if(pci_init()==-1){
- sys = 20;
- sys_end();
- }
-
- if(!reMap()){
- sys = 21;
- sys_end();
- }
-
- if(grx_init()==-1){
- sys = 30;
- sys_end();
- }
-
- if( (modenum = grx_getmode(800, 600, 16)) == -1){
- sys = 31;
- sys_end();
- }
-
- grx_setmode(modenum);
-
- drawInterface();
-
- //Init DIO lines used to manage counters gates
- DIO_init();
- DIO_setup(0xFF);
- DIO_write(out);
-
- //All PFI are configured as input
- PFIprogramming(0x0000);
- //FOUT enable; Slow TIMEBASE, divided by two; divided by 16 on FOUT pin
- setIntClock(1, 1, 0);
-
- TIM_reset(2); //Reset both two counters
-
- //Source PFI3(41); Gate PFI 4(42); Down counting; counts rising edge;
- TIM_eventCounting(C0, 0x04, 0x45, 0x03, init_val_c0);
-
- //Source PFI6(45); Gate PFI 5(44); Up counting; counts rising edge;
- TIM_eventCounting(C1, 0x87, 0x46, 0x03, init_val_c1);
-
- //Set up interrupt group A and B enabling and programming to assert a request
- //both on line 2 and 3 respectively
- INT_setup(0x0A, 0x0B);
- INT_personalize(0x03); //Interrupt request polarity low; IRQ driven on line 0 and 1
-
- handler_set(INT_NO, int_evt, show_aper_pid);
-
- TIM_arm(2); //Arm both two counters
-
- task_activate(show_per_pid);
-
- return 0;
-}
-
-void drawInterface(void)
-{
- grx_rect(1, 1, 799, 99, rgb16(105, 0, 0));
- grx_rect(2, 2, 798, 98, rgb16(155, 0, 0));
- grx_rect(3, 3, 797, 97, rgb16(205, 0, 0));
- grx_rect(4, 4, 796, 96, rgb16(255, 0, 0));
-
- grx_text("Test program for Gated Event Counting capacity of PCI6025E timers",
- 7, 10, rgb16(50, 255, 50), black);
-
- grx_text("This program counting rise edges on counters source (PFI3 & PFI6) when releted gates",
- 7, 25, rgb16(0, 255, 255), black);
- grx_text("(PFI 42 & 44) are enabled. Frequency Out (FOUT) is enabled and provides a frequency of 6250 Hz",
- 7, 33, rgb16(0, 255, 255), black);
-
- grx_text("Instruction:",7, 43, rgb16(255, 0, 0), black);
- grx_text("Use 's' to lock counters value in right squares",
- 7, 51, rgb16(0, 255, 255), black);
- grx_text("Use 'g' to block or to release alternativly counter 0 (see top-left square)",
- 7, 58, rgb16(0, 255, 255), black);
-
- grx_text("Use 'h' to block or to release alternativly counter 1 (see bottom-left square)",
- 7, 65, rgb16(0, 255, 255), black);
-
- grx_text("Please connect DIO7 (pin 32) to PFI4 (pin 42) and DIO6 (pin 30) to PFI5 (pin 44)",
- 7, 78, rgb16(0, 255, 0), black);
- grx_text("CTRL-X for Exit", 7, 88, rgb16(200, 200, 0), black);
-
- grx_rect(1, 110, 355, 170, rgb16(0, 105, 0));
- grx_rect(2, 111, 354, 169, rgb16(0, 155, 0));
- grx_rect(3, 112, 353, 168, rgb16(0, 205, 0));
- grx_rect(4, 113, 352, 167, rgb16(0, 255, 0));
- grx_text("Counter 0 evolution", 7, 120, rgb16(255, 255, 0), black);
-
- grx_rect(455, 110, 799, 170, rgb16(0, 105, 0));
- grx_rect(456, 111, 798, 169, rgb16(0, 155, 0));
- grx_rect(457, 112, 797, 168, rgb16(0, 205, 0));
- grx_rect(458, 113, 796, 167, rgb16(0, 255, 0));
- grx_text("Counter 0 locked value", 461, 120, rgb16(255, 0, 255), black);
-
- grx_rect(360, 110, 450, 170, rgb16(0, 105, 0));
- grx_rect(361, 111, 449, 169, rgb16(0, 155, 0));
- grx_rect(362, 112, 448, 168, rgb16(0, 205, 0));
- grx_rect(363, 113, 447, 167, rgb16(0, 255, 0));
- grx_text("Gate0", 367, 120, rgb16(200, 255, 200), black);
- grx_text("0 V", 367, 145, rgb16(255, 0, 0), black);
-
- grx_rect(1, 190, 355, 260, rgb16(85, 85, 255));
- grx_rect(2, 191, 354, 259, rgb16(135, 135, 255));
- grx_rect(3, 192, 353, 258, rgb16(190, 190, 255));
- grx_rect(4, 193, 352, 257, rgb16(230, 239, 255));
- grx_text("Counter 1 evolution", 7, 200, white, black);
-
- grx_rect(455, 190, 799, 260, rgb16(85, 85, 255));
- grx_rect(456, 191, 798, 259, rgb16(135, 135, 255));
- grx_rect(457, 192, 797, 258, rgb16(190, 190, 255));
- grx_rect(458, 193, 796, 257, rgb16(230, 230, 255));
- grx_text("Counter 1 locked value", 461, 200, white, black);
-
- grx_rect(360, 190, 450, 260, rgb16(85, 85, 255));
- grx_rect(361, 191, 449, 259, rgb16(135, 135, 255));
- grx_rect(362, 192, 448, 258, rgb16(190, 190, 255));
- grx_rect(363, 193, 447, 257, rgb16(230, 230, 255));
- grx_text("Gate1", 367, 200, rgb16(255, 200, 255), black);
- grx_text("0 V", 367, 225, rgb16(255, 0, 0), black);
-
- grx_text("Counter 0 Interrupt events", 7, 340, rgb16(255, 200, 100), black);
- grx_text("Counter 1 Interrupt events", 461, 340, rgb16(255, 200, 100), black);
- grx_rect(1, 350, 355, 400, rgb16(105, 0, 0));
- grx_rect(2, 351, 354, 399, rgb16(155, 0, 0));
- grx_rect(3, 352, 353, 398, rgb16(205, 0, 0));
- grx_rect(4, 353, 352, 397, rgb16(255, 0, 0));
- grx_rect(455, 350, 799, 400, rgb16(105, 0, 0));
- grx_rect(456, 351, 798, 399, rgb16(155, 0, 0));
- grx_rect(457, 352, 797, 398, rgb16(205, 0, 0));
- grx_rect(458, 353, 796, 397, rgb16(255, 0, 0));
-}
-
-
-TASK show_per(int none)
-{
- DWORD val;
- char buf[30];
-
- while(1){
- val = TIM_readCounter(C0); //Read counter 0 value
- sprintf(buf, "HEX: %08lx DEC: %08ld", val ,val);
- grx_text(buf, 7, 145, rgb16(255, 0, 0), black);
-
- val = TIM_readCounter(C1); //Read counter 1 value
- sprintf(buf, "HEX: %08lx DEC: %08ld", val ,val);
- grx_text(buf, 7, 225, rgb16(255, 0, 0), black);
-
- task_endcycle();
- }
-}
-
-TASK show_aper(int dummy)
-{
- DWORD val;
- char buf[30];
-
- while(1){
- val = TIM_readCounter(C0);
- sprintf(buf, "HEX: %08lx DEC: %08ld", val, val);
- grx_text(buf, 461, 145, rgb16(80, 80, 255), black);
-
- val = TIM_readCounter(C1);
- sprintf(buf, "HEX: %08lx DEC: %08ld", val, val);
- grx_text(buf, 461, 225, rgb16(80, 80, 255), black);
-
- task_endcycle();
- }
-}
-
-void endfun(KEY_EVT *k)
-{
- sys_end();
-}
-
-void show_evt(KEY_EVT *k)
-{
- task_activate(show_aper_pid);
-}
-
-void gate_change(KEY_EVT *k)
-{
- if(k->ascii == 'g'){
- if( (out & 0x80) != 0){
- out &= 0x7F;
- grx_text("0 V", 367, 145, rgb16(255, 0, 0), black);
- } else {
- out \|= 0x80;
- grx_text("5 V", 367, 145, rgb16(0, 255, 0), black);
- }
- } else {
- if( (out & 0x40) != 0){
- out &= 0xBF;
- grx_text("0 V", 367, 225, rgb16(255, 0, 0), black);
- } else {
- out \|= 0x40;
- grx_text("5 V", 367, 225, rgb16(0, 255, 0), black);
- }
- }
-
- DIO_write(out);
-}
-
-void close_event(void *arg)
-{
- TIM_disarm(2); //Disable both two counters
- grx_close();
- handler_remove(INT_NO);
-
-
- switch(sys){
- case 0: cprintf("OK\n"); break;
- case 10: cprintf("Task <show aperiodic> down\n"); break;
- case 11: cprintf("Task <show periodic> down\n"); break;
- case 20: cprintf("No PCI bus\n"); break;
- case 21: cprintf("No National board on PCI bus\n"); break;
- case 30: cprintf("No graphic can be initialized\n"); break;
- case 31: cprintf("This graphic mode cannot be supported\n"); break;
- default: cprintf("???????????\n"); break;
- }
-}
-
-void int_evt(int intno)
-{
- WORD status;
-
- status = DAQ_STC_Windowed_Mode_Read(AI_STATUS_1);
- if( (status & 0x8000) != 0){
- if( (status & 0x0008) != 0){
- grx_text("INT Group A raised! G0 Rolls over", 7, 360, rgb16(0, 255, 0), black);
- set(interrupt_a_ack, 14);
- DAQ_STC_Windowed_Mode_Write(INTERRUPT_A_ACK, interrupt_a_ack);
- clr(interrupt_a_ack, 14);
- }
- if( (status & 0x0004) != 0){
- grx_text("INT Group A raised! G0 gate pressed", 7, 380, rgb16(0, 255, 0), black);
- set(interrupt_a_ack, 15);
- DAQ_STC_Windowed_Mode_Write(INTERRUPT_A_ACK, interrupt_a_ack);
- clr(interrupt_a_ack, 15);
- }
- return;
- }
-
- status = DAQ_STC_Windowed_Mode_Read(AO_STATUS_1);
- if( (status & 0x8000) != 0){
- if( (status & 0x0008) != 0){
- grx_text("INT Group B raised! G1 Rolls over", 461, 360, rgb16(0, 255, 0), black);
- set(interrupt_b_ack, 14);
- DAQ_STC_Windowed_Mode_Write(INTERRUPT_B_ACK, interrupt_b_ack);
- clr(interrupt_b_ack, 14);
- }
- if( (status & 0x0004) != 0){
- grx_text("INT Group B raised! G1 gate pressed", 461, 380, rgb16(0, 255, 0), black);
- set(interrupt_b_ack, 15);
- DAQ_STC_Windowed_Mode_Write(INTERRUPT_B_ACK, interrupt_b_ack);
- clr(interrupt_b_ack, 15);
- }
- return;
- }
-}
-/* End of file: Test_ec.c */
Index: pj/pci6025e/test_dac.c
===================================================================
--- pj/pci6025e/test_dac.c (revision 1344)
+++ pj/pci6025e/test_dac.c (nonexistent)
@@ -1,364 +0,0 @@
-/*****************************************************************************
-* Filename: test_dac.c *
-* Author: Marco Ziglioli (Doctor Stein) *
-* Date: 12/06/2001 *
-* Description: Little test program for Analog Output section of PCI6025E *
-----------------------------------------------------------------------------
-* Notes: Connect a multimeter to DAC1 output (pin 21) and watch *
-* tension value. Use '+' and '-' on numeric pad to increase *
-* and decrise voltage *
-* With this program it's possible to point out possible *
-* offset errors. To correct them no software are written but *
-* in National board package there's the program to calibrate *
-* the board. Otherwise you can see how much is the offset *
-* and you can compensate it through software value *
-*****************************************************************************/
-
-/* This file is part of the S.Ha.R.K. Project - http://shark.sssup.it
- *
- * Copyright (C) 2001 Marco Ziglioli
- *
- * 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 <drivers/glib.h>
-#include <drivers/keyb.h>
-#include <drivers/pci6025e/dac.h>
-
-#define TASK_VOLT_PERIOD 150E3
-#define TASK_VOLT_WCET 080E3
-#define TASK_DAC_PERIOD 050E3
-#define TASK_DAC_WCET 020E3
-
-#define CONV 10/2048
-
-#define TASK_GROUP 1
-
-WORD dac0_value = 0,
- dac1_value = 0;
-
-BYTE sys = 0;
-BYTE dac = 0;
-
-//some colors
-int black = rgb16(0, 0, 0),
- white = rgb16(255, 255, 255);
-
-void drawInterface(void);
-void endfun(KEY_EVT *);
-void inc(KEY_EVT *);
-void dec(KEY_EVT *);
-void change_dac(KEY_EVT *);
-void close_event(void *);
-TASK Voltage_body(int);
-TASK DAC_Check_body(int);
-
-int main(int argc, char **argv)
-{
- int modenum;
- KEY_EVT k;
- HARD_TASK_MODEL m, d;
- PID pid_m, pid_d;
-
- sys_atrunlevel(close_event, NULL, RUNLEVEL_BEFORE_EXIT);
-
- keyb_set_map(itaMap);
- k.flag = CNTR_BIT;
- k.scan = KEY_X;
- k.ascii = 'x';
- keyb_hook(k, endfun);
-
- k.flag = CNTL_BIT;
- keyb_hook(k, endfun);
-
- k.flag = 0;
- k.scan = 78;
- k.ascii = 43;
- keyb_hook(k, inc);
-
- k.flag = 0;
- k.scan = 74;
- k.ascii = 45;
- keyb_hook(k, dec);
-
- k.flag = 0;
- k.scan = KEY_V;
- k.ascii = 'v';
- keyb_hook(k, change_dac);
-
- hard_task_default_model(m);
- hard_task_def_wcet(m, TASK_VOLT_WCET);
- hard_task_def_mit(m, TASK_VOLT_PERIOD);
- hard_task_def_group(m, TASK_GROUP);
- pid_m = task_create("Voltage", Voltage_body, &m, NULL);
- if(pid_m == NIL){
- sys = 30;
- sys_end();
- }
-
- hard_task_default_model(d);
- hard_task_def_wcet(d, TASK_DAC_WCET);
- hard_task_def_mit(d, TASK_DAC_PERIOD);
- hard_task_def_group(d, TASK_GROUP);
- pid_d = task_create("DAC Check", DAC_Check_body, &d, NULL);
- if(pid_d == NIL){
- sys = 31;
- sys_end();
- }
-
- //Check if PCI bus is present
- if(pci_init()==-1){
- sys = 10;
- sys_end();
- }
- //Check if a NI board is on PCI bus
- if(!reMap()){
- sys = 11;
- sys_end();
- }
-
- if(grx_init()==-1){
- sys = 20;
- sys_end();
- }
-
- modenum = grx_getmode(800, 600, 16);
- if(modenum == -1){
- sys = 21;
- sys_end();
- }
- grx_setmode(modenum);
-
- drawInterface();
-
- //Analog output section set up
- DAC_Init();
-
- /*
- *AI_TIMEBASE div by 2; OUT_TIMEBASE div by 2; single DAC mode
- *TMRDACWR = 3 OUT_TIMEBASE period; FIFO flags polarity active low
- *TMRDACWR disabled; DMA PIO control = FIFO DATA interface mode
- *UPDATE signal timebase = AO_UPDATE pulse width
- *UPDATE pulsewidth = 3-3.5 OUT_TIMEBASE period
- *UPDATE signal polarity = HIGH Z
- */
- DAC_boardInit(0x02, 0x4000);
- /*
- *LDAC0 source = UPDATE
- *DAC0 update immediately
- *LDAC1 source = UPDATE
- *DAC1 update immediately
- */
- DAC_LDACSourceUpdate(0x00);
- //End of Analog output section setup
-
- group_activate(TASK_GROUP);
-
- return 0;
-}
-
-/*
-* Every time operator select a new value to send to a DAc this TASK makes
-* actions needed to perform the operation
-*/
-TASK Voltage_body(int dac_work)
-{
- WORD old0_value, old1_value;
- char buf[6];
- float volt;
-
- old0_value = dac0_value;
- old1_value = dac1_value;
- while(1){
- if(dac){
- if(dac1_value != old1_value){
- DAC_output(DAC1, dac1_value);
- old1_value = dac1_value;
- sprintf(buf, "%04d", dac1_value);
- grx_text(buf, 70, 120, rgb16(180, 0, 0), rgb16(255,255,140));
- sprintf(buf, "%04x", dac1_value);
- grx_text(buf, 300, 120, rgb16(180, 0, 0), rgb16(255,255,140));
- if( (dac1_value & 0x0800) == 0 )
- volt = (float)dac1_value * (float)CONV;
- else
- volt = (float)(dac1_value-0x0FFF) * (float)CONV;
- sprintf(buf, "%05.2f", volt);
- grx_text(buf, 70, 177, rgb16(180, 40, 180), black);
- }
- } else {
- if(dac0_value != old0_value){
- DAC_output(DAC0, dac0_value);
- old0_value = dac0_value;
- sprintf(buf, "%04d", dac0_value);
- grx_text(buf, 521, 120, rgb16(180, 0, 0), rgb16(255,255,140));
- sprintf(buf, "%04x", dac0_value);
- grx_text(buf, 754, 120, rgb16(180, 0, 0), rgb16(255,255,140));
- if( (dac0_value & 0x0800) == 0 )
- volt = (float)dac0_value * (float)CONV;
- else
- volt = (float)(dac0_value-0x0FFF) * (float)CONV;
- sprintf(buf, "%05.2f", volt);
- grx_text(buf, 521, 177, rgb16(180, 40, 180), black);
- }
- }
- task_endcycle();
- }
-}
-
-/*
-* This TASK show which is the DAC active
-*/
-TASK DAC_Check_body(int dummy)
-{
- BYTE old = dac;
- char buf[8];
-
- while(1){
- if(dac != old){
- old = dac;
- sprintf(buf, "DAC %d", dac);
- grx_text(buf, 385, 90, rgb16(255dac, 255(1-dac), 0), black);
- }
- task_endcycle();
- }
-}
-
-void drawInterface(void)
-{
- grx_rect(1, 1, 799, 69, rgb16(105, 0, 0));
- grx_rect(2, 2, 798, 68, rgb16(155, 0, 0));
- grx_rect(3, 3, 797, 67, rgb16(205, 0, 0));
- grx_rect(4, 4, 796, 66, rgb16(255, 0, 0));
-
- grx_text("Test program for Analog output section of PCI6025E",
- 7, 10, rgb16(50, 255, 50), black);
- grx_text("Use '+' and '-' on numeric pad to change tension",
- 7, 25, rgb16(0, 255, 255), black);
- grx_text("Connect a tester to DAC1 output (pin21) or to DAC0 output (pin20)",
- 7, 33, rgb16(0, 255, 255), black);
- grx_text("Use 'v' to alternate change active DAC",
- 7, 40, rgb16(0, 255, 255), black);
-
- grx_text("CTRL-X for Exit", 7, 55, rgb16(200, 200, 0), black);
-
- grx_rect(1, 80, 355, 150, rgb16(0, 105, 0));
- grx_rect(2, 81, 354, 149, rgb16(0, 155, 0));
- grx_rect(3, 82, 353, 148, rgb16(0, 205, 0));
- grx_rect(4, 83, 352, 147, rgb16(0, 255, 0));
-
- grx_rect(1, 160, 355, 199, rgb16(0, 105, 0));
- grx_rect(2, 161, 354, 198, rgb16(0, 155, 0));
- grx_rect(3, 162, 353, 197, rgb16(0, 205, 0));
- grx_rect(4, 163, 352, 196, rgb16(0, 255, 0));
-
- grx_rect(455, 80, 799, 150, rgb16(105, 105, 0));
- grx_rect(456, 81, 798, 149, rgb16(155, 155, 0));
- grx_rect(457, 82, 797, 148, rgb16(205, 205, 0));
- grx_rect(458, 83, 796, 147, rgb16(255, 255, 0));
-
- grx_rect(455, 160, 799, 199, rgb16(105, 105, 0));
- grx_rect(456, 161, 798, 198, rgb16(155, 155, 0));
- grx_rect(457, 162, 797, 197, rgb16(205, 205, 0));
- grx_rect(458, 163, 796, 196, rgb16(255, 255, 0));
-
- grx_rect(360, 80, 450, 105, rgb16(85, 85, 255));
- grx_rect(361, 81, 449, 104, rgb16(125, 125, 255));
- grx_rect(362, 82, 448, 103, rgb16(175, 175, 255));
- grx_rect(363, 83, 447, 102, rgb16(225, 225, 255));
-
- grx_rect(153, 93, 195, 103, rgb16(255, 0, 0));
- grx_text("DAC 1", 155, 95, rgb16(255, 170, 170), black);
-
- grx_rect(607, 93, 649, 103, rgb16(255, 0, 0));
- grx_text("DAC 0", 609, 95, rgb16(255, 255, 210), black);
-
- grx_text("Decimal", 7, 120, rgb16(120, 120, 255), black);
- grx_text("Hexadecimal", 200, 120, rgb16(120, 120, 255), black);
- grx_text("Tension", 7, 177, rgb16(120, 120, 255), black);
-
- grx_text("Decimal", 461, 120, rgb16(255, 120, 120), black);
- grx_text("Hexadecimal", 654, 120, rgb16(255, 120, 120), black);
- grx_text("Tension", 461, 177, rgb16(255, 120, 120), black);
-}
-
-void close_event(void *arg)
-{
- grx_close();
- switch(sys){
- case 0 : cprintf("Regular End\n"); break;
- case 1 : cprintf("End fun invoked\n"); break;
- case 10: cprintf("Pci bus not found\n"); break;
- case 11: cprintf("No National board found\n"); break;
- case 20: cprintf("Cannot initialize graphic envirorment\n"); break;
- case 21: cprintf("Cannot start envirorment in 800x600x16\n"); break;
- case 30: cprintf("Cannot create task <voltage>\n"); break;
- case 31: cprintf("Canot create task <DAC Check>\n"); break;
- case 40: cprintf("Break on clock end event\n"); break;
- default: cprintf("Unkwon exit event\n"); break;
- }
-}
-
-void endfun(KEY_EVT *k)
-{
- sys = 1;
- sys_end();
-}
-
-/*
-* Capture correct key event and increase output tension of active DAC
-*/
-void inc(KEY_EVT *k)
-{
- if(dac){
- if( (dac1_value & 0x0800) == 0 && dac1_value > 0x07FF )
- dac1_value = 0;
- else
- dac1_value++;
- } else {
- if( (dac0_value & 0x0800) == 0 && dac0_value > 0x07FF )
- dac0_value = 0;
- else
- dac0_value++;
- }
-}
-
-/*
-* Same as above but decrease tension
-*/
-void dec(KEY_EVT *k)
-{
- if(dac){
- if(dac1_value < 1)
- dac1_value = 0x0FFF;
- else
- dac1_value -= 1;
- } else {
- if(dac0_value < 1)
- dac0_value = 0x0FFF;
- else
- dac0_value -= 1;
- }
-}
-
-/*
-* Capture correct key event and change active DAC
-*/
-void change_dac(KEY_EVT *k)
-{
- if(dac) dac = 0;
- else dac = 1;
-}
-
Index: pj/pci6025e/test_ppi.c
===================================================================
--- pj/pci6025e/test_ppi.c (revision 1344)
+++ pj/pci6025e/test_ppi.c (nonexistent)
@@ -1,190 +0,0 @@
-/*****************************************************************************
-* Filename: Test_ppi.c *
-* Author: Marco Ziglioli (Doctor Stein) *
-* Date: 22/05/2001 *
-* Description: Test PPI82C55MSM on NI DAQ PCI6025E *
-----------------------------------------------------------------------------
-* Notes: Configures port A and port C in input and port B in output *
-* Test 1: *
-* Now connect port B to port A and watch on video value changes *
-* in counting order. After connect port B to port C and watch *
-* the same events on port C *
-* Test 2: *
-* Connect 8 LEDs on port B and port A and port C lines to Vcc or*
-* GND. Now run this test and watch 8 diode changing in counting *
-* mode and on screen port A and port C values displayed *
-*****************************************************************************/
-
-/* This file is part of the S.Ha.R.K. Project - http://shark.sssup.it
- *
- * Copyright (C) 2001 Marco Ziglioli
- *
- * 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 <drivers/keyb.h>
-#include <drivers/glib.h>
-#include <drivers/pci6025e/dio_ppi.h>
-
-void exit_fun(KEY_EVT *);
-TASK test_ppi(int);
-void close_event(void *);
-void draw_screen(void);
-
-BYTE system = 0;
-
-int main(int argc, char **argv)
-{
- HARD_TASK_MODEL m;
- KEY_EVT k;
- PID pid_m;
- int modenum;
-
- sys_atrunlevel(close_event, NULL, RUNLEVEL_BEFORE_EXIT);
-
- keyb_set_map(itaMap);
- k.flag = CNTL_BIT;
- k.scan = KEY_C;
- k.ascii = 'c';
- keyb_hook(k, exit_fun);
- k.flag = CNTR_BIT;
- k.scan = KEY_C;
- k.ascii = 'c';
- keyb_hook(k, exit_fun);
-
- hard_task_default_model(m);
- hard_task_def_wcet(m, 90000);
- hard_task_def_mit(m, 250000);
- pid_m = task_create("TEST PPI", test_ppi, &m, NULL);
- if(pid_m == NIL){
- system = 10;
- sys_end();
- }
-
- //Check if PCI bus is present
- if(pci_init() == -1){
- system = 20;
- sys_end();
- }
-
- //Look for a National board on PCI bus
- if(!reMap()){
- system = 21;
- sys_end();
- }
-
- //Start configuring DIO module
- PPI_init();
-
- grx_init();
- modenum = grx_getmode(640, 480, 16);
- if(modenum == -1){
- system = 30;
- sys_end();
- }
- grx_setmode(modenum);
-
- draw_screen();
-
- task_activate(pid_m);
-
- return 0;
-}
-
-void draw_screen(void)
-{
- grx_rect(5, 5, 610, 130, rgb16(255, 0, 0));
- grx_rect(4, 4, 611, 131, rgb16(0,255,255));
- grx_rect(3, 3, 612, 132, rgb16(255, 0, 0));
- grx_rect(15, 45, 195, 100, rgb16(255, 0, 0));
- grx_rect(215, 45, 395, 100, rgb16(0, 255, 0));
- grx_rect(415, 45, 595, 100, rgb16(200, 200, 255));
- grx_text("Test of PPI82C55MSM function (Hosted on PCI6025E)",
- 9, 7, rgb16(0, 255, 0), rgb16(0, 0, 0));
- grx_text("PORT A and PORT C are configured in input mode",
- 9, 20, rgb16(255, 70, 70), rgb16(0, 0, 0));
- grx_text("PORT B is configured in output mode",
- 9, 28, rgb16(255, 70, 70), rgb16(0, 0, 0));
- grx_text("PORT B (Output)", 35, 50, rgb16(200, 0, 0), rgb16(0, 0, 0));
- grx_text("PORT A (Input)", 235, 50, rgb16(30,255,30), rgb16(0, 0, 0));
- grx_text("PORT C (Input)", 435, 50, rgb16(200,200,255), rgb16(0, 0, 0));
- grx_text("CTRL + C to exit", 9, 115, rgb16(255,255,0), rgb16(0,0,0));
-}
-
-/*
-* At each activation this task sends out value on port B and reads values from
-* port A and C
-*/
-TASK test_ppi(int dummy)
-{
- BYTE val, pA, pC;
- int i;
- char buf[10];
-
- PPI_config(0x99); //Mode 0 for all; Port A, Port C input; Port B output
- val = 0;
- while(1){
- PPI_write(PPI_PORT_B, val); //sends out value
- pA = PPI_read(PPI_PORT_A); //reads from port A
- pC = PPI_read(PPI_PORT_C); //reads from port C
-
- for(i=7; i>=0; i--){
- if( (val>>i)%2 )
- grx_text("1", 25+10*(7-i), 75, rgb16(255,0,0), rgb16(0,0,0));
- else
- grx_text("0", 25+10*(7-i), 75, rgb16(255,0,0), rgb16(0,0,0));
- if( (pA>>i)%2 )
- grx_text("1", 225+10*(7-i), 75, rgb16(0,255,0), rgb16(0,0,0));
- else
- grx_text("0", 225+10*(7-i), 75, rgb16(0,255,0), rgb16(0,0,0));
- if( (pC>>i)%2 )
- grx_text("1", 425+10*(7-i), 75, rgb16(200,200,255), rgb16(0,0,0));
- else
- grx_text("0", 425+10*(7-i), 75, rgb16(200,200,255), rgb16(0,0,0));
- }
- sprintf(buf, "%03d", val);
- grx_text(buf, 140, 75, rgb16(255,0,0), rgb16(0,0,0));
- sprintf(buf, "%03d", pA);
- grx_text(buf, 340, 75, rgb16(0,255,0), rgb16(0,0,0));
- sprintf(buf, "%03d", pC);
- grx_text(buf, 540, 75, rgb16(200,200,255), rgb16(0,0,0));
- val++;
- task_endcycle();
- }
-}
-
-void close_event(void *arg)
-{
- grx_close();
- switch(system){
- case 0: kern_printf("Regular end\n"); break;
- case 10:kern_printf("Cannot create task 'TEST PPI'\n"); break;
- case 20:kern_printf("Pci bus don't find\n"); break;
- case 21:kern_printf("No National board on PC\n"); break;
- case 30:kern_printf("Cannot start graphic envirorment\n"); break;
- default: kern_printf("Unknown exit\n"); break;
- }
-}
-
-void exit_fun(KEY_EVT *k)
-{
- system = 0;
- sys_end();
-}
-
-/end of file: test_ppi.c/
Index: pj/pci6025e/test_bec.c
===================================================================
--- pj/pci6025e/test_bec.c (revision 1344)
+++ pj/pci6025e/test_bec.c (nonexistent)
@@ -1,336 +0,0 @@
-/*****************************************************************************
-* Filename: test_bec.c *
-* Author: Marco Ziglioli (Doctor Stein) *
-* Date: 20/06/2001 *
-* Description: Test program for buffered gated event counting using PCI6025E *
-* board *
-----------------------------------------------------------------------------
-* Notes: FOUT are enabled to provide a frequency of 6250 Hz. You could *
-* connect PFI3 (pin 41) and PFI6 (pin 45) to this source for counting *
-* edges. Gated counting are enabled and PFI4 (pin 42) is gate pin for *
-* counter 0 and PFI5 (pin 44) is gate pin for counter 0. DIO 7 and 6 *
-* are als configured to switch between 0 and 5 V. Connect DIO 7 to *
-* gate 0 and DIO 6 to gate 1. Use 'g' (counter 0) and 'h' (counter 1) *
-* to change DIO lines value. On left area of the screen you should *
-* see counter while counting and on the right area you should lock *
-* counter values by pressing 's' key. *
-* Notice that line parameters are enabled and accept inital value *
-* for the two counters. If they aren't specified or they are wrong *
-* counters start from 0x00FFFFFF (counter 0 which counts down) and *
-* 0x00000000 (counter 1 which counts up). *
-*****************************************************************************/
-
-/* This file is part of the S.Ha.R.K. Project - http://shark.sssup.it
- *
- * Copyright (C) 2001 Marco Ziglioli
- *
- * 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 <drivers/keyb.h>
-#include <drivers/glib.h>
-
-#include <drivers/pci6025e/timer.h>
-#include <drivers/pci6025e/dio_ppi.h>
-
-BYTE sys = 0;
-
-PID show_aper_pid;
-BYTE out = 0x00;
-
-int black = rgb16(0, 0, 0),
- white = rgb16(255, 255, 255);
-
-void endfun(KEY_EVT *);
-void close_event(void *);
-void show_evt(KEY_EVT *k);
-void gate_change(KEY_EVT *k);
-
-void drawInterface(void);
-
-TASK show_per(int);
-TASK show_aper(int);
-
-int main(int argc, char **argv)
-{
- KEY_EVT k;
- SOFT_TASK_MODEL show_per_mod, show_aper_mod;
- PID show_per_pid;
- int result, modenum;
- DWORD init_val_c0, init_val_c1;
-
- if(argc >= 3){
- if( (result = sscanf(argv[1], "%ld", &init_val_c0)) != 1)
- init_val_c0 = 0x00FFFFFF;
- if( (result = sscanf(argv[2], "%ld", &init_val_c1)) != 1)
- init_val_c1 = 0x00000000;
- }
- if(argc == 2){
- if( (result = sscanf(argv[1], "%ld", &init_val_c0)) != 1)
- init_val_c0 = 0x00FFFFFF;
- init_val_c1 = 0x00000000;
- }
- if(argc == 1){
- init_val_c0 = 0x00FFFFFF;
- init_val_c1 = 0x00000000;
- }
-
- sys_atrunlevel(close_event, NULL, RUNLEVEL_BEFORE_EXIT);
-
- k.flag = CNTL_BIT;
- k.scan = KEY_X;
- k.ascii = 'x';
- keyb_hook(k, endfun);
-
- k.flag = CNTR_BIT;
- keyb_hook(k, endfun);
-
- soft_task_default_model(show_aper_mod);
- soft_task_def_aperiodic(show_aper_mod);
- soft_task_def_level(show_aper_mod, 1);
- soft_task_def_period(show_aper_mod, 250000);
- soft_task_def_met(show_aper_mod, 30000);
- soft_task_def_wcet(show_aper_mod, 60000);
- if( (show_aper_pid = task_create("Show aperiodic task", show_aper, &show_aper_mod, NULL)) == NIL ){
- sys = 10;
- sys_end();
- }
-
- k.flag = 0;
- k.scan = KEY_S;
- k.ascii = 's';
- keyb_hook(k, show_evt);
-
- k.flag = 0;
- k.scan = KEY_G;
- k.ascii = 'g';
- keyb_hook(k, gate_change);
-
- k.scan = KEY_H;
- k.ascii = 'h';
- keyb_hook(k, gate_change);
-
- soft_task_default_model(show_per_mod);
- soft_task_def_level(show_per_mod, 1);
- soft_task_def_met(show_per_mod, 1000);
- soft_task_def_period(show_per_mod, 10000);
- if( (show_per_pid = task_create("Show periodic task", show_per, &show_per_mod, NULL)) == NIL){
- sys = 11;
- sys_end();
- }
-
- if(pci_init()==-1){
- sys = 20;
- sys_end();
- }
-
- if(!reMap()){
- sys = 21;
- sys_end();
- }
-
- if(grx_init()==-1){
- sys = 30;
- sys_end();
- }
-
- if( (modenum = grx_getmode(800, 600, 16)) == -1){
- sys = 31;
- sys_end();
- }
-
- grx_setmode(modenum);
-
- drawInterface();
-
- DIO_init();
- DIO_setup(0xFF);
- DIO_write(out);
-
- PFIprogramming(0x0000);
- setIntClock(1, 1, 0);
- TIM_reset(2); //Reset both two counters
-
-
- //Source PFI3(41); Gate PFI 4(42); Down counting; counts rising edge;
- TIM_bufferedEventCounting(C0, 0x04, 0x45, 0x01, init_val_c0);
-
- //Source PFI6(45); Gate PFI 5(44); Up counting; counts rising edge;
- TIM_bufferedEventCounting(C1, 0x87, 0x46, 0x00, init_val_c1);
-
- TIM_arm(2); //Arm both two counters
-
- task_activate(show_per_pid);
-
- return 0;
-}
-
-void drawInterface(void)
-{
- grx_rect(1, 1, 799, 99, rgb16(105, 0, 0));
- grx_rect(2, 2, 798, 98, rgb16(155, 0, 0));
- grx_rect(3, 3, 797, 97, rgb16(205, 0, 0));
- grx_rect(4, 4, 796, 96, rgb16(255, 0, 0));
-
- grx_text("Test program for Buffered Event Counting capacity of PCI6025E timers",
- 7, 10, rgb16(50, 255, 50), black);
-
- grx_text("This program counting rise edges on counters source (PFI3 & PFI6)",
- 7, 18, rgb16(0, 255, 255), black);
- grx_text("Counter 1 will be resetted every gate falling edge",
- 7, 26, rgb16(0, 255, 255), black);
- grx_text("(PFI 42 & 44) are enabled. Frequency Out (FOUT) is enabled and provides a frequency of 6250 Hz",
- 7, 34, rgb16(0, 255, 255), black);
-
- grx_text("Instruction:",7, 43, rgb16(255, 0, 0), black);
- grx_text("Use 's' to watch contents of Hardware save registers updated every time gate goes down",
- 7, 51, rgb16(0, 255, 255), black);
- grx_text("Use 'g' to generate an event on counter 0 gate (see top-left square)",
- 7, 58, rgb16(0, 255, 255), black);
-
- grx_text("Use 'h' to generate an event on counter 1 gate (see bottom-left square)",
- 7, 65, rgb16(0, 255, 255), black);
-
- grx_text("Please connect DIO7 (pin 32) to PFI4 (pin 42) and DIO6 (pin 30) to PFI5 (pin 44)",
- 7, 78, rgb16(0, 255, 0), black);
- grx_text("CTRL-X for Exit", 7, 88, rgb16(200, 200, 0), black);
-
- grx_rect(1, 110, 355, 170, rgb16(0, 105, 0));
- grx_rect(2, 111, 354, 169, rgb16(0, 155, 0));
- grx_rect(3, 112, 353, 168, rgb16(0, 205, 0));
- grx_rect(4, 113, 352, 167, rgb16(0, 255, 0));
- grx_text("Counter 0 evolution", 7, 120, rgb16(255, 255, 0), black);
-
- grx_rect(455, 110, 799, 170, rgb16(0, 105, 0));
- grx_rect(456, 111, 798, 169, rgb16(0, 155, 0));
- grx_rect(457, 112, 797, 168, rgb16(0, 205, 0));
- grx_rect(458, 113, 796, 167, rgb16(0, 255, 0));
- grx_text("Counter 0 locked value", 461, 120, rgb16(255, 0, 255), black);
-
- grx_rect(360, 110, 450, 170, rgb16(0, 105, 0));
- grx_rect(361, 111, 449, 169, rgb16(0, 155, 0));
- grx_rect(362, 112, 448, 168, rgb16(0, 205, 0));
- grx_rect(363, 113, 447, 167, rgb16(0, 255, 0));
- grx_text("Gate0", 367, 120, rgb16(200, 255, 200), black);
- grx_text("0 V", 367, 145, rgb16(255, 0, 0), black);
-
- grx_rect(1, 190, 355, 260, rgb16(85, 85, 255));
- grx_rect(2, 191, 354, 259, rgb16(135, 135, 255));
- grx_rect(3, 192, 353, 258, rgb16(190, 190, 255));
- grx_rect(4, 193, 352, 257, rgb16(230, 239, 255));
- grx_text("Counter 1 evolution", 7, 200, white, black);
-
- grx_rect(455, 190, 799, 260, rgb16(85, 85, 255));
- grx_rect(456, 191, 798, 259, rgb16(135, 135, 255));
- grx_rect(457, 192, 797, 258, rgb16(190, 190, 255));
- grx_rect(458, 193, 796, 257, rgb16(230, 230, 255));
- grx_text("Counter 1 locked value", 461, 200, white, black);
-
- grx_rect(360, 190, 450, 260, rgb16(85, 85, 255));
- grx_rect(361, 191, 449, 259, rgb16(135, 135, 255));
- grx_rect(362, 192, 448, 258, rgb16(190, 190, 255));
- grx_rect(363, 193, 447, 257, rgb16(230, 230, 255));
- grx_text("Gate1", 367, 200, rgb16(255, 200, 255), black);
- grx_text("0 V", 367, 225, rgb16(255, 0, 0), black);
-}
-
-TASK show_per(int none)
-{
- DWORD val;
- char buf[30];
-
- while(1){
- val = TIM_readCounter(C0); //Read from Hardware Save Register
- sprintf(buf, "HEX: %08lx DEC: %08ld", val ,val);
- grx_text(buf, 7, 145, rgb16(255, 0, 0), black);
-
- val = TIM_readCounter(C1); //Read from Hardware Save Register
- sprintf(buf, "HEX: %08lx DEC: %08ld", val ,val);
- grx_text(buf, 7, 225, rgb16(255, 0, 0), black);
-
- task_endcycle();
- }
-}
-
-TASK show_aper(int dummy)
-{
- DWORD val;
- char buf[30];
-
- while(1){
- val = TIM_readHWSaveReg(C0); //Read from Hardware Save Register
- sprintf(buf, "HEX: %08lx DEC: %08ld", val, val);
- grx_text(buf, 461, 145, rgb16(80, 80, 255), black);
-
- val = TIM_readHWSaveReg(C1); //Read from Hardware Save Register
- sprintf(buf, "HEX: %08lx DEC: %08ld", val, val);
- grx_text(buf, 461, 225, rgb16(80, 80, 255), black);
-
- task_endcycle();
- }
-}
-
-void endfun(KEY_EVT *k)
-{
- sys_end();
-}
-
-void show_evt(KEY_EVT *k)
-{
- task_activate(show_aper_pid);
-}
-
-void gate_change(KEY_EVT *k)
-{
- if(k->ascii == 'g'){
- if( (out & 0x80) != 0){
- out &= 0x7F;
- grx_text("0 V", 367, 145, rgb16(255, 0, 0), black);
- } else {
- out \|= 0x80;
- grx_text("5 V", 367, 145, rgb16(0, 255, 0), black);
- }
- } else {
- if( (out & 0x40) != 0){
- out &= 0xBF;
- grx_text("0 V", 367, 225, rgb16(255, 0, 0), black);
- } else {
- out \|= 0x40;
- grx_text("5 V", 367, 225, rgb16(0, 255, 0), black);
- }
- }
-
- DIO_write(out);
-}
-
-void close_event(void *arg)
-{
- TIM_disarm(2); //Disable both two counters
- grx_close();
-
- switch(sys){
- case 0: cprintf("OK\n"); break;
- case 10: cprintf("Task <show aperiodic> down\n"); break;
- case 11: cprintf("Task <show periodic> down\n"); break;
- case 20: cprintf("No PCI bus\n"); break;
- case 21: cprintf("No National board on PCI bus\n"); break;
- case 30: cprintf("No graphic can be initialized\n"); break;
- case 31: cprintf("This graphic mode cannot be supported\n"); break;
- default: cprintf("???????????\n"); break;
- }
-}
-/* End of file: Test_bec.c */
Index: pj/mix/readme
===================================================================
--- pj/mix/readme (revision 1344)
+++ pj/mix/readme (nonexistent)
@@ -1,7 +0,0 @@
-MIX
----
-
-This simple applications is a pout-pourri of simple graphic tasks
-that does different things with different timing constraints...
-
-Paolo
\ No newline at end of file
Index: pj/mix/makefile
===================================================================
--- pj/mix/makefile (revision 1344)
+++ pj/mix/makefile (nonexistent)
@@ -1,16 +0,0 @@
-#
-#
-#
-
-ifndef BASE
-BASE=../..
-endif
-include $(BASE)/config/config.mk
-
-PROGS= mix
-
-include $(BASE)/config/example.mk
-
-mix:
- make -f $(SUBMAKE) APP=mix INIT= OTHEROBJS="initfile.o" OTHERINCL=
-
Index: pj/mix/mix.c
===================================================================
--- pj/mix/mix.c (revision 1344)
+++ pj/mix/mix.c (nonexistent)
@@ -1,762 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/*
- ------------
- CVS : $Id: mix.c,v 1.1.1.1 2002-09-02 09:37:45 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:45 $
- ------------
-*/
-
-/*
- * Copyright (C) 2000 Giorgio Buttazzo and 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
- *
- */
-
-/--------------------------------------------------------------/
-/* DEMO with 9 INDEPENDENT TASKS */
-/--------------------------------------------------------------/
-
-#include <kernel/kern.h>
-#include <drivers/glib.h>
-#include <drivers/keyb.h>
-#include <semaphore.h>
-#include <stdlib.h>
-#include <math.h>
-
-#define PIG 3.1415
-#define ESC 27 /* ASCII code for ESCAPE */
-#define DURATA 10000 /* counter duration in tick */
-
-#define LW 200 /* window length */
-#define HW 150 /* window height */
-#define HLOAD 30 /* Y level for the max load */
-#define LLOAD (HW-HLOAD-5) /* length for the max load */
-
-#define XWL 10 /* left X of LEFT window */
-#define XWM 220 /* left X of MIDDLE window */
-#define XWR 430 /* left X RIGHT window */
-
-#define YWH 5 /* top Y of HIGH window */
-#define YWM 165 /* top Y of MIDDLE window */
-#define YWL 325 /* top Y of LOW window */
-
-char fbuf[1000]; /* buffer for reading a file */
-int flen; /* file length */
-int fine = 0; /* ending flag */
-
-sem_t mx_mat, mx_grf; /* mutex semaphores */
-
-int wcet[10]; /* array of task wcets */
-int period[10]; /* array of task periods */
-double load(long); /* load evaluation function */
-
-PID ptas;
-char talk[5][25] = {" SHARK Demonstration ",
- " RETIS Lab -- Scuola ",
- " Superiore S. Anna ",
- " HARD REAL-TIME DEMO ",
- " June 5, 2001 "};
-
-/------------------------------------------------------/
-/* file reading */
-/------------------------------------------------------/
-
-void read_file(void)
-{
- int err;
- DOS_FILE *fp;
-
- fp = DOS_fopen("mix.dat","r");
-
- if (!fp) {
- err = DOS_error();
- cprintf("Error %d opening myfile.txt...\n", err);
- flen = 0;
- return;
- }
-
- flen = DOS_fread(&fbuf, 1, 1000, fp);
- cprintf("Read %d bytes from file\n", flen);
- DOS_fclose(fp);
-}
-
-/------------------------------------------------------/
-/* get data from buffer */
-/------------------------------------------------------/
-
-void get_par(void)
-{
- int x = 0;
- int i;
-
- for (i=1; i<=8; i++) {
- while ((fbuf[x] != ':') && (x < flen)) x++;
- x++;
- sscanf(&fbuf[x], "%d %d", &period[i], &wcet[i]);
- cprintf("per[%d] = %d, wcet[%d] = %d\n",
- i, period[i], i, wcet[i]);
- }
-}
-
-/--------------------------------------------------------------/
-
-void byebye()
-{
- grx_close();
- kern_printf("Bye Bye!\n");
-}
-
-/--------------------------------------------------------------/
-
-void finish1()
-{
- sys_end();
-}
-
-/--------------------------------------------------------------/
-
-void finish2()
-{
- fine = 1;
-}
-
-/****************************************************************/
-/* PROCESSO OROLOGIO */
-/****************************************************************/
-
-#define LLAN 40 /* length of watch stick */
-
-TASK watch()
-{
- int x0 = XWL + LW/2;
- int y0 = YWH + HW/2;
- int grad;
- int xg, yg;
- int xt, yt, d;
- int sec, min;
- char s[5];
- double rad, x, y;
-
- xg = x0;
- yg = y0 - LLAN;
- xt = XWL + 78;
- yt = YWH + 12;
- sec = min = 0;
-
- while (1) {
- sec = (sec + 1) % 60;
- if (sec == 0) min++;
- grad = 90 - sec * 6;
- rad = (double)grad * PIG / 180.;
-
- sem_wait(&mx_mat);
- x = (double)x0 + (double)LLAN * cos(rad);
- y = (double)y0 - (double)LLAN * sin(rad);
- sem_post(&mx_mat);
-
- sem_wait(&mx_grf);
- grx_line(x0, y0, xg, yg, 0);
- sem_post(&mx_grf);
-
- xg = x;
- yg = y;
-
- sem_wait(&mx_grf);
- grx_line(x0, y0, xg, yg, 14);
- sem_post(&mx_grf);
-
- sem_wait(&mx_grf);
- grx_text("0 :0 ", xt, yt, 14, 0);
- sprintf(s, "%d", min);
- grx_text(s, xt+8, yt, 14, 0);
- sprintf(s, "%d", sec);
- if (sec > 9) d = 24; else d = 32;
- grx_text(s, xt+d, yt, 14, 0);
- sem_post(&mx_grf);
-
- task_endcycle();
- }
-}
-
-/****************************************************************/
-/* PROCESSO DI RIEMPIMENTO */
-/****************************************************************/
-
-#define CIMA (YWH+5) /* fondo del recipiente */
-#define FONDO (YWH+HW-5) /* cima del recipiente */
-#define LREC (XWM+75) /* lato sinistro recipiente */
-#define DREC 50 /* diametro del recipiente */
-
-TASK tasto()
-{
- int x, y;
- int x0; /* coord. sinistra recipiente */
- int col, cliq, bkg;
- int i;
- int liv; /* livello del liquido */
-
- cliq = 9;
- bkg = 14;
- x0 = LREC;
- x = x0 + DREC/2;
- y = CIMA;
- liv = FONDO;
-
- while (1) {
-
- col = cliq;
- for (i=0; i<2; i++) { /* disegna goccia */
- while (y < liv) {
- sem_wait(&mx_grf);
- grx_plot(x,y,col);
- sem_post(&mx_grf);
- y++;
- }
- y = CIMA;
- col = bkg;
- }
-
- liv--;
- sem_wait(&mx_grf);
- grx_line(x0+1, liv, x0+DREC-1, liv, cliq);
- sem_post(&mx_grf);
-
- if (liv <= CIMA+1) { /* swap colors */
- i = bkg; bkg = cliq; cliq = i;
- liv = FONDO;
- }
-
- task_endcycle();
- }
-}
-
-/****************************************************************/
-
-void kboar()
-{
- task_activate(ptas);
-}
-
-/****************************************************************/
-/* PROCESSO PALLA */
-/****************************************************************/
-
-#define VMIN 11. /* velocit minima per suono */
-#define LP 3 /* lato della pallina */
-
-TASK palla()
-{
- int ox, oy; /* vecchia posizione pallina */
- int x0; /* posizione iniziale pallina */
- int xmin, xmax;
- int base, top;
- int xg, yg; /* coordinate grafiche pallina */
- double x, y; /* coordinate pallina */
- double G = 9.8;
- double vx, vy, v0; /* velocit della pallina */
- double t, tx; /* variabile temporale */
- double dt; /* incremento temporale */
- double arg; /* variabile di appoggio */
-
- xmin = XWR+LP+1;
- xmax = XWR+LW-LP-1;
- base = YWH+HW-LP-1;
- top = HW-10-LP;
- x = ox = x0 = xmin;
- y = oy = top;
- arg = 2.G(double)top;
- vy = v0 = sqrt(arg);
- vx = 15.;
- tx = 0.0;
- t = vy / G;
- dt = .02;
-
- while (1) {
- x = x0 + vx*tx;
- y = base - vyt + .5Gtt;
- if (y >= base) {
- t = 0.0;
- vy = v0;
- y = base - vyt + .5Gtt;
- }
- if (x >= xmax) {
- tx = 0.0;
- x0 = xmax;
- vx = -vx;
- x = x0 + vx*tx;
- }
- if (x <= xmin) {
- tx = 0.0;
- x0 = xmin;
- vx = -vx;
- x = x0 + vx*tx;
- }
- xg = x; yg = y;
- sem_wait(&mx_grf);
- grx_disc(ox,oy,LP,0);
- grx_disc(xg,yg,LP,10);
- sem_post(&mx_grf);
- oy = yg; ox = xg;
- t += dt;
- tx += dt;
- task_endcycle();
- }
-}
-
-/****************************************************************/
-/* PROCESSO MOSCA */
-/****************************************************************/
-
-TASK mosca()
-{
- int x, y, Ax, Ay, h;
- int x0, y0, tet;
- int xmax,ymax;
- double A, B;
- double r;
- double rnd;
-
- xmax = LW/2-1; ymax = HW/2-1;
- x = 0; y = 0; tet = 0;
- x0 = XWL+LW/2; y0 = YWM+HW/2;
- A = 5.; B = 30.;
-
- while (1) {
-
- rnd = (rand()%100)/100.; /* rnd = [0,1] */
- h = (2. * B * rnd) - B; /* h = [-B,B] */
- tet = tet + h;
-
- if (tet > 360) tet = tet - 360;
- if (tet < 0) tet = tet + 360;
- r = tet * PIG / 180.;
-
- sem_wait(&mx_mat);
- Ax = (double)(A * cos(r));
- Ay = (double)(A * sin(r));
- sem_post(&mx_mat);
- x = x + Ax;
- y = y + Ay;
-
- if ((x >= xmax) \|\| (x <= -xmax) \|\|
- (y >= ymax) \|\| (y <= -ymax)) {
- x = x - Ax;
- y = y - Ay;
- tet = tet - 180;
- if (tet > 360) tet = tet - 360;
- if (tet < 0) tet = tet + 360;
- r = tet * PIG / 180.;
- sem_wait(&mx_mat);
- Ax = (double)(A * cos(r));
- Ay = (double)(A * sin(r));
- sem_post(&mx_mat);
- x = x + Ax;
- y = y + Ay;
- }
- sem_wait(&mx_grf);
- grx_plot(x+x0, y+y0, 10);
- sem_post(&mx_grf);
- task_endcycle();
- }
-}
-
-/****************************************************************/
-/* PROCESSO INFORMAZIONI */
-/****************************************************************/
-
-TASK infor()
-{
- char s[2];
- int x, y;
- int r;
- int i = 0;
- int leng;
- int col = 0;
-
- r = 0;
- x = XWM + 16;
- y = YWM + 40;
- s[1] = 0;
-
- leng = 0;
- while (talk[0][leng] != 0) leng++;
-
- while (1) {
- s[0] = talk[r][i];
- sem_wait(&mx_grf);
- grx_text(s,x+i8,y+r8,col+10,1);
- sem_post(&mx_grf);
- i++;
- if (i == leng) {
- i = 0;
- r = (r + 1) % 5;
- if (r == 0) col = (col + 1) % 6;
- }
- task_endcycle();
- }
-}
-
-/****************************************************************/
-/* PROCESSO RUOTA */
-/****************************************************************/
-
-TASK ruota()
-{
- int x0 = XWR + LW/2;
- int y0 = YWM + HW/2;
- int grad = 90;
- int xg, yg;
- double rad, x, y;
-
- xg = x0;
- yg = y0 + LLAN;
-
- while (1) {
-
- rad = (double)grad * PIG / 180.;
-
- sem_wait(&mx_mat);
- x = (double)x0 + (double)LLAN * cos(rad);
- y = (double)y0 + (double)LLAN * sin(rad);
- sem_post(&mx_mat);
-
- sem_wait(&mx_grf);
- grx_disc(xg, yg, 4, 0);
- sem_post(&mx_grf);
-
- xg = x; yg = y;
-
- sem_wait(&mx_grf);
- grx_disc(xg, yg, 4, 13);
- sem_post(&mx_grf);
-
- grad = (grad + 1) % 360;
-
- task_endcycle();
- }
-}
-
-/****************************************************************/
-/* PROCESSO COLORI */
-/****************************************************************/
-
-TASK color()
-{
- int xx0 = XWL+5;
- int yy0 = YWL+5;
- int n, col;
- int x, y;
-
- x = 0; y = 0;
-
- while (1) {
- n = 19. * ((rand()%100)/100.);
- x = xx0 + n * 10;
- n = 14. * ((rand()%100)/100.);
- y = yy0 + n * 10;
- col = 16. * ((rand()%100)/100.);
-
- /* xg = xx0 + x;
- yg = yy0 + y;
- x = (x + 10)%(LW-10);
- y = (y + 10)%(HW-10);
- */
- sem_wait(&mx_grf);
- grx_box(x, y, x+9, y+9, col);
- sem_post(&mx_grf);
-
- task_endcycle();
- }
-}
-
-/****************************************************************/
-/* PROCESSO PENDOLO */
-/****************************************************************/
-
-TASK pendo()
-{
- int x0 = XWM+LW/2;
- int y0 = YWL+10;
- int xg, yg;
- int col = 11;
- double x, y, teta;
- double v, a, dt;
- double g, l;
-
- g = 9.8;
- l = 80.;
- dt = 0.1;
- teta = 40. * PIG / 180.;
- v = 0.;
- sem_wait(&mx_mat);
- x = l * sin((double)teta);
- y = l * cos((double)teta);
- a = -(g/l) * sin((double)teta);
- sem_post(&mx_mat);
- xg = x0 + x;
- yg = y0 + y;
-
- while (1) {
-
- v += a * dt;
- teta += v * dt;
- sem_wait(&mx_mat);
- x = l * sin((double)teta);
- y = l * cos((double)teta);
- a = -(g/l) * sin((double)teta);
- sem_post(&mx_mat);
-
- sem_wait(&mx_grf);
- grx_line(x0, y0, xg, yg, 0);
- grx_circle(xg, yg, 5, 0);
- grx_disc(xg, yg, 4, 0);
- sem_post(&mx_grf);
-
- xg = x0+x; yg = y0+y;
-
- sem_wait(&mx_grf);
- grx_line(x0, y0, xg, yg, col);
- grx_circle(xg, yg, 5, col+2);
- grx_disc(xg, yg, 4, col+1);
- sem_post(&mx_grf);
-
- task_endcycle();
- }
-}
-
-/**************************** gener ****************************/
-
-TASK gener()
-{
- HARD_TASK_MODEL m;
- SOFT_TASK_MODEL am;
- PID pid;
-
- //---------------------------------------------
- hard_task_default_model(m);
- hard_task_def_wcet (m, wcet[1]);
- hard_task_def_mit (m, period[1]);
- hard_task_def_usemath (m);
- pid = task_create("watch", watch, &m, NULL);
- task_activate(pid);
- keyb_getch(BLOCK);
- //---------------------------------------------
- soft_task_default_model(am);
- soft_task_def_met (am, wcet[2]);
- soft_task_def_period (am, period[2]);
- soft_task_def_aperiodic(am);
- soft_task_def_usemath (am);
- ptas = task_create("tasto", tasto, &am, NULL);
- task_activate(ptas);
- keyb_getch(BLOCK);
- //---------------------------------------------
- hard_task_default_model(m);
- hard_task_def_wcet (m, wcet[3]);
- hard_task_def_mit (m, period[3]);
- hard_task_def_usemath (m);
- pid = task_create("palla", palla, &m, NULL);
- task_activate(pid);
- keyb_getch(BLOCK);
- //---------------------------------------------
- hard_task_default_model(m);
- hard_task_def_wcet (m, wcet[4]);
- hard_task_def_mit (m, period[4]);
- hard_task_def_usemath (m);
- pid = task_create("mosca", mosca, &m, NULL);
- task_activate(pid);
- keyb_getch(BLOCK);
- //---------------------------------------------
- hard_task_default_model(m);
- hard_task_def_wcet (m, wcet[5]);
- hard_task_def_mit (m, period[5]);
- hard_task_def_usemath (m);
- pid = task_create("infor", infor, &m, NULL);
- task_activate(pid);
- keyb_getch(BLOCK);
- //---------------------------------------------
- hard_task_default_model(m);
- hard_task_def_wcet (m, wcet[6]);
- hard_task_def_mit (m, period[6]);
- hard_task_def_usemath (m);
- pid = task_create("ruota", ruota, &m, NULL);
- task_activate(pid);
- keyb_getch(BLOCK);
- //---------------------------------------------
- hard_task_default_model(m);
- hard_task_def_wcet (m, wcet[7]);
- hard_task_def_mit (m, period[7]);
- hard_task_def_usemath (m);
- pid = task_create("color", color, &m, NULL);
- task_activate(pid);
- keyb_getch(BLOCK);
- //---------------------------------------------
- hard_task_default_model(m);
- hard_task_def_wcet (m, wcet[8]);
- hard_task_def_mit (m, period[8]);
- hard_task_def_usemath (m);
- pid = task_create("pendo", pendo, &m, NULL);
- task_activate(pid);
- //---------------------------------------------
-
- return NULL;
-}
-
-/**************************** MAIN ****************************/
-
-TASK main()
-{
- char s[20]; /* carattere letto da tastiera */
- int x0, y0;
- int x, y;
- TIME t1, count; /* contatori valutazione carico */
- double car; /* valore del carico corrente */
- TIME seme;
- PID pid;
- NRT_TASK_MODEL m2;
- KEY_EVT eva, evx, evs;
-
- set_exchandler_grx();
- sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT);
-
- /* set the keyboard handler */
- eva.ascii = 'a';
- eva.scan = KEY_A;
- eva.flag = 0;
- keyb_hook(eva,kboar);
-
- evx.ascii = 'x';
- evx.scan = KEY_X;
- evx.flag = ALTL_BIT;
- keyb_hook(evx,finish1);
-
- evs.ascii = ESC;
- evs.scan = KEY_ESC;
- evs.flag = 0;
- keyb_hook(evs,finish2);
-
- sem_init(&mx_mat,0,1);
- sem_init(&mx_grf,0,1);
-
- seme = sys_gettime(NULL);
- srand(seme);
-
- get_par();
- keyb_getch(BLOCK);
-
- grx_init();
- grx_open(640, 480, 8);
-
- grx_rect(XWL,YWH,XWL+LW,YWH+HW,14);
- grx_rect(XWM,YWH,XWM+LW,YWH+HW,14);
- grx_rect(XWR,YWH,XWR+LW,YWH+HW,14);
-
- grx_rect(XWL,YWM,XWL+LW,YWM+HW,14);
- grx_rect(XWM,YWM,XWM+LW,YWM+HW,14);
- grx_rect(XWR,YWM,XWR+LW,YWM+HW,14);
-
- grx_rect(XWL,YWL,XWL+LW,YWL+HW,14);
- grx_rect(XWM,YWL,XWM+LW,YWL+HW,14);
- grx_rect(XWR,YWL,XWR+LW,YWL+HW,14);
-
- x0 = XWL + LW/2;
- y0 = YWH + HW/2;
- grx_circle(x0, y0, LLAN+3, 12);
- grx_rect(XWL+74, YWH+7, XWL+120, YWH+22, 12);
-
- x0 = LREC;
- grx_line(x0, CIMA, x0, FONDO, 15);
- grx_line(x0+DREC, CIMA, x0+DREC, FONDO, 15);
- grx_line(x0, FONDO, x0+DREC, FONDO, 15);
- grx_box(x0+1, CIMA, x0+DREC-1, FONDO-1, 14);
- grx_text("Press A", XWM+16, YWH+48, 10, 0);
- grx_text("to fill", XWM+16, YWH+64, 10, 0);
-
- grx_text("Press:", XWM+18, YWM+HW-50, 10, 0);
- grx_text("ESC to exit", XWM+18, YWM+HW-40, 10, 0);
- grx_text("SPACE to create", XWM+18, YWM+HW-30, 10, 0);
-
- x0 = XWR + LW/2;
- y0 = YWM + HW/2;
- grx_circle(x0, y0, LLAN/3, 14);
- grx_disc(x0, y0, LLAN/3-1, 12);
-
- x0 = XWR+5;
- y0 = YWL+HW-5;
- grx_line(x0, YWL+HLOAD, x0+LW-10, YWL+HLOAD, 12);
- grx_text("SYSTEM WORKLOAD:", x0+5, YWL+HLOAD-10, 10, 0);
-
- count = 0;
- t1 = sys_gettime(NULL);
- do count++; while (sys_gettime(NULL) < (t1 + DURATA));
-
- nrt_task_default_model(m2);
- pid = task_create("gener", gener, &m2, NULL);
- task_activate(pid);
-
- x = 0;
- while (!fine) {
- car = load(count);
- y = (double)LLOAD*car;
- sem_wait(&mx_grf);
- grx_line(x0+x, y0-LLOAD+1, x0+x, y0, 0);
- grx_line(x0+x, y0-y, x0+x, y0, 15);
- grx_text(" ", x0+LW-60, YWL+HLOAD-10, 0, 0);
- sprintf(s, "%.3f", car);
- grx_text(s, x0+LW-50, YWL+HLOAD-10, 15, 0);
- sem_post(&mx_grf);
- x = (x + 1) % (LW-10);
- }
-
- sys_end();
-
- return NULL;
-}
-
-/****************************************************************/
-
-double load(long n)
-{
- TIME i, t1;
- double carico;
-
- i = 0;
- t1 = sys_gettime(NULL);
- do i++; while (sys_gettime(NULL) < (t1 + DURATA));
- carico = 1. - (double)i / (double)n;
- return(carico);
-}
-
-/****************************************************************/
Index: pj/mix/mix.dat
===================================================================
--- pj/mix/mix.dat (revision 1344)
+++ pj/mix/mix.dat (nonexistent)
@@ -1,12 +0,0 @@
-TASK NAME PERIOD WCET
-------------------------------------------
-task1 watch: 1000000 200
-task2 tasto: 2000 200
-task3 palla: 2000 200
-task4 mosca: 20000 200
-task5 infor: 20000 300
-task6 ruota: 5000 400
-task7 color: 2000 200
-task8 pendo: 5000 400
-------------------------------------------
-
Index: pj/mix/initfile.c
===================================================================
--- pj/mix/initfile.c (revision 1344)
+++ pj/mix/initfile.c (nonexistent)
@@ -1,124 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/*
- ------------
- CVS : $Id: initfile.c,v 1.1.1.1 2002-09-02 09:37:45 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:45 $
- ------------
-
- System initialization file
-
- This file contains the 2 functions needed to initialize the system.
-
- These functions register the following levels:
-
- an EDF (Earliest Deadline First) level
- a RR (Round Robin) level
- a CBS (Costant Bandwidth Server) level
- a Dummy level
-
- It can accept these task models:
-
- HARD_TASK_MODEL (wcet+mit) at level 0
- SOFT_TASK_MODEL (met, period) at level 1
- NRT_TASK_MODEL at level 2
-
- This file is similar to the configuration of kernel/init/hartik3.c
-
- TICK is set to 0 (one-shot timer is used)
-*/
-
-/*
- * 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 "modules/edf.h"
-#include "modules/cbs.h"
-#include "modules/rr.h"
-#include "modules/dummy.h"
-
-#include "modules/sem.h"
-#include "modules/hartport.h"
-#include "modules/cabs.h"
-
-#include "drivers/keyb.h"
-
-
-/+ sysyem tick in us +/
-#define TICK 0
-
-/+ RR tick in us +/
-#define RRTICK 10000
-
-void read_file();
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- EDF_register_level(0);
- CBS_register_level(0, 0);
- RR_register_level(RRTICK, RR_MAIN_YES, mb);
- dummy_register_level();
-
- SEM_register_module();
-
- CABS_register_module();
-
- read_file();
-
- return TICK;
-}
-
-TASK __init__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- KEYB_PARMS kparms = BASE_KEYB;
-
- HARTPORT_init();
-
- keyb_def_ctrlC(kparms, NULL);
- keyb_def_map(kparms,itaMap);
- KEYB_init(&kparms);
-
- __call_main__(mb);
-
- return (void *)0;
-}
-
Index: pj/cbs_ft/initfile.c
===================================================================
--- pj/cbs_ft/initfile.c (revision 1344)
+++ pj/cbs_ft/initfile.c (nonexistent)
@@ -1,112 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@hartik.sssup.it>
- *
- * Authors : Marco caccamo and Paolo Gai
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: initfile.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-
- This file contains the server CBS_FT
-
- Read CBS_FT.h for further details.
-
-**/
-
-/*
- * Copyright (C) 2000 Marco Caccamo and 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 <modules/edf.h>
-#include <modules/rr.h>
-#include "cbs_ft.h"
-#include <modules/cbs.h>
-#include <modules/dummy.h>
-#include <drivers/keyb.h>
-#include <modules/hartport.h>
-#include <modules/sem.h>
-#include <modules/cabs.h>
-
-/+ system tick in us +/
-#define TICK 300
-#define RRTICK 5000
-
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- EDF_register_level(EDF_ENABLE_ALL);
- CBS_FT_register_level(CBS_FT_ENABLE_ALL, 0);
- RR_register_level(RRTICK, RR_MAIN_YES, mb);
- CBS_register_level(CBS_ENABLE_ALL, 0);
- dummy_register_level();
-
- SEM_register_module();
- CABS_register_module();
-
- // periodic timer
- return TICK;
- // one-shot timer
- // return 0
-}
-
-
-TASK __init__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- HARTPORT_init();
-
- KEYB_init(NULL);
-
- __call_main__(mb);
-
- return (void *)0;
-}
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Index: pj/cbs_ft/cbs_ft.h
===================================================================
--- pj/cbs_ft/cbs_ft.h (revision 1344)
+++ pj/cbs_ft/cbs_ft.h (nonexistent)
@@ -1,166 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@hartik.sssup.it>
- *
- * Authors : Marco Caccamo and Paolo Gai
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: cbs_ft.h,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-
- This file contains the server CBS_FT
-
- Read CBS_FT.h for further details.
-
-**/
-
-/*
- * Copyright (C) 2000 Marco Caccamo and 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
- *
- */
-
-#ifndef __CBS_FT__
-#define __CBS_FT__
-
-
-
-#include <ll/string.h>
-#include <kernel/model.h>
-#include <kernel/descr.h>
-#include <kernel/var.h>
-#include <kernel/func.h>
-
-
-
-
-
-
-/+ flags... +/
-#define CBS_FT_ENABLE_GUARANTEE 1 /+ Task Guarantee enabled +/
-#define CBS_FT_ENABLE_ALL 1
-
-#define CBS_FT_FAILED_GUARANTEE 8 /*+ used in the module, unsettable
- in EDF_register_level... +*/
-
-
-#define PRIMARY 1
-#define BACKUP 2
-#define FT_PCLASS 0x0700 // Nuova classe di task, quelli fault_tolerant
-
-#define CBS_FT_LEVELNAME "CBSFT base"
-#define CBS_FT_LEVEL_CODE 110
-#define CBS_FT_LEVEL_VERSION 1
-
-
-/* The Fault-Tolerant Task model extends the base task model
- This model cannot be APERIODIC, only PERIODIC tasks are allowed.
- A faut-tolerant application is composed by two different tasks (primary and
- backup). The backup task is characterized by its WCET and its type (BACKUP).
- The primary task must define the task period, its average execution time
- (used as sort of prediction in order to recharge the budget using the
- capacity cash queue!), the budget (budget / period = U that is, the
- bandwidth assigned to the fault-tolerant application), its type (PRIMARY)
- and finally the PID of the corresponding backup task. */
-
-typedef struct {
- TASK_MODEL t;
-
- TIME wcetB; // WCET of the backup job (BACKUP TASK ONLY)
-
- TIME execP; // average exec. time of the primary job (PRIMARY TASK ONLY)
-
- TIME period; // period of the fault-tolerant task (PRIMARY TASK ONLY)
-
- int budget; // amount of guaranteed capacity (PRIMARY TASK ONLY)
-
- char type; // PRIMARY or BACKUP
-
- PID backup; // (PRIMARY TASK ONLY)
-
-} FT_TASK_MODEL;
-
-
-#define ft_task_default_model(m) \
- task_default_model((m).t,FT_PCLASS), \
- (m).period = 0, \
- (m).wcetB = 0, \
- (m).execP = 0, \
- (m).budget = 0, \
- (m).type = BACKUP, \
- (m).backup = NIL
-
-#define ft_task_def_level(m,l) task_def_level((m).t,l)
-#define ft_task_def_arg(m,a) task_def_arg((m).t,a)
-#define ft_task_def_stack(m,s) task_def_stack((m).t,s)
-#define ft_task_def_stackaddr(m,s) task_def_stackaddr((m).t,s)
-#define ft_task_def_usemath(m) task_def_usemath((m).t)
-#define ft_task_def_ctrl_jet(m) task_def_ctrl_jet((m).t)
-#define ft_task_def_group(m,g) task_def_group((m).t,g)
-#define ft_task_def_period(m,o) (m).period = (o)
-#define ft_task_def_budget(m,o) (m).budget = (o)
-#define ft_task_def_backup(m) (m).type = BACKUP
-#define ft_task_def_primary(m) (m).type = PRIMARY
-#define ft_task_def_backup_task(m,b) (m).backup = b
-#define ft_task_def_backup_wcet(m,b) (m).wcetB = b
-#define ft_task_def_primary_exec(m,b) (m).execP = b
-
-/************************************************************************/
-void CBS_FT_register_level(int flags, LEVEL master);
-
-
-bandwidth_t CBS_FT_usedbandwidth(LEVEL l);
-
-
-
-/* This function notifies to a primary task that the task itself has to
- suspend its execution (the task has to suspend itself with a
- task_endcycle() */
-char CBS_FT_Checkpoint(void);
-
-
-
-/* This function sets the checkpoint flag! hence, at the next checkpoint,
- that is:
-
- if (CBS_FT_Checkpoint()) {
- task_endcycle();
- continue;
- }
-
- the primary task will suspend itself switching to the backup task */
-void CBS_FT_Primary_Abort(void);
-
-/***************************************************************************/
-
-
-
-
-#endif
Index: pj/cbs_ft/prova.c
===================================================================
--- pj/cbs_ft/prova.c (revision 1344)
+++ pj/cbs_ft/prova.c (nonexistent)
@@ -1,429 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@hartik.sssup.it>
- *
- * Authors : Marco Caccamo and Paolo Gai
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: prova.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-
- testcash.c
- test for the CASH Module, directly derived from Test Number 13 (D)
-
-**/
-
-/*
- * Copyright (C) 2000 Marco Caccamo and 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 <modules/edf.h>
-#include "cbs_ft.h"
-#include <math.h>
-#include <stdlib.h>
-
-#define ASTER_LIM 60
-#define DISPLAY_MAX 15
-
-#define STAT_Y 9
-
-#define INPUT 0.5
-
-
-
-#define MAX_STAT 10000
-#define RVAL 1
-#define XVAL 2
-#define DVAL 3
-
-
-struct statistic {
- TIME r_time;
- TIME ex_time;
- long dead_post;
-};
-
-
-
- struct statistic stat[MAX_STAT];
- TIME val[MAX_STAT];
-
-int n_stat = 0;
-
-TASK hard_aster1p(void)
-{
- int i;
- int y = 1;
- int load1,j;
-
- char s[2];
-
- s[0] = 'P'; s[1] = 0;
-
-
- for (;;) {
- i = 1;
- while (i < ASTER_LIM) {
- load1 = 20000; //+ rand() % 25000;
- for (j=0; j<load1; j++) {
- if (CBS_FT_Checkpoint())
- break;
- puts_xy(i,y,rand()%15+1,s);
- }
- //kern_cli();
- //stat[n_stat].r_time = CBSGHD_get_response_time(1, exec_shadow);
- //jet_gettable(exec_shadow, &stat[n_stat].ex_time, 1);
- //kern_sti();
- //n_stat++;
- task_endcycle();
- puts_xy(i,y,WHITE," ");
- i++;
- }
- }
-}
-
-
-TASK hard_aster1b(void)
-{
- int i;
- int y = 1;
-
- int load1,j;
-
- char s[2];
-
- s[0] = 'B'; s[1] = 0;
-
- for (;;) {
- i = 1;
- while (i < ASTER_LIM) {
- load1 = 20000;// + rand()%4000;
- for (j=0; j<load1; j++) {
- puts_xy(i,y,rand()%15+1,s);
- }
- //kern_cli();
- //stat[n_stat].r_time = CBSGHD_get_response_time(1, exec_shadow);
- //jet_gettable(exec_shadow, &stat[n_stat].ex_time, 1);
- //kern_sti();
- //n_stat++;
- task_endcycle();
- puts_xy(i,y,WHITE," ");
- i++;
- }
- }
-}
-
-
-TASK hard_aster2p(void)
-{
- int i;
- int y = 3;
-
- int load1,j;
-
- char s[2];
-
- s[0] = 'P'; s[1] = 0;
-
- for (;;) {
- i = 1;
- while (i < ASTER_LIM) {
- load1 = 20000 + rand() % 20000;
- for (j=0; j<load1; j++) {
- if (CBS_FT_Checkpoint())
- break;
- puts_xy(i,y,rand()%15+1,s);
- }
- //kern_cli();
- //stat[n_stat].r_time = CBSGHD_get_response_time(5, exec_shadow);
- //jet_gettable(exec_shadow, &stat[n_stat].ex_time, 1);
- //kern_sti();
- //n_stat++;
- task_endcycle();
- puts_xy(i,y,WHITE," ");
- i++;
- }
- }
-}
-
-TASK hard_aster2b(void)
-{
- int i;
- int y = 3;
-
- int load1,j;
-
- char s[2];
-
- s[0] = 'T'; s[1] = 0;
-
- for (;;) {
- i = 1;
- while (i < ASTER_LIM) {
- load1 = 20000;
- for (j=0; j<load1; j++) {
- puts_xy(i,y,rand()%15+1,s);
- }
- //kern_cli();
- //stat[n_stat].r_time = CBSGHD_get_response_time(5, exec_shadow);
- //jet_gettable(exec_shadow, &stat[n_stat].ex_time, 1);
- //kern_sti();
- //n_stat++;
- task_endcycle();
- puts_xy(i,y,WHITE," ");
- i++;
- }
- }
-}
-
-
-TASK clock()
-{
- int s = 0, m = 0;
-
- while(1) {
- printf_xy(62,1,WHITE,"%2d:%2d",m,s);
- printf_xy(62,2,WHITE,"Utot=%12u",MAX_BANDWIDTH);
- printf_xy(62,3,WHITE,"Uedf=%12u",EDF_usedbandwidth(0));
- printf_xy(62,4,WHITE,"Ucbs=%12u",CBS_FT_usedbandwidth(1));
- task_endcycle();
-
- if (++s > 59) {
- s = 0;
- m++;
- }
- printf_xy(62,1,WHITE,"%2d:%2d",m,s);
- printf_xy(62,2,WHITE,"Utot=%12u",MAX_BANDWIDTH);
- printf_xy(62,3,WHITE,"Uedf=%12u",EDF_usedbandwidth(0));
- printf_xy(62,4,WHITE,"Ucbs=%12u",CBS_FT_usedbandwidth(1));
- task_endcycle();
- }
-}
-
-
-
-/* we consider the first ASTER_MAX + 2 tasks from the PID 2
- and plot on the screen the elapsed times... */
-TASK jetcontrol()
-{
- int i; /* a counter */
- TIME sum, max, curr, last[5];
- int nact;
- int j; /* the elements set by jet_gettable */
- PID p;
-
-
- kern_cli();
- 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");
- kern_sti();
-
- for (;;) {
- for (i=0,p=0; i<DISPLAY_MAX+5 && p<MAX_PROC; p++) {
- if (jet_getstat(p, &sum, &max, &nact, &curr) == -1) continue;
-
- for (j=0; j<5; j++) last[j] = 0;
- jet_gettable(p, &last[0], 5);
- kern_cli();
- printf_xy(0,STAT_Y+i+1,WHITE,"%-3d ³ %-6ld ³ %-6ld ³ %-4d ³ %-7ld ³ %-5ld ³ %-5ld ³ %-5ld ³ %-5ld ³ %-5ld", p, sum/(nact==0 ? 1 : nact), max,
- nact, curr, last[0], last[1], last[2], last[3], last[4]);
- kern_sti();
- i++;
- }
- task_endcycle();
- }
-}
-
-
-void save_stat(struct statistic p[], int n, char *name, int type)
-{
- DOS_FILE *f;
- int i;
- char outstring[500];
-
-
- for(i = 0; i < 500; i++)
- outstring[i] = '0';
-
- f = DOS_fopen(name, "w");
- if (!f) {
- cprintf("Cannot open %s!!!", name);
- goto end1;
- }
-
- for(i = 0; i < n; i++) {
- if (type == RVAL)
- val[i] = p[i].r_time;
- if (type == XVAL)
- val[i] = p[i].ex_time;
- if (type == DVAL)
- val[i] = p[i].dead_post;
- }
-
- memset(outstring, 0, 300);
- sprintf(outstring, "%ld \n", (long int)n);
- cprintf("%s", outstring);
- DOS_fwrite(outstring, 1, strlen(outstring), f);
-
- for(i = 0; i < n; i++) {
- memset(outstring, 0, 300);
- sprintf(outstring, "%ld %lu\n", (long int)i, val[i]);
- //cprintf("%s", outstring);
- DOS_fwrite(outstring, 1, strlen(outstring), f);
- }
- DOS_fclose(f);
-end1:cprintf("OK?");
-}
-
-
-void result_save(void *p)
-{
- save_stat(stat, n_stat, "stat1.tim", RVAL);
-}
-
-
-void fine()
-{
- ll_abort(666);
-}
-
-int main(int argc, char **argv)
-{
- PID p1,p2,p3, p4, p5, p6;
-
- HARD_TASK_MODEL m;
- FT_TASK_MODEL ftb;
- FT_TASK_MODEL ftp;
-
- // int i;
- struct timespec fineprg;
-
-
- //sys_atrunlevel(result_save, NULL, RUNLEVEL_AFTER_EXIT);
- srand(7);
-
- hard_task_default_model(m);
- hard_task_def_wcet(m,500);
- hard_task_def_mit(m,500000);
- hard_task_def_periodic(m);
- hard_task_def_group(m,1);
- hard_task_def_ctrl_jet(m);
-
-
- p1 = task_create("Clock",clock,&m,NULL);
- if (p1 == -1) {
- perror("testhd.c(main): Could not create task <Clock> ...");
- sys_end();
- }
-
-
- hard_task_def_wcet(m,500);
- hard_task_def_periodic(m);
- hard_task_def_mit(m,100000);
-
-
- p2 = task_create("JetControl",jetcontrol,&m,NULL);
- if (p2 == -1) {
- perror("testhd.c(main): Could not create task <JetControl> ...");
- sys_end();
- }
-
-
- ft_task_default_model(ftb);
- ft_task_def_usemath(ftb);
- ft_task_def_backup(ftb);
- ft_task_def_ctrl_jet(ftb);
- ft_task_def_backup_wcet(ftb, 7000);
-
-
-
- p3 = task_create("Hard_aster1b", hard_aster1b, &ftb,NULL);
- if (p3 == -1) {
- perror("testhd.c(main): Could not create task <aster1b> ...");
- sys_end();
- }
-
- ft_task_default_model(ftp);
- ft_task_def_usemath(ftp);
- ft_task_def_ctrl_jet(ftp);
- ft_task_def_group(ftp, 1);
- ft_task_def_period(ftp, 50000);
- ft_task_def_budget(ftp, 15000);
- ft_task_def_primary_exec(ftp, 7300);
- ft_task_def_primary(ftp);
- ft_task_def_backup_task(ftp, p3);
-
-
- p4 = task_create("Hard_aster1p", hard_aster1p, &ftp, NULL);
- if (p4 == -1) {
- perror("testhd.c(main): Could not create task <aster1p> ...");
- sys_end();
- }
-
-
- ft_task_def_backup_wcet(ftb, 6700);
-
-
- p5 = task_create("Hard_aster2b", hard_aster2b, &ftb, NULL);
- if (p5 == -1) {
- perror("testhd.c(main): Could not create task <aster2b> ...");
- sys_end();
- }
-
-
- ft_task_def_period(ftp, 100000);
- ft_task_def_budget(ftp, 8000);
- ft_task_def_primary_exec(ftp, 11000);
- ft_task_def_backup_task(ftp, p5);
-
-
- p6 = task_create("Hard_aster2p", hard_aster2p, &ftp, NULL);
- if (p6 == -1) {
- perror("testhd.c(main): Could not create task <aster2p> ...");
- sys_end();
- }
-
-
- printf_xy(0,STAT_Y + 15,WHITE,"Hard asteroide PID= %-3d ",p3);
- printf_xy(0,STAT_Y + 17,WHITE,"Clock PID= %-3d ",p1);
- printf_xy(0,STAT_Y + 18,WHITE,"JetControl PID= %-3d ",p2);
-
-
-
- task_nopreempt();
- fineprg.tv_sec = 10;
- fineprg.tv_nsec = 0;
- kern_event_post(&fineprg,fine,NULL);
- group_activate(1);
- return 0;
-}
-
Index: pj/cbs_ft/readme.txt
===================================================================
--- pj/cbs_ft/readme.txt (revision 1344)
+++ pj/cbs_ft/readme.txt (nonexistent)
@@ -1,6 +0,0 @@
-This Example has been made by Marco Caccamo.
-
-There is not a lot of documentation available, so if you have problems please
-send an e-mail to Marco ( http://gandalf.sssup.it/~caccamo/ )
-
-Paolo
Index: pj/cbs_ft/makefile
===================================================================
--- pj/cbs_ft/makefile (revision 1344)
+++ pj/cbs_ft/makefile (nonexistent)
@@ -1,17 +0,0 @@
-#
-#
-#
-
-ifndef BASE
-BASE=../..
-endif
-include $(BASE)/config/config.mk
-
-PROGS= prova
-
-include $(BASE)/config/example.mk
-
-prova:
- make -f $(SUBMAKE) APP=prova INIT= OTHEROBJS="initfile.o cbs_ft.o" OTHERINCL=
-
-
Index: pj/cbs_ft/cbs_ft.c
===================================================================
--- pj/cbs_ft/cbs_ft.c (revision 1344)
+++ pj/cbs_ft/cbs_ft.c (nonexistent)
@@ -1,1009 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@hartik.sssup.it>
- *
- * Authors : Marco Caccamo and Paolo Gai
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: cbs_ft.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-
- This file contains the server CBS_FT
-
- Read CBS_FT.h for further details.
-
-**/
-
-/*
- * Copyright (C) 2000 Marco Caccamo and 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 "cbs_ft.h"
-
-/+ 4 debug purposes +/
-#undef CBS_FT_TEST
-
-#ifdef TESTG
-#include "drivers/glib.h"
-TIME x,oldx;
-extern TIME starttime;
-#endif
-
-
-
-
-/+ Status used in the level +/
-#define CBS_FT_IDLE APER_STATUS_BASE /+ waiting the activation +/
-#define CBS_FT_ZOMBIE APER_STATUS_BASE+1 /+ waiting the period end +/
-#define CBS_FT_DELAY APER_STATUS_BASE+2 /+ waiting the delay end +/
-
-/* structure of an element of the capacity queue */
-struct cap_queue {
- int cap;
- struct timespec dead;
- struct cap_queue *next;
-};
-
-/+ the level redefinition for the CBS_FT level +/
-typedef struct {
- level_des l; /+ the standard level descriptor +/
-
- /* The wcet are stored in the task descriptor, but we need
- an array for the deadlines. We can't use the timespec_priority
- field because it is used by the master level!!!...
- Notice that however the use of the timespec_priority field
- does not cause any problem... */
-
- struct timespec cbs_ft_dline[MAX_PROC]; /+ CBS_FT deadlines +/
-
-
- TIME period[MAX_PROC]; /+ CBS_FT activation period +/
-
-
- int maxcap[MAX_PROC]; /* amount of capacity reserved to a primary+backup
- couple */
-
- PID backup[MAX_PROC]; /* Backup task pointers, defined for primary tasks */
-
- char CP[MAX_PROC]; /* checkpoint flag */
-
- char P_or_B[MAX_PROC]; /* Type of task: PRIMARY or BACKUP */
-
-
- struct timespec reactivation_time[MAX_PROC];
- /+ the time at witch the reactivation timer is post +/
-
- int reactivation_timer[MAX_PROC]; /+ the recativation timer +/
-
- struct cap_queue queue; / pointer to the spare capacity queue */
-
- int flags; /+ the init flags... +/
-
- bandwidth_t U; /+ the used bandwidth by the server +/
-
- int idle; /* the idle flag... */
-
- struct timespec start_idle; /gives the start time of the last idle period /
-
- LEVEL scheduling_level;
-
-} CBS_FT_level_des;
-
-
-
-/* insert a capacity in the queue capacity ordering by deadline */
-
-static int c_insert(struct timespec dead, int cap, struct cap_queue **que,
- PID p)
-{
- struct cap_queue prev, n, *new;
-
- prev = NULL;
- n = *que;
-
- while ((n != NULL) &&
- !TIMESPEC_A_LT_B(&dead, &n->dead)) {
- prev = n;
- n = n->next;
- }
-
-
- new = (struct cap_queue *)kern_alloc(sizeof(struct cap_queue));
- if (new == NULL) {
- kern_printf("\nNew cash_queue element failed\n");
- kern_raise(XUNVALID_TASK, p);
- return -1;
- }
- new->next = NULL;
- new->cap = cap;
- new->dead = dead;
-
- if (prev != NULL)
- prev->next = new;
- else
- *que = new;
-
- if (n != NULL)
- new->next = n;
- return 0;
-
-}
-
-/* extract the first element from the capacity queue */
-
-int c_extractfirst(struct cap_queue **que)
-{
- struct cap_queue p = que;
-
-
- if (*que == NULL) return(-1);
-
- que = (que)->next;
-
- kern_free(p, sizeof(struct cap_queue));
- return(1);
-}
-
-/* read data of the first element from the capacity queue */
-
-static void c_readfirst(struct timespec d, int c, struct cap_queue *que)
-{
- *d = que->dead;
- *c = que->cap;
-}
-
-/* write data of the first element from the capacity queue */
-
-static void c_writefirst(struct timespec dead, int cap, struct cap_queue *que)
-{
- que->dead = dead;
- que->cap = cap;
-}
-
-
-static void CBS_FT_activation(CBS_FT_level_des *lev,
- PID p,
- struct timespec *acttime)
-{
- JOB_TASK_MODEL job;
- int capacity;
-
- /* This rule is used when we recharge the budget at initial task activation
- and each time a new task instance must be activated */
-
- if (TIMESPEC_A_GT_B(acttime, &lev->cbs_ft_dline[p])) {
- /* we modify the deadline ... */
- TIMESPEC_ASSIGN(&lev->cbs_ft_dline[p], acttime);
- }
-
-
- if (proc_table[p].avail_time > 0)
- proc_table[p].avail_time = 0;
-
-
-
- /* A spare capacity is inserted in the capacity queue!! */
- ADDUSEC2TIMESPEC(lev->period[p], &lev->cbs_ft_dline[p]);
- capacity = lev->maxcap[p] - proc_table[ lev->backup[p] ].wcet;
- c_insert(lev->cbs_ft_dline[p], capacity, &lev->queue, p);
-
-
- /* it exploits available capacities from the capacity queue */
- while (proc_table[p].avail_time < proc_table[p].wcet &&
- lev->queue != NULL) {
- struct timespec dead;
- int cap, delta;
- delta = proc_table[p].wcet - proc_table[p].avail_time;
- c_readfirst(&dead, &cap, lev->queue);
- if (!TIMESPEC_A_GT_B(&dead, &lev->cbs_ft_dline[p])) {
- if (cap > delta) {
- proc_table[p].avail_time += delta;
- c_writefirst(dead, cap - delta, lev->queue);
- }
- else {
- proc_table[p].avail_time += cap;
- c_extractfirst(&lev->queue);
- }
- }
- else
- break;
- }
-
- /* If the budget is still less than 0, an exception is raised */
- if (proc_table[p].avail_time <= 0) {
- kern_printf("\nnegative value for the budget!\n");
- kern_raise(XUNVALID_TASK, p);
- return;
- }
-
-
-
- /*if (p==6)
- kern_printf("(act_time:%d dead:%d av_time:%d)\n",
- acttime->tv_sec*1000000+
- acttime->tv_nsec/1000,
- lev->cbs_ft_dline[p].tv_sec*1000000+
- lev->cbs_ft_dline[p].tv_nsec/1000,
- proc_table[p].avail_time); */
-
-
-
-
-
-
-#ifdef TESTG
- if (starttime && p == 3) {
- oldx = x;
- x = ((lev->cbs_ft_dline[p].tv_sec*1000000+lev->cbs_ft_dline[p].tv_nsec/1000)/5000 - starttime) + 20;
- // kern_printf("(a%d)",lev->cbs_ft_dline[p].tv_sec*1000000+lev->cbs_ft_dline[p].tv_nsec/1000);
- if (oldx > x) sys_end();
- if (x<640)
- grx_plot(x, 15, 8);
- }
-#endif
-
- /* and, finally, we reinsert the task in the master level */
- job_task_default_model(job, lev->cbs_ft_dline[p]);
- job_task_def_yesexc(job);
- level_table[ lev->scheduling_level ]->
- guest_create(lev->scheduling_level, p, (TASK_MODEL *)&job);
- level_table[ lev->scheduling_level ]->
- guest_activate(lev->scheduling_level, p);
-}
-
-
-static char *CBS_FT_status_to_a(WORD status)
-{
- if (status < MODULE_STATUS_BASE)
- return status_to_a(status);
-
- switch (status) {
- case CBS_FT_IDLE : return "CBS_FT_Idle";
- case CBS_FT_ZOMBIE : return "CBS_FT_Zombie";
- case CBS_FT_DELAY : return "CBS_FT_Delay";
- default : return "CBS_FT_Unknown";
- }
-}
-
-
-
-
-/* this is the periodic reactivation of the task... */
-static void CBS_FT_timer_reactivate(void *par)
-{
- PID p = (PID) par;
- CBS_FT_level_des *lev;
-
- lev = (CBS_FT_level_des *)level_table[proc_table[p].task_level];
-
- if (proc_table[p].status == CBS_FT_IDLE) {
- /* the task has finished the current activation and must be
- reactivated */
-
- /* request_time represents the time of the last instance release!! */
- TIMESPEC_ASSIGN(&proc_table[p].request_time, &lev->reactivation_time[p]);
-
- /* If idle=1, then we have to discharge the capacities stored in
- the capacity queue up to the length of the idle interval */
- if (lev->idle == 1) {
- TIME interval;
- struct timespec delta;
- lev->idle = 0;
- SUBTIMESPEC(&proc_table[p].request_time, &lev->start_idle, &delta);
- /* length of the idle interval expressed in usec! */
- interval = TIMESPEC2NANOSEC(&delta) / 1000;
-
- /* it discharges the available capacities from the capacity queue */
- while (interval > 0 && lev->queue != NULL) {
- struct timespec dead;
- int cap;
- c_readfirst(&dead, &cap, lev->queue);
- if (cap > interval) {
- c_writefirst(dead, cap - interval, lev->queue);
- interval = 0;
- }
- else {
- interval -= cap;
- c_extractfirst(&lev->queue);
- }
- }
- }
-
- CBS_FT_activation(lev,p,&lev->reactivation_time[p]);
-
-
- /* Set the reactivation timer */
- TIMESPEC_ASSIGN(&lev->reactivation_time[p], &lev->cbs_ft_dline[p]);
- lev->reactivation_timer[p] = kern_event_post(&lev->reactivation_time[p],
- CBS_FT_timer_reactivate,
- (void *)p);
- event_need_reschedule();
- }
- else {
- /* this situation cannot occur */
- kern_printf("\nTrying to reactivate a primary task which is not IDLE!\n");
- kern_raise(XUNVALID_TASK,p);
- }
-}
-
-
-
-static void CBS_FT_avail_time_check(CBS_FT_level_des *lev, PID p)
-{
-
- /*+ if the capacity became negative the remaining computation time
- is diminuished.... +*/
- /* if (p==4)
- kern_printf("(old dead:%d av_time:%d)\n",
- lev->cbs_ft_dline[p].tv_sec*1000000+
- lev->cbs_ft_dline[p].tv_nsec/1000,
- proc_table[p].avail_time); */
-
-
- int newcap = proc_table[p].wcet / 100 * 30;
- if (newcap <= 0)
- newcap = proc_table[p].wcet;
- /* it exploits available capacities from the capacity queue */
- while (proc_table[p].avail_time < newcap
- && lev->queue != NULL) {
- struct timespec dead;
- int cap, delta;
- delta = newcap - proc_table[p].avail_time;
- c_readfirst(&dead, &cap, lev->queue);
- if (!TIMESPEC_A_GT_B(&dead, &lev->cbs_ft_dline[p])) {
- if (cap > delta) {
- proc_table[p].avail_time += delta;
- c_writefirst(dead, cap - delta, lev->queue);
- }
- else {
- proc_table[p].avail_time += cap;
- c_extractfirst(&lev->queue);
- }
- }
- else
- break;
- }
-
-
-
- /*if (p==6)
- kern_printf("(ATC dead:%d av_time:%d)\n",
- lev->cbs_ft_dline[p].tv_sec*1000000+
- lev->cbs_ft_dline[p].tv_nsec/1000,
- proc_table[p].avail_time); */
-
-
-
- /* if the budget is still empty, the backup task must be woken up.
- Remind that a short chunk of primary will go ahead executing
- before the task switch occurs */
- if (proc_table[p].avail_time <= 0) {
- lev->CP[p] = 1;
- proc_table[p].avail_time += proc_table[ lev->backup[p] ].wcet;
- }
-
-
- /*if (p==6)
- kern_printf("(ATC1 dead:%d av_time:%d)\n",
- lev->cbs_ft_dline[p].tv_sec*1000000+
- lev->cbs_ft_dline[p].tv_nsec/1000,
- proc_table[p].avail_time); */
-
-
-
-}
-
-
-/*+ this function is called when a killed or ended task reach the
- period end +*/
-static void CBS_FT_timer_zombie(void *par)
-{
- PID p = (PID) par;
- CBS_FT_level_des *lev;
-
- lev = (CBS_FT_level_des *)level_table[proc_table[p].task_level];
-
- /* we finally put the task in the FREE status */
- proc_table[p].status = FREE;
- q_insertfirst(p,&freedesc);
-
-
- /* and free the allocated bandwidth */
- lev->U -= (MAX_BANDWIDTH / lev->period[p]) * (TIME)lev->maxcap[p];
-}
-
-
-static int CBS_FT_level_accept_task_model(LEVEL l, TASK_MODEL *m)
-{
-
- if (m->pclass == FT_PCLASS \|\| m->pclass ==
- (FT_PCLASS \| l)) {
- FT_TASK_MODEL f = (FT_TASK_MODEL ) m;
-
- //kern_printf("accept :FAULT TOLERANT TASK found!!!!!!\n"); */
- if (f->type == PRIMARY && f->execP > 0 && f->budget < (int)f->period
- && f->backup != NIL) return 0;
- if (f->type == BACKUP && f->wcetB > 0)
- return 0;
- }
- return -1;
-}
-
-
-
-static int CBS_FT_level_accept_guest_model(LEVEL l, TASK_MODEL *m)
-{
- return -1;
-}
-
-static char *onoff(int i)
-{
- if (i)
- return "On ";
- else
- return "Off";
-}
-
-static void CBS_FT_level_status(LEVEL l)
-{
- CBS_FT_level_des lev = (CBS_FT_level_des )(level_table[l]);
- PID p;
-
- kern_printf("On-line guarantee : %s\n",
- onoff(lev->flags & CBS_FT_ENABLE_GUARANTEE));
- kern_printf("Used Bandwidth : %u/%u\n",
- lev->U, MAX_BANDWIDTH);
-
- for (p=0; p<MAX_PROC; p++)
- if (proc_table[p].task_level == l && proc_table[p].status != FREE )
- kern_printf("Pid: %2d Name: %10s Period: %9ld Dline: %9ld.%6ld Stat: %s\n",
- p,
- proc_table[p].name,
- lev->period[p],
- lev->cbs_ft_dline[p].tv_sec,
- lev->cbs_ft_dline[p].tv_nsec/1000,
- CBS_FT_status_to_a(proc_table[p].status));
-}
-
-static PID CBS_FT_level_scheduler(LEVEL l)
-{
- CBS_FT_level_des lev = (CBS_FT_level_des )(level_table[l]);
-
- /* it stores the actual time and set the IDLE flag in order to handle
- the capacity queue discharging!!! */
- lev->idle = 1;
- ll_gettime(TIME_EXACT, &lev->start_idle);
-
-
- /* the CBS_FT don't schedule anything...
- it's an EDF level or similar that do it! */
- return NIL;
-}
-
-
-/* The on-line guarantee is enabled only if the appropriate flag is set... */
-static int CBS_FT_level_guarantee(LEVEL l, bandwidth_t *freebandwidth)
-{
- CBS_FT_level_des lev = (CBS_FT_level_des )(level_table[l]);
-
- if (lev->flags & CBS_FT_FAILED_GUARANTEE) {
- *freebandwidth = 0;
- kern_printf("guarantee :garanzia fallita!!!!!!\n");
- return 0;
- }
- else if (*freebandwidth >= lev->U) {
- *freebandwidth -= lev->U;
- return 1;
- }
- else {
- kern_printf("guarantee :garanzia fallita per mancanza di banda!!!!!!\n");
- kern_printf("freeband: %d request band: %d", *freebandwidth, lev->U);
- return 0;
- }
-}
-
-
-static int CBS_FT_task_create(LEVEL l, PID p, TASK_MODEL *m)
-
-{
- CBS_FT_level_des lev = (CBS_FT_level_des )(level_table[l]);
-
- /* if the CBS_FT_task_create is called, then the pclass must be a
- valid pclass. */
- FT_TASK_MODEL s = (FT_TASK_MODEL )m;
-
-
-
- /* Enable budget check */
- proc_table[p].control \|= CONTROL_CAP;
-
- proc_table[p].avail_time = 0;
- NULL_TIMESPEC(&lev->cbs_ft_dline[p]);
-
-
- if (s->type == PRIMARY) {
- proc_table[p].wcet = (int)s->execP;
- lev->period[p] = s->period;
- lev->maxcap[p] = s->budget;
- lev->backup[p] = s->backup;
- lev->CP[p] = 0;
- lev->P_or_B[p] = PRIMARY;
-
- /* update the bandwidth... */
- if (lev->flags & CBS_FT_ENABLE_GUARANTEE) {
- bandwidth_t b;
- b = (MAX_BANDWIDTH / lev->period[p]) * (TIME)lev->maxcap[p];
-
- /* really update lev->U, checking an overflow... */
- if (MAX_BANDWIDTH - lev->U > b)
- lev->U += b;
- else
- /* The task can NOT be guaranteed (U>MAX_BANDWIDTH)...
- (see EDF.c) */
- lev->flags \|= CBS_FT_FAILED_GUARANTEE;
- }
- }
- else {
- proc_table[p].wcet = (int)s->wcetB;
- lev->P_or_B[p] = BACKUP;
-
- /* Backup tasks are unkillable tasks! */
- proc_table[p].control \|= NO_KILL;
- }
-
- return 0; /* OK, also if the task cannot be guaranteed... */
-}
-
-
-static void CBS_FT_task_detach(LEVEL l, PID p)
-{
- /* the CBS_FT level doesn't introduce any dynamic allocated new field.
- we have only to reset the NO_GUARANTEE FIELD and decrement the allocated
- bandwidth */
-
- CBS_FT_level_des lev = (CBS_FT_level_des )(level_table[l]);
-
- if (lev->flags & CBS_FT_FAILED_GUARANTEE)
- lev->flags &= ~CBS_FT_FAILED_GUARANTEE;
- else
- lev->U -= (MAX_BANDWIDTH / lev->period[p]) * (TIME)lev->maxcap[p];
-}
-
-
-static int CBS_FT_task_eligible(LEVEL l, PID p)
-{
- return 0; /* if the task p is chosen, it is always eligible */
-}
-
-#ifdef __TEST1__
- extern int testactive;
- extern struct timespec s_stime[];
- extern TIME s_curr[];
- extern TIME s_PID[];
- extern int useds;
-#endif
-
-static void CBS_FT_task_dispatch(LEVEL l, PID p, int nostop)
-{
- CBS_FT_level_des lev = (CBS_FT_level_des )(level_table[l]);
- level_table[ lev->scheduling_level ]->
- guest_dispatch(lev->scheduling_level,p,nostop);
-
-#ifdef __TEST1__
- if (testactive)
- {
- TIMESPEC_ASSIGN(&s_stime[useds], &schedule_time);
- s_curr[useds] = proc_table[p].avail_time;
- s_PID[useds] = p;
- useds++;
- }
-#endif
-}
-
-static void CBS_FT_task_epilogue(LEVEL l, PID p)
-{
- CBS_FT_level_des lev = (CBS_FT_level_des )(level_table[l]);
-
- /* check if the budget is finished... */
- if (proc_table[p].avail_time <= 0) {
-
- /* A backup task cannot ever exhaust its budget! */
- if (lev->P_or_B[p] == BACKUP) {
- kern_printf("\nBACKUP wcet violation!\n");
- kern_raise(XWCET_VIOLATION,p);
- /* we kill the current activation */
- level_table[ lev->scheduling_level ]->
- guest_end(lev->scheduling_level, p);
- return;
- }
-
- /* we try to recharge the budget */
- CBS_FT_avail_time_check(lev, p);
-
- /* The budget must be greater than 0! */
- if (proc_table[p].avail_time <= 0) {
- kern_printf("\nBackup task starting with exhausted budget\n");
- kern_raise(XUNVALID_TASK, p);
- lev->CP[p] = 0;
- /* we kill the current activation */
- level_table[ lev->scheduling_level ]->
- guest_end(lev->scheduling_level, p);
- return;
- }
- }
-
- /* the task returns into the ready queue by
- calling the guest_epilogue... */
- level_table[ lev->scheduling_level ]->
- guest_epilogue(lev->scheduling_level,p);
-}
-
-
-static void CBS_FT_task_activate(LEVEL l, PID p)
-{
- CBS_FT_level_des lev = (CBS_FT_level_des )(level_table[l]);
-
- ll_gettime(TIME_EXACT, &proc_table[p].request_time);
-
-
-
- if (lev->P_or_B[p] == BACKUP) {
- kern_printf("\nTrying to activate a BACKUP task!\n");
- kern_raise(XUNVALID_TASK, p);
- }
- else {
-
- /* If idle=1, then we have to discharge the capacities stored in
- the capacity queue up to the length of the idle interval */
- if (lev->idle == 1) {
- TIME interval;
- struct timespec delta;
- lev->idle = 0;
- SUBTIMESPEC(&proc_table[p].request_time, &lev->start_idle, &delta);
- /* length of the idle interval expressed in usec! */
- interval = TIMESPEC2NANOSEC(&delta) / 1000;
-
- /* it discharge the available capacities from the capacity queue */
- while (interval > 0 && lev->queue != NULL) {
- struct timespec dead;
- int cap;
- c_readfirst(&dead, &cap, lev->queue);
- if (cap > interval) {
- c_writefirst(dead, cap - interval, lev->queue);
- interval = 0;
- }
- else {
- interval -= cap;
- c_extractfirst(&lev->queue);
- }
- }
- }
-
- CBS_FT_activation(lev, p, &proc_table[p].request_time);
-
-
- /* Set the reactivation timer */
- TIMESPEC_ASSIGN(&lev->reactivation_time[p], &lev->cbs_ft_dline[p]);
- lev->reactivation_timer[p] = kern_event_post(&lev->reactivation_time[p],
- CBS_FT_timer_reactivate,
- (void *)p);
-
- // kern_printf("act : %d %d \|",lev->cbs_ft_dline[p].tv_nsec/1000,p);
- }
-}
-
-
-static void CBS_FT_task_insert(LEVEL l, PID p)
-{
- printk("CBS_FT_task_insert\n");
- kern_raise(XUNVALID_TASK,p);
-}
-
-
-static void CBS_FT_task_extract(LEVEL l, PID p)
-{
- printk("CBS_FT_task_extract\n");
- kern_raise(XUNVALID_TASK,p);
-}
-
-
-static void CBS_FT_task_endcycle(LEVEL l, PID p)
-{
- CBS_FT_level_des lev = (CBS_FT_level_des )(level_table[l]);
-
-
- level_table[ lev->scheduling_level ]->
- guest_end(lev->scheduling_level,p);
-
-
- proc_table[p].status = CBS_FT_IDLE;
-
-
- if (lev->P_or_B[p] == PRIMARY) {
- if (lev->CP[p]) {
- JOB_TASK_MODEL job;
-
- /* We have to start the backup task */
- TIMESPEC_ASSIGN(&lev->cbs_ft_dline[ lev->backup[p] ],
- &lev->cbs_ft_dline[p]);
- proc_table[ lev->backup[p] ].avail_time = proc_table[p].avail_time;
- lev->CP[p] = 0;
-
- /* and, finally, we insert the backup task in the master level */
- job_task_default_model(job, lev->cbs_ft_dline[p]);
- job_task_def_yesexc(job);
- level_table[ lev->scheduling_level ]->
- guest_create(lev->scheduling_level, lev->backup[p],
- (TASK_MODEL *)&job);
- level_table[ lev->scheduling_level ]->
- guest_activate(lev->scheduling_level, lev->backup[p]);
- }
- else {
- /* A spare capacity is inserted in the capacity queue!! */
- proc_table[p].avail_time += proc_table[ lev->backup[p] ].wcet;
- if (proc_table[p].avail_time > 0) {
- c_insert(lev->cbs_ft_dline[p], proc_table[p].avail_time,
- &lev->queue, p);
- proc_table[p].avail_time = 0;
- }
- }
- }
- else {
- /* this branch is for backup tasks:
- A spare capacity is inserted in the capacity queue!! */
- if (proc_table[p].avail_time > 0) {
- c_insert(lev->cbs_ft_dline[p], proc_table[p].avail_time,
- &lev->queue, p);
- proc_table[p].avail_time = 0;
- }
- }
-}
-
-
-static void CBS_FT_task_end(LEVEL l, PID p)
-{
- CBS_FT_level_des lev = (CBS_FT_level_des )(level_table[l]);
-
- /* A backup task cannot be killed, this behaviour can be modified
- in a new release */
- if (lev->P_or_B[p] == BACKUP) {
- kern_printf("\nKilling a BACKUP task!\n");
- kern_raise(XUNVALID_TASK, p);
- return;
- }
-
- /* check if the capacity becomes negative... */
- /* there is a while because if the wcet is << than the system tick
- we need to postpone the deadline many times */
- while (proc_table[p].avail_time < 0) {
- /* the CBS_FT rule for recharging the capacity */
- proc_table[p].avail_time += lev->maxcap[p];
- ADDUSEC2TIMESPEC(lev->period[p], &lev->cbs_ft_dline[p]);
- }
-
- level_table[ lev->scheduling_level ]->
- guest_end(lev->scheduling_level,p);
-
-
- /* we delete the reactivation timer */
- event_delete(lev->reactivation_timer[p]);
- lev->reactivation_timer[p] = -1;
-
-
- /* Finally, we post the zombie event. when the end period is reached,
- the task descriptor and banwidth are freed */
- proc_table[p].status = CBS_FT_ZOMBIE;
- lev->reactivation_timer[p] = kern_event_post(&lev->cbs_ft_dline[p],
- CBS_FT_timer_zombie,
- (void *)p);
-}
-
-
-static void CBS_FT_task_sleep(LEVEL l, PID p)
-{
- printk("CBS_FT_task_sleep\n");
- kern_raise(XUNVALID_TASK,p);
-}
-
-
-static void CBS_FT_task_delay(LEVEL l, PID p, TIME usdelay)
-{
- printk("CBS_FT_task_delay\n");
- kern_raise(XUNVALID_TASK,p);
-}
-
-
-static int CBS_FT_guest_create(LEVEL l, PID p, TASK_MODEL *m)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); return 0; }
-
-static void CBS_FT_guest_detach(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void CBS_FT_guest_dispatch(LEVEL l, PID p, int nostop)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void CBS_FT_guest_epilogue(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void CBS_FT_guest_activate(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void CBS_FT_guest_insert(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void CBS_FT_guest_extract(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void CBS_FT_guest_endcycle(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void CBS_FT_guest_end(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void CBS_FT_guest_sleep(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void CBS_FT_guest_delay(LEVEL l, PID p,DWORD tickdelay)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-
-
-
-/* Registration functions */
-
-/*+ Registration function:
- int flags the init flags ... see CBS.h +*/
-void CBS_FT_register_level(int flags, LEVEL master)
-{
- LEVEL l; /* the level that we register */
- CBS_FT_level_des lev; / for readableness only */
- PID i; /* a counter */
-
- printk("CBS_FT_register_level\n");
-
- /* request an entry in the level_table */
- l = level_alloc_descriptor();
-
- printk(" alloco descrittore %d %d\n",l,sizeof(CBS_FT_level_des));
-
- /* alloc the space needed for the CBS_FT_level_des */
- lev = (CBS_FT_level_des *)kern_alloc(sizeof(CBS_FT_level_des));
-
- printk(" lev=%d\n",(int)lev);
-
- /* update the level_table with the new entry */
- level_table[l] = (level_des *)lev;
-
- /* fill the standard descriptor */
- strncpy(lev->l.level_name, CBS_FT_LEVELNAME, MAX_LEVELNAME);
- lev->l.level_code = CBS_FT_LEVEL_CODE;
- lev->l.level_version = CBS_FT_LEVEL_VERSION;
-
- lev->l.level_accept_task_model = CBS_FT_level_accept_task_model;
- lev->l.level_accept_guest_model = CBS_FT_level_accept_guest_model;
- lev->l.level_status = CBS_FT_level_status;
- lev->l.level_scheduler = CBS_FT_level_scheduler;
-
- if (flags & CBS_FT_ENABLE_GUARANTEE)
- lev->l.level_guarantee = CBS_FT_level_guarantee;
- else
- lev->l.level_guarantee = NULL;
-
- lev->l.task_create = CBS_FT_task_create;
- lev->l.task_detach = CBS_FT_task_detach;
- lev->l.task_eligible = CBS_FT_task_eligible;
- lev->l.task_dispatch = CBS_FT_task_dispatch;
- lev->l.task_epilogue = CBS_FT_task_epilogue;
- lev->l.task_activate = CBS_FT_task_activate;
- lev->l.task_insert = CBS_FT_task_insert;
- lev->l.task_extract = CBS_FT_task_extract;
- lev->l.task_endcycle = CBS_FT_task_endcycle;
- lev->l.task_end = CBS_FT_task_end;
- lev->l.task_sleep = CBS_FT_task_sleep;
- lev->l.task_delay = CBS_FT_task_delay;
-
- lev->l.guest_create = CBS_FT_guest_create;
- lev->l.guest_detach = CBS_FT_guest_detach;
- lev->l.guest_dispatch = CBS_FT_guest_dispatch;
- lev->l.guest_epilogue = CBS_FT_guest_epilogue;
- lev->l.guest_activate = CBS_FT_guest_activate;
- lev->l.guest_insert = CBS_FT_guest_insert;
- lev->l.guest_extract = CBS_FT_guest_extract;
- lev->l.guest_endcycle = CBS_FT_guest_endcycle;
- lev->l.guest_end = CBS_FT_guest_end;
- lev->l.guest_sleep = CBS_FT_guest_sleep;
- lev->l.guest_delay = CBS_FT_guest_delay;
-
- /* fill the CBS_FT descriptor part */
- for (i=0; i<MAX_PROC; i++) {
- NULL_TIMESPEC(&lev->cbs_ft_dline[i]);
- lev->period[i] = 0;
- NULL_TIMESPEC(&lev->reactivation_time[i]);
- lev->reactivation_timer[i] = -1;
- lev->maxcap[i] = 0;
- lev->backup[i] = NIL;
- lev->CP[i] = 0;
- lev->P_or_B[i] = PRIMARY;
- }
-
- lev->U = 0;
- lev->idle = 0;
- lev->queue = NULL;
-
- lev->scheduling_level = master;
-
- lev->flags = flags & 0x07;
-}
-
-
-
-bandwidth_t CBS_FT_usedbandwidth(LEVEL l)
-{
-
- CBS_FT_level_des lev = (CBS_FT_level_des )(level_table[l]);
- if (lev->l.level_code == CBS_FT_LEVEL_CODE &&
- lev->l.level_version == CBS_FT_LEVEL_VERSION)
- return lev->U;
- else
- return 0;
-}
-
-
-
-void CBS_FT_Primary_Abort()
-{
- PID p;
- CBS_FT_level_des *lev;
-
- kern_cli();
- p = exec_shadow;
- lev = (CBS_FT_level_des *)level_table[proc_table[p].task_level];
- lev->CP[p] = 1;
- kern_sti();
-}
-
-
-char CBS_FT_Checkpoint()
-{
- char f;
- PID p;
- CBS_FT_level_des *lev;
-
- kern_cli();
- p = exec_shadow;
- lev = (CBS_FT_level_des *)level_table[proc_table[p].task_level];
- f = lev->CP[p];
- kern_sti();
- return f;
-}
-
Index: pj/jumpball/initfile.c
===================================================================
--- pj/jumpball/initfile.c (revision 1344)
+++ pj/jumpball/initfile.c (nonexistent)
@@ -1,141 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: initfile.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-**/
-
-/*
- * 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
- *
- */
-
-#define PI
-
-#include "kernel/kern.h"
-#include "modules/edf.h"
-#include "modules/cbs.h"
-#include "modules/rr.h"
-
-#ifndef PI
-#include "modules/rrsoft.h"
-#endif
-
-#include "modules/dummy.h"
-
-#include "modules/sem.h"
-#include "modules/hartport.h"
-#include "modules/cabs.h"
-#include "modules/pi.h"
-#include "modules/pc.h"
-#include "modules/srp.h"
-#include "modules/npp.h"
-#include "modules/nop.h"
-
-#include "drivers/keyb.h"
-
-
-/+ sysyem tick in us +/
-#define TICK 0
-
-/+ RR tick in us +/
-//#define RRTICK 10000
-#define RRTICK 2000
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
-#ifdef PI
- EDF_register_level(EDF_ENABLE_ALL);
- CBS_register_level(CBS_ENABLE_ALL, 0);
-#else
- RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD\|RRSOFT_ONLY_SOFT);
- RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_SOFT); //cbs
-#endif
-
- RR_register_level(RRTICK, RR_MAIN_YES, mb);
- dummy_register_level();
-
-
- SEM_register_module();
-
- CABS_register_module();
-
- PI_register_module();
- NOP_register_module();
-
- return TICK;
-}
-
-TASK __init__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- HARTPORT_init();
-
- kern_printf("TIME=%d\n",sys_gettime(NULL));
- KEYB_init(NULL);
- kern_printf("TIME=%d\n",sys_gettime(NULL));
-// KEYB_init(NULL);
-
- __call_main__(mb);
-
- return (void *)0;
-}
-
-
-#ifdef PI
-void app_mutex_init(mutex_t *m)
-{
- PI_mutexattr_t attr;
-
- PI_mutexattr_default(attr);
-
- mutex_init(m, &attr);
-}
-#else
-void app_mutex_init(mutex_t *m)
-{
- NOP_mutexattr_t attr;
-
- NOP_mutexattr_default(attr);
-
- mutex_init(m, &attr);
-}
-#endif
Index: pj/jumpball/demo.c
===================================================================
--- pj/jumpball/demo.c (revision 1344)
+++ pj/jumpball/demo.c (nonexistent)
@@ -1,252 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: demo.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-**/
-
-/*
- * 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 "demo.h"
-#include <kernel/func.h>
-#include <string.h>
-#include <stdlib.h>
-#include <drivers/keyb.h>
-#include <drivers/glib.h>
-
-/* graphic mutex... */
-mutex_t mutex;
-
-/* useful colors... */
-int white;
-int black;
-int red;
-int gray;
-
-void app_mutex_init(mutex_t *m);
-
-static void version( void )
-{
- cprintf( "S.Ha.R.K. Pavia Demo 1.0\n" );
- cprintf( "------------------------\n" );
- cprintf( "by Paolo Gai 1999-2001\n" );
- cprintf( " <pj@sssup.it>\n" );
- cprintf( "------------------------\n" );
-}
-
-int myrand(int x)
-{
- return rand()%x;
-}
-
-void reverse(char s[])
-{
- int c, i, j;
-
- for (i = 0, j = strlen(s)-1; i<j; i++, j--)
- {
- c = s[i];
- s[i] = s[j];
- s[j] = c;
- }
-}
-
-char * itoa(int n, char *s)
-{
- int i, sign;
-
- if ((sign = n) < 0)
- n = -n;
-
- i = 0;
-
- do
- {
- s[i++] = n % 10 + '0';
- } while ((n /= 10) > 0);
-
- if (sign < 0)
- s[i++] = '-';
-
- s[i] = 0;
-
- reverse(s);
-
- return s;
-}
-
-
-void scenario()
-{
- grx_text("S.Ha.R.K. Pavia Demo 1.0", 0, 0, rgb16(0,255,0), black );
- grx_text("by Paolo Gai 1999-2001" , 0, 8, rgb16(0,255,0), black );
- grx_text(" pj@sssup.it" , 0,16, rgb16(0,255,0), black );
-
- grx_text("Ctrl-C, Ctrr-C, Enter: exit" ,320, 0, gray, black );
- grx_text("Alt-C : void stat." ,320, 8, gray, black );
- grx_text("Space : create noise ball",320,16, gray, black );
- grx_text("Backspace : kill noise balls" ,320,24, gray, black );
-
-
- #ifdef JET_ON
- scenario_jetcontrol();
- #endif
-
- #ifdef BALL_ON
- scenario_ball();
- #endif
-}
-
-
-void demo_exc_handler(int signo, siginfo_t info, void extra)
-{
- struct timespec t;
-
- grx_close();
-
- /* Default action for an kern exception is */
- kern_cli();
- ll_gettime(TIME_EXACT, &t),
- kern_printf("\nS.Ha.R.K. Exception raised!!!"
- "\nTime (s:ns) :%d:%d"
- "\nException number:%d"
- "\nPID :%d\n",
- t.tv_sec, t.tv_nsec, info->si_value.sival_int,
- info->si_task);
- sys_end();
-}
-
-void my_close(void *arg)
-{
- grx_close();
- kern_printf("my_close\n");
-}
-
-
-void endfun(KEY_EVT *k)
-{
- cprintf("Ctrl-Brk pressed! Ending...\n");
- sys_end();
-}
-
-void zerofun(KEY_EVT *k)
-{
- int i;
- for (i=0; i<MAX_PROC; i++) jet_delstat(i);
-}
-
-void printeventqueue(void *arg)
-{
- struct event *p;
- extern struct event *firstevent;
-
- kern_cli();
- grx_close();
- kern_cli();
- for (p = firstevent; p != NULL; p = p->next) {
- kern_printf("par:%d time:%d.%d p:%d handler:%d\n",
- p->par, p->time.tv_sec, p->time.tv_nsec/1000, p, p->handler);
- }
- kern_sti();
-}
-
-int main(int argc, char **argv)
-{
- int modenum;
-
- KEY_EVT k;
-
- srand(4);
-
- version();
-
- keyb_set_map(itaMap);
- 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);
- k.flag = ALTL_BIT;
- k.scan = KEY_C;
- k.ascii = 'c';
- keyb_hook(k,zerofun);
- k.flag = 0;
- k.scan = KEY_ENT;
- k.ascii = 13;
- keyb_hook(k,endfun);
-
- set_exchandler_grx();
- sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT);
-
-
- grx_init();
- modenum = grx_getmode(640, 480, 16);
-
- grx_setmode(modenum);
-
- /* init the graphic mutex */
- app_mutex_init(&mutex);
-
- /* useful colors ... */
- white = rgb16(255,255,255);
- black = rgb16(0,0,0);
- red = rgb16(255,0,0);
- gray = rgb16(128,128,128);
-
- scenario();
-
- #ifdef JET_ON
- init_jetcontrol();
- #endif
-
- #ifdef BALL_ON
- init_ball();
- #endif
-
- group_activate(1);
-
- return 0;
-}
-
-
Index: pj/jumpball/jetctrl.c
===================================================================
--- pj/jumpball/jetctrl.c (revision 1344)
+++ pj/jumpball/jetctrl.c (nonexistent)
@@ -1,244 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: jetctrl.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-**/
-
-/*
- * 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
- *
- */
-
-
-// JetControl
-
-#include "demo.h"
-#include "kernel/func.h"
-
-TASK jetdummy_task(void *arg)
-{
- TIME now_dummy, last_dummy, diff_dummy, slice;
- struct timespec now, last, diff;
- int x = 0;
- int height;
-
- NULL_TIMESPEC(&last);
- last_dummy = 0;
- for (;;) {
- task_nopreempt();
- jet_getstat(DUMMY_PID, NULL, NULL, NULL, &now_dummy);
- sys_gettime(&now);
- task_preempt();
-
- SUBTIMESPEC(&now, &last, &diff);
- slice = diff.tv_sec * 1000000 + diff.tv_nsec/1000;
- diff_dummy = now_dummy - last_dummy;
-
- height = (int)(JET_DUMMY_HEIGHT*((float)diff_dummy)/((float)slice));
-
- TIMESPEC_ASSIGN(&last, &now);
- last_dummy = now_dummy;
-
- mutex_lock(&mutex);
- grx_line(JET_DUMMY_X+x,JET_DUMMY_Y,
- JET_DUMMY_X+x,JET_DUMMY_Y+height ,black);
- grx_line(JET_DUMMY_X+x,JET_DUMMY_Y+height,
- JET_DUMMY_X+x,JET_DUMMY_Y+JET_DUMMY_HEIGHT,white);
- grx_line(JET_DUMMY_X+(x+1)%JET_DUMMY_WIDTH,JET_DUMMY_Y,
- JET_DUMMY_X+(x+1)%JET_DUMMY_WIDTH,JET_DUMMY_Y+JET_DUMMY_HEIGHT,255);
- mutex_unlock(&mutex);
-
- x = (x+1)%JET_DUMMY_WIDTH;
-
- task_endcycle();
- }
-}
-
-
-TASK jetctrl_task(void *arg)
-{
- char st[50];
- TIME sum, max;
- int n;
-
- PID i;
- int printed = 0;
-
- for (;;) {
- for (i=2, printed=0; i<MAX_PROC && printed<JET_NTASK; i++) {
- if (jet_getstat(i, &sum, &max, &n, NULL) != -1) {
- if (!n) n=1;
- sprintf(st, "%6d %6d %10s", (int)sum/n, (int)max, proc_table[i].name);
- mutex_lock(&mutex);
- grx_text(st, 384, JET_Y_NAME+16+printed*8, gray, black);
- mutex_unlock(&mutex);
- printed++;
- }
- }
- while (printed<JET_NTASK) {
- mutex_lock(&mutex);
- grx_text(" ",
- 384, JET_Y_NAME+16+printed*8, gray, black);
- mutex_unlock(&mutex);
- printed++;
- }
- task_endcycle();
- }
-}
-
-TASK jetslide_task(void *arg)
-{
- TIME sum, curr, max;
-
- TIME total[JET_NTASK];
- int slides[JET_NTASK];
-
- PID i;
- int printed = 0;
-
- for (;;) {
- // Fill the total array in a nonpreemptive section
- task_nopreempt();
- for (i=2, printed=0; i<MAX_PROC && printed<JET_NTASK; i++) {
- if (jet_getstat(i, &sum, NULL, NULL, &curr) != -1) {
- total[printed] = sum+curr;
- printed++;
- }
- }
- task_preempt();
-
- while (printed < JET_NTASK)
- total[printed++] = 0;
-
- // Compute the Max elapsed time
- max = 0;
- for (i=0; i<JET_NTASK; i++)
- if (total[i] > max) max = total[i];
- if (!max) max = 1;
-
- // Compute the slides width
- for (i=0; i<JET_NTASK; i++)
- slides[i] = (int)( (((float)total[i])/max) * JET_SLIDE_WIDTH);
-
- // print the data
- mutex_lock(&mutex);
- for (i=0; i<JET_NTASK; i++) {
- grx_box(JET_SLIDE_X, JET_Y_NAME+16+i*8,
- JET_SLIDE_X+slides[i], JET_Y_NAME+23+i*8, gray);
- grx_box(JET_SLIDE_X+slides[i], JET_Y_NAME+16+i*8,
- JET_SLIDE_X+JET_SLIDE_WIDTH, JET_Y_NAME+23+i*8, black);
- }
-
- while (i<JET_NTASK) {
- grx_box(JET_SLIDE_X, JET_Y_NAME+16+i*8,
- JET_SLIDE_X+JET_SLIDE_WIDTH, JET_Y_NAME+20+i*8, black);
- i++;
- }
- mutex_unlock(&mutex);
- task_endcycle();
- }
-}
-
-
-void scenario_jetcontrol(void)
-{
- grx_text("System load" , 384, 45, rgb16(0,0,255), black);
- grx_line(384,55,639,55,red);
-
- grx_text(" Mean Max Name Slide", 384, JET_Y_NAME, gray, black);
- grx_line(384,JET_Y_NAME+10,639,JET_Y_NAME+10,gray);
-
- grx_rect(JET_DUMMY_X-1, JET_DUMMY_Y-1,
- JET_DUMMY_X+JET_DUMMY_WIDTH, JET_DUMMY_Y+JET_DUMMY_HEIGHT+1, gray);
-
- grx_text("100%", JET_DUMMY_X-40, JET_DUMMY_Y, gray, black);
- grx_text(" 0%", JET_DUMMY_X-40, JET_DUMMY_Y+JET_DUMMY_HEIGHT-8, gray, black);
-
- grx_line(JET_DUMMY_X-1, JET_DUMMY_Y, JET_DUMMY_X-5, JET_DUMMY_Y, gray);
- grx_line(JET_DUMMY_X-1, JET_DUMMY_Y+JET_DUMMY_HEIGHT, JET_DUMMY_X-5, JET_DUMMY_Y+JET_DUMMY_HEIGHT, gray);
-}
-
-void init_jetcontrol(void)
-{
- SOFT_TASK_MODEL m3, m4, m5;
-
- PID p3, p4, p5;
-
- soft_task_default_model(m3);
- soft_task_def_level(m3,1);
- soft_task_def_period(m3, PERIOD_JETCTRL);
- soft_task_def_met(m3, WCET_JETCTRL);
- soft_task_def_ctrl_jet(m3);
- soft_task_def_group(m3, 1);
- p3 = task_create("jctrl", jetctrl_task, &m3, NULL);
- if (p3 == -1) {
- grx_close();
- perror("Could not create task <jetctrl>");
- sys_end();
- }
-
- soft_task_default_model(m4);
- soft_task_def_level(m4,1);
- soft_task_def_period(m4, PERIOD_JETDUMMY);
- soft_task_def_met(m4, WCET_JETDUMMY);
- soft_task_def_group(m4, 1);
- soft_task_def_usemath(m4);
- soft_task_def_ctrl_jet(m4);
- p4 = task_create("jdmy", jetdummy_task, &m4, NULL);
- if (p4 == -1) {
- grx_close();
- perror("Could not create task <jetdummy>");
- sys_end();
- }
-
- soft_task_default_model(m5);
- soft_task_def_level(m5,1);
- soft_task_def_period(m5, PERIOD_JETSLIDE);
- soft_task_def_met(m5, WCET_JETSLIDE);
- soft_task_def_group(m5, 1);
- soft_task_def_usemath(m5);
- soft_task_def_ctrl_jet(m5);
- p5 = task_create("jsli", jetslide_task, &m5, NULL);
- if (p5 == -1) {
- grx_close();
- perror("Could not create task <jetslide>");
- sys_end();
- }
-}
-
Index: pj/jumpball/demo.h
===================================================================
--- pj/jumpball/demo.h (revision 1344)
+++ pj/jumpball/demo.h (nonexistent)
@@ -1,147 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: demo.h,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-**/
-
-/*
- * 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 <ll/ll.h>
-#include <kernel/types.h>
-#include <kernel/descr.h>
-#include <math.h>
-#include <drivers/glib.h>
-#include <drivers/keyb.h>
-
-
-#define JET_ON
-#define BALL_ON
-
-/*
- *
- * WCET, Periods and Models
- *
- */
-
-
-/* define if you want NRT or SOFT... */
-#define TASK_TYPE SOFT
-//#define TASK_TYPE NRT
-
-#define WCET_JETCTRL 7500
-#define WCET_JETDUMMY 200
-#define WCET_JETSLIDE 2100
-
-#define PERIOD_JETCTRL 100000
-#define PERIOD_JETDUMMY 100000
-#define PERIOD_JETSLIDE 100000
-
-
-#define WCET_BALL 100
-
-#define PERIOD_BALL 10000
-
-/*
- *
- * Global Stuffs
- *
- */
-
-/* graphic mutex... */
-extern mutex_t mutex;
-
-/* useful colors... */
-extern int white;
-extern int black;
-extern int red;
-extern int gray;
-
-void init_jetcontrol();
-void init_ball(void);
-void scenario_jetcontrol();
-void scenario_ball();
-char itoa(int n, char s);
-int myrand(int x);
-
-
-
-/*
- *
- * JETCONTROL stuffs
- *
- */
-
-#define JET_NTASK 35
-#define JET_Y_NAME 170
-
-#define DUMMY_PID 1
-
-#define JET_DUMMY_WIDTH 210
-#define JET_DUMMY_HEIGHT 80
-
-/* the point (x, y) is the top left corner */
-#define JET_DUMMY_X 428
-#define JET_DUMMY_Y 65
-
-#define JET_SLIDE_WIDTH 50
-#define JET_SLIDE_X 576
-
-
-
-
-/*
- *
- * BALL stuffs
- *
- */
-
-// x and y corners are specified whithout consider a border of 3 pixels
-#define BALL_Y 450 /* position of the floor */
-#define BALL_HEIGHT 385 /* initial height of the ball */
-#define BALL_XMIN 10 /* min position X of the ball */
-#define BALL_XMAX 370 /* max position X of the ball */
-#define BALL_VELX 5. /* horizontal ball velocity */
-#define BALL_VYMIN 11. /* min ground speed */
-#define BALL_MAX_P 60 /* max number of balls */
-
-#define BALL_GROUP 2 /* task group of the balls */
Index: pj/jumpball/readme.txt
===================================================================
--- pj/jumpball/readme.txt (revision 1344)
+++ pj/jumpball/readme.txt (nonexistent)
@@ -1,75 +0,0 @@
-----------------------------------
-Jumping Balls demo
-
-by
-
-Paolo Gai 1999-2001 - pj@sssup.it
-
-----------------------------------
-
-This demo was created to show some S.Ha.R.K. functionalities in the course
-of Informatica Industriale , University of Pavia, Italy.
-
-The demo is composed by an application (derived by the template application
-distributed on the web site) and two init files.
-
-The demo is composed by:
-
-MAKEFILE The makefile used to compile the application;
- demo is the rule to compile the application with a CBS scheduler
- demo2 is the rule to compile the application with a RR scheduler
-README.TXT This file
-DEMO.H Some constants used into the demo
-INITFIL1.C The CBS initfile
-INITFIL2.C The EDF initfile
-INITFILE.C A makefile that cover either EDF+CBS and RR
-BALL.C The Jumping balls part of the demo
-DEMO.C The main() function and some other utility function
-JETCTRL.C The JET part of the demo
-
-
-The demo works as follows:
-- It works at 640x480 16 bit colors
-- on the left, there is the jumping ball arena, on the rigth there is the
- statistics about the tasks into the system.
-
-- the tasks are guaranteed using CBS and EDF. The wcet and mean execution
- time on my portable after a few minutes are (us):
-
- JetCtrl 7400 max 7500 CBS met
- JetDummy 135 max 200 CBS met
- JetSlide 2100 max 2100 CBS met
- Balls 276 max 380 EDF wcet for hard ball,100 CBS met for soft ones
-
- The system should go overloaded with 40 soft balls.
-
-- The idea is the following:
- - first, an edf guaranteed ball is created.
- - then, create a set of soft ball using space. since their met is < than the
- real met, they posticipate the deadlines.
- - if they are killed, they remain for some seconds in the zombie state
- - if a set of soft ball arde created (i.e., 10), and after a while all the
- others are created, the bandwidth is fully used, and the task posticipate
- their deadlines. the first set of tasks stops jumping when the bandwidth
- is full utilized by the newest balls until all the tasks have similar
- deadlines.
- - Note on the left the slides that represents the relative ratio
- between the tasks.
- - Note that in overload conditions the EDF task is still guaranteed
- - Note that PI is used with EDF, also if no theory says that it is good:
- - S.Ha.R.K. allows that, it is the user that have to choose if that is
- a non-sense
- - PI is independent from the implemnentation of the scheduling modules
- - if the second init file is used, RR is used instead of EDF+CBS.
- - In overload condition RR perform differently from EDF+CBS, giving to
- each task an equal fraction of bandwidth
-
- - note also:
- - the redefinition of the standard exception handler
- - the redefinition of the keys and the initialization of the keyboard
- - the myend exit function
- - the main() that terminates
- - the two parts (ball and jet) can be excluded using a #define
-
-If You have any question, please contact the author...
-
Index: pj/jumpball/ball.c
===================================================================
--- pj/jumpball/ball.c (revision 1344)
+++ pj/jumpball/ball.c (nonexistent)
@@ -1,239 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: ball.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-**/
-
-/*
- * 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
- *
- */
-
-/--------------------------------------------------------------/
-/* SIMULATION OF JUMPING BALLS */
-/--------------------------------------------------------------/
-
-#include "demo.h"
-#include <kernel/func.h>
-#include <stdlib.h>
-
-#define R 8 /* dimension of a ball */
-#define G 9.8 /* acceleration of gravity */
-
-static int ballexit = 0;
-static int npc = 0; /* number of tasks created */
-
-/--------------------------------------------------------------/
-/* Periodic task for ball simulation */
-/--------------------------------------------------------------/
-
-TASK palla(int i)
-{
-int x, y; /* coordinate grafiche pallina */
-int ox, oy; /* vecchia posizione pallina */
-int x0, y0; /* posizione iniziale X pallina */
-float vx, vy; /* velocit della pallina */
-float vy0; /* velocita' pallina al primo rimbalzo */
-float ty, tx; /* variabile temporale */
-float dt; /* incremento temporale */
-
- y = oy = y0 = BALL_HEIGHT;
- x = ox = x0 = BALL_XMIN;
-
- vy0= sqrt(2. * G * (float)BALL_HEIGHT);
- vy = 0;
- vx = BALL_VELX + myrand(9);
- tx = 0;
- ty = 0;
- dt = ((float)PERIOD_BALL)/100000;
-
- while (1) {
- y = y0 + vyty - .5Gtyty;
- x = x0 + vx * tx;
-
- if (y < 0) {
- y = 0;
-
- if (vy == 0.0)
- vy = vy0;
- else if (vy < BALL_VYMIN)
- vy = vy0 * (1.0 - myrand(50)/100.0);
- else
- vy = 0.9 * vy;
-
- ty = 0.0;
- y0 = 0;
- }
-
- if (x > BALL_XMAX) {
- tx = 0.0;
- x0 = BALL_XMAX;
- vx = -vx;
- x = x0 + vx * tx;
- }
-
- if (x < BALL_XMIN) {
- tx = 0.0;
- x0 = BALL_XMIN;
- vx = -vx;
- x = x0 + vx * tx;
- }
-
- mutex_lock(&mutex);
- grx_disc(ox, oy, R, 0);
- ox = x;
- oy = BALL_Y - y;
- mutex_unlock(&mutex);
-
- if (ballexit && i!=0xFFFF) {
- npc--;
- return 0;
- }
-
- mutex_lock(&mutex);
- grx_disc(ox, oy, R, i);
- mutex_unlock(&mutex);
-
- {
- int xxx;
- for (xxx=0; xxx<10000; xxx++);
- }
- ty += dt;
- tx += dt;
- task_endcycle();
- }
-}
-
-void killball(KEY_EVT *k)
-{
- ballexit = 1;
-}
-
-void ballfun(KEY_EVT *k)
-{
- SOFT_TASK_MODEL mp;
- int r,g,b;
- PID pid;
- char palla_str[]="palla ";
-
- if (npc == BALL_MAX_P) return;
-
- ballexit = 0;
-
- r = 64 + myrand(190);
- g = 64 + myrand(190);
- b = 64 + myrand(190);
-
- itoa(npc,palla_str+5);
-
- soft_task_default_model(mp);
- soft_task_def_level(mp,1);
- soft_task_def_ctrl_jet(mp);
- soft_task_def_arg(mp, (void *)rgb16(r,g,b));
- soft_task_def_group(mp, BALL_GROUP);
- soft_task_def_met(mp, WCET_BALL);
- soft_task_def_period(mp,PERIOD_BALL);
- soft_task_def_usemath(mp);
- pid = task_create(palla_str, palla, &mp, NULL);
-
- if (pid != NIL) {
- task_activate(pid);
- npc++;
- }
-}
-
-void hardball()
-{
- HARD_TASK_MODEL mp;
- int r,g,b;
- PID pid;
-
- r = 255;
- g = 255;
- b = 255;
-
- hard_task_default_model(mp);
- hard_task_def_ctrl_jet(mp);
- hard_task_def_arg(mp, (void *)rgb16(r,g,b));
- hard_task_def_wcet(mp, 380);
- hard_task_def_mit(mp,PERIOD_BALL);
- hard_task_def_usemath(mp);
- pid = task_create("pallaEDF", palla, &mp, NULL);
- if (pid == NIL) {
- grx_close();
- perror("Could not create task <pallaEDF>");
- sys_end();
- }
- else
- task_activate(pid);
-}
-
-
-/--------------------------------------------------------------/
-/* MAIN process */
-/--------------------------------------------------------------/
-
-void scenario_ball()
-{
- grx_text("Noise", 0, 45 /BALL_Y-BALL_HEIGHT-15/, rgb16(0,0,255), black);
- grx_line(0,55,383,55,red);
-//grx_line(0,BALL_Y-BALL_HEIGHT-6,383,BALL_Y-BALL_HEIGHT-6,red);
-
- grx_rect(BALL_XMIN-R-1, BALL_Y-BALL_HEIGHT-R-1,
- BALL_XMAX+R+1, BALL_Y+R+1, rgb16(0,200,0));
-}
-
-void init_ball(void)
-{
- KEY_EVT k;
-
- hardball();
-
- k.flag = 0;
- k.scan = KEY_SPC;
- k.ascii = ' ';
- keyb_hook(k,ballfun);
-
- k.flag = 0;
- k.scan = KEY_BKS;
- k.ascii = ' ';
- keyb_hook(k,killball);
-}
-
-/--------------------------------------------------------------/
Index: pj/jumpball/makefile
===================================================================
--- pj/jumpball/makefile (revision 1344)
+++ pj/jumpball/makefile (nonexistent)
@@ -1,19 +0,0 @@
-#
-#
-#
-
-ifndef BASE
-BASE=../..
-endif
-include $(BASE)/config/config.mk
-
-PROGS= demo
-
-include $(BASE)/config/example.mk
-
-demo:
- make -f $(SUBMAKE) APP=demo INIT= OTHEROBJS="initfil1.o ball.o jetctrl.o" OTHERINCL=
-
-demo2:
- make -f $(SUBMAKE) APP=demo INIT= OTHEROBJS="initfil2.o ball.o jetctrl.o" OTHERINCL=
-
Index: pj/jumpball/initfil1.c
===================================================================
--- pj/jumpball/initfil1.c (revision 1344)
+++ pj/jumpball/initfil1.c (nonexistent)
@@ -1,118 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: initfil1.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-**/
-
-/*
- * 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 "modules/edf.h"
-#include "modules/cbs.h"
-#include "modules/rr.h"
-#include "modules/dummy.h"
-
-#include "modules/sem.h"
-#include "modules/hartport.h"
-#include "modules/cabs.h"
-#include "modules/pi.h"
-#include "modules/pc.h"
-#include "modules/srp.h"
-#include "modules/npp.h"
-#include "modules/nop.h"
-
-#include "drivers/keyb.h"
-
-
-/+ sysyem tick in us +/
-#define TICK 0
-
-/+ RR tick in us +/
-//#define RRTICK 10000
-#define RRTICK 2000
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- EDF_register_level(EDF_ENABLE_ALL);
- CBS_register_level(CBS_ENABLE_ALL, 0);
- RR_register_level(RRTICK, RR_MAIN_YES, mb);
- dummy_register_level();
-
-
- SEM_register_module();
-
- CABS_register_module();
-
- PI_register_module();
- NOP_register_module();
-
- return TICK;
-}
-
-TASK __init__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- KEYB_PARMS kparms = BASE_KEYB;
-
- HARTPORT_init();
-
- keyb_def_ctrlC(kparms, NULL);
- KEYB_init(&kparms);
-
- __call_main__(mb);
-
- return (void *)0;
-}
-
-
-void app_mutex_init(mutex_t *m)
-{
- PI_mutexattr_t attr;
-
- PI_mutexattr_default(attr);
-
- mutex_init(m, &attr);
-}
-
Index: pj/jumpball/initfil2.c
===================================================================
--- pj/jumpball/initfil2.c (revision 1344)
+++ pj/jumpball/initfil2.c (nonexistent)
@@ -1,119 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: initfil2.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-**/
-
-/*
- * 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 "modules/edf.h"
-#include "modules/cbs.h"
-#include "modules/rr.h"
-#include "modules/rrsoft.h"
-#include "modules/dummy.h"
-
-#include "modules/sem.h"
-#include "modules/hartport.h"
-#include "modules/cabs.h"
-#include "modules/pi.h"
-#include "modules/pc.h"
-#include "modules/srp.h"
-#include "modules/npp.h"
-#include "modules/nop.h"
-
-#include "drivers/keyb.h"
-
-
-/+ sysyem tick in us +/
-#define TICK 0
-
-/+ RR tick in us +/
-//#define RRTICK 10000
-#define RRTICK 2000
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD\|RRSOFT_ONLY_SOFT);
- RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_SOFT); //cbs
- RR_register_level(RRTICK, RR_MAIN_YES, mb);
- dummy_register_level();
-
-
- SEM_register_module();
-
- CABS_register_module();
-
- PI_register_module();
- NOP_register_module();
-
- return TICK;
-}
-
-TASK __init__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- KEYB_PARMS kparms = BASE_KEYB;
-
- HARTPORT_init();
-
- keyb_def_ctrlC(kparms, NULL);
- KEYB_init(&kparms);
-
- __call_main__(mb);
-
- return (void *)0;
-}
-
-
-void app_mutex_init(mutex_t *m)
-{
- NOP_mutexattr_t attr;
-
- NOP_mutexattr_default(attr);
-
- mutex_init(m, &attr);
-}
-
Index: pj/robots/lab1m.txt
===================================================================
--- pj/robots/lab1m.txt (revision 1344)
+++ pj/robots/lab1m.txt (nonexistent)
@@ -1,9 +0,0 @@
-1
-540 380 15 270
-380 300 400 5
-430 060 460 400 0
-350 100 430 130 0
-000 100 300 130 0
-150 200 430 230 0
-120 300 150 400 0
-
Index: pj/robots/mouse2.c
===================================================================
--- pj/robots/mouse2.c (revision 1344)
+++ pj/robots/mouse2.c (nonexistent)
@@ -1,935 +0,0 @@
-/--------------------------------------------------------------/
-/* Title: Mouse */
-/* Autor: João Capucho */
-/* Date: 9/12/2000 */
-/* Description: */
-/* Simulation of small automats based on the */
-/* "micro-rato" conteste */
-/--------------------------------------------------------------/
-
-/*
- * Copyright (C) 2001 João Capucho
- *
- * 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
- *
- */
-
-
-// Includes
-#include <ll/i386/x-dos.h>
-#include <kernel/kern.h>
-#include <drivers/glib.h>
-#include <drivers/keyb.h>
-#include <math.h>
-#include <stdlib.h>
-#include <limits.h>
-
-#define sqr(x) (x*x)
-
-// Error Types
-#define OK 0
-#define MEMORY_ERROR -1
-#define ILEGAL_PARAMETER -2
-
-// Types of sensors and motors
-#define NONE 0
-#define OBSTACLE 1
-#define BEACON 2
-#define GROUND 3
-#define STEP 4
-
-// Maze limits
-#define LAB_XMIN 40
-#define LAB_XMAX 600
-#define LAB_YMIN 40
-#define LAB_YMAX 440
-
-#define MOTOR_RIGHT 1
-#define MOTOR_LEFT 0
-
-#define BACKCOLOR 0 // Background color
-#define OUTCOLOR 14 // Color of the outside walls
-#define FINISHCOLOR 7 // Finishin area color
-#define NONBLOCKCOLOR 14 // Non block boxs
-#define BLOCKCOLOR 13 // Block boxs
-
-#define BOX_BLOCK 1 // The box blocks the beacon
-#define BOX_NON_BLOCK 2 // The box doesn´t block the beacon
-
-#define MAX_MOUSES 5 // Maximum of mouses in the Maze
-#define MAX_BOXS 100 // Maximum of boxs in the Maze
-#define MAX_SENSORS 20 // Maximum of sensors in each mouse
-#define SENSOR_MIN_GROUND 0 // Minimum value of a ground sensor
-#define SENSOR_MAX_GROUND 255 // Maximum value of a ground sensor
-#define SENSOR_MIN_OBSTACLE 77 // Minimum value of a obstacle sensor
-#define SENSOR_MAX_OBSTACLE 128 // Maximum value of a obstacle sensor
-#define SENSOR_MIN_BEACON 77 // Minimum value of a beacon sensor
-#define SENSOR_MAX_BEACON 128 // Maximum value of a beacon sensor
-#define BEACON_INTENSITY 400 // Maximun intensity of the beacon
-
-#define MOUSE_PERIOD 20000 // Period
-#define CALC_PERIOD 2000 // Period
-#define REFEREE_PERIOD 1000 // Period of the referee
-#define REDRAW_MOUSE_PERIOD 25000 // Period for redraw mouse
-#define REDRAW_MAZE_PERIOD 100000 // Period for redraw maze
-#define MOUSEGROUP 511
-
-struct SENSOR
-{
- int Type; // Tipe of sensor ( None - Obstacle - Beacon - Ground)
- int Radius; // Distance from de center of the mouse
- int Pos_Angle; // Angle between the sensor and the front of the mouse
- int Dir; // Angle between the direction of the sensores and the front of the mouse
- int Angle; // Half angle of visual field (between (Dir-Angle) and (Dir+Angle))
- int Intensity; // Sensativity of the sensor
- float Value; // Last value readed
-};
-
-struct MOTOR
-{
- int Radius; // Distance from de center of the mouse
- int V; // Current velocity
- float Old_V; // Previews velocity
-};
-
-struct MOUSE
-{
- float X, Y; // Current position of the center
- float Old_X, Old_Y; // Previous position of the center
- int Radius; // Size of the mouse ( every mouse is considered round )
- float Dir; // Points to the front
- float Old_Dir; // Previous front
- int NSensors; // Number of sensors in the mouse
- struct SENSOR Sensors[MAX_SENSORS]; // Pointer to the structer that contains the information of the sensors
- struct MOTOR Motors[2]; // Pointer to the structer that contains the information of the motors
- WORD NColision; // Total of colisions
- WORD PColision; // Auxiliar for colisions
- char Flag; // Initialization flag
-};
-
-
-
-struct BOX // Structer that represents the obstacles
-{ //in this case all the obstacles are boxs
- int Type; // Type of the obstatcle
- int X1, Y1, X2, Y2; // position of the box
-};
-
-struct SBEACON // Beacon information
-{
- int Intensity; // Intensity of the beacon
- int X, Y; // position of the beacon
-};
-
-struct MAZE
-{
- int X1, Y1, X2, Y2; // limites of the maze
- int NBoxs; // Number of objstacles in the maze
- struct BOX Boxs[MAX_BOXS]; // Information about all thr obstacles
- struct SBEACON Beacon; // Beacon data
- int Radius; // Size of the finishing area
-};
-
-int Seno[360+90]; // Sine table
-int Tang[180]; // Tangente table
-int NMouses=0;
-struct MOUSE Mouse[MAX_MOUSES]; // Global variable that represents all the mouses
-struct MAZE Maze; // Global variable that represents the maze
-
-// Init_Maze - Initialize the Maze
-// Beacon_X - Coordinate X of the beacon
-// Beacon_Y - Coordinate Y of the beacon
-// Intensity - Intensity of the beacon
-// NBoxs - Number of boxs in the maze
-// Return: OK - Sucess
-
-int Init_Maze(int Beacon_X, int Beacon_Y, int Intensity, int NBoxs)
-{
- int i;
- Maze.X1=LAB_XMIN;
- Maze.Y1=LAB_YMIN;
- Maze.X2=LAB_XMAX;
- Maze.Y2=LAB_YMAX;
- Maze.Beacon.X=Beacon_X+LAB_XMIN;
- Maze.Beacon.Y=Beacon_Y+LAB_YMIN;
- if (Intensity<BEACON_INTENSITY)
- Maze.Beacon.Intensity=Intensity;
- else
- Maze.Beacon.Intensity=BEACON_INTENSITY;
- if (NBoxs<MAX_BOXS)
- Maze.NBoxs=NBoxs;
- else
- Maze.NBoxs=MAX_BOXS;
- Maze.Radius=50;
- for(i=0; i < Maze.NBoxs; i++)
- Maze.Boxs[i].Type=NONE;
- return OK;
-}
-
-// Init_Box - Initialize data of the NBox obstacle
-// NBox - Identifier of the obstacle
-// X1 - Coordinate X
-// Y1 - Coordinate Y
-// X2 - Coordinate X
-// Y2 - Coordinate Y
-// Type - Type of the obstacle
-// Return: OK - Sucess
-
-int Init_Box(int NBox, int X1, int Y1, int X2, int Y2, int Type)
-{
- Maze.Boxs[NBox].Type=Type;
- if (X1<X2)
- {
- Maze.Boxs[NBox].X1=X1+LAB_XMIN;
- Maze.Boxs[NBox].X2=X2+LAB_XMIN;
- }
- else
- {
- Maze.Boxs[NBox].X1=X2+LAB_XMIN;
- Maze.Boxs[NBox].X2=X1+LAB_XMIN;
- }
- if (Y1<Y2)
- {
- Maze.Boxs[NBox].Y1=Y1+LAB_YMIN;
- Maze.Boxs[NBox].Y2=Y2+LAB_YMIN;
- }
- else
- {
- Maze.Boxs[NBox].Y1=Y2+LAB_YMIN;
- Maze.Boxs[NBox].Y2=Y1+LAB_YMIN;
- }
- return OK;
-}
-
-// Draw_Maze - Draws the outline of the maze and the obstacles
-// Return: OK - Sucess
-int Draw_Maze(void)
-{
- int i;
- grx_rect( Maze.X1, Maze.Y1, Maze.X2, Maze.Y2, OUTCOLOR);
- grx_rect( Maze.X1-1, Maze.Y1+1, Maze.X2+1, Maze.Y2+1, OUTCOLOR);
- grx_rect( Maze.X1-2, Maze.Y1+2, Maze.X2+2, Maze.Y2+2, OUTCOLOR);
- grx_circle(Maze.Beacon.X, Maze.Beacon.Y, Maze.Radius, FINISHCOLOR);
- grx_disc(Maze.Beacon.X, Maze.Beacon.Y, 10, 7);
- for (i=0; i<Maze.NBoxs; i++)
- {
- if (Maze.Boxs[i].Type==BOX_NON_BLOCK)
- grx_box(Maze.Boxs[i].X1, Maze.Boxs[i].Y1,
- Maze.Boxs[i].X2, Maze.Boxs[i].Y2, NONBLOCKCOLOR);
- if (Maze.Boxs[i].Type==BOX_BLOCK)
- grx_box(Maze.Boxs[i].X1, Maze.Boxs[i].Y1,
- Maze.Boxs[i].X2, Maze.Boxs[i].Y2, BLOCKCOLOR);
- }
- return OK;
-}
-
-int Init_Motor(int NMouse, int Motor, int Radius)
-{
- if ((NMouse<0) \|\| (NMouse>=MAX_MOUSES))
- return ILEGAL_PARAMETER;
- if ((Motor<0) \|\| (Motor>=2))
- return ILEGAL_PARAMETER;
- Mouse[NMouse].Motors[Motor].Radius=Radius;
- Mouse[NMouse].Motors[Motor].V=0;
- Mouse[NMouse].Motors[Motor].Old_V=0.0;
- return OK;
-}
-
-// Init_Mouse - inicialize the parameters of each mouse
-// NMouse - Identifier of the mouse
-// X - Coordinate X of the center
-// Y - Coordinate Y of the center
-// Radius - Radius of the mouse (size)
-// Dir - Angle of direction in witch i will start
-// NSensors - Number of sensors in the mouse (all types)
-//
-// Return: OK - Sucess
-// ILEGAL_PARAMETER - If NMouse negative of greater than maximum number of mouses
-// Note: All the types of sensors and motors are initialize to NONE
-
-int Init_Mouse(int NMouse, int X, int Y, int Radius, int Dir, int NSensors)
-{
- int i;
- if ((NMouse<0) \|\| (NMouse>=MAX_MOUSES))
- return ILEGAL_PARAMETER;
- if ((NSensors<0) \|\| (NSensors>MAX_SENSORS))
- return ILEGAL_PARAMETER;
- Mouse[NMouse].X=(float)X+LAB_XMIN;
- Mouse[NMouse].Y=(float)Y+LAB_YMIN;
- Mouse[NMouse].Radius=Radius;
- Mouse[NMouse].Dir=Dir;
- Mouse[NMouse].Old_Dir=Mouse[NMouse].Dir;
- Mouse[NMouse].NSensors=NSensors;
- Mouse[NMouse].Old_X=Mouse[NMouse].X;
- Mouse[NMouse].Old_Y=Mouse[NMouse].Y;
- Mouse[NMouse].NColision=0;
- Mouse[NMouse].PColision=0;
- for(i=0; i < Mouse[NMouse].NSensors; i++)
- Mouse[NMouse].Sensors[i].Type=NONE;
-
- Init_Motor(NMouse, MOTOR_LEFT, 10);
- Init_Motor(NMouse, MOTOR_RIGHT, -10);
-
- return OK;
-}
-
-// Init_Sensor - Initializes the sensor information
-// NMouse - Identifier of the mouse
-// Sensor - Identifier of the sensor to be used
-// Type - Type of sensor ( Ground, obstacle or beacon sensor )
-// Radius and Pos_Angle - Polar coordinates to determen the sensor position
-// Dir - Diretion of the sensor ( angle between the front and the sensor )
-// Angle - Half of the visual range
-// Intensity - Maximun distance of detect
-int Init_Sensor(int NMouse, int Sensor, int Type, int Radius,
- int Pos_Angle, int Dir, int Angle, int Intensity)
-{
- if ((NMouse<0) \|\| (NMouse>=MAX_MOUSES))
- return ILEGAL_PARAMETER;
- if ((Sensor<0) \|\| (Sensor>=Mouse[NMouse].NSensors))
- return ILEGAL_PARAMETER;
- Mouse[NMouse].Sensors[Sensor].Type=Type;
- Mouse[NMouse].Sensors[Sensor].Radius=Radius;
- Mouse[NMouse].Sensors[Sensor].Pos_Angle=Pos_Angle;
- Mouse[NMouse].Sensors[Sensor].Dir=Dir;
- Mouse[NMouse].Sensors[Sensor].Angle=Angle;
- Mouse[NMouse].Sensors[Sensor].Intensity=Intensity;
- if (Type == GROUND)
- Mouse[NMouse].Sensors[Sensor].Value=(float)SENSOR_MIN_GROUND;
- if (Type == OBSTACLE)
- Mouse[NMouse].Sensors[Sensor].Value=(float)SENSOR_MIN_OBSTACLE;
- if (Type == BEACON)
- Mouse[NMouse].Sensors[Sensor].Value=(float)SENSOR_MIN_BEACON;
- return OK;
-}
-
-int Set_Motor_Vel(int NMouse, int NMotor, int Vel)
-{
- if ((NMouse<0) \|\| (NMouse>=MAX_MOUSES))
- return ILEGAL_PARAMETER;
- if ((NMotor<0) \|\| (NMotor>2))
- return ILEGAL_PARAMETER;
- Mouse[NMouse].Motors[NMotor].V=Vel;
- return OK;
-}
-
-int Read_Sensor(int NMouse, int NSensor)
-{
- int X, Y, Dir, cr, sr, AuxX, AuxY;
- int Count, AuxCount, AngCount, AuxAngCount, RetColor, Intensity;
- float Auxf;
-
- /* Inicial verifications */
- if ((NMouse<0) \|\| (NMouse>=MAX_MOUSES))
- return ILEGAL_PARAMETER;
- if ((NSensor<0) \|\| (NSensor>Mouse[NMouse].NSensors))
- return ILEGAL_PARAMETER;
-
- /* If Sensor Not define exit */
- if ( Mouse[NMouse].Sensors[NSensor].Type == NONE )
- return OK;
-
- /* Calculate de position of the sensor and is direction */
- Dir=(int)Mouse[NMouse].Old_Dir+Mouse[NMouse].Sensors[NSensor].Dir;
- if (Dir >= 360)
- Dir -= 360;
- if (Dir < 0)
- Dir += 360;
- X= Mouse[NMouse].Old_X65536.0+((Mouse[NMouse].Sensors[NSensor].RadiusSeno[Dir+90]));
- Y= Mouse[NMouse].Old_Y65536.0+((Mouse[NMouse].Sensors[NSensor].RadiusSeno[Dir]));
-
- /* if the Sensor type is OBSTACLE */
- if ( Mouse[NMouse].Sensors[NSensor].Type == OBSTACLE )
- {
- Intensity=Mouse[NMouse].Sensors[NSensor].Intensity;
- AuxCount=Intensity;
- /* Scan all the visual field */
- for (AngCount=(-Mouse[NMouse].Sensors[NSensor].Angle);
- AngCount<=Mouse[NMouse].Sensors[NSensor].Angle;
- AngCount++)
- {
- AuxAngCount=Dir+AngCount;
- if (AuxAngCount >= 360)
- AuxAngCount -= 360;
- if (AuxAngCount < 0)
- AuxAngCount += 360;
- sr=Seno[AuxAngCount];
- cr=Seno[AuxAngCount+90];
- Count=Mouse[NMouse].Radius-Mouse[NMouse].Sensors[NSensor].Radius+2;
- AuxX = X+cr*Count;
- AuxY = Y+sr*Count;
- for (; Count<=AuxCount; Count++)
- {
- AuxX += cr;
- AuxY += sr;
- RetColor = grx_getpixel(AuxX >> 16, AuxY >> 16);
- if ((RetColor != BACKCOLOR)&&(RetColor != FINISHCOLOR))
- AuxCount=Count;
- }
- }
- Count=Mouse[NMouse].Sensors[NSensor].Intensity;
- Count*=Count;
- AuxCount*=AuxCount;
- Count = SENSOR_MAX_OBSTACLE-((SENSOR_MAX_OBSTACLE-SENSOR_MIN_OBSTACLE)
- *AuxCount)/Count;
- Mouse[NMouse].Sensors[NSensor].Value=
- (0.5Mouse[NMouse].Sensors[NSensor].Value+0.5(float)Count);
- }
- if ( Mouse[NMouse].Sensors[NSensor].Type == GROUND )
- {
- Mouse[NMouse].Sensors[NSensor].Value=(float)SENSOR_MIN_GROUND;
- AuxX=abs((X>>16)-Maze.Beacon.X);
- AuxY=abs((Y>>16)-Maze.Beacon.Y);
- if ((AuxX>50) \|\| (AuxY>50))
- return OK;
- if ((AuxXAuxX+AuxYAuxY)<Maze.Radius*Maze.Radius)
- Mouse[NMouse].Sensors[NSensor].Value=(float)SENSOR_MAX_GROUND;
- }
-
- if ( Mouse[NMouse].Sensors[NSensor].Type == BEACON )
- {
- AuxX=(X>>16)-Maze.Beacon.X;
- AuxY=(Y>>16)-Maze.Beacon.Y;
- AngCount=0;
- if (AuxX!=0)
- {
- AuxAngCount=(AuxY<<16)/AuxX;
- if (AuxAngCount<0)
- AngCount=90;
- for (Count=AngCount;Count<AngCount+90;Count++)
- {
- if ((Tang[Count]<=AuxAngCount) && (Tang[Count+1]>AuxAngCount))
- break;
- }
- }
- else
- Count=90;
- if (AuxY<0)
- Count+=180;
- AuxAngCount=abs(180-abs(Dir-Count));
- Count=SENSOR_MIN_BEACON;
- if (AuxAngCount<Mouse[NMouse].Sensors[NSensor].Angle)
- {
- Count=AuxXAuxX+AuxYAuxY;
- AuxCount=(int)((float)Maze.Beacon.Intensity(1.0+(0.4(float)AuxAngCount)/(float)Mouse[NMouse].Sensors[NSensor].Angle));
- AuxCount*=AuxCount;
- if (Count<AuxCount)
- Count = SENSOR_MAX_OBSTACLE-((SENSOR_MAX_OBSTACLE-SENSOR_MIN_OBSTACLE)*Count)/AuxCount;
- else
- Count=SENSOR_MIN_BEACON;
- }
- Auxf=0.5*((float)Count);
- Auxf+=0.5*((float)Mouse[NMouse].Sensors[NSensor].Value);
- Mouse[NMouse].Sensors[NSensor].Value=Auxf;
- }
- return OK;
-}
-
-int GetSensor(int NMouse, int NSensor)
-{
- if ((NMouse<0) \|\| (NMouse>=MAX_MOUSES))
- return ILEGAL_PARAMETER;
- if ((NSensor<0) \|\| (NSensor>Mouse[NMouse].NSensors))
- return ILEGAL_PARAMETER;
- return (int)Mouse[NMouse].Sensors[NSensor].Value;
-}
-
-int Draw_Mouse(int NMouse, int Flag)
-{
- int Color;
- if (!Flag)
- Color=BACKCOLOR;
- else
- {
- Mouse[NMouse].Old_X=Mouse[NMouse].X;
- Mouse[NMouse].Old_Y=Mouse[NMouse].Y;
- Mouse[NMouse].Old_Dir=Mouse[NMouse].Dir;
- Color=2;
- }
- grx_circle(Mouse[NMouse].Old_X, Mouse[NMouse].Old_Y, Mouse[NMouse].Radius, Color);
- grx_line(Mouse[NMouse].Old_X, Mouse[NMouse].Old_Y,
- Mouse[NMouse].Old_X+((Mouse[NMouse].Radius*Seno[(int)Mouse[NMouse].Old_Dir+90]) >> 16),
- Mouse[NMouse].Old_Y+((Mouse[NMouse].Radius*Seno[(int)Mouse[NMouse].Old_Dir]) >> 16), Color);
- return OK;
-}
-
-TASK Redraw_Mouse_Task(int NMouse)
-{
- char str[40];
- TIME dwTicks;
- while(1)
- {
- dwTicks=sys_gettime(NULL);
- Draw_Mouse(NMouse, FALSE);
- Draw_Mouse(NMouse, TRUE);
- sprintf(str,"Colision: %4d", (int)Mouse[NMouse].NColision);
- grx_text(str, NMouse*150, 21, 7, 0);
- sprintf(str,"Motor: %4d Sensor 0: %4d Sensor 1: %4d Sensor 2: %4d Sensor 3: %4d",
- (int)Mouse[NMouse].Motors[0].Old_V+(int)Mouse[NMouse].Motors[1].Old_V,
- (int)Mouse[NMouse].Sensors[0].Value, (int)Mouse[NMouse].Sensors[1].Value,
- (int)Mouse[NMouse].Sensors[2].Value, (int)Mouse[NMouse].Sensors[3].Value);
- if (NMouse==0)
- grx_text(str, 1, 1, 7, 0);
- sprintf(str,"Sensor 4: %4d Sensor 5: %4d Ticks: %4d",
- (int)Mouse[NMouse].Sensors[4].Value, (int)Mouse[NMouse].Sensors[5].Value,
- (int)(sys_gettime(NULL)-dwTicks)/1000);
- if (NMouse==0)
- grx_text(str, 1, 11, 7, 0);
- task_endcycle();
- }
-}
-
-TASK Redraw_Maze_Task(void)
-{
- while(1)
- {
- Draw_Maze();
- task_endcycle();
- }
-}
-
-TASK Referee(void)
-{
- int Counter, Box_Min_X, Box_Max_X ,Box_Min_Y, Box_Max_Y;
- int deltaX, deltaY, Radius;
- int Colision;
- int NMouse;
-
- while(1)
- {
- for(NMouse=0;NMouse<NMouses;NMouse++)
- {
- Colision=0;
- Radius=Mouse[NMouse].Radius;
- if(Mouse[NMouse].Y<(Maze.Y1+Radius))
- Colision++;
- if(Mouse[NMouse].Y>(Maze.Y2-Radius))
- Colision++;
- if(Mouse[NMouse].X<(Maze.X1+Radius))
- Colision++;
- if(Mouse[NMouse].X>(Maze.X2-Radius))
- Colision++;
- for(Counter=0; Counter<Maze.NBoxs; Counter++)
- {
- Box_Min_X=Maze.Boxs[Counter].X1-1;
- Box_Max_X=Maze.Boxs[Counter].X2+1;
- Box_Min_Y=Maze.Boxs[Counter].Y1-1;
- Box_Max_Y=Maze.Boxs[Counter].Y2+1;
- Radius=Mouse[NMouse].Radius;
- if(Mouse[NMouse].Y<(Box_Min_Y-Radius))
- continue;
- if(Mouse[NMouse].Y>(Box_Max_Y+Radius))
- continue;
- if(Mouse[NMouse].X<(Box_Min_X-Radius))
- continue;
- if(Mouse[NMouse].X>(Box_Max_X+Radius))
- continue;
- if((Mouse[NMouse].X>=Box_Min_X) && (Mouse[NMouse].X<=Box_Max_X))
- if((Mouse[NMouse].Y>=(Box_Min_Y-Radius))
- && (Mouse[NMouse].Y<=(Box_Max_Y+Radius)))
- Colision++;
- if((Mouse[NMouse].Y>=Box_Min_Y) && (Mouse[NMouse].Y<=Box_Max_Y))
- if((Mouse[NMouse].X>=(Box_Min_X-Radius))
- && (Mouse[NMouse].X<=(Box_Max_X+Radius)))
- Colision++;
- Radius=sqr(Radius);
- deltaX=sqr(Mouse[NMouse].X-Box_Min_X);
- deltaY=sqr(Mouse[NMouse].Y-Box_Min_Y);
- if(deltaX+deltaY<=Radius)
- Colision++;
- deltaY=sqr(Mouse[NMouse].Y-Box_Max_Y);
- if(deltaX+deltaY<=Radius)
- Colision++;
- deltaX=sqr(Mouse[NMouse].X-Box_Max_X);
- deltaY=sqr(Mouse[NMouse].Y-Box_Min_Y);
- if(deltaX+deltaY<=Radius)
- Colision++;
- deltaY=sqr(Mouse[NMouse].Y-Box_Max_Y);
- if(deltaX+deltaY<=Radius)
- Colision++;
- }
- if (Mouse[NMouse].PColision && !Colision)
- Mouse[NMouse].NColision++;
-
- Mouse[NMouse].PColision=Colision;
- }
- task_endcycle();
- }
- return (void *)0;
-}
-
-TASK Calculate_Position(int NMouse)
-{
- float w, v, dt;
- int b;
- while(1)
- {
- b=(Mouse[NMouse].Motors[MOTOR_LEFT].Radius-
- Mouse[NMouse].Motors[MOTOR_RIGHT].Radius);
- if (b<0)
- b=-b;
- w=(Mouse[NMouse].Motors[MOTOR_LEFT].Old_V-
- Mouse[NMouse].Motors[MOTOR_RIGHT].Old_V);
- w/=(float)b;
- v=(Mouse[NMouse].Motors[MOTOR_LEFT].Old_V+
- Mouse[NMouse].Motors[MOTOR_RIGHT].Old_V);
- v/=2.0;
- dt=CALC_PERIOD/1000000.0;
- Mouse[NMouse].Dir += (180.0w/PI)dt;
- if (Mouse[NMouse].Dir >= 360)
- Mouse[NMouse].Dir -= 360;
- if (Mouse[NMouse].Dir < 0)
- Mouse[NMouse].Dir += 360;
- v *= dt/65536.0;
- b=(float)Seno[(int)Mouse[NMouse].Dir+90];
- Mouse[NMouse].X += v*b;
- b=(float)Seno[(int)Mouse[NMouse].Dir];
- Mouse[NMouse].Y += v*b;
- Mouse[NMouse].Motors[0].Old_V=
- (0.8187*Mouse[NMouse].Motors[0].Old_V+
- 0.1813*(float)Mouse[NMouse].Motors[0].V);
- Mouse[NMouse].Motors[1].Old_V=
- (0.8187*Mouse[NMouse].Motors[1].Old_V+
- 0.1813*(float)Mouse[NMouse].Motors[1].V);
- task_endcycle();
- }
-}
-
-#define SENSOR_LEFT 0
-#define SENSOR_FRONT 1
-#define SENSOR_RIGTH 2
-#define SENSOR_GROUND 3
-#define SENSOR_B_LEFT 4
-#define SENSOR_B_RIGHT 5
-#define MAX_SPEED 50
-#define DIST_DIR GetSensor(NMouse, SENSOR_RIGTH)
-#define DIST_ESQ GetSensor(NMouse, SENSOR_LEFT)
-#define DIST_FRENTE GetSensor(NMouse, SENSOR_FRONT)
-#define FAROL_ESQ GetSensor(NMouse, SENSOR_B_LEFT)
-#define FAROL_DIR GetSensor(NMouse, SENSOR_B_RIGHT)
-#define FAROL_LIM_INF SENSOR_MIN_BEACON+5
-
-#define DIST0 88 //Distancia minima optima
-#define DIST1 DIST0 + 5 // 60%
-#define DIST2 DIST1 + 10 // PARADO
-#define DIST3 DIST2 + 10 // TRAS
-
-#define DISTMAX 120
-#define NENHUM 0
-#define ESQUERDA 1
-#define DIREITA 2
-#define contorno ContornoArr[NMouse]
-
-TASK MouseTask(int NMouse)
-{
- int i;
- //char str[100];
- unsigned char flag;
- static unsigned char ContornoArr[MAX_MOUSES];
- signed char modulo;
-
- Init_Sensor(NMouse, SENSOR_LEFT, OBSTACLE, 14, -45, -45, 25, 15); // Left
- Init_Sensor(NMouse, SENSOR_FRONT, OBSTACLE, 14, 0, 0, 25, 15); // Center
- Init_Sensor(NMouse, SENSOR_RIGTH, OBSTACLE, 14, 45, 45, 25, 15); // Rigth
- Init_Sensor(NMouse, SENSOR_GROUND, GROUND, 10, 180, 180, 0, 20); // Ground
- Init_Sensor(NMouse, SENSOR_B_LEFT, BEACON, 4, -45, -25, 30, 0); // Left
- Init_Sensor(NMouse, SENSOR_B_RIGHT, BEACON, 4, 45, 25, 30, 0); // Rigth
- contorno = NENHUM;
- Mouse[NMouse].Flag=1;
-
- while(1)
- {
- for(i=0; i<8; i++)
- Read_Sensor(NMouse, i);
- Set_Motor_Vel(NMouse, MOTOR_RIGHT, MAX_SPEED);
- Set_Motor_Vel(NMouse, MOTOR_LEFT, MAX_SPEED);
-
- flag = ((DIST_DIR>DIST3) && contorno==ESQUERDA) \|\|
- ((DIST_ESQ>DIST3) && contorno==DIREITA);
-
- if ( (DIST_FRENTE>DISTMAX) \|\| flag) {
- Set_Motor_Vel(NMouse, MOTOR_RIGHT, MAX_SPEED/2);
- Set_Motor_Vel(NMouse, MOTOR_LEFT, MAX_SPEED/2);
- if (contorno == ESQUERDA)
- Set_Motor_Vel(NMouse, MOTOR_RIGHT, -MAX_SPEED/2);
- else
- Set_Motor_Vel(NMouse, MOTOR_LEFT, -MAX_SPEED/2);
- }
- else {
-
- // ---------------- Contorno da Esquerda ---------------
- if (contorno!=DIREITA){
- if (DIST_ESQ>DIST1) { // Sensor da esquerda
- contorno = ESQUERDA;
- if (DIST_ESQ>DIST3) {
- Set_Motor_Vel(NMouse, MOTOR_RIGHT, -MAX_SPEED/2);
- Set_Motor_Vel(NMouse, MOTOR_LEFT, MAX_SPEED/2);
- }
- else
- if (DIST_ESQ>DIST2)
- Set_Motor_Vel(NMouse, MOTOR_RIGHT, 10);
- else
- Set_Motor_Vel(NMouse, MOTOR_RIGHT, MAX_SPEED*3/4);
- }
- else
- if (contorno== ESQUERDA) {
- if(DIST_ESQ<DIST0)
- Set_Motor_Vel(NMouse, MOTOR_LEFT, MAX_SPEED*3/10);
- }
- }
-
- // ---------------- Contorno da Direita ---------------
- if (contorno!=ESQUERDA){
- if (DIST_DIR>DIST1) { // Sensor da direita
- contorno = DIREITA;
- if (DIST_DIR>DIST3) {
- Set_Motor_Vel(NMouse, MOTOR_RIGHT, MAX_SPEED/2);
- Set_Motor_Vel(NMouse, MOTOR_LEFT, -MAX_SPEED/2);
- }
- else
- if (DIST_DIR>DIST2)
- Set_Motor_Vel(NMouse, MOTOR_LEFT, 10);
- else
- Set_Motor_Vel(NMouse, MOTOR_LEFT, MAX_SPEED*3/4);
- }
- else
- if (contorno== DIREITA) {
- if (DIST_DIR<DIST0)
- Set_Motor_Vel(NMouse, MOTOR_RIGHT, MAX_SPEED*3/10);
- }
- }
-
- // --------------- Desempancar contornos com o farol ------------
-
- if ((contorno == ESQUERDA && FAROL_DIR > FAROL_ESQ && FAROL_DIR > FAROL_LIM_INF) \|\|
- (contorno == DIREITA && FAROL_ESQ > FAROL_DIR && FAROL_ESQ > FAROL_LIM_INF) )
- contorno = NENHUM;
-
-
-
- if (contorno == NENHUM)
- {
- modulo = FAROL_DIR - FAROL_ESQ;
- if (modulo < 0 )
- modulo = - modulo;
-
- // Se nao estiver na direçao certa, ajustar
- if (modulo > 10) {
- if (FAROL_DIR > FAROL_ESQ)
- Set_Motor_Vel(NMouse, MOTOR_RIGHT, 0);
- else
- Set_Motor_Vel(NMouse, MOTOR_LEFT, 0);
- }
- else //velocidade controlada
- if (modulo > 2) {
- if (FAROL_DIR > FAROL_ESQ)
- Set_Motor_Vel(NMouse, MOTOR_RIGHT, MAX_SPEED*6/10);
- else
- Set_Motor_Vel(NMouse, MOTOR_LEFT, MAX_SPEED*6/10);
- }
- }
- }
- if (GetSensor(NMouse, SENSOR_GROUND)==SENSOR_MAX_GROUND)
- {
- Set_Motor_Vel(NMouse, MOTOR_RIGHT, 0);
- Set_Motor_Vel(NMouse, MOTOR_LEFT, 0);
- }
-
- task_endcycle();
- }
- return (void *)0;
-}
-
-void my_end(void *arg)
-{
- grx_close();
-}
-
-/* --------------------------------- Main program -----------------------------*/
-
-int main(int argc, char *argv[])
-{
- int i;
- char c;
- int pid;
-
- HARD_TASK_MODEL mp;
- SOFT_TASK_MODEL ms;
-
- // char StrAux[15];
-
- set_exchandler_grx();
-
- for (i=0; i<NMouses; i++)
- Mouse[i].Flag=0;
- for (i=0; i<(360+90); i++) // Inicializar a tabela de senos
- Seno[i]=(int)(65536.0sin((float)i/180.0PI));
-
- for (i=0; i<180; i++) // Inicializar a tabela de tangente
- if (i!=90)
- Tang[i]=(int)(((float)Seno[i]/(float)Seno[i+90])*65536.0);
- else
- Tang[i]=INT_MAX;
-
- // Definir funÆo de saida
- sys_atrunlevel(my_end, (void *)NULL, RUNLEVEL_BEFORE_EXIT);
-
- hard_task_default_model(mp);
- hard_task_def_usemath(mp);
- hard_task_def_group(mp, MOUSEGROUP);
- hard_task_def_wcet(mp, 1); // wcet ignored by the configuration file!
-
- soft_task_default_model(ms);
- soft_task_def_group(ms, MOUSEGROUP);
- soft_task_def_met(ms, 1000);
-
- for (i=0;i<NMouses;i++)
- {
- hard_task_def_arg(mp, (void *)i);
- soft_task_def_arg(ms, (void *)i);
-
- hard_task_def_mit(mp, MOUSE_PERIOD);
- pid = task_create("Mouse", MouseTask, &mp, NULL);
- if (pid == NIL)
- {
- perror("Creating Mouse:");
- sys_end();
- }
-
- hard_task_def_mit(mp, CALC_PERIOD);
- pid = task_create("Calc", Calculate_Position, &mp, NULL);
- if (pid == NIL)
- {
- perror("Creating Calc:");
- sys_end();
- }
-
- soft_task_def_period(ms, REDRAW_MOUSE_PERIOD);
- pid = task_create("Redraw_Mouse", Redraw_Mouse_Task, &ms, NULL);
- if (pid == NIL)
- {
- perror("Creating Redraw_Moude:");
- sys_end();
- }
- }
-
- hard_task_def_mit(mp, REFEREE_PERIOD);
- pid = task_create("Referee1", Referee, &mp, NULL);
-
- hard_task_def_mit(mp, REDRAW_MAZE_PERIOD);
- pid = task_create("Redraw_Maze", Redraw_Maze_Task, &mp, NULL);
-
- grx_open(640,480,8);
- group_activate(MOUSEGROUP);
- do
- {
- c = keyb_getch(BLOCK);
- } while (c != ESC);
-
- task_nopreempt();
- sys_end();
- return 0;
-}
-
-/* the buffer b is scannedc to search for numbers
- at the first non-number the function stops */
-void geti(char b, int pos, int *res)
-{
- // skip first chars
- while (!isdigit(b[*pos]))
- (*pos)++;
-
-
- // read the numbers
- *res = 0;
- do {
- res = (res * 10) + b[*pos] - '0';
- (*pos)++;
- } while (isdigit(b[*pos]));
-}
-
-void read_cfg_file(int argc, char **argv)
-{
- int i, err, Temp1, Temp2, Temp3, Temp4, Temp5;
- DOS_FILE *fp;
- char myfilebuf[1000];
- int myfilebuf_length;
-
- int pos = 0;
-
- if (argc==2) {
- fp = DOS_fopen(argv[1],"r");
-
- if (fp) {
- /* read up to 1000 chars */
- myfilebuf_length = DOS_fread(&myfilebuf,1,1000,fp);
-
- /* check for errors */
- err = DOS_error();
-
- cprintf("Read %d bytes...\n", myfilebuf_length);
-
- if (err) {
- cprintf("Error %d reading file...Using default values\n", err);
- }
- else
- {
- geti(myfilebuf, &pos, &NMouses); // Number of Mouses
- for (i=0;i<NMouses;i++) {
- geti(myfilebuf, &pos, &Temp1); // Mouse X coordinate
- geti(myfilebuf, &pos, &Temp2); // Mouse Y coordinate
- geti(myfilebuf, &pos, &Temp3); // Mouse radius
- geti(myfilebuf, &pos, &Temp4); // Mouse orientation
- Init_Mouse(i, Temp1, Temp2, Temp3, Temp4, 6);
- }
- geti(myfilebuf, &pos, &Temp1); // Beacon X coordinate
- geti(myfilebuf, &pos, &Temp2); // Beacon Y coordinate
- geti(myfilebuf, &pos, &Temp3); // Beacon intensity
- geti(myfilebuf, &pos, &i); // Number of boxs
- Init_Maze(Temp1, Temp2, Temp3, i);
- for(; i>0; i--) {
- geti(myfilebuf, &pos, &Temp1); // Box X1 Coordinate
- geti(myfilebuf, &pos, &Temp2); // Box Y1 Coordinate
- geti(myfilebuf, &pos, &Temp3); // Box X2 Coordinate
- geti(myfilebuf, &pos, &Temp4); // Box Y2 Coordinate
- geti(myfilebuf, &pos, &Temp5); // Type of Box
- if (Temp5)
- Init_Box(i-1, Temp1, Temp2, Temp3, Temp4, BOX_BLOCK);
- else
- Init_Box(i-1, Temp1, Temp2, Temp3, Temp4, BOX_NON_BLOCK);
- }
- DOS_fclose(fp);
- return;
- }
- }
- else {
- /* error!! */
- err = DOS_error();
- /* note that if you call DOS_error() here, it return 0!!! */
- cprintf("Error %d opening myfile.txt...Using default values\n", err);
- }
-
- // Default value if no file is passed
- NMouses=2;
- Init_Maze(500, 350, 400, 1);
- Init_Box(0, 200, 200, 300, 250, BOX_NON_BLOCK);
- Init_Mouse(0, 100, 100, 15, 45, 6);
- Init_Mouse(1, 100, 150, 15, 90, 6);
- }
- else {
- cprintf("Wrong number of arguments...\n");
- l1_exit(0);
- }
-}
Index: pj/robots/lab.txt
===================================================================
--- pj/robots/lab.txt (revision 1344)
+++ pj/robots/lab.txt (nonexistent)
@@ -1,10 +0,0 @@
-2
-530 380 15 270
-480 380 15 270
-380 300 400 5
-430 060 460 400 0
-350 100 430 130 0
-000 100 300 130 0
-150 200 430 230 0
-120 300 150 400 0
-
Index: pj/robots/readme
===================================================================
--- pj/robots/readme (revision 1344)
+++ pj/robots/readme (nonexistent)
@@ -1,9 +0,0 @@
-Robots demo
------------
-
-This demo has been developed in the University of Alveiro, Portugal.
-
-See the included PDF files for more informations.
-
-Paolo
-pj@sssup.it
Index: pj/robots/makefile
===================================================================
--- pj/robots/makefile (revision 1344)
+++ pj/robots/makefile (nonexistent)
@@ -1,16 +0,0 @@
-#
-#
-#
-
-ifndef BASE
-BASE=../..
-endif
-include $(BASE)/config/config.mk
-
-PROGS = mouse2
-
-include $(BASE)/config/example.mk
-
-mouse2:
- make -f $(SUBMAKE) APP=mouse2 INIT= OTHEROBJS="initfile.o" OTHERINCL=
-
Index: pj/robots/lab3.txt
===================================================================
--- pj/robots/lab3.txt (revision 1344)
+++ pj/robots/lab3.txt (nonexistent)
@@ -1,11 +0,0 @@
-3
-540 380 15 270
-510 380 15 270
-480 380 15 270
-380 300 400 5
-430 060 460 400 0
-350 100 430 130 0
-000 100 300 130 0
-150 200 430 230 0
-120 300 150 400 0
-
Index: pj/robots/initfile.c
===================================================================
--- pj/robots/initfile.c (revision 1344)
+++ pj/robots/initfile.c (nonexistent)
@@ -1,104 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: initfile.c,v 1.1.1.1 2002-09-02 09:37:43 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:43 $
- ------------
-**/
-
-/*
- * Copyright (C) 2001 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 "modules/edf.h"
-#include "modules/cbs.h"
-#include "modules/rr.h"
-#include "modules/dummy.h"
-
-#include "modules/sem.h"
-#include "modules/hartport.h"
-#include "modules/cabs.h"
-#include "drivers/keyb.h"
-
-/+ sysyem tick in us +/
-#define TICK 0
-
-/+ RR tick in us +/
-#define RRTICK 2000
-
-void read_cfgfile(int);
-
-int argc;
-char *argv[100];
-
-void read_cfg_file(int argc, char **argv);
-
-int main(int argc, char **argv);
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- EDF_register_level(0);
- CBS_register_level(0, 0);
- RR_register_level(RRTICK, RR_MAIN_YES, mb);
- dummy_register_level();
-
- SEM_register_module();
-
- CABS_register_module();
-
- __compute_args__(mb, &argc, argv);
-
- read_cfg_file(argc, argv);
-
- return TICK;
-}
-
-TASK __init__(void *arg)
-{
- KEYB_PARMS kparms = BASE_KEYB;
-
- HARTPORT_init();
-
- keyb_def_ctrlC(kparms, NULL);
- KEYB_init(&kparms);
-
- return (void *)main(argc,argv);
-}
Index: pj/auto/sensor.c
===================================================================
--- pj/auto/sensor.c (revision 1344)
+++ pj/auto/sensor.c (nonexistent)
@@ -1,650 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-
-/**
- ------------
- CVS : $Id: sensor.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * Copyright (C) 2000 Marco Dallera and Marco Fiocca
- *
- * 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
- *
- */
-
-/*
- * AUTO
- *
- * Another Unuseful Track simulatOr
- *
- * Authors: Marco Dallera
- * Marco Fiocca
- *
- */
-
-/* ------------ */
-/* Camera car */
-/* ------------ */
-
-#include "include/auto.h"
-#include "include/const.h"
-#include "include/utils.h"
-#include <drivers/glib.h>
-
-#define RADIUS 1
-#define TOLL_FACTOR 4.0
-#define MIN_DIFF 3
-#define ROAD_COLOR 27
-#define OFFROAD_COLOR 0
-#define DEBUG_COLOR GREEN
-#define OUT_OF_TRACK 230
-#define STRIP_DEFAULT TEL_WIDTH+1
-
-extern sem_t grx_mutex;
-extern car_params cars[MAX_CAR_NUMBER];
-
-void scanline(point_f *buffer, float x1, float y1, float x2, float y2, int factor);
-void get_camera_car(BYTE *buffer, car_status status);
-int find_track(BYTE image, road_info info);
-int find_opps(BYTE image, road_info info);
-void find_collision(BYTE image, road_info info, car_status status);
-
-/* ----------------------------------------------------------------- */
-
-TASK sensor(int index) {
- car_status actual_car_status; // the actual car state
- road_info actual_road_info; // the actual road informations
- BYTE image[TEL_WIDTH*TEL_HEIGHT]; // buffer contenente la visione della telecamera ruotata
-
- point sq1, sq2;
- point im1, im2;
-
- CAB road_status_cab = cars[index].road_status_cab;
- CAB car_status_cab = cars[index].car_status_cab;
-
- // Draws display squares
- sq1.x = TRACK_X1 + TRACK_WIDTH + TEL_HEIGHT;
- sq1.y = TEL_HEIGHT*index + 1 + index;
- sq2.x = sq1.x + TEL_WIDTH + 1;
- sq2.y = sq1.y + TEL_HEIGHT + 1;
-
- // Sets viewer coords
- im1.x = sq1.x + 1;
- im1.y = sq1.y + 1;
- im2.x = im1.x + TEL_WIDTH - 1;
- im2.y = im1.y + TEL_HEIGHT - 1;
-
- // Inizializza il cab della strada
- actual_road_info.left_border = TEL_WIDTH/2;
- actual_road_info.right_border = TEL_WIDTH/2;
- actual_road_info.distance = TEL_HEIGHT;
- actual_road_info.curve = 0.0;
- actual_road_info.opps_number = 0;
- actual_road_info.flag = ROAD_OK;
- actual_road_info.collision = NO_COLL;
- set_road_info(actual_road_info, road_status_cab);
-
- task_endcycle();
-
- while(1) {
- /* reads car informations */
- actual_car_status = get_car_status(car_status_cab);
-
- /* implementazione riconoscimento strada (sti cazzi!!!) */
- get_camera_car(image, actual_car_status);
- find_track(image, &actual_road_info);
- find_opps(image, &actual_road_info);
- find_collision(image, &actual_road_info, actual_car_status);
-
- sem_wait(&grx_mutex);
- grx_rect(sq1.x, sq1.y, sq2.x, sq2.y, cars[index].color);
- grx_putimage(im1.x, im1.y, im2.x, im2.y, image);
- sem_post(&grx_mutex);
-
- /* sends informations to control task */
- set_road_info(actual_road_info, road_status_cab);
- task_endcycle();
- }
-
-}
-
-/* ----------------------------------------------------------------- */
-
-void find_collision(BYTE image, road_info info, car_status status)
-{
- point_f lt,rt,lb,rb,ct;
- /* the lines used to scan the quadrilate */
- point_f height_line[CAR_HEIGHT];
- int i;
- BYTE pix;
-
- info->collision = NO_COLL;
-
- ct.x = status.pos.x + (float)(CAR_HEIGHT/2 + 1) * cos(degree_to_rad(status.orient));
- ct.y = status.pos.y - (float)(CAR_WIDTH/2 + 1) * sin(degree_to_rad(status.orient));
-
- lb.x = ct.x - (float)(CAR_WIDTH/2.0) * cos(degree_to_rad(90-status.orient));
- rb.x = ct.x + (float)(CAR_WIDTH/2.0) * cos(degree_to_rad(90-status.orient));
- lt.x = lb.x - (float)(CAR_HEIGHT) * cos(degree_to_rad(status.orient));
- rt.x = rb.x - (float)(CAR_HEIGHT) * cos(degree_to_rad(status.orient));
-
- lb.y = ct.y - (float)(CAR_WIDTH/2.0) * sin(degree_to_rad(90-status.orient));
- rb.y = ct.y + (float)(CAR_WIDTH/2.0) * sin(degree_to_rad(90-status.orient));
- lt.y = lb.y + (float)(CAR_HEIGHT) * sin(degree_to_rad(status.orient));
- rt.y = rb.y + (float)(CAR_HEIGHT) * sin(degree_to_rad(status.orient));
-
- sem_wait(&grx_mutex);
- scanline(height_line,rb.x,rb.y,rt.x,rt.y,CAR_HEIGHT);
- for (i=0; i < CAR_HEIGHT; i++) {
- pix = grx_getpixel(round(height_line[i].x),round(height_line[i].y));
- if (pix != OFFROAD_COLOR && pix != ROAD_COLOR)
- info->collision = COLLISION_RIGHT;
- }
- scanline(height_line,lb.x,lb.y,lt.x,lt.y,CAR_HEIGHT);
- for (i=0; i < CAR_HEIGHT; i++) {
- pix = grx_getpixel(round(height_line[i].x),round(height_line[i].y));
- if (pix != OFFROAD_COLOR && pix != ROAD_COLOR)
- info->collision = COLLISION_LEFT;
- }
- sem_post(&grx_mutex);
-
-}
-
-/* ----------------------------------------------------------------- */
-
-/* Puts in a buffer the image viewed from the camera according to the car status */
-void get_camera_car(BYTE *buffer, car_status status) {
- /*
- * lt ------ rt
- * \| \|
- * \| \|
- * lb --ct-- rb
- */
- point_f lt,rt,lb,rb,ct;
- /* the lines used to scan the quadrilate */
- point_f width_line[TEL_WIDTH];
- point_f height_line[TEL_HEIGHT];
- int i,j;
- int tmpx,tmpy,tx,ty;
- float x,y;
- BYTE *row;
-
- ct.x = status.pos.x + (float)(CAR_WIDTH/2 + 1) * cos(degree_to_rad(status.orient));
- ct.y = status.pos.y - (float)(CAR_WIDTH/2 + 1) * sin(degree_to_rad(status.orient));
-
- /* for now the visual starts from the center of the car */
- lb.x = ct.x - (float)(TEL_WIDTH/2.0) * cos(degree_to_rad(90-status.orient));
- rb.x = ct.x + (float)(TEL_WIDTH/2.0) * cos(degree_to_rad(90-status.orient));
- lt.x = lb.x + (float)(TEL_HEIGHT) * cos(degree_to_rad(status.orient));
- rt.x = rb.x + (float)(TEL_HEIGHT) * cos(degree_to_rad(status.orient));
-
- lb.y = ct.y - (float)(TEL_WIDTH/2.0) * sin(degree_to_rad(90-status.orient));
- rb.y = ct.y + (float)(TEL_WIDTH/2.0) * sin(degree_to_rad(90-status.orient));
- lt.y = lb.y - (float)(TEL_HEIGHT) * sin(degree_to_rad(status.orient));
- rt.y = rb.y - (float)(TEL_HEIGHT) * sin(degree_to_rad(status.orient));
-
- /* scan only 2 sense thanks to parallelism */
- /* ^ <-(height)
- * ! lt
- * ! \|
- * ! \|
- * ! lb ------ rb )
- * 0 -------------> <-(width
- */
- /* the width_line coordinates are relative, so in the for cycle
- they are summarized to absolute height_line values */
- scanline(width_line,0,0,rb.x - lb.x,rb.y - lb.y,TEL_WIDTH);
- scanline(height_line,lb.x,lb.y,lt.x,lt.y,TEL_HEIGHT);
-
- /* First fill row TEL_HEIGHT-1 of image and so on until row 0 */
- sem_wait(&grx_mutex);
- for (i=0; i < TEL_HEIGHT; i++) {
- x = height_line[i].x;
- y = height_line[i].y;
- row = &buffer[TEL_WIDTH * (TEL_HEIGHT-1-i)];
- for (j=0; j < TEL_WIDTH; j++) {
- tmpx = round(x + width_line[j].x);
- tmpy = round(y + width_line[j].y);
-
- // Test rispetto ai bordi
- if (tmpx >= 0 && tmpx < SCREEN_WIDTH && tmpy >= 0 && tmpy < SCREEN_HEIGHT) {
- tx = tmpx - TRACK_X1-1;
- ty = tmpy - TRACK_Y1-1;
- if (tx >= 0 && tx < TRACK_WIDTH && ty >= 0 && ty < TRACK_HEIGHT)
- row[j] = grx_getpixel(tmpx,tmpy);
- else
- row[j] = OUT_OF_TRACK;
- } else {
- row[j] = OUT_OF_TRACK;
- }
- }
- }
- sem_post(&grx_mutex);
-}
-
-/* ----------------------------------------------------------------- */
-
-void scanline(point_f *buffer, float x1, float y1, float x2, float y2, int factor) {
- int i;
- float x,y;
- float xstep,ystep;
-
- xstep = (x2 - x1) / factor;
- ystep = (y2 - y1) / factor;
-
- // Start scan at <x1, y1>
- x = x1;
- y = y1;
-
- for (i = 0; i < factor; i++) {
- buffer[i].x = x;
- buffer[i].y = y;
- x += xstep;
- y += ystep;
- }
-}
-
-/* ----------------------------------------------------------------- */
-
-/*
- * Approssima la curva quando non è più possibile farlo con la scansione
- * orizzontale
- * - image
- * - index l'indice da cui cominciare la ricerca della curva
- * - distance la distanza dalla curva
- */
-float approx_curve(BYTE image, int index, int distance, int d_center, road_strip strips) {
- BYTE *p,tmp;
- int i,j,k,ctrl=0;
- point ms_center,ct;
-
- // Decide se la curva e' verso sinistra o verso destra
- p = &image[(TEL_HEIGHT - index - 1) * TEL_WIDTH];
-
- ms_center.x = strips[index-1].left;
- for (i = 0; i < min(3,strips[index-1].left); i++) {
- // La curva è a destra
- tmp = *(p + round(ms_center.x) - i);
- if (tmp != ROAD_COLOR) {
- ms_center.x = strips[index-1].right;
- break;
- }
- }
-
- p += round(ms_center.x);
- // Scandisce la colonna fino alla fine della strada
- for (i = index; i < TEL_HEIGHT; i++, p -= TEL_WIDTH) {
- if (*p != ROAD_COLOR) break;
- }
-
- // Imposta il nuovo max_scost empirico
- ms_center.y = (i-1 + index) / 2;
-
- // i-1 è l'indice dell'ultima riga bianca
- p = &image[(TEL_HEIGHT - (i-1) - 1) * TEL_WIDTH + round(ms_center.x)];
- // scandisce da destra a sinistra
- if (round(ms_center.x) > 0) {
- for (j = 0; j < (round(ms_center.x) - strips[index-1].left); j++, p--) {
- if (*p != ROAD_COLOR) break;
- // scandisce dall'alto in basso finchè non trova nero
- for (k = i-1; k > index; k--) {
- tmp = (p + (i-1-k)TEL_WIDTH);
- if (tmp != ROAD_COLOR) {
- ms_center.y = (k + index) / 2;
- ctrl = 1;
- break;
- }
- }
- if (ctrl) break;
- }
- ct.x = ms_center.x - j/2;
- ct.y = ms_center.y;
- } else {
- // scandisce da sinistra a destra
- for (j = 0; j < (strips[index-1].right - round(ms_center.x)); j++, p++) {
- if (*p != ROAD_COLOR) break;
- // scandisce dall'alto in basso finchè non trova nero
- for (k = i-1; k > index; k--) {
- tmp = (p + (i-1-k)TEL_WIDTH);
- if (tmp != ROAD_COLOR) {
- ms_center.y = (k + index) / 2;
- ctrl = 1;
- break;
- }
- }
- if (ctrl) break;
- }
- ct.x = ms_center.x + j/2;
- ct.y = ms_center.y;
- }
-
- return rad_to_degree(atan2((double)(ct.y - distance),(double)(ct.x - d_center)));
-}
-
-/* ----------------------------------------------------------------- */
-
-int find_distance(road_strip *strips, int max_scost, int rett_tol) {
- int i, distance;
- int center_car = TEL_WIDTH/2;
-
- // La distanza non puo' essere maggiore del max_scost
- distance = max_scost;
-
- for (i=1; i < max_scost; i++) {
- // Calcola la distanza dalla curva
- if (abs(strips[i].center - center_car) > rett_tol) {
- distance = i;
- break;
- }
- }
- return distance;
-}
-
-/* ----------------------------------------------------------------- */
-
-/* Scandisce la linea row e inserisce nella strip index le informazioni.
- * Ritorna 1 se trova entrambi i bordi, altrimenti 0
- */
-int scan_strip(BYTE row, int index, road_strip strips) {
- // Tiene conto della posizione dei bordi precedenti per trattare
- // meglio il caso di curve molto strette, dove possono esistere
- // 2 bordi destri o sinistri
-
- // Per evitare problemi nei casi in cui siano possibili 2
- // bordi destri o sinistri
- int lfound = 0;
- int rfound = 0;
- int center_car = TEL_WIDTH/2;
- int i;
-
- // Parte dal secondo pixel e finisce al penultimo
- for(i=1; i < (TEL_WIDTH-1); i++) {
- // Se trova la strada controlla se si tratta di bordo
- // destro o sinistro
- if (row[i] == ROAD_COLOR) {
- // bordo sinistro
- if (row[i - 1] != ROAD_COLOR) {
- // Se ho già trovato questo tipo di bordo cerco
- // quello + plausibile ...
- if (lfound) {
- // Test sulla striscia precedente
- if (index > 0) {
- if (abs(i - strips[index-1].left) <
- abs(strips[index].left - strips[index-1].left))
- strips[index].left = i;
- } else {
- // Test sul centro della macchina
- if (abs(i - center_car) < abs(strips[0].left - center_car))
- strips[index].left = i;
- }
- lfound++;
- } else {
- // ... altrimenti lo inizializzo
- strips[index].left = i;
- lfound = 1;
- }
- // bordo destro
- } else if ((row[i + 1] != ROAD_COLOR) && lfound) {
- // Se ho già trovato questo tipo di bordo cerco
- // quello + plausibile ...
- if (rfound) {
- // Test sulla striscia precedente
- if (index > 0) {
- if (abs(i - strips[index-1].right) <
- abs(strips[index].right - strips[index-1].right))
- strips[index].right = i;
- } else {
- // Test sul centro della macchina
- if (abs(i - center_car) < abs(strips[0].right - center_car))
- strips[index].right = i;
- }
- rfound++;
- } else {
- // ... altrimenti lo inizializzo
- strips[index].right = i;
- rfound = 1;
- }
- }
- }
- }
-
- // Calcola il centro della strada se trova i bordi
- if (lfound && rfound)
- strips[index].center = (strips[index].left + strips[index].right) / 2;
-
- return (lfound && rfound);
-}
-
-/* ----------------------------------------------------------------- */
-
-void where_am_i(BYTE row, road_strip strip, road_info info) {
- int i;
- int lfound = 0;
- int rfound = 0;
- int car_center = TEL_WIDTH/2;
-
- for(i=1; i < (TEL_WIDTH-1); i++) {
- // Se trova la strada controlla se si tratta di bordo
- // destro o sinistro
- if (row[i] == ROAD_COLOR) {
- // bordo sinistro
- if (row[i - 1] != ROAD_COLOR) {
- strip.left = i;
- lfound = 1;
- break;
- } else if (row[i + 1] != ROAD_COLOR) {
- strip.right = i;
- rfound = 1;
- break;
- }
- }
- }
-
- if (lfound && rfound) {
- info->flag = ROAD_OK;
- }
- else if (lfound && !rfound) info->flag = LEFT_ONLY;
- else if (!lfound && rfound) info->flag = RIGHT_ONLY;
- else {
- if (row[car_center] == OFFROAD_COLOR) info->flag = NO_ROAD;
- else info->flag = ROAD_OK;
- }
- info->left_border = car_center - strip.left;
- info->right_border = strip.right - car_center;
-}
-
-/* ----------------------------------------------------------------- */
-
-/* Analizza l'immagine vista dalla telecamera inserendo le informazioni
- * necessarie in info, ovvero la distanza dai bordi destro e sinistro,
- * la distanza dalla prossima curva e il suo angolo di curvatura.
- * Per il momento ritorna -1 se non riesce a trovare entrambi i bordi della
- * strada; in futuro gestiremo anche questa situazione.
- */
-int find_track(BYTE image, road_info info) {
- // vettore contenente le informazioni su ogni striscia
- road_strip strips[TEL_HEIGHT];
- BYTE *row;
- int car_center = TEL_WIDTH/2;
- int max_scost=0;
- int once_scost=0;
- int j, rett_tol=0;
-
- info->flag = ROAD_OK;
-
- strips[0].left = STRIP_DEFAULT;
- strips[0].right = STRIP_DEFAULT;
- /* Tratta in modo personalizzato il primo tratto di strada per
- inizializzare alcune variabili e per capire situazioni particolari */
- row = &image[(TEL_HEIGHT - 1)*TEL_WIDTH];
- // Se trova i bordi ...
- if (scan_strip(row,0,strips)) {
- // ... calcola i bordi della strada e ...
- info->left_border = car_center - strips[0].left;
- info->right_border = strips[0].right - car_center;
- // ... inizializza la tolleranza per il rettilineo.
- rett_tol = (strips[0].right - strips[0].left) / TOLL_FACTOR;
- } else {
- // Se non trova il bordo ...
- // Mi sono perso, cercami la strada
- where_am_i(row,strips[0],info);
- return 1;
- }
-
- /* Ora controlla le altre strisce della strada */
-
- for(j=1; j < TEL_HEIGHT ; j++) {
- row = &image[(TEL_HEIGHT - j - 1)*TEL_WIDTH];
- // Se trova i bordi ...
- if (scan_strip(row, j, strips)) {
- // ... aggiorna l'indice di max scostamento.
- if (abs(strips[j].center - car_center) >
- abs(strips[max_scost].center - car_center)
- && abs(strips[j].center - car_center) > rett_tol) {
-
- max_scost = j;
- once_scost=1; // ha trovato almeno un max scost
- }
- } else {
- // Se max_scost non è mai stato settato, prendo il max
- if (!once_scost) {
- max_scost = j-1;
- once_scost = 1;
- }
-
- // se la distanza e il max_scost sono troppo vicini approssima la curva
- info->distance = find_distance(strips, max_scost, rett_tol);
- if ((max_scost - info->distance) < MIN_DIFF) {
- info->curve = approx_curve(image, j, info->distance,
- strips[info->distance].center,strips) - 90.0;
- return 1;
- }
- break;
- }
- }
-
- // Se max_scost non è mai stato settato, prendo il max
- if (!once_scost) max_scost = TEL_HEIGHT-1;
- max_scost = min(max_scost,TEL_HEIGHT-1);
-
- info->distance = find_distance(strips,max_scost,rett_tol);
-
- // calcola l'angolo di curvatura solo se il conto e' attendibile
- if ((info->distance < (TEL_HEIGHT*0.9)) &&
- ((max_scost - info->distance) >= MIN_DIFF))
- info->curve = rad_to_degree(atan2((double)(max_scost - info->distance),
- (double)(strips[max_scost].center - strips[info->distance].center)));
- else {
- // se i conti sono empirici, si guarda la posizione dei due centri
- if (strips[max_scost].center > strips[info->distance].center)
- info->curve = 88.0;
- else if (strips[max_scost].center < strips[info->distance].center)
- info->curve = 92.0;
- else
- info->curve = 90.0;
- }
- info->curve -= 90.0;
- return 0;
-}
-
-/* ----------------------------------------------------------------- */
-
-int find_opps(BYTE image, road_info info)
-{
- int i, j;
- int l_limit, r_limit; // the opposite empiric limits
- BYTE *row;
- int car_center = TEL_WIDTH/2;
- int opps_number = 0;
-
- // by default it needs to scan the entire row
- l_limit = TEL_WIDTH - 1;
- r_limit = 0;
-
- // Scans one row at a time
- for(j=1; j<TEL_HEIGHT; j++) {
- row = &image[(TEL_HEIGHT - j - 1) * TEL_WIDTH];
-
- // if some of the previous row has been identified as a car...
- if (opps_number > 0 &&
- j < (info->opps_list[opps_number - 1].y + CAR_HEIGHT + 1)) {
- // excludes CAR_HEIGHT lines from the bottom if the car
- l_limit = (car_center + info->opps_list[opps_number - 1].x) - CAR_WIDTH;
- r_limit = (car_center + info->opps_list[opps_number - 1].x) + CAR_WIDTH;
- }
- else {
- // it needs to scan the entire row
- l_limit = TEL_WIDTH - 1;
- r_limit = 0;
- }
-
- // Scans the current row
- for (i=0; i<TEL_WIDTH; i++) {
- if( (i < l_limit \|\| i > r_limit) &&
- row[i] != ROAD_COLOR && row[i] != OFFROAD_COLOR &&
- row[i] != DEBUG_COLOR && row[i] != OUT_OF_TRACK) {
- // there is an opponent car!!
- // stores its position
- info->opps_list[opps_number].x = i - car_center; // left -, right +
- info->opps_list[opps_number].y = j;
-
- // increases number of opposites car in the sensor view range
- opps_number++;
- }
- }
- }
-
- info->opps_number = opps_number;
-
- return 0;
-}
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Index: pj/auto/readme
===================================================================
--- pj/auto/readme (revision 1344)
+++ pj/auto/readme (nonexistent)
@@ -1,51 +0,0 @@
-AUTO - Another Unuseful Track simulatOr
----------------------------------------
-
-by Marco Dallera and Marco Fiocca, 2001
-
----------------------------------------
-
-This project was done as a Lab assignment during the course of
-"Informatica Industriale" at the University of Pavia, Italy.
-
-It simulates a race between cars under a set of 4 tracks.
-
-The authors provided also some pages that describes the application
-(auto.ps, in italian, on the website).
-
-To run the application, just compile it and call "x auto th" where tn is
-the track number (0 to 4).
-
-Since the control algorithm is quite complex, you need a quite powerful
-machine. If you get an exception 8 (WCET violation), you need a faster PC.
-You can anyway run the application making "auto2", that uses RR instead of
-EDF or CBS, or "auto3", that uses the EDFACT Module (you need yo copy
-the edfact.c and edfact.h files in the application directory to do that).
-
-To be run, the application needs to be compiled with the
-#define MAX_CAB set to a number greater than 20 (see include/modules/cabs.h).
-
-The control algorithm of the cars is not yet perfect, and if you look to
-the race for a long time, sometimes some cars go in the wrong direction.
-If you find a better algorithm, send me a patch :-)
-
-The code you can find in this directory is the original code of the
-students except for the MAX_CAB test into main(), and for the idle time
-monitor (that I took from the jumpball example) that can be useful to know
-when the system is overloaded. For example, on my PC there is idle time until
-the system has 9 cars. The tenth make the PC overloaded until one of them
-crashes :-).
-
-Finally note that the WCET and PERIODS specified by the authors are not so
-correct, and with this setting you can run 8 cars maximum before crashing the
-system.
-
-Have a nice race...
-
-Paolo
-pj@sssup.it
-
-PS: Sometimes on my portable the demo crashes. I wonder why!... If someone
-finds why, please tell me, I will patch it...
-
-
Index: pj/auto/initfil1.c
===================================================================
--- pj/auto/initfil1.c (revision 1344)
+++ pj/auto/initfil1.c (nonexistent)
@@ -1,108 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: initfil1.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * 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 "modules/edf.h"
-#include "modules/cbs.h"
-#include "modules/rr.h"
-#include "modules/dummy.h"
-
-#include "modules/sem.h"
-#include "modules/hartport.h"
-#include "modules/cabs.h"
-#include "drivers/keyb.h"
-
-/+ sysyem tick in us +/
-#define TICK 0
-
-/+ RR tick in us +/
-#define RRTICK 2000
-
-void read_track(int);
-void read_sprites();
-
-int argc;
-char *argv[100];
-
-int main(int argc, char **argv);
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- EDF_register_level(EDF_ENABLE_ALL);
- CBS_register_level(CBS_ENABLE_ALL, 0);
- RR_register_level(RRTICK, RR_MAIN_YES, mb);
- dummy_register_level();
-
- SEM_register_module();
-
- CABS_register_module();
-
- __compute_args__(mb, &argc, argv);
-
- if (argc == 2)
- read_track(strtoi(argv[1], 10, NULL));
- else
- read_track(2);
-
- read_sprites();
-
- return TICK;
-}
-
-TASK __init__(void *arg)
-{
- KEYB_PARMS kparms = BASE_KEYB;
-
- HARTPORT_init();
-
- keyb_def_ctrlC(kparms, NULL);
- KEYB_init(&kparms);
-
- return (void *)main(argc,argv);
-}
Index: pj/auto/initfil2.c
===================================================================
--- pj/auto/initfil2.c (revision 1344)
+++ pj/auto/initfil2.c (nonexistent)
@@ -1,108 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: initfil2.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * 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 "modules/rr.h"
-#include "modules/rrsoft.h"
-#include "modules/dummy.h"
-#include "modules/sem.h"
-#include "modules/hartport.h"
-#include "modules/cabs.h"
-#include "drivers/keyb.h"
-
-/+ sysyem tick in us +/
-#define TICK 1000
-
-/+ RR tick in us +/
-#define RRTICK 2000
-
-void read_track(int);
-void read_sprites();
-
-int argc;
-char *argv[100];
-int main(int argc, char **argv);
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD\|RRSOFT_ONLY_SOFT);
- RR_register_level(RRTICK, RR_MAIN_YES, mb);
- dummy_register_level();
-
- SEM_register_module();
-
- CABS_register_module();
-
- __compute_args__(mb, &argc, argv);
-
- if (argc == 2)
- read_track(strtoi(argv[1], 10, NULL));
- else
- read_track(0);
-
- read_sprites();
-
- return TICK;
-}
-
-TASK __init__(void *arg)
-{
- KEYB_PARMS kparms = BASE_KEYB;
-
- HARTPORT_init();
-
- keyb_def_ctrlC(kparms, NULL);
- KEYB_init(&kparms);
-
- return (void *)main(argc,argv);
-}
-
-
-
-
Index: pj/auto/control.c
===================================================================
--- pj/auto/control.c (revision 1344)
+++ pj/auto/control.c (nonexistent)
@@ -1,711 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-
-/**
- ------------
- CVS : $Id: control.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * Copyright (C) 2000 Marco Dallera and Marco Fiocca
- *
- * 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
- *
- */
-
-/*
- * AUTO
- *
- * Another Unuseful Track simulatOr
- *
- * Authors: Marco Dallera
- * Marco Fiocca
- *
- */
-
-/* ------------- */
-/* Car control */
-/* ------------- */
-
-#include "include/auto.h"
-#include "include/const.h"
-#include "include/utils.h"
-
-#define TURN_QUANTUM 2
-#define KM 18.0 // pixel
-#define HOUR 3600.0 // seconds
-#define KPH (KM/HOUR) // 0.005 pixel/second
-#define HIGHWAY_LIMIT 6
-#define MAZE_LIMIT 45
-#define CURVE_LIMIT 25 // il limite della curva per cui imposta la traiettoria
-#define BORDER_LIMIT ((1.0 / params.rage) * 2.0)
-#define STEERING_LIMIT 3 // limite di sterzata
-
-/* Road state */
-#define HIGHWAY 1
-#define MIXED 2
-#define MAZE 3
-#define CENTER 10
-#define TOO_LEFT 11
-#define TOO_RIGHT 12
-
-/* Opponents relationship */
-#define ATTACK 20
-#define DEFENSE 21
-#define SUPERATTACK 22
-
-/* Car parameters */
-#define MAX_SPEED (300 * KPH)
-#define MIN_SPEED (10 * KPH)
-#define MIN_ACC (-0.1)
-#define MAX_ACC (0.02)
-
-extern sem_t grx_mutex;
-
-char track_img[TRACK_WIDTH*TRACK_HEIGHT];
-char sprite[18][CAR_WIDTH*CAR_HEIGHT];
-
-/* Display functions */
-void put_transimage(int x1, int y1, int x2, int y2, BYTE *img,int car_color, int color);
-void draw_car(point_f old_pos, car_status cs, int car_color, int fumo);
-void put_trackbox(int x1, int y1, int x2, int y2);
-void show_display(int, int, float, float, float, float);
-void car_crash(PID sp, PID cp, point_f old_pos, int free);
-
-/* ------------------------------------------------------------------ */
-
-TASK control(int index) {
- int i = 0; // general purpose counter
- car_status old_car_status; // the previous car state
- car_status actual_car_status; // the actual car state
- road_info actual_road_info; // the actual road informations
- int road_state; // the state of the road: HIGHWAY, MIXED; MAZE
- int car_align; // the car alignment with respect to road limits
- int opps_state; // the relationship with other cars
- float old_speed = 0; // the previous car speed value
- float actual_speed = 0; // the actual car speed value
- float old_acc = 0; // the previous acceleration value
- float acc = 0; // the new acceleration
- point polepos;
-
- // Variabili che dipendono dal tipo di macchina
- float max_speed; // maximum car speed
- float min_acc; // minimum acceleration
- float max_acc; // maximum acceleration
-
- int killed = 0; // flag for killed cars
- int crashed = 0; // flag for crashed cars
-
- /* Timing variables */
- float t = 0;
- float dt = (float)CONTROL_PERIOD/100000.0; // time quantum
- time ts = int2time(t);
- float crash_t = 0;
- time crash_ts = int2time(crash_t);
- float bestlap = 999999999.9;
- time bestlap_s = int2time(bestlap);
- int bestlap_done = 0;
- int laps = 0;
-
- /* Display vars */
- point spd_p, acc_p, time_p, drv_p;
- char *txt;
-
- /* Car data */
- car_params params; // car data structure
-
- /* ----------------------------------------------------- */
-
- txt = (char )malloc(15sizeof(char));
-
- params = cars[index];
-
- max_speed = params.max_speed * MAX_SPEED; // maximum car speed
- min_acc = params.min_acc * MIN_ACC; // minimum acceleration
- max_acc = params.max_acc * MAX_ACC; // maximum acceleration
-
- /* Get track data */
- while (track_list[i].selected == 0)
- i++;
-
- /* Same pole for all */
- polepos.x = track_list[i].pole_pos.x;
- polepos.y = track_list[i].pole_pos.y;
- actual_car_status.pos.x = polepos.x;
- actual_car_status.pos.y = polepos.y;
- actual_car_status.orient = track_list[i].pole_orient;
- set_car_status(actual_car_status, params.car_status_cab);
-
- /* Initialize old values */
- old_car_status = actual_car_status;
- old_acc = acc;
- old_speed = actual_speed;
-
- /* POWER IS NOTHING WITHOUT CONTROL */
- while(1) {
-
- if (crashed) {
- crash_t += dt;
- crash_ts = int2time(crash_t);
- if (crash_ts.sec > 2) {
- car_crash(params.sensor_pid,params.control_pid,
- old_car_status.pos, 1);
- killed=1;
- }
- }
-
- else {
-
- /* Reads road informations */
- actual_road_info = get_road_info(params.road_status_cab);
-
- /* Defines the state of the road */
- if (fabs(actual_road_info.curve) < HIGHWAY_LIMIT \|\|
- actual_road_info.distance > 0.9*TEL_HEIGHT) {
- road_state = HIGHWAY;
- } else if (fabs(actual_road_info.curve) > MAZE_LIMIT \|\|
- actual_road_info.distance < 0.1*TEL_HEIGHT) {
- road_state = MAZE;
- } else {
- road_state = MIXED;
- }
-
- /* Defines the car position whitin road borders */
- if (actual_road_info.left_border < BORDER_LIMIT)
- car_align = TOO_LEFT;
- else if (actual_road_info.right_border < BORDER_LIMIT)
- car_align = TOO_RIGHT;
- else car_align = CENTER;
-
- /* Sets the power percentage */
- switch (road_state)
- {
- case HIGHWAY:
- acc = max_acc; // tarella!!!!
- break;
- case MIXED:
- actual_speed = params.rage * (((float)actual_road_info.distance/(float)TEL_HEIGHT) /
- (fabs(actual_road_info.curve)/90.0)) * max_speed;
- acc = (actual_speed - old_speed) / dt;
- break;
- case MAZE:
- actual_speed = params.rage * (1.0 - (fabs(actual_road_info.curve)/90.0)) * max_speed;
- acc = (actual_speed - old_speed) / dt;
- break;
- default:
- acc = 0.0;
- }
-
- /* Can't go off road */
- /* When car is near a border, it steers to come in */
- switch (car_align)
- {
- case TOO_LEFT:
- actual_car_status.orient -= TURN_QUANTUM;
- break;
- case TOO_RIGHT:
- actual_car_status.orient += TURN_QUANTUM;
- break;
- }
-
- if (road_state != HIGHWAY) {
- // C'e' una curva vicina.
- // Se la curva e' a destra si tiene vicino al bordo di sinistra
- // per impostare la traiettoria migliore e viceversa
- if (actual_road_info.curve < 0 && actual_road_info.left_border > BORDER_LIMIT
- && fabs(actual_road_info.curve) > CURVE_LIMIT)
- actual_car_status.orient += TURN_QUANTUM;
- else if (actual_road_info.curve > 0 && actual_road_info.right_border > BORDER_LIMIT
- && fabs(actual_road_info.curve) > CURVE_LIMIT)
- actual_car_status.orient -= TURN_QUANTUM;
-
- // Fa la curva dolcemente
- if (actual_road_info.distance < ((1.0/params.rage) * (TEL_HEIGHT * 0.25))) {
- actual_car_status.orient += actual_road_info.curve * (params.rage/8.0);
- //actual_car_status.orient += actual_road_info.curve / 4.0;
- }
- }
-
- /* Defines the state of interactions with other cars */
- if (actual_road_info.opps_number > 0)
- {
- if (road_state == HIGHWAY && actual_road_info.opps_list[0].y > (TEL_HEIGHT/3.0))
- opps_state = ATTACK;
- else if (road_state == MAZE && actual_road_info.opps_list[0].y < (TEL_HEIGHT/3.0))
- opps_state = DEFENSE;
- else if (actual_road_info.opps_list[0].y < (TEL_HEIGHT/6.0) &&
- actual_road_info.opps_list[0].x != 0 &&
- (abs(actual_road_info.opps_list[0].x) < CAR_W/2)) {
- // Defends and steers to avoid opponents
- opps_state = DEFENSE;
- acc *= -((TEL_HEIGHT/6.0) / (actual_road_info.opps_list[0].y));
- actual_car_status.orient -= ((actual_road_info.opps_list[0].x) /
- abs(actual_road_info.opps_list[0].x)) * TURN_QUANTUM/2;
- }
- else if (actual_road_info.opps_list[0].y < (TEL_HEIGHT/3.0) &&
- actual_road_info.opps_list[0].x != 0 &&
- abs(actual_road_info.opps_list[0].x) < CAR_W/2) {
- // Attacks and steers to override the opponent
- opps_state = ATTACK;
- actual_car_status.orient -= ((actual_road_info.opps_list[0].x) /
- abs(actual_road_info.opps_list[0].x)) * TURN_QUANTUM;
- }
- else
- opps_state = DEFENSE;
-
- // Response to opponents positions
- if (opps_state == ATTACK)
- acc = max_acc;
- else if (opps_state == DEFENSE)
- acc *= 0.5;
- }
-
-
- /* Checking car position: road/offroad */
- if (actual_road_info.left_border * actual_road_info.right_border < 0)
- acc = 0.5 * min_acc;
-
- if (actual_road_info.flag != ROAD_OK) {
- switch (actual_road_info.flag) {
- case LEFT_ONLY:
- if (actual_road_info.left_border < 0)
- actual_car_status.orient -= TURN_QUANTUM;
- acc = 0.5 * max_acc;
- break;
- case RIGHT_ONLY:
- if (actual_road_info.right_border < 0)
- actual_car_status.orient += TURN_QUANTUM;
- acc = 0.5 * max_acc;
- break;
- case NO_ROAD:
- crashed = 1;
- car_crash(params.sensor_pid,params.control_pid,
- old_car_status.pos, 0);
- break;
- }
- }
-
- /* Checking collisions... */
- if (actual_road_info.collision != NO_COLL) {
- switch(actual_road_info.collision) {
- case COLLISION_LEFT:
- actual_car_status.orient -= TURN_QUANTUM;
- acc = (0.5 params.rage);
- break;
- case COLLISION_RIGHT:
- actual_car_status.orient += TURN_QUANTUM;
- acc = (0.5 params.rage);
- break;
- }
- }
-
- /* Checking acceleration range... */
- acc = max(min(max_acc,acc),min_acc);
- actual_speed = old_speed + acc*dt;
-
- /* Checking speed range... */
- actual_speed = min(max(actual_speed,MIN_SPEED),max_speed);
-
- /* Checking steering angle ... */
- if (fabs(actual_car_status.orient - old_car_status.orient) >
- STEERING_LIMIT) {
- if ((actual_car_status.orient - old_car_status.orient) > 0)
- actual_car_status.orient = old_car_status.orient + STEERING_LIMIT;
- else
- actual_car_status.orient = old_car_status.orient - STEERING_LIMIT;
- }
-
- /* Setting new car position... */
- actual_car_status.pos.x += actual_speed * cos(degree_to_rad(actual_car_status.orient));
- actual_car_status.pos.y -= actual_speed * sin(degree_to_rad(actual_car_status.orient));
-
- /* Checking track limits... */
- if (actual_car_status.pos.x < MIN_CAR_X)
- actual_car_status.pos.x = MIN_CAR_X;
- if (actual_car_status.pos.x > MAX_CAR_X)
- actual_car_status.pos.x = MAX_CAR_X;
- if (actual_car_status.pos.y < MIN_CAR_Y)
- actual_car_status.pos.y = MIN_CAR_Y;
- if (actual_car_status.pos.y > MAX_CAR_Y)
- actual_car_status.pos.y = MAX_CAR_Y;
-
- /* Sends new status to car_status_cab */
- set_car_status(actual_car_status, params.car_status_cab);
-
- if (!crashed) {
- /* Updates car */
- if (acc == min_acc)
- draw_car(old_car_status.pos,actual_car_status, params.color, 1);
- else
- draw_car(old_car_status.pos,actual_car_status, params.color, 0);
- }
-
- /* Sets display points */
- spd_p.x = TRACK_X1 + TRACK_WIDTH + TEL_HEIGHT + TEL_WIDTH + 9;
- spd_p.y = TEL_HEIGHT*index + 1 + index + 1;
- bar_display(spd_p, 70, 4, GREEN, actual_speed, max_speed, LIGHTGRAY, "Spd");
-
- acc_p.x = spd_p.x;
- acc_p.y = spd_p.y + 24;
- bidir_bar_display(acc_p, 70, 4, GREEN, acc, max(fabs(min_acc), max_acc), LIGHTGRAY, "Acc");
-
- sem_wait(&grx_mutex);
-
- /* Displays driver's name */
- drv_p.x = spd_p.x + 80;
- drv_p.y = spd_p.y;
- grx_text(params.driver, drv_p.x, drv_p.y, params.color, BLACK);
-
- /* Displays timer */
- time_p.x = spd_p.x + 80;
- time_p.y = spd_p.y + 8;
- if( (!bestlap_done) \|\| (bestlap_done && t > 50))
- {
- /* Mins */
- txt = itoa(ts.min, txt);
- grx_text(txt, time_p.x, time_p.y, WHITE, BLACK);
- grx_text(":", time_p.x + 8, time_p.y, WHITE, BLACK);
- /* Secs */
- txt = itoa(ts.sec, txt);
- if (ts.sec < 10) {
- grx_text("0", time_p.x+16, time_p.y, WHITE, BLACK);
- grx_text(txt, time_p.x+24, time_p.y, WHITE, BLACK);
- }
- else
- grx_text(txt, time_p.x+16, time_p.y, WHITE, BLACK);
- /* Decs */
- grx_text(":", time_p.x+32, time_p.y, WHITE, BLACK);
- txt = itoa(ts.dec, txt);
- grx_text(txt, time_p.x+40, time_p.y, WHITE, BLACK);
- }
-
- /* Displays the best lap */
- if(bestlap_done == 1)
- {
- time_p.x = spd_p.x + 80;
- time_p.y = spd_p.y + 16;
- /* Mins */
- txt = itoa(bestlap_s.min, txt);
- grx_text(txt, time_p.x, time_p.y, YELLOW, BLACK);
- grx_text(":", time_p.x + 8, time_p.y, YELLOW, BLACK);
- /* Secs */
- txt = itoa(bestlap_s.sec, txt);
- if (bestlap_s.sec < 10) {
- grx_text("0", time_p.x+16, time_p.y, YELLOW, BLACK);
- grx_text(txt, time_p.x+24, time_p.y, YELLOW, BLACK);
- }
- else
- grx_text(txt, time_p.x+16, time_p.y, YELLOW, BLACK);
- /* Decs */
- grx_text(":", time_p.x+32, time_p.y, YELLOW, BLACK);
- txt = itoa(bestlap_s.dec, txt);
- grx_text(txt, time_p.x+40, time_p.y, YELLOW, BLACK);
- }
-
- /* Displays lap number */
- time_p.x = spd_p.x + 80;
- time_p.y = spd_p.y + 24;
- grx_text("Lap ", time_p.x, time_p.y, LIGHTGRAY, BLACK);
- txt = itoa(laps, txt);
- grx_text(txt, time_p.x+32, time_p.y, LIGHTGRAY, BLACK);
-
- sem_post(&grx_mutex);
-
- /* Control the best lap */
- t += dt;
- ts = int2time(t);
-
- /* Finish line */
- if ((track_list[i].lap == CLOCK &&
- (actual_car_status.pos.x >= polepos.x) && (old_car_status.pos.x < polepos.x)
- && (actual_car_status.pos.y > polepos.y-20) && (actual_car_status.pos.y < polepos.y+20)) \|\|
- (track_list[i].lap == ANTICLOCK &&
- (actual_car_status.pos.x <= polepos.x) && (old_car_status.pos.x > polepos.x)
- && (actual_car_status.pos.y > polepos.y-20) && (actual_car_status.pos.y < polepos.y+20))) {
- laps++; // increases lap number
-
- bestlap = min(bestlap,t);
- bestlap_s = int2time(bestlap);
- bestlap_done = 1;
- t = 0;
- ts = int2time(t);
- }
-
- /* Updates old values */
- old_car_status = actual_car_status;
- old_acc = acc;
- old_speed = actual_speed;
-
- } // end crashed
-
- task_endcycle();
-
- // Esce se e' morto
- if (killed) return 0;
- }
-}
-
-/* ------------------------------------------------------------------ */
-
-void car_crash(PID sp, PID cp, point_f old_pos, int free)
-{
- point p1, p2;
- p1.x = round(old_pos.x) - CAR_WIDTH/2 - 1;
- p1.y = round(old_pos.y) - CAR_HEIGHT/2 - 1;
- p2.x = p1.x + CAR_WIDTH + 1;
- p2.y = p1.y + CAR_HEIGHT + 1;
-
- sem_wait(&grx_mutex);
- /* Find the track box to redraw */
- put_trackbox(p1.x,p1.y,p2.x,p2.y);
-
- if (free == 0) {
- // Draw the explosion
- put_transimage(p1.x+1,p1.y+1,p2.x-1,p2.y-1,&sprite[16][0],0,0);
- }
- else if (free == 1) {
- // Delete the explosion
- put_trackbox(p1.x,p1.y,p2.x,p2.y);
- task_kill(sp);
- task_kill(cp);
- }
- sem_post(&grx_mutex);
-}
-
-/* ------------------------------------------------------------------ */
-
-void draw_car(point_f old_pos, car_status cs, int car_color, int fumo)
-{
- int index;
- point p1, p2;
- p1.x = round(old_pos.x) - CAR_WIDTH/2 - 1;
- p1.y = round(old_pos.y) - CAR_HEIGHT/2 - 1;
- p2.x = p1.x + CAR_WIDTH + 1;
- p2.y = p1.y + CAR_HEIGHT + 1;
-
- sem_wait(&grx_mutex);
- /* Find the track box to redraw */
- put_trackbox(p1.x,p1.y,p2.x,p2.y);
-
-
- p1.x = round(cs.pos.x) + (CAR_WIDTH/2 * cos(degree_to_rad(cs.orient)));
- p1.y = round(cs.pos.y) - (CAR_HEIGHT/2 * sin(degree_to_rad(cs.orient)));
- p2.x = round(cs.pos.x) - (CAR_WIDTH/2 * cos(degree_to_rad(cs.orient)));
- p2.y = round(cs.pos.y) + (CAR_HEIGHT/2 * sin(degree_to_rad(cs.orient)));
-
- index = ((((int)cs.orient%360)+360)%360);
- index = (int)(index + 11.25)%360;
- index /= 22.5;
-
- put_transimage(round(cs.pos.x) - CAR_WIDTH/2 + 1,round(cs.pos.y) - CAR_HEIGHT/2 + 1,
- round(cs.pos.x) + CAR_WIDTH/2 ,round(cs.pos.y) + CAR_HEIGHT/2,
- &sprite[index][0], car_color, 0);
- if (fumo)
- put_transimage(round(cs.pos.x) - CAR_WIDTH/2 + 1,round(cs.pos.y) - CAR_HEIGHT/2 + 1,
- round(cs.pos.x) + CAR_WIDTH/2 ,round(cs.pos.y) + CAR_HEIGHT/2,
- &sprite[17][0], car_color, 0);
- sem_post(&grx_mutex);
-}
-
-/* ------------------------------------------------------------------ */
-
-/* Copy a box of track_image to screen */
-void put_trackbox(int x1, int y1, int x2, int y2)
-{
- int y;
- int tx1,ty1,tx2,ty2;
- BYTE *addr;
-
- tx1 = x1-TRACK_X1+1;
- ty1 = y1-TRACK_Y1;
- tx2 = x2-TRACK_X1+1;
- ty2 = y2-TRACK_Y1;
-
- if (tx1 < 0) tx1 = 0;
- if (ty1 < 0) ty1 = 0;
- if (tx2 > TRACK_WIDTH-1) tx2 = TRACK_WIDTH-1;
- if (ty2 > TRACK_HEIGHT-1) ty2 = TRACK_HEIGHT-1;
-
- tx1 = max(tx1,0);
- ty1 = max(ty1,0);
- tx2 = min(tx2,TRACK_WIDTH-1);
- ty2 = min(ty2,TRACK_HEIGHT-1);
-
- addr = &track_img[0] + tx1 + TRACK_WIDTH * ty1;
-
- x1 = max(0,x1);
- y1 = max(0,y1);
-
- for (y = y1; y <= y2; y++) {
- grx_putimage(x1+1, y, x2, y, addr);
- addr += TRACK_WIDTH;
- }
-}
-
-/* ------------------------------------------------------------------ */
-
-void put_transimage(int x1, int y1, int x2, int y2, BYTE *img, int car_color,
- int color)
-{
- int x,y;
- BYTE *addr;
- addr = img;
-
-
- for (y = y1; y < y2; y++) {
- for ( x = x1; x < x2; x++, addr++) {
- if (*addr != color) {
- if (*addr == 26)
- grx_plot(x,y,car_color);
- else
- grx_plot(x,y,*addr);
-
- }
- }
- addr++;
- }
-}
-
-/* ------------------------------------------------------------------ */
-
-void show_display(int rs, int ca, float speed, float max_speed,
- float acc, float max_acc) {
- point hw, mx, mz; // three road states
- point tl, ct, tr; // three car alignments
- point sp1, sp2; // speed display coordinates
- point ap1, ap2; // acceleration display coordinates
- int s_amp = 0;
- int a_amp = 0;
-
- /* Leds coordinates */
- hw.x = 10;
- hw.y = SCREEN_HEIGHT-50;
- mx.x = 25;
- mx.y = SCREEN_HEIGHT-50;
- mz.x = 40;
- mz.y = SCREEN_HEIGHT-50;
- tl.x = 10;
- tl.y = SCREEN_HEIGHT-35;
- ct.x = 25;
- ct.y = SCREEN_HEIGHT-35;
- tr.x = 40;
- tr.y = SCREEN_HEIGHT-35;
- sp1.x = 10;
- sp1.y = SCREEN_HEIGHT-75;
- sp2.x = 110;
- sp2.y = SCREEN_HEIGHT-65;
- ap1.x = 10;
- ap1.y = SCREEN_HEIGHT-90;
- ap2.x = 110;
- ap2.y = SCREEN_HEIGHT-80;
-
- sem_wait(&grx_mutex);
-
- /* Writes out controller titles */
- grx_text("Road", mz.x+15, mz.y, YELLOW, BLACK);
- grx_text("Curve", tr.x+15, tr.y, YELLOW, BLACK);
- switch (rs)
- {
- case HIGHWAY:
- grx_box(hw.x, hw.y, hw.x+10, hw.y+10, GREEN);
- grx_box(mx.x, mx.y, mx.x+10, mx.y+10, BLACK);
- grx_box(mz.x, mz.y, mz.x+10, mz.y+10, BLACK);
- break;
- case MIXED:
- grx_box(hw.x, hw.y, hw.x+10, hw.y+10, BLACK);
- grx_box(mx.x, mx.y, mx.x+10, mx.y+10, YELLOW);
- grx_box(mz.x, mz.y, mz.x+10, mz.y+10, BLACK);
- break;
- case MAZE:
- grx_box(hw.x, hw.y, hw.x+10, hw.y+10, BLACK);
- grx_box(mx.x, mx.y, mx.x+10, mx.y+10, BLACK);
- grx_box(mz.x, mz.y, mz.x+10, mz.y+10, RED);
- break;
- }
-
- switch (ca)
- {
- case TOO_LEFT:
- grx_box(tl.x, tl.y, tl.x+10, tl.y+10, RED);
- grx_box(ct.x, ct.y, ct.x+10, ct.y+10, BLACK);
- grx_box(tr.x, tr.y, tr.x+10, tr.y+10, BLACK);
- break;
- case TOO_RIGHT:
- grx_box(tl.x, tl.y, tl.x+10, tl.y+10, BLACK);
- grx_box(ct.x, ct.y, ct.x+10, ct.y+10, BLACK);
- grx_box(tr.x, tr.y, tr.x+10, tr.y+10, BLUE);
- break;
- default:
- grx_box(tl.x, tl.y, tl.x+10, tl.y+10, BLACK);
- grx_box(ct.x, ct.y, ct.x+10, ct.y+10, WHITE);
- grx_box(tr.x, tr.y, tr.x+10, tr.y+10, BLACK);
- }
-
- /* Draws speed display */
- grx_text("Speed", sp1.x+120, sp1.y, YELLOW, BLACK);
- grx_rect(sp1.x-1, sp1.y-1, sp2.x+1, sp2.y+1, GREEN);
- /* Updates speed display */
- grx_box(sp1.x, sp1.y, sp2.x, sp2.y, BLACK);
- s_amp = round( (speed * (float)(sp2.x-sp1.x)) / max_speed );
- grx_box(sp1.x, sp1.y, sp1.x+s_amp, sp2.y, LIGHTGRAY);
-
- /* Draws acceleration display */
- grx_text("Acceleration", ap1.x+120, ap1.y, YELLOW, BLACK);
- grx_rect(ap1.x-1, ap1.y-1, ap2.x+1, ap2.y+1, GREEN);
- /* Updates acceleration display */
- grx_box(ap1.x, ap1.y, ap2.x, ap2.y, BLACK);
- a_amp = round( (float)acc * (float)((ap2.x-ap1.x)/2) / (float)max_acc );
- if (a_amp >= 0)
- grx_box((ap1.x+ap2.x)/2, ap1.y, ((ap1.x+ap2.x)/2)+a_amp, ap2.y, LIGHTGRAY);
- else
- grx_box((ap1.x+ap2.x)/2+a_amp, ap1.y, ((ap1.x+ap2.x)/2), ap2.y, LIGHTGRAY);
- grx_line((ap1.x+ap2.x)/2, ap1.y-2, (ap1.x+ap2.x)/2, ap2.y+2, WHITE);
- sem_post(&grx_mutex);
-}
-
-
-
-
-
-
-
-
-
-
-
-
Index: pj/auto/initfil3.c
===================================================================
--- pj/auto/initfil3.c (revision 1344)
+++ pj/auto/initfil3.c (nonexistent)
@@ -1,107 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: initfil3.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * 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 "edfact.h"
-#include "modules/cbs.h"
-#include "modules/rr.h"
-#include "modules/dummy.h"
-
-#include "modules/sem.h"
-#include "modules/hartport.h"
-#include "modules/cabs.h"
-#include "drivers/keyb.h"
-
-/+ sysyem tick in us +/
-#define TICK 0
-
-/+ RR tick in us +/
-#define RRTICK 2000
-
-void read_track(int);
-void read_sprites();
-
-int argc;
-char *argv[100];
-int main(int argc, char **argv);
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- EDFACT_register_level(0);
- CBS_register_level(0, 0);
- RR_register_level(RRTICK, RR_MAIN_YES, mb);
- dummy_register_level();
-
- SEM_register_module();
-
- CABS_register_module();
-
- __compute_args__(mb, &argc, argv);
-
- if (argc == 2)
- read_track(strtoi(argv[1], 10, NULL));
- else
- read_track(2);
-
- read_sprites();
-
- return TICK;
-}
-
-TASK __init__(void *arg)
-{
- KEYB_PARMS kparms = BASE_KEYB;
-
- HARTPORT_init();
-
- keyb_def_ctrlC(kparms, NULL);
- KEYB_init(&kparms);
-
- return (void *) main(argc,argv);
-}
Index: pj/auto/edfact.c
===================================================================
--- pj/auto/edfact.c (revision 1344)
+++ pj/auto/edfact.c (nonexistent)
@@ -1,735 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: edfact.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * Copyright (C) 2001 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 "edfact.h"
-#include <ll/stdio.h>
-#include <ll/string.h>
-#include <kernel/model.h>
-#include <kernel/descr.h>
-#include <kernel/var.h>
-#include <kernel/func.h>
-#include <kernel/trace.h>
-
-//#define edfact_printf kern_printf
-#define edfact_printf printk
-
-/+ Status used in the level +/
-#define EDFACT_READY MODULE_STATUS_BASE /+ - Ready status +/
-#define EDFACT_IDLE MODULE_STATUS_BASE+4 /+ to wait the deadline +/
-
-/+ flags +/
-#define EDFACT_FLAG_NORAISEEXC 2
-
-/+ the level redefinition for the Earliest Deadline First level +/
-typedef struct {
- level_des l; /+ the standard level descriptor +/
-
- TIME period[MAX_PROC]; /*+ The task periods; the deadlines are
- stored in the priority field +*/
- int deadline_timer[MAX_PROC];
- /+ The task deadline timers +/
-
- struct timespec deadline_timespec[MAX_PROC];
-
- int dline_miss[MAX_PROC]; /+ Deadline miss counter +/
- int wcet_miss[MAX_PROC]; /+ Wcet miss counter +/
-
- int nact[MAX_PROC]; /+ Wcet miss counter +/
-
- int flag[MAX_PROC];
- /*+ used to manage the JOB_TASK_MODEL and the
- periodicity +*/
-
- QUEUE ready; /+ the ready queue +/
-
- int flags; /+ the init flags... +/
-
- bandwidth_t U; /+ the used bandwidth +/
-
-} EDFACT_level_des;
-
-
-static void EDFACT_timer_deadline(void *par);
-
-static void EDFACT_internal_activate(EDFACT_level_des *lev, PID p)
-{
- TIMESPEC_ASSIGN(&proc_table[p].timespec_priority,
- &proc_table[p].request_time);
- ADDUSEC2TIMESPEC(lev->period[p], &proc_table[p].timespec_priority);
-
- TIMESPEC_ASSIGN(&lev->deadline_timespec[p],
- &proc_table[p].timespec_priority);
-
- /* Insert task in the correct position */
- proc_table[p].status = EDFACT_READY;
- q_timespec_insert(p,&lev->ready);
-
- /* needed because when there is a wcet miss I disable CONTROL_CAP */
- proc_table[p].control \|= CONTROL_CAP;
-}
-
-static char *EDFACT_status_to_a(WORD status)
-{
- if (status < MODULE_STATUS_BASE)
- return status_to_a(status);
-
- switch (status) {
- case EDFACT_READY : return "EDFACT_Ready";
- case EDFACT_IDLE : return "EDFACT_Idle";
- default : return "EDFACT_Unknown";
- }
-}
-
-static void EDFACT_timer_deadline(void *par)
-{
- PID p = (PID) par;
- EDFACT_level_des *lev;
-
- lev = (EDFACT_level_des *)level_table[proc_table[p].task_level];
-
- switch (proc_table[p].status) {
- case EDFACT_IDLE:
- edfact_printf("I%d",p);
- TIMESPEC_ASSIGN(&proc_table[p].request_time,
- &proc_table[p].timespec_priority);
-
- EDFACT_internal_activate(lev,p);
-
- event_need_reschedule();
- break;
-
- default:
- edfact_printf("D%d",p);
- /* else, a deadline miss occurred!!! */
- lev->dline_miss[p]++;
-
- /* the task is into another state */
- lev->nact[p]++;
-
- /* Set the deadline timer */
- ADDUSEC2TIMESPEC(lev->period[p], &lev->deadline_timespec[p]);
- }
-
- /* Set the deadline timer */
- lev->deadline_timer[p] = kern_event_post(&lev->deadline_timespec[p],
- EDFACT_timer_deadline,
- (void *)p);
-
-}
-
-static void EDFACT_timer_guest_deadline(void *par)
-{
- PID p = (PID) par;
-
- edfact_printf("AAARRRGGGHHH!!!");
- kern_raise(XDEADLINE_MISS,p);
-}
-
-static int EDFACT_level_accept_task_model(LEVEL l, TASK_MODEL *m)
-{
- if (m->pclass == HARD_PCLASS \|\| m->pclass == (HARD_PCLASS \| l)) {
- HARD_TASK_MODEL h = (HARD_TASK_MODEL )m;
-
- if (h->wcet && h->mit && h->periodicity == PERIODIC)
- return 0;
- }
-
- return -1;
-}
-
-static int EDFACT_level_accept_guest_model(LEVEL l, TASK_MODEL *m)
-{
- if (m->pclass == JOB_PCLASS \|\| m->pclass == (JOB_PCLASS \| l))
- return 0;
- else
- return -1;
-}
-
-
-static char *onoff(int i)
-{
- if (i)
- return "On ";
- else
- return "Off";
-}
-
-static void EDFACT_level_status(LEVEL l)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
- PID p = lev->ready;
-
- kern_printf("On-line guarantee : %s\n",
- onoff(lev->flags & EDFACT_ENABLE_GUARANTEE));
- kern_printf("Used Bandwidth : %u/%u\n",
- lev->U, MAX_BANDWIDTH);
-
- while (p != NIL) {
- if ((proc_table[p].pclass) == JOB_PCLASS)
- kern_printf("Pid: %2d (GUEST)\n", p);
- else
- kern_printf("Pid: %2d Name: %10s %s: %9d Dline: %9d.%6d Stat: %s\n",
- p,
- proc_table[p].name,
- "Period ",
- lev->period[p],
- proc_table[p].timespec_priority.tv_sec,
- proc_table[p].timespec_priority.tv_nsec/1000,
- EDFACT_status_to_a(proc_table[p].status));
- p = proc_table[p].next;
- }
-
- for (p=0; p<MAX_PROC; p++)
- if (proc_table[p].task_level == l && proc_table[p].status != EDFACT_READY
- && proc_table[p].status != FREE )
- kern_printf("Pid: %2d Name: %10s %s: %9d Dline: %9d.%6d Stat: %s\n",
- p,
- proc_table[p].name,
- "Period ",
- lev->period[p],
- proc_table[p].timespec_priority.tv_sec,
- proc_table[p].timespec_priority.tv_nsec/1000,
- EDFACT_status_to_a(proc_table[p].status));
-}
-
-/* The scheduler only gets the first task in the queue */
-static PID EDFACT_level_scheduler(LEVEL l)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
-/* { // print 4 dbg the ready queue
- PID p= lev->ready;
- kern_printf("(s");
- while (p != NIL) {
- kern_printf("%d ",p);
- p = proc_table[p].next;
- }
- kern_printf(") ");
- }
- */
- return (PID)lev->ready;
-}
-
-/* The on-line guarantee is enabled only if the appropriate flag is set... */
-static int EDFACT_level_guarantee(LEVEL l, bandwidth_t *freebandwidth)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- if (lev->flags & EDFACT_FAILED_GUARANTEE) {
- *freebandwidth = 0;
- return 0;
- }
- else
- if (*freebandwidth >= lev->U) {
- *freebandwidth -= lev->U;
- return 1;
- }
- else
- return 0;
-
-}
-
-static int EDFACT_task_create(LEVEL l, PID p, TASK_MODEL *m)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- /* if the EDFACT_task_create is called, then the pclass must be a
- valid pclass. */
-
- HARD_TASK_MODEL h = (HARD_TASK_MODEL )m;
-
- lev->period[p] = h->mit;
-
- lev->flag[p] = 0;
- lev->deadline_timer[p] = -1;
- lev->dline_miss[p] = 0;
- lev->wcet_miss[p] = 0;
- lev->nact[p] = 0;
-
- /* Enable wcet check */
- proc_table[p].avail_time = h->wcet;
- proc_table[p].wcet = h->wcet;
- proc_table[p].control \|= CONTROL_CAP;
-
- /* update the bandwidth... */
- if (lev->flags & EDFACT_ENABLE_GUARANTEE) {
- bandwidth_t b;
- b = (MAX_BANDWIDTH / h->mit) * h->wcet;
-
- /* really update lev->U, checking an overflow... */
- if (MAX_BANDWIDTH - lev->U > b)
- lev->U += b;
- else
- /* The task can NOT be guaranteed (U>MAX_BANDWIDTH)...
- in this case, we don't raise an exception... in fact, after the
- EDFACT_task_create the task_create will call level_guarantee that return
- -1... return -1 in EDFACT_task_create isn't correct, because:
- . generally, the guarantee must be done when also the resources
- are registered
- . returning -1 will cause the task_create to return with an errno
- ETASK_CREATE instead of ENO_GUARANTEE!!!
-
- Why I use the flag??? because if the lev->U overflows, if i.e. I set
- it to MAX_BANDWIDTH, I lose the correct allocated bandwidth...
- */
- lev->flags \|= EDFACT_FAILED_GUARANTEE;
- }
-
- return 0; /* OK, also if the task cannot be guaranteed... */
-}
-
-static void EDFACT_task_detach(LEVEL l, PID p)
-{
- /* the EDFACT level doesn't introduce any dinamic allocated new field.
- we have only to reset the NO_GUARANTEE FIELD and decrement the allocated
- bandwidth */
-
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- if (lev->flags & EDFACT_FAILED_GUARANTEE)
- lev->flags &= ~EDFACT_FAILED_GUARANTEE;
- else
- lev->U -= (MAX_BANDWIDTH / lev->period[p]) * proc_table[p].wcet;
-}
-
-static int EDFACT_task_eligible(LEVEL l, PID p)
-{
- return 0; /* if the task p is chosen, it is always eligible */
-}
-
-static void EDFACT_task_dispatch(LEVEL l, PID p, int nostop)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- /* the task state is set EXE by the scheduler()
- we extract the task from the ready queue
- NB: we can't assume that p is the first task in the queue!!! */
- q_extract(p, &lev->ready);
-}
-
-static void EDFACT_task_epilogue(LEVEL l, PID p)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- /* check if the wcet is finished... */
- if (proc_table[p].avail_time <= 0 && proc_table[p].control&CONTROL_CAP) {
- /* wcet finished: disable wcet event and count wcet miss */
- edfact_printf("W%d",p);
- proc_table[p].control &= ~CONTROL_CAP;
- lev->wcet_miss[p]++;
- }
-
- /* the task it returns into the ready queue... */
- q_timespec_insert(p,&lev->ready);
- proc_table[p].status = EDFACT_READY;
-}
-
-static void EDFACT_task_activate(LEVEL l, PID p)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- /* Test if we are trying to activate a non sleeping task */
- /* save activation (only if needed... */
- if (proc_table[p].status != SLEEP) {
- /* a periodic task cannot be activated when it is already active */
- kern_raise(XACTIVATION,p);
- return;
- }
-
- ll_gettime(TIME_EXACT, &proc_table[p].request_time);
-
- EDFACT_internal_activate(lev,p);
-
- /* Set the deadline timer */
- lev->deadline_timer[p] = kern_event_post(&lev->deadline_timespec[p],
- EDFACT_timer_deadline,
- (void *)p);
-
-}
-
-static void EDFACT_task_insert(LEVEL l, PID p)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- /* Insert task in the coEDFect position */
- proc_table[p].status = EDFACT_READY;
- q_timespec_insert(p,&lev->ready);
-}
-
-static void EDFACT_task_extract(LEVEL l, PID p)
-{
-}
-
-static void EDFACT_task_endcycle(LEVEL l, PID p)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
-
- /* we reset the capacity counters... */
- proc_table[p].avail_time = proc_table[p].wcet;
-
- if (lev->nact[p] > 0) {
- edfact_printf("E%d",p);
-
- /* Pending activation: reactivate the thread!!! */
- lev->nact[p]--;
-
- /* see also EDFACT_timer_deadline */
- ll_gettime(TIME_EXACT, &proc_table[p].request_time);
-
- EDFACT_internal_activate(lev,p);
-
- /* check if the deadline has already expired */
- if (TIMESPEC_A_LT_B(&proc_table[p].timespec_priority, &schedule_time)) {
- /* count the deadline miss */
- lev->dline_miss[p]++;
- event_delete(lev->deadline_timer[p]);
- }
-
- }
- else {
- edfact_printf("e%d",p);
-
- /* the task has terminated his job before it consume the wcet. All OK! */
- proc_table[p].status = EDFACT_IDLE;
-
- /* when the deadline timer fire, it recognize the situation and set
- correctly all the stuffs (like reactivation, request_time, etc... ) */
- }
-}
-
-static void EDFACT_task_end(LEVEL l, PID p)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- edfact_printf("Û%d",p);
-
- /* we finally put the task in the ready queue */
- proc_table[p].status = FREE;
- q_insertfirst(p,&freedesc);
- /* and free the allocated bandwidth */
- lev->U -= (MAX_BANDWIDTH/lev->period[p]) * proc_table[p].wcet;
-
- if (lev->deadline_timer[p] != -1) {
- edfact_printf("²%d",p);
- event_delete(lev->deadline_timer[p]);
- }
-}
-
-static void EDFACT_task_sleep(LEVEL l, PID p)
-{ kern_raise(XUNVALID_TASK,exec_shadow); }
-
-static void EDFACT_task_delay(LEVEL l, PID p, TIME usdelay)
-{ kern_raise(XUNVALID_TASK,exec_shadow); }
-
-/* Guest Functions
- These functions manages a JOB_TASK_MODEL, that is used to put
- a guest task in the EDFACT ready queue. */
-
-static int EDFACT_guest_create(LEVEL l, PID p, TASK_MODEL *m)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
- JOB_TASK_MODEL job = (JOB_TASK_MODEL )m;
-
- /* if the EDFACT_guest_create is called, then the pclass must be a
- valid pclass. */
-
- TIMESPEC_ASSIGN(&proc_table[p].timespec_priority, &job->deadline);
-
- lev->deadline_timer[p] = -1;
- lev->dline_miss[p] = 0;
- lev->wcet_miss[p] = 0;
- lev->nact[p] = 0;
-
- if (job->noraiseexc)
- lev->flag[p] = EDFACT_FLAG_NORAISEEXC;
- else
- lev->flag[p] = 0;
-
- lev->period[p] = job->period;
-
- /* there is no bandwidth guarantee at this level, it is performed
- by the level that inserts guest tasks... */
-
- return 0; /* OK, also if the task cannot be guaranteed... */
-}
-
-static void EDFACT_guest_detach(LEVEL l, PID p)
-{
- /* the EDFACT level doesn't introduce any dinamic allocated new field.
- No guarantee is performed on guest tasks... so we don't have to reset
- the NO_GUARANTEE FIELD */
-}
-
-static void EDFACT_guest_dispatch(LEVEL l, PID p, int nostop)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- /* the task state is set to EXE by the scheduler()
- we extract the task from the ready queue
- NB: we can't assume that p is the first task in the queue!!! */
- q_extract(p, &lev->ready);
-}
-
-static void EDFACT_guest_epilogue(LEVEL l, PID p)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- /* the task has been preempted. it returns into the ready queue... */
- q_timespec_insert(p,&lev->ready);
- proc_table[p].status = EDFACT_READY;
-}
-
-static void EDFACT_guest_activate(LEVEL l, PID p)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- /* Insert task in the correct position */
- q_timespec_insert(p,&lev->ready);
- proc_table[p].status = EDFACT_READY;
-
- /* Set the deadline timer */
- if (!(lev->flag[p] & EDFACT_FLAG_NORAISEEXC))
- lev->deadline_timer[p] = kern_event_post(&proc_table[p].timespec_priority,
- EDFACT_timer_guest_deadline,
- (void *)p);
-
-}
-
-static void EDFACT_guest_insert(LEVEL l, PID p)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- /* Insert task in the correct position */
- q_timespec_insert(p,&lev->ready);
- proc_table[p].status = EDFACT_READY;
-}
-
-static void EDFACT_guest_extract(LEVEL l, PID p)
-{
-}
-
-static void EDFACT_guest_endcycle(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void EDFACT_guest_end(LEVEL l, PID p)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
-
- //kern_printf("EDFACT_guest_end: dline timer %d\n",lev->deadline_timer[p]);
- if (proc_table[p].status == EDFACT_READY)
- {
- q_extract(p, &lev->ready);
- //kern_printf("(g_end rdy extr)");
- }
-
- /* we remove the deadline timer, because the slice is finished */
- if (lev->deadline_timer[p] != NIL) {
-// kern_printf("EDFACT_guest_end: dline timer %d\n",lev->deadline_timer[p]);
- event_delete(lev->deadline_timer[p]);
- lev->deadline_timer[p] = NIL;
- }
-
-}
-
-static void EDFACT_guest_sleep(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void EDFACT_guest_delay(LEVEL l, PID p, TIME usdelay)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-/* Registration functions */
-
-/*+ Registration function:
- int flags the init flags ... see EDFACT.h +*/
-void EDFACT_register_level(int flags)
-{
- LEVEL l; /* the level that we register */
- EDFACT_level_des lev; / for readableness only */
- PID i; /* a counter */
-
- printk("EDFACT_register_level\n");
-
- /* request an entry in the level_table */
- l = level_alloc_descriptor();
-
- printk(" alloco descrittore %d %d\n",l,(int)sizeof(EDFACT_level_des));
-
- /* alloc the space needed for the EDFACT_level_des */
- lev = (EDFACT_level_des *)kern_alloc(sizeof(EDFACT_level_des));
-
- printk(" lev=%d\n",(int)lev);
-
- /* update the level_table with the new entry */
- level_table[l] = (level_des *)lev;
-
- /* fill the standard descriptor */
- strncpy(lev->l.level_name, EDFACT_LEVELNAME, MAX_LEVELNAME);
- lev->l.level_code = EDFACT_LEVEL_CODE;
- lev->l.level_version = EDFACT_LEVEL_VERSION;
-
- lev->l.level_accept_task_model = EDFACT_level_accept_task_model;
- lev->l.level_accept_guest_model = EDFACT_level_accept_guest_model;
- lev->l.level_status = EDFACT_level_status;
- lev->l.level_scheduler = EDFACT_level_scheduler;
-
- if (flags & EDFACT_ENABLE_GUARANTEE)
- lev->l.level_guarantee = EDFACT_level_guarantee;
- else
- lev->l.level_guarantee = NULL;
-
- lev->l.task_create = EDFACT_task_create;
- lev->l.task_detach = EDFACT_task_detach;
- lev->l.task_eligible = EDFACT_task_eligible;
- lev->l.task_dispatch = EDFACT_task_dispatch;
- lev->l.task_epilogue = EDFACT_task_epilogue;
- lev->l.task_activate = EDFACT_task_activate;
- lev->l.task_insert = EDFACT_task_insert;
- lev->l.task_extract = EDFACT_task_extract;
- lev->l.task_endcycle = EDFACT_task_endcycle;
- lev->l.task_end = EDFACT_task_end;
- lev->l.task_sleep = EDFACT_task_sleep;
- lev->l.task_delay = EDFACT_task_delay;
-
- lev->l.guest_create = EDFACT_guest_create;
- lev->l.guest_detach = EDFACT_guest_detach;
- lev->l.guest_dispatch = EDFACT_guest_dispatch;
- lev->l.guest_epilogue = EDFACT_guest_epilogue;
- lev->l.guest_activate = EDFACT_guest_activate;
- lev->l.guest_insert = EDFACT_guest_insert;
- lev->l.guest_extract = EDFACT_guest_extract;
- lev->l.guest_endcycle = EDFACT_guest_endcycle;
- lev->l.guest_end = EDFACT_guest_end;
- lev->l.guest_sleep = EDFACT_guest_sleep;
- lev->l.guest_delay = EDFACT_guest_delay;
-
- /* fill the EDFACT descriptor part */
- for(i=0; i<MAX_PROC; i++) {
- lev->period[i] = 0;
- lev->deadline_timer[i] = -1;
- lev->flag[i] = 0;
- lev->dline_miss[i] = 0;
- lev->wcet_miss[i] = 0;
- lev->nact[i] = 0;
- }
-
- lev->ready = NIL;
- lev->flags = flags & 0x07;
- lev->U = 0;
-}
-
-bandwidth_t EDFACT_usedbandwidth(LEVEL l)
-{
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
- if (lev->l.level_code == EDFACT_LEVEL_CODE &&
- lev->l.level_version == EDFACT_LEVEL_VERSION)
- return lev->U;
- else
- return 0;
-}
-
-int EDFACT_get_dline_miss(PID p)
-{
- LEVEL l = proc_table[p].task_level;
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
- if (lev->l.level_code == EDFACT_LEVEL_CODE &&
- lev->l.level_version == EDFACT_LEVEL_VERSION)
- return lev->dline_miss[p];
- else
- return -1;
-}
-
-int EDFACT_get_wcet_miss(PID p)
-{
- LEVEL l = proc_table[p].task_level;
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
- if (lev->l.level_code == EDFACT_LEVEL_CODE &&
- lev->l.level_version == EDFACT_LEVEL_VERSION)
- return lev->wcet_miss[p];
- else
- return -1;
-}
-
-int EDFACT_get_nact(PID p)
-{
- LEVEL l = proc_table[p].task_level;
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
- if (lev->l.level_code == EDFACT_LEVEL_CODE &&
- lev->l.level_version == EDFACT_LEVEL_VERSION)
- return lev->nact[p];
- else
- return -1;
-}
-
-int EDFACT_reset_dline_miss(PID p)
-{
- LEVEL l = proc_table[p].task_level;
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
- if (lev->l.level_code == EDFACT_LEVEL_CODE &&
- lev->l.level_version == EDFACT_LEVEL_VERSION)
- {
- lev->dline_miss[p] = 0;
- return 0;
- }
- else
- return -1;
-}
-
-int EDFACT_reset_wcet_miss(PID p)
-{
- LEVEL l = proc_table[p].task_level;
- EDFACT_level_des lev = (EDFACT_level_des )(level_table[l]);
- if (lev->l.level_code == EDFACT_LEVEL_CODE &&
- lev->l.level_version == EDFACT_LEVEL_VERSION)
- {
- lev->wcet_miss[p] = 0;
- return 0;
- }
- else
- return -1;
-}
-
Index: pj/auto/tracks.c
===================================================================
--- pj/auto/tracks.c (revision 1344)
+++ pj/auto/tracks.c (nonexistent)
@@ -1,111 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-
-/**
- ------------
- CVS : $Id: tracks.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * Copyright (C) 2000 Marco Dallera and Marco Fiocca
- *
- * 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
- *
- */
-
-/*
- * AUTO
- *
- * Another Unuseful Track simulatOr
- *
- * Authors: Marco Dallera
- * Marco Fiocca
- *
- */
-
-/* -------------- */
-/* Track loader */
-/* -------------- */
-
-#include "include/auto.h"
-#include "include/const.h"
-
-track track_list[TRACK_NUMBER];
-
-int track_init()
-{
- track demo1;
- track demo2;
- track brazil;
- track monaco;
-
- strcpy(demo1.name, "demo1.raw");
- demo1.pole_pos.x = 150;
- demo1.pole_pos.y = 35;
- demo1.pole_orient = 0.0;
- demo1.lap = CLOCK;
- demo1.selected = 0;
-
- strcpy(demo2.name, "demo2.raw");
- demo2.pole_pos.x = 150;
- demo2.pole_pos.y = 30;
- demo2.pole_orient = 0.0;
- demo2.lap = CLOCK;
- demo2.selected = 0;
-
- strcpy(brazil.name, "brazil.raw");
- brazil.pole_pos.x = 140;
- brazil.pole_pos.y = 185;
- brazil.pole_orient = 225.0;
- brazil.lap = ANTICLOCK;
- brazil.selected = 0;
-
- strcpy(monaco.name, "monaco.raw");
- monaco.pole_pos.x = 35;
- monaco.pole_pos.y = 315;
- monaco.pole_orient = 85.0;
- monaco.lap = CLOCK;
- monaco.selected = 0;
-
- track_list[0] = demo1;
- track_list[1] = demo2;
- track_list[2] = brazil;
- track_list[3] = monaco;
-
- return 0;
-}
Index: pj/auto/keyb.c
===================================================================
--- pj/auto/keyb.c (revision 1344)
+++ pj/auto/keyb.c (nonexistent)
@@ -1,105 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-
-/**
- ------------
- CVS : $Id: keyb.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * Copyright (C) 2000 Marco Dallera and Marco Fiocca
- *
- * 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
- *
- */
-
-/*
- * AUTO
- *
- * Another Unuseful Track simulatOr
- *
- * Authors: Marco Dallera
- * Marco Fiocca
- *
- */
-
-/* ------------------ */
-/* Keyboard handler */
-/* ------------------ */
-
-#include "include/auto.h"
-#include "include/const.h"
-
-
-void keyb_handler() {
- KEY_EVT k;
- keyb_set_map(itaMap);
-
- /* Exit keys: ENTER */
- k.flag = 0;
- k.scan = KEY_ENT;
- k.ascii = 13;
- keyb_hook(k, endfun);
-
- /* Creates a new HARD car */
- k.flag = 0;
- k.scan = KEY_H;
- k.ascii = 'h';
- keyb_hook(k, hard_car_create);
-
- /* Creates a new SOFT car */
- k.flag = 0;
- k.scan = KEY_S;
- k.ascii = 's';
- keyb_hook(k, soft_car_create);
-}
-
-
-void endfun(KEY_EVT *k)
-{
- grx_close();
- cprintf("Ctrl-Brk pressed! Ending...\n");
- sys_end();
-}
-
-
-void my_close(void *arg)
-{
- kern_printf("my_close\n");
-}
-
Index: pj/auto/edfact.h
===================================================================
--- pj/auto/edfact.h (revision 1344)
+++ pj/auto/edfact.h (nonexistent)
@@ -1,151 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: edfact.h,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-
- This file contains the server EDFACT (EDF with pending activations)
-
- Title:
- EDFACT
-
- Task Models Accepted:
- HARD_TASK_MODEL - Hard Tasks (only Periodic)
- wcet field and mit field must be != 0. They are used to set the wcet
- and period of the tasks.
- periodicity field can be only PERIODIC
- drel field is ignored
-
- Guest Models Accepted:
- JOB_TASK_MODEL - a single guest task activation
- Identified by an absolute deadline and a period.
- period field is ignored
-
- Description:
- This module schedule his tasks following the classic EDF scheme.
- The task guarantee is based on the factor utilization approach.
- The tasks scheduled are only periodic.
- All the task are put in a queue and the scheduling is based on the
- deadline value.
- NO GUARANTEE is performed on guest tasks. The guarantee must be performed
- by the level that inserts guest tasks in the EDF level.
- If a task miss a deadline a counter is incremented.
- If a task exausts the wcet a counter is incremented
- No ZOMBIE support!!!!!!
-
- Exceptions raised:
- XUNVALID_GUEST XUNVALID_TASK
- some primitives are not implemented:
- task_sleep, task_delay, guest_endcycle, guest_sleep, guest_delay
-
- XACTIVATION
- If a task is actiated through task_activate or guest_activate more than
- one time
-
- Restrictions & special features:
- - This level doesn't manage the main task.
- - At init time we have to specify:
- . guarantee check
- (when all task are created the system will check that the task_set
- will not use more than the available bandwidth)
- - A function to return the used bandwidth of the level is provided.
- - Functions to return and reset the nact, wcet and dline miss counters
-
-**/
-
-/*
- * Copyright (C) 2001 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
- *
- */
-
-
-#ifndef __EDFACT_H__
-#define __EDFACT_H__
-
-#include <ll/ll.h>
-#include <kernel/config.h>
-#include <sys/types.h>
-#include <kernel/types.h>
-#include <modules/codes.h>
-
-
-
-
-
-
-
-
-/+ flags... +/
-#define EDFACT_ENABLE_GUARANTEE 1 /+ Task Guarantee enabled +/
-#define EDFACT_ENABLE_ALL 1
-
-#define EDFACT_FAILED_GUARANTEE 8 /*+ used in the module, unsettabl
- in EDF_register_level... +*/
-
-
-
-
-
-#define ELASTIC_HARD_PCLASS 0x0600
-
-#define EDFACT_LEVELNAME "EDFACT base"
-#define EDFACT_LEVEL_CODE 166
-#define EDFACT_LEVEL_VERSION 1
-
-
-/*+ Registration function:
- int flags Options to be used in this level instance...
-+*/
-void EDFACT_register_level(int flags);
-
-/+ Returns the used bandwidth of a level +/
-bandwidth_t EDFACT_usedbandwidth(LEVEL l);
-
-/+ returns respectively the number of dline, wcet or nact; -1 if error +/
-int EDFACT_get_dline_miss(PID p);
-int EDFACT_get_wcet_miss(PID p);
-int EDFACT_get_nact(PID p);
-
-/+ resets respectively the number of dline, wcet miss; -1 if error +/
-int EDFACT_reset_dline_miss(PID p);
-int EDFACT_reset_wcet_miss(PID p);
-
-#endif
-
Index: pj/auto/info.c
===================================================================
--- pj/auto/info.c (revision 1344)
+++ pj/auto/info.c (nonexistent)
@@ -1,154 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-
-/**
- ------------
- CVS : $Id: info.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * Copyright (C) 2000 Marco Dallera and Marco Fiocca
- *
- * 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
- *
- */
-
-/*
- * AUTO
- *
- * Another Unuseful Track simulatOr
- *
- * Authors: Marco Dallera
- * Marco Fiocca
- *
- */
-
-/* ------------------- */
-/* Information panel */
-/* ------------------- */
-
-#include "include/auto.h"
-#include "include/const.h"
-#include "include/utils.h"
-
-extern sem_t grx_mutex;
-
-/* ------------------------------------------------------------------ */
-
-void bar_display(point p1, int width, int height, int border, float var, float max, int color, char *name)
-{
- int background = BLACK;
- int amp = 0;
- point p2;
-
- p2.x = p1.x + width;
- p2.y = p1.y + height;
-
- sem_wait(&grx_mutex);
-
- grx_text(name, p1.x, p1.y + height + 3, color, background);
- grx_rect(p1.x - 1, p1.y - 1, p2.x + 1, p2.y + 1, border);
-
- grx_box(p1.x, p1.y, p2.x, p2.y, BLACK);
- amp = abs(round( var * (float)(p2.x - p1.x) / max ));
- grx_box(p1.x, p1.y, p1.x + amp, p2.y, color);
-
- sem_post(&grx_mutex);
-}
-
-/* ------------------------------------------------------------------ */
-
-void bidir_bar_display(point p1, int width, int height, int border, float var, float max, int color, char *name)
-{
- int background = BLACK;
- int amp = 0;
- point p2;
-
- p2.x = p1.x + width;
- p2.y = p1.y + height;
-
- sem_wait(&grx_mutex);
-
- grx_text(name, p1.x, p1.y + height + 3, color, background);
- grx_rect(p1.x - 1, p1.y - 1, p2.x + 1, p2.y + 1, border);
-
- grx_box(p1.x, p1.y, p2.x, p2.y, BLACK);
- amp = round( var * (float)((p2.x - p1.x)/2) / max );
- if (amp >= 0)
- grx_box((p1.x+p2.x)/2, p1.y, ((p1.x+p2.x)/2)+amp, p2.y, color);
- else
- grx_box((p1.x+p2.x)/2+amp, p1.y, ((p1.x+p2.x)/2), p2.y, color);
- grx_line((p1.x+p2.x)/2, p1.y-2, (p1.x+p2.x)/2, p2.y+2, border);
-
- sem_post(&grx_mutex);
-}
-
-/* ------------------------------------------------------------------ */
-
-void cmd_display()
-{
- point p1;
-
- p1.x = TRACK_X1;
- p1.y = TRACK_Y2+3;
-
- sem_wait(&grx_mutex);
- grx_rect(p1.x, p1.y, p1.x+CMD_WIDTH, p1.y+CMD_HEIGHT, BLUE);
- grx_rect(p1.x+1, p1.y+1, p1.x+CMD_WIDTH-1, p1.y+CMD_HEIGHT-1, CYAN);
- grx_rect(p1.x+2, p1.y+2, p1.x+CMD_WIDTH-2, p1.y+CMD_HEIGHT-2, LIGHTBLUE);
- grx_text("## Another Unuseful Track simulatOr ##",
- p1.x+8, p1.y+8, YELLOW, BLACK);
- grx_text("## -------------------------------- ##",
- p1.x+8, p1.y+16, YELLOW, BLACK);
- grx_text("Marco Dallera", p1.x+8, p1.y+24, GREEN, BLACK);
- grx_text("marchicchio@libero.it", p1.x+120, p1.y+24, GREEN, BLACK);
- grx_text("Marco Fiocca", p1.x+8, p1.y+32, GREEN, BLACK);
- grx_text("marqinho@tiscalinet.it", p1.x+120, p1.y+32, GREEN, BLACK);
-
- grx_text("Command keys ", p1.x+8, p1.y+48, LIGHTBLUE, BLACK);
- grx_text("------------------------", p1.x+8, p1.y+56, LIGHTBLUE, BLACK);
- grx_text("h create a HARD car", p1.x+8, p1.y+64, CYAN, BLACK);
- grx_text("s create a SOFT car", p1.x+8, p1.y+72, CYAN, BLACK);
- grx_text("ENTER exit to DOS", p1.x+8, p1.y+80, CYAN, BLACK);
-
- sem_post(&grx_mutex);
-
-}
-
-/* ------------------------------------------------------------------ */
-
Index: pj/auto/makefile
===================================================================
--- pj/auto/makefile (revision 1344)
+++ pj/auto/makefile (nonexistent)
@@ -1,23 +0,0 @@
-#
-# Auto Makefile
-#
-
-ifndef BASE
-BASE=../..
-endif
-include $(BASE)/config/config.mk
-
-PROGS= auto auto2 auto3
-
-include $(BASE)/config/example.mk
-
-auto:
- make -f $(SUBMAKE) APP=auto INIT= OTHEROBJS="initfil1.o sensor.o control.o keyb.o info.o utils.o tracks.o jetctrl.o"
-
-auto2:
- make -f $(SUBMAKE) APP=auto INIT= OTHEROBJS="initfil2.o sensor.o control.o keyb.o info.o utils.o tracks.o jetctrl.o"
-
-auto3:
- make -f $(SUBMAKE) APP=auto INIT= OTHEROBJS="initfil3.o sensor.o control.o keyb.o info.o utils.o tracks.o edfact.o jetctrl.o"
-
-
Index: pj/auto/utils.c
===================================================================
--- pj/auto/utils.c (revision 1344)
+++ pj/auto/utils.c (nonexistent)
@@ -1,131 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-
-/**
- ------------
- CVS : $Id: utils.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * Copyright (C) 2000 Marco Dallera and Marco Fiocca
- *
- * 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
- *
- */
-
-/*
- * AUTO
- *
- * Another Unuseful Track simulatOr
- *
- * Authors: Marco Dallera
- * Marco Fiocca
- *
- */
-
-#include "include/auto.h"
-#include "include/utils.h"
-#include <string.h>
-#include <stdlib.h>
-
-float rand_01()
-{
- return (((float)(rand()%20) / 100.0) + 0.8);
-}
-
-int rand_color()
-{
- return (rand()%16);
-}
-
-int round(float value)
-{
- return ((int)(value + 0.5));
-}
-
-void reverse(char s[]) {
- int c, i, j;
-
- for (i = 0, j = strlen(s)-1; i<j; i++, j--) {
- c = s[i];
- s[i] = s[j];
- s[j] = c;
- }
-}
-
-char * itoa(int n, char *s) {
- int i, sign;
-
- if ((sign = n) < 0)
- n = -n;
- i = 0;
-
- do {
- s[i++] = n % 10 + '0';
- } while ((n /= 10) > 0);
-
- if (sign < 0)
- s[i++] = '-';
- s[i] = 0;
-
- reverse(s);
-
- return s;
-}
-
-time int2time(int t)
-{
- time ts;
-
- ts.dec = t % 10;
- ts.sec = (t/10) % 60;
- ts.min = (int)(t / 600);
-
- return ts;
-}
-
-
-
-
-
-
-
-
-
-
-
Index: pj/auto/include/auto.h
===================================================================
--- pj/auto/include/auto.h (revision 1344)
+++ pj/auto/include/auto.h (nonexistent)
@@ -1,188 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-
-/**
- ------------
- CVS : $Id: auto.h,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * Copyright (C) 2000 Marco Dallera and Marco Fiocca
- *
- * 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
- *
- */
-
-/*
- * AUTO
- *
- * Another Unuseful Track simulatOr
- *
- * Authors: Marco Dallera
- * Marco Fiocca
- *
- */
-
-/* ------------------- */
-/* Useful structures */
-/* ------------------- */
-
-#ifndef __CAR_H_
-
-#define __CAR_H_
-
-#include <modules/cabs.h>
-#include <kernel/func.h>
-#include <kernel/model.h>
-#include <kernel/types.h>
-#include <drivers/keyb.h>
-#include <drivers/glib.h>
-#include <semaphore.h>
-#include <math.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "const.h"
-
-#define degree_to_rad(a) ((M_PI/180.0)*(a))
-#define rad_to_degree(a) ((180.0/M_PI)*(a))
-
-typedef struct {
- int x;
- int y;
-} point;
-
-typedef struct {
- float x,y;
-} point_f;
-
-typedef struct {
- float mod;
- float phase;
-} vector;
-
-typedef struct {
- point_f pos;
- float orient;
-} car_status;
-
-typedef struct {
- int left_border;
- int right_border;
- int distance;
- float curve;
- point opps_list[MAX_CAR_NUMBER];
- int opps_number;
- int collision;
- int flag;
-} road_info;
-
-typedef struct {
- int left,center,right;
-} road_strip;
-
-typedef struct {
- PID sensor_pid,control_pid;
- int number;
- char driver[MAX_DRIVER_NAME_LENGTH];
- float max_speed, min_acc, max_acc;
- float rage;
- CAB road_status_cab;
- CAB car_status_cab;
- int color;
-} car_params;
-
-typedef struct {
- char name[MAX_TRACK_NAME_LENGTH]; // il nome del file
- point pole_pos; // la posizione di partenza
- float pole_orient; // la direzione di partenza
- int lap; // il senso di marcia: CLOCK, ANTICLOCK
- int selected; // it's a flag marking the actually selected track
-} track;
-
-typedef struct {
- int min;
- int sec;
- int dec;
-} time;
-
-extern car_params cars[MAX_CAR_NUMBER];
-extern char track_img[TRACK_WIDTH*TRACK_HEIGHT];
-extern track track_list[TRACK_NUMBER];
-
-/* ---------------------------------------- */
-/* Functions definition */
-/* ---------------------------------------- */
-
-/* CABs R/W functions */
-int set_car_status(car_status, CAB); // sends the new status according to the control law
-car_status get_car_status(CAB); // reads car status from a CAB
-int set_road_info(road_info, CAB); // sends the new road informations
-road_info get_road_info(CAB); // reads road status values from a CAB
-
-/* Keyboard functions */
-void keyb_handler();
-void endfun(KEY_EVT *);
-void my_close(void *);
-
-/* Display functions */
-void bar_display(point p1, int width, int height, int border, float var, float max, int color, char *name);
-void bidir_bar_display(point p1, int width, int height, int border, float var, float max, int color, char *name);
-void cmd_display();
-
-/* Closing function */
-void byebye();
-void error_msg();
-
-/* Tasks */
-TASK sensor(); // Camera car task
-TASK control(); // Car controller task
-TASK manual(); // Manual driving task
-TASK actuator(); // Graphic drawing task
-TASK info(); // Car informations display task
-
-/* Tasks management */
-void hard_car_create();
-void soft_car_create();
-void killcar();
-
-/* Tracks management */
-int track_init();
-
-#endif
-
Index: pj/auto/include/utils.h
===================================================================
--- pj/auto/include/utils.h (revision 1344)
+++ pj/auto/include/utils.h (nonexistent)
@@ -1,76 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-
-/**
- ------------
- CVS : $Id: utils.h,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * Copyright (C) 2000 Marco Dallera and Marco Fiocca
- *
- * 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
- *
- */
-
-/*
- * AUTO
- *
- * Another Unuseful Track simulatOr
- *
- * Authors: Marco Dallera
- * Marco Fiocca
- *
- */
-
-/* ------------------ */
-/* Useful functions */
-/* ------------------ */
-
-#ifndef __UTILS_H_
-
-#define __UTILS_H_
-
-float rand_01();
-int rand_color();
-int round(float value);
-char * itoa(int n, char *s);
-void reverse(char s[]);
-time int2time(int t);
-
-#endif
Index: pj/auto/include/const.h
===================================================================
--- pj/auto/include/const.h (revision 1344)
+++ pj/auto/include/const.h (nonexistent)
@@ -1,141 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-
-/**
- ------------
- CVS : $Id: const.h,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * Copyright (C) 2000 Marco Dallera and Marco Fiocca
- *
- * 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
- *
- */
-
-/*
- * AUTO
- *
- * Another Unuseful Track simulatOr
- *
- * Authors: Marco Dallera
- * Marco Fiocca
- *
- */
-
-/* ------------------ */
-/* Useful constants */
-/* ------------------ */
-
-#ifndef __CONST_H_
-
-#define __CONST_H_
-
-/* Screen dimensions */
-#define SCREEN_WIDTH 800
-#define SCREEN_HEIGHT 600
-#define SCREEN_BIT_COLORS 8
-
-/* Visible area */
-#define TEL_WIDTH 50
-#define TEL_HEIGHT 50
-
-/* Car dimensions */
-#define CAR_WIDTH 12
-#define CAR_HEIGHT 12
-#define CAR_W 8
-#define CAR_H 10
-
-/* Track dimensions */
-#define TRACK_WIDTH 500
-#define TRACK_HEIGHT 500
-
-/* Track position */
-#define TRACK_X1 0
-#define TRACK_Y1 0
-#define TRACK_X2 TRACK_X1+TRACK_WIDTH-1
-#define TRACK_Y2 TRACK_Y1+TRACK_HEIGHT-1
-
-/* Max number of car on track */
-#define MAX_CAR_NUMBER 10
-#define DRIVERS_NUMBER 20
-#define MAX_DRIVER_NAME_LENGTH 20
-#define MAX_TRACK_NAME_LENGTH 20
-#define TRACK_NUMBER 4
-
-/* Lap direction */
-#define CLOCK 0
-#define ANTICLOCK 1
-
-/* Information display coords */
-#define CMD_WIDTH TRACK_WIDTH
-#define CMD_HEIGHT (SCREEN_HEIGHT-TRACK_HEIGHT-3)
-
-/* Car position limits */
-#define MIN_CAR_X (TRACK_X1 + CAR_WIDTH/2 + 4)
-#define MIN_CAR_Y (TRACK_Y1 + CAR_HEIGHT/2 + 4)
-#define MAX_CAR_X (TRACK_X2 - CAR_WIDTH/2 - 4)
-#define MAX_CAR_Y (TRACK_Y2 - CAR_HEIGHT/2 - 4)
-
-/* Road constants */
-#define LEFT_ONLY 10
-#define RIGHT_ONLY 11
-#define ROAD_OK 12
-#define NO_ROAD 13
-
-/* Collision constants */
-#define COLLISION_LEFT 20
-#define COLLISION_RIGHT 21
-#define COLLISION_BACK 22
-#define NO_COLL 0
-
-/* CAB constants */
-#define ROAD_MSG_DIM sizeof(road_info)
-#define ROAD_MSG_READER 4
-
-#define CAR_MSG_DIM sizeof(car_status)
-#define CAR_MSG_READER 5
-
-/* Tasks parameters */
-#define SENSOR_WCET 3000
-#define SENSOR_PERIOD 40000
-#define CONTROL_WCET 1000
-#define CONTROL_PERIOD 40000
-
-#endif
-
Index: pj/auto/tracks/demo1.raw
===================================================================
--- pj/auto/tracks/demo1.raw (revision 1344)
+++ pj/auto/tracks/demo1.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/tracks/demo2.raw
===================================================================
--- pj/auto/tracks/demo2.raw (revision 1344)
+++ pj/auto/tracks/demo2.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/tracks/monaco.raw
===================================================================
--- pj/auto/tracks/monaco.raw (revision 1344)
+++ pj/auto/tracks/monaco.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/tracks/brazil.raw
===================================================================
--- pj/auto/tracks/brazil.raw (revision 1344)
+++ pj/auto/tracks/brazil.raw (nonexistent)
@@ -1,2 +0,0 @@
- -!"#
\ No newline at end of file
Index: pj/auto/jetctrl.c
===================================================================
--- pj/auto/jetctrl.c (revision 1344)
+++ pj/auto/jetctrl.c (nonexistent)
@@ -1,155 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: jetctrl.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * 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
- *
- */
-
-/*
- * this file is directly derived from the demos/jumpball/jetctrl.c .
- * I just added this controls to check when the system will become overloaded
- */
-
-#define WCET_JETDUMMY 200
-#define PERIOD_JETDUMMY 100000
-#define DUMMY_PID 1
-
-#define JET_DUMMY_WIDTH (CMD_WIDTH-370)
-#define JET_DUMMY_HEIGHT (CMD_HEIGHT-40)
-
-/* the point (x, y) is the top left corner */
-#define JET_DUMMY_X (TRACK_X1+360)
-#define JET_DUMMY_Y (TRACK_Y2+32)
-
-// JetControl
-
-#include "semaphore.h"
-#include "include/const.h"
-#include "kernel/func.h"
-#include "drivers/glib.h"
-
-extern sem_t grx_mutex;
-
-/* useful colors... */
-int white;
-int black;
-extern int red;
-extern int lightgray;
-
-TASK jetdummy_task(void *arg)
-{
- TIME now_dummy, last_dummy, diff_dummy, slice;
- struct timespec now, last, diff;
- int x = 0;
- int height;
-
- NULL_TIMESPEC(&last);
- last_dummy = 0;
- for (;;) {
- task_nopreempt();
- jet_getstat(DUMMY_PID, NULL, NULL, NULL, &now_dummy);
- sys_gettime(&now);
- task_preempt();
-
- SUBTIMESPEC(&now, &last, &diff);
- slice = diff.tv_sec * 1000000 + diff.tv_nsec/1000;
- diff_dummy = now_dummy - last_dummy;
-
- height = (int)(JET_DUMMY_HEIGHT*((float)diff_dummy)/((float)slice));
-
- TIMESPEC_ASSIGN(&last, &now);
- last_dummy = now_dummy;
-
- sem_wait(&grx_mutex);
- grx_line(JET_DUMMY_X+x,JET_DUMMY_Y,
- JET_DUMMY_X+x,JET_DUMMY_Y+height ,black);
- grx_line(JET_DUMMY_X+x,JET_DUMMY_Y+height,
- JET_DUMMY_X+x,JET_DUMMY_Y+JET_DUMMY_HEIGHT,white);
- grx_line(JET_DUMMY_X+(x+1)%JET_DUMMY_WIDTH,JET_DUMMY_Y,
- JET_DUMMY_X+(x+1)%JET_DUMMY_WIDTH,JET_DUMMY_Y+JET_DUMMY_HEIGHT,255);
- sem_post(&grx_mutex);
-
- x = (x+1)%JET_DUMMY_WIDTH;
-
- task_endcycle();
- }
-}
-
-void init_jetcontrol(void)
-{
- SOFT_TASK_MODEL m4;
-
- PID p4;
-
- /* useful colors ... */
- white = WHITE;
- black = BLACK;
-
- /* scenario */
- sem_wait(&grx_mutex);
- grx_text("System load",
- JET_DUMMY_X+8, JET_DUMMY_Y-10, lightgray, black);
- grx_rect(JET_DUMMY_X-1, JET_DUMMY_Y-1,
- JET_DUMMY_X+JET_DUMMY_WIDTH, JET_DUMMY_Y+JET_DUMMY_HEIGHT+1, lightgray);
-
- grx_text("100%", JET_DUMMY_X-40, JET_DUMMY_Y, lightgray, black);
- grx_text(" 0%", JET_DUMMY_X-40, JET_DUMMY_Y+JET_DUMMY_HEIGHT-8, lightgray, black);
-
- grx_line(JET_DUMMY_X-1, JET_DUMMY_Y, JET_DUMMY_X-5, JET_DUMMY_Y, lightgray);
- grx_line(JET_DUMMY_X-1, JET_DUMMY_Y+JET_DUMMY_HEIGHT, JET_DUMMY_X-5, JET_DUMMY_Y+JET_DUMMY_HEIGHT, lightgray);
- sem_post(&grx_mutex);
-
- /* jetdummy task */
- soft_task_default_model(m4);
- soft_task_def_period(m4, PERIOD_JETDUMMY);
- soft_task_def_met(m4, WCET_JETDUMMY);
- soft_task_def_usemath(m4);
- p4 = task_create("jdmy", jetdummy_task, &m4, NULL);
- if (p4 == -1) {
- grx_close();
- perror("Could not create task <jetdummy>");
- sys_end();
- }
- task_activate(p4);
-}
-
Index: pj/auto/cars/car10.raw
===================================================================
--- pj/auto/cars/car10.raw (revision 1344)
+++ pj/auto/cars/car10.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/fumo.raw
===================================================================
--- pj/auto/cars/fumo.raw (revision 1344)
+++ pj/auto/cars/fumo.raw (nonexistent)
@@ -1 +0,0 @@
-!!!!!!!!!!!!!!!!!!!!!!
\ No newline at end of file
Index: pj/auto/cars/car11.raw
===================================================================
--- pj/auto/cars/car11.raw (revision 1344)
+++ pj/auto/cars/car11.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car12.raw
===================================================================
--- pj/auto/cars/car12.raw (revision 1344)
+++ pj/auto/cars/car12.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car13.raw
===================================================================
--- pj/auto/cars/car13.raw (revision 1344)
+++ pj/auto/cars/car13.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car14.raw
===================================================================
--- pj/auto/cars/car14.raw (revision 1344)
+++ pj/auto/cars/car14.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car15.raw
===================================================================
--- pj/auto/cars/car15.raw (revision 1344)
+++ pj/auto/cars/car15.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car0.raw
===================================================================
--- pj/auto/cars/car0.raw (revision 1344)
+++ pj/auto/cars/car0.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car1.raw
===================================================================
--- pj/auto/cars/car1.raw (revision 1344)
+++ pj/auto/cars/car1.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car2.raw
===================================================================
--- pj/auto/cars/car2.raw (revision 1344)
+++ pj/auto/cars/car2.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car3.raw
===================================================================
--- pj/auto/cars/car3.raw (revision 1344)
+++ pj/auto/cars/car3.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car4.raw
===================================================================
--- pj/auto/cars/car4.raw (revision 1344)
+++ pj/auto/cars/car4.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car5.raw
===================================================================
--- pj/auto/cars/car5.raw (revision 1344)
+++ pj/auto/cars/car5.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car6.raw
===================================================================
--- pj/auto/cars/car6.raw (revision 1344)
+++ pj/auto/cars/car6.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car7.raw
===================================================================
--- pj/auto/cars/car7.raw (revision 1344)
+++ pj/auto/cars/car7.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/boom.raw
===================================================================
--- pj/auto/cars/boom.raw (revision 1344)
+++ pj/auto/cars/boom.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car8.raw
===================================================================
--- pj/auto/cars/car8.raw (revision 1344)
+++ pj/auto/cars/car8.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/cars/car9.raw
===================================================================
--- pj/auto/cars/car9.raw (revision 1344)
+++ pj/auto/cars/car9.raw (nonexistent)
@@ -1 +0,0 @@
-
\ No newline at end of file
Index: pj/auto/auto.c
===================================================================
--- pj/auto/auto.c (revision 1344)
+++ pj/auto/auto.c (nonexistent)
@@ -1,533 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-
-/**
- ------------
- CVS : $Id: auto.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:42 $
- ------------
-**/
-
-/*
- * Copyright (C) 2000 Marco Dallera and Marco Fiocca
- *
- * 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
- *
- */
-
-/*
- * AUTO
- *
- * Another Unuseful Track simulatOr
- *
- * Authors: Marco Dallera
- * Marco Fiocca
- *
- */
-
-#include "include/auto.h"
-#include "include/const.h"
-#include "include/utils.h"
-
-int car_number;
-car_params cars[MAX_CAR_NUMBER];
-char drivers[DRIVERS_NUMBER][MAX_DRIVER_NAME_LENGTH] = {
- "M.Schumacher",
- "D.Coulthard",
- "R.Schumacher",
- "M.Hakkinen",
- "R.Barrichello",
- "J.P.Montoya",
- "E.Irvine",
- "J.Trulli",
- "H.Frentzen",
- "J.Villeneuve",
- "J.Alesi",
- "G.Fisichella",
- "O.Panis",
- "O.Wurz",
- "J.Button",
- "P.P.Diniz",
- "P.De La Rosa",
- "T.Marques",
- "R.Zonta",
- "G.Mazzacane"
-};
-
-extern char sprite[18][CAR_WIDTH*CAR_HEIGHT];
-
-/* Semaphores */
-sem_t grx_mutex;
-
-/* Useful colors */
-int red = rgb16(255, 0, 0);
-int green = rgb16( 0, 255, 0);
-int blue = rgb16( 0, 0, 255);
-int lightgray = rgb16(192, 192, 192);
-
-/* JetCTRL Initialization */
-void init_jetcontrol(void);
-
-/* -------------------------------------------------------*/
-
-/* --------------------- */
-/* Handling car status */
-/* --------------------- */
-
-int set_car_status(car_status cs, CAB cab_id) {
- char *msg;
-
- msg = cab_reserve(cab_id);
- memcpy(msg, &cs, CAR_MSG_DIM);
- return(cab_putmes(cab_id, msg));
-}
-
-car_status get_car_status(CAB cab_id) {
- char *msg;
- car_status status;
-
- msg = cab_getmes(cab_id);
- memcpy(&status, msg, CAR_MSG_DIM);
- cab_unget(cab_id, msg);
-
- return (status);
-}
-
-/* ---------------------------- */
-/* Handling road informations */
-/* ---------------------------- */
-
-int set_road_info(road_info info, CAB road_status_cab) {
- char *msg;
-
- msg = cab_reserve(road_status_cab);
- memcpy(msg, &info, ROAD_MSG_DIM);
- return(cab_putmes(road_status_cab, msg));
-}
-
-road_info get_road_info(CAB road_status_cab) {
- char *msg;
- road_info info;
-
- msg = cab_getmes(road_status_cab);
- memcpy(&info, msg, ROAD_MSG_DIM);
- cab_unget(road_status_cab, msg);
-
- return (info);
-}
-
-/* -------------------------------------------------------*/
-
-/* Closing function */
-void byebye()
-{
- grx_close();
-
- // we need clear to reposition the cursor in the right place after
- // going back from the graphical mode.
- clear();
-
- kern_printf("Race is over!\n");
-}
-
-/* -------------------------------------------------------*/
-
-/* ------------------- */
-/* Hard car creation */
-/* ------------------- */
-
-void hard_car_create() {
- car_params cp;
- HARD_TASK_MODEL sensor_m, control_m;
- PID sensor_pid, control_pid;
- TIME seed; /* used to init the random seed */
- int drv_ind;
-
- if (car_number >= MAX_CAR_NUMBER) return;
-
- /* Randomize!!!! */
- seed = sys_gettime(NULL);
- srand(seed);
-
- /* CAB creation */
- cp.road_status_cab = cab_create("road_cab", ROAD_MSG_DIM, ROAD_MSG_READER);
- cp.car_status_cab = cab_create("car_cab", CAR_MSG_DIM, CAR_MSG_READER);
-
- /* Car parameters initialization */
- cp.max_speed = rand_01();
- cp.min_acc = cp.max_speed;
- cp.max_acc = cp.max_speed;
- cp.rage = cp.max_speed;
- cp.color = 3+car_number;
- cp.number = car_number;
- drv_ind = DRIVERS_NUMBER-1 - (int)(((cp.rage-0.8+0.005) * (float)DRIVERS_NUMBER) / 0.2);
-
- /* Sets driver's name without duplications */
- strcpy(cp.driver, drivers[drv_ind]);
- while (!strcmp(cp.driver,"***"))
- strcpy(cp.driver, drivers[++drv_ind%DRIVERS_NUMBER]);
- strcpy(drivers[drv_ind],"***");
-
- cars[car_number] = cp;
-
- /* ------------ */
- /* Task Calls */
- /* ------------ */
-
- /* sensor task creation */
- hard_task_default_model(sensor_m);
-
- hard_task_def_arg(sensor_m, (void *)car_number);
- hard_task_def_wcet(sensor_m, SENSOR_WCET);
- hard_task_def_mit(sensor_m, SENSOR_PERIOD);
- hard_task_def_usemath(sensor_m);
- sensor_pid = task_create("camera", sensor, &sensor_m, NULL);
- if(sensor_pid == -1)
- sys_end();
-
- /* control task creation */
- hard_task_default_model(control_m);
- hard_task_def_arg(control_m, (void *)car_number);
- hard_task_def_wcet(control_m, CONTROL_WCET);
- hard_task_def_mit(control_m, CONTROL_PERIOD);
- hard_task_def_usemath(control_m);
- control_pid = task_create("controller", control, &control_m, NULL);
- if(control_pid == -1)
- sys_end();
-
- cars[car_number].sensor_pid = sensor_pid;
- cars[car_number].control_pid = control_pid;
- car_number++; // increases cars number
-
- task_activate(sensor_pid);
- task_activate(control_pid);
-}
-
-/* -------------------------------------------------------*/
-
-/* ------------------- */
-/* Soft car creation */
-/* ------------------- */
-
-void soft_car_create() {
- car_params cp;
- SOFT_TASK_MODEL sensor_m, control_m;
- PID sensor_pid, control_pid;
- TIME seed; /* used to init the random seed */
- int drv_ind;
-
- if (car_number >= MAX_CAR_NUMBER) return;
-
- /* Randomize!!!! */
- seed = sys_gettime(NULL);
- srand(seed);
-
- /* CAB creation */
- cp.road_status_cab = cab_create("road_cab", ROAD_MSG_DIM, ROAD_MSG_READER);
- cp.car_status_cab = cab_create("car_cab", CAR_MSG_DIM, CAR_MSG_READER);
-
- /* Car parameters initialization */
- cp.max_speed = rand_01();
- cp.min_acc = cp.max_speed;
- cp.max_acc = cp.max_speed;
- cp.rage = cp.max_speed;
- cp.color = 8+car_number;
- cp.number = car_number;
- drv_ind = DRIVERS_NUMBER-1 - (int)(((cp.rage-0.8+0.005) * (float)DRIVERS_NUMBER) / 0.2);
-
- /* Sets driver's name without duplications */
- strcpy(cp.driver, drivers[drv_ind]);
- while (!strcmp(cp.driver,"***"))
- strcpy(cp.driver, drivers[++drv_ind%DRIVERS_NUMBER]);
- strcpy(drivers[drv_ind],"***");
- cars[car_number] = cp;
-
- /* ------------ */
- /* Task Calls */
- /* ------------ */
-
- /* sensor task creation */
- soft_task_default_model(sensor_m);
-
- soft_task_def_arg(sensor_m, (void *)car_number);
- soft_task_def_met(sensor_m, SENSOR_WCET);
- soft_task_def_period(sensor_m, SENSOR_PERIOD);
- soft_task_def_usemath(sensor_m);
- sensor_pid = task_create("camera", sensor, &sensor_m, NULL);
- if(sensor_pid == -1)
- sys_end();
-
- /* control task creation */
- soft_task_default_model(control_m);
- soft_task_def_arg(control_m, (void *)car_number);
- soft_task_def_met(control_m, CONTROL_WCET);
- soft_task_def_period(control_m, CONTROL_PERIOD);
- soft_task_def_usemath(control_m);
- control_pid = task_create("controller", control, &control_m, NULL);
- if(control_pid == -1)
- sys_end();
-
- cars[car_number].sensor_pid = sensor_pid;
- cars[car_number].control_pid = control_pid;
- car_number++; // increases cars number
-
- task_activate(sensor_pid);
- task_activate(control_pid);
-}
-
-/* -------------------------------------------------------*/
-
-/* ------------------- */
-/* The main function */
-/* ------------------- */
-
-int main(int argc, char **argv) {
- TIME seed; /* used to init the random seed */
-
- if (MAX_CAB < 30) {
- cprintf("The application needs at least 30 CABS.\n"
- "Please set the MAX_CAB #define to 30 or more...\n"
- "...(see include/modules/cabs.h)\n");
- sys_end();
- }
-
- /* Set the exception handler */
- set_exchandler_grx();
-
- /* Set the closing function */
- sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT);
-
- /* Keyboard handling */
- keyb_handler();
- kern_printf("KEYBOARD initialized...\n");
-
- /* Graphics mutex */
- sem_init(&grx_mutex, 0, 1);
-
- /* Graphics init */
- grx_init();
- grx_open(SCREEN_WIDTH, SCREEN_HEIGHT, SCREEN_BIT_COLORS);
-
- /* Track drawing */
- sem_wait(&grx_mutex);
- grx_setcolor(46,0,0,0);
- grx_setcolor(43,255,255,255);
- grx_setcolor(26,255,74,33);
- grx_setcolor(27,255,255,255);
- grx_setcolor(1,8,8,8);
- grx_setcolor(3,255,0,0);
- grx_setcolor(28,255,50,0);
- grx_setcolor(29,255,90,0);
- grx_setcolor(30,255,130,0);
- grx_setcolor(31,255,170,0);
- grx_setcolor(32,255,210,0);
- grx_setcolor(33,48,48,48);
-
- grx_putimage(TRACK_X1, TRACK_Y1, TRACK_X2, TRACK_Y2, track_img);
- sem_post(&grx_mutex);
-
- /* Command and info display */
- cmd_display();
-
- /* JetCTRL Initialization */
- init_jetcontrol();
-
- /* Randomize!!!! */
- seed = sys_gettime(NULL);
- srand(seed);
-
- car_number = 0;
-
- /* ------------ */
- /* Task Calls */
- /* ------------ */
-
- hard_car_create();
-
- return 0;
-}
-
-/* -------------------------------------------------------*/
-
-void read_track(int i)
-{
- DOS_FILE *f; // DOS file descriptor
- int file_length;
- int index;
- char filename[100];
- int err; // Error code
-
- /* Init track_list */
- track_init();
-
- /* Set the selected track from track_list */
- if (i < TRACK_NUMBER)
- index = i;
- else
- index = 0;
- cprintf("Selected index = %d\n", index);
-
- strcpy(filename, strcat("tracks/", track_list[index].name));
- cprintf("File to open = %s\n", filename);
- track_list[index].selected = 1;
-
- /* open the DOS file for reading (you can specify only "r" or "w") */
- f = DOS_fopen(filename,"r");
-
- /* check for open errors */
- if (!f) {
- err = DOS_error(); // error!!
-
- /* note that if you call DOS_error() here, it return 0!!! */
- cprintf("Error %d opening %s...\n", err, filename);
- file_length = 0;
- byebye();
- return;
- }
-
- /* read track file */
- file_length = DOS_fread(&track_img, 1, TRACK_WIDTH*TRACK_HEIGHT, f);
-
- /* check for errors */
- err = DOS_error();
-
- cprintf("Read %d bytes from %s...\n", file_length, filename);
-
- if (err) {
- cprintf("Error %d reading %s...\n", err, filename);
- file_length = 0;
- /* there is not return because I want to close the file! */
- }
-
- /* Close the file */
- cprintf("Closing file %s...\n", filename);
- DOS_fclose(f);
- cprintf("File %s closed successfully!\n", filename);
-
-}
-
-/* -------------------------------------------------------*/
-
-void read_sprites()
-{
- /* DOS file descriptor */
- DOS_FILE *f;
- int myfilebuf_length,i;
- char filename[100];
-
- /* Error code */
- int err;
- i=0;
-
- for ( i=0; i < 16; i++) {
- sprintf(filename,"cars/car%d.raw",i);
- f = DOS_fopen(filename,"r");
-
- // check for open errors
- if (!f) {
- // error!!
- err = DOS_error();
-
- // note that if you call DOS_error() here, it return 0!!!
- cprintf("Error %d opening %s...\n", err, filename);
- myfilebuf_length = 0;
- return;
- }
-
- // read from file
- myfilebuf_length = DOS_fread(&sprite[i][0],1,CAR_WIDTH*CAR_HEIGHT,f);
-
- // check for errors
- err = DOS_error();
-
- cprintf("Read %d bytes from %s...\n", myfilebuf_length, filename);
-
- if (err) {
- cprintf("Error %d reading %s...\n", err, filename);
- myfilebuf_length = 0;
- // there is not return because I want to close the file!
- }
-
- // Close the file
- DOS_fclose(f);
- }
-
- f = DOS_fopen("cars/boom.raw","r");
- if (!f) {
- err = DOS_error();
-
- cprintf("Error %d opening boom.raw...\n", err);
- myfilebuf_length = 0;
- return;
- }
-
- myfilebuf_length = DOS_fread(&sprite[16][0],1,CAR_WIDTH*CAR_HEIGHT,f);
-
- err = DOS_error();
-
- cprintf("Read %d bytes from boom.raw...\n", myfilebuf_length);
-
- if (err) {
- cprintf("Error %d reading boom.raw...\n", err);
- myfilebuf_length = 0;
- }
-
- DOS_fclose(f);
-
- f = DOS_fopen("cars/fumo.raw","r");
- if (!f) {
- err = DOS_error();
-
- cprintf("Error %d opening fumo.raw...\n", err);
- myfilebuf_length = 0;
- return;
- }
-
- myfilebuf_length = DOS_fread(&sprite[17][0],1,CAR_WIDTH*CAR_HEIGHT,f);
-
- err = DOS_error();
-
- cprintf("Read %d bytes from fumo.raw...\n", myfilebuf_length);
-
- if (err) {
- cprintf("Error %d reading fumo.raw...\n", err);
- myfilebuf_length = 0;
- }
-
- DOS_fclose(f);
-
-}
-
Index: pj/myapp2/myapp.c
===================================================================
--- pj/myapp2/myapp.c (revision 1344)
+++ pj/myapp2/myapp.c (nonexistent)
@@ -1,55 +0,0 @@
-/*
- * 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
- *
- */
-
-// if you want to use some functions, types, task models provided
-// by your new module
-
-#include "mymod.h"
-
-// then, include any file you want here
-
-// then, the classic C-style function
-int main(int argc, char **argv)
-{
- // ... your stuff here
- return 0;
-}
-
-
-
-
-
-
-
-
Index: pj/myapp2/readme.txt
===================================================================
--- pj/myapp2/readme.txt (revision 1344)
+++ pj/myapp2/readme.txt (nonexistent)
@@ -1,7 +0,0 @@
-This is a template application, and it DOES NOTHING!!!
-
-This is only an example package.
-
-Please refer to the How To Compile reference guide for more informations.
-
-Paolo
Index: pj/myapp2/makefile
===================================================================
--- pj/myapp2/makefile (revision 1344)
+++ pj/myapp2/makefile (nonexistent)
@@ -1,16 +0,0 @@
-#
-#
-#
-
-ifndef BASE
-BASE=..
-endif
-include $(BASE)/config/config.mk
-
-PROGS= $(APP)
-
-include $(BASE)/config/example.mk
-
-$(APP):
- make -f $(SUBMAKE) INIT=hartik3.o OTHEROBJS=
-
Index: pj/slsh/slshtest.c
===================================================================
--- pj/slsh/slshtest.c (revision 1344)
+++ pj/slsh/slshtest.c (nonexistent)
@@ -1,173 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: slshtest.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-
- Slot shifting test
-
-
-**/
-
-/*
- * Copyright (C) 2000 Paolo Gai and Tomas Lennvall
- *
- * 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/config.h>
-#include "kernel/kern.h"
-#include "slsh.h"
-#include "drivers/keyb.h"
-
-/* a slot length of 100 ms */
-#define SLOT_LENGTH 100000
-
-
-TASK static1(void)
-{
- int i = 0;
-
- kern_printf("Static1\n");
- while(sys_gettime(NULL) < 10000) i++;
-
- return 0;
-}
-
-TASK static2(void)
-{
- int i = 0;
-
- kern_printf("Static2\n");
- while(sys_gettime(NULL) < 10000) i++;
-
- return 0;
-}
-
-
-TASK static3(void)
-{
- kern_printf("Static3\n");
-
- return 0;
-}
-
-void my_end(KEY_EVT *e)
-{
- sys_end();
-}
-
-int main(int argc, char** argv)
-{
- STATIC_TASK_MODEL s;
- // HARD_TASK_MODEL h_aper;
- // SOFT_TASK_MODEL u;
- PID p1,p2,p3;
- struct timespec x;
-
- KEY_EVT emerg;
-
- kern_cli();
- x.tv_sec=5;
- kern_event_post(&x,(void ()(void ))sys_end,NULL);
- kern_sti();
-
- //keyb_set_map(itaMap);
- emerg.ascii = 'x';
- emerg.scan = KEY_X;
- emerg.flag = ALTL_BIT;
- keyb_hook(emerg,my_end);
-
- /* set som variables in the scheduling level */
- SLSH_set_interval(0, 0, 8, 5);
- SLSH_set_interval(0, 8, 17, 7);
- SLSH_set_interval(0, 17, 20, 1);
-
- SLSH_set_variables(0, SLOT_LENGTH);
-
- static_task_default_model(s);
- static_task_def_group(s, 1);
-
- /* define time i ms */
- /* static1 task */
- static_task_def_est(s, 0);
- static_task_def_dabs(s, 800000);
- static_task_def_wcet(s, 500000);
- static_task_def_interval(s, 0);
-
- kern_printf("In main, before task creation\n");
-
- p1 = task_create("Static 1", static1, &s, NULL);
- if(p1 == NIL)
- kern_printf("Cannot create: Static1!\n");
-
- /* Static2 task */
- static_task_def_est(s, 800000);
- static_task_def_dabs(s, 1700000);
- static_task_def_wcet(s, 700000);
- static_task_def_interval(s, 1);
-
- p2 = task_create("Static 2", static2, &s, NULL);
- if(p2 == NIL)
- kern_printf("Cannot create: Static2!\n");
-
- /* Static3 task */
- static_task_def_est(s, 1700000);
- static_task_def_dabs(s, 2000000);
- static_task_def_wcet(s, 100000);
- static_task_def_interval(s, 2);
-
-
- p3 = task_create("Static3", static3, &s, NULL);
- if(p3 == NIL)
- kern_printf("Cannot create: Static3!\n");
-
-
- /* End task */
- /*hard_task_default_model(h_aper);
-
-
- hard_task_def_wcet(h_aper, 100000);
- */
- kern_printf("After task creation\n");
-
- group_activate(1);
-
- return 0;
-}
Index: pj/slsh/slsh.c
===================================================================
--- pj/slsh/slsh.c (revision 1344)
+++ pj/slsh/slsh.c (nonexistent)
@@ -1,842 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: slsh.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-
- This file contains the scheduling module for Slot-Shifting.
-
- Read slsh.h for further details.
-
-**/
-
-/*
- * 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 "slsh.h"
-#include <ll/stdio.h>
-#include <ll/stdlib.h>
-#include <ll/string.h>
-#include <ll/math.h> /* for ceil(...) */
-#include <ll/ll.h> /* for memcpy(...) */
-#include <kernel/model.h>
-#include <kernel/descr.h>
-#include <kernel/var.h>
-#include <kernel/func.h>
-
-//#define eslsh_printf kern_printf
-#define slsh_printf printk
-
-/* Keeps information about static and guaranteed tasks */
-typedef struct {
- int est;
- int dabs;
- int interval;
-} SLSH_task;
-
-/+ Status used in the level +/
-#define SLSH_READY MODULE_STATUS_BASE
-#define SLSH_WAIT MODULE_STATUS_BASE + 1
-#define SLSH_IDLE MODULE_STATUS_BASE + 2
-#define SLSH_WCET_VIOLATED MODULE_STATUS_BASE + 3
-
-/+ defines +/
-#define MAX_INTERVALS 1000 /* 1000 intervals is max, for now */
-
-/****+ the level redefinition for the SLOT SHIFT level +*****/
-typedef struct {
- level_des l; /+ the standard level descriptor+/
-
- /* task lists */
- SLSH_task tasks[MAX_PROC]; /* est and dl's for static and guaranteed task */
-
- QUEUE idle_statics; /* finished static tasks */
-
- QQUEUE unspecified; /* tasks with only a wcet */
-
- /* the Intervals list */
- SLSH_interval intervals[MAX_INTERVALS];
- int current; /* current interval */
- int last; /* last interval */
-
- int slot; /* slot shifting time */
- TIME slot_length; /* slothlength in real system time*/
- int LCM; /* length (in slots) of ofline schedule */
-
- int slot_event; /* save the event */
-} SLSH_level_des;
-
-
-/* Which task models the Slot-Shifting module accepts */
-static int SLSH_level_accept_task_model(LEVEL l, TASK_MODEL* m)
-{
- HARD_TASK_MODEL* h;
- SOFT_TASK_MODEL* s;
-
- /* Check the models */
- switch(m->pclass)
- {
- case STATIC_PCLASS: /* offline scheduled tasks */
- return 0;
- case HARD_PCLASS: /* hard aperiodic tasks */
- h = (HARD_TASK_MODEL *) m;
- if(h->drel != 0 && h->wcet != 0) /* must be set */
- return 0;
- break;
- case SOFT_PCLASS: /* soft aperiodic tasks */
- s = (SOFT_TASK_MODEL *) m;
- if(s->wcet != 0) /* must be set */
- return 0;
- break;
- default:
- }
-
- return -1; /* Not accepted model */
-}
-
-
-static void SLSH_level_status(LEVEL l)
-{
- kern_printf("Level status not implemented\n");
-}
-
-/* check if some tasks are ready, return 0 if ready, -1 otherwise */
-static int SLSH_R(SLSH_task* tasks)
-{
- int s;
-
- /* for all static tasks */
- for(s = 0; tasks[s].est != -1; ++s)
- {
- if(proc_table[s].status == SLSH_READY)
- return 0;
- }
- return -1;
-}
-
-/* check if unspecified exists, return 0 if it exists, -1 otherwise */
-static int SLSH_T(QQUEUE unspecified)
-{
- if(unspecified.first != NIL)
- return 0;
- else
- return -1;
-}
-
-/* return the sc in an interval */
-static int SLSH_sc(SLSH_interval* intervals, int i)
-{
- return intervals[i].sc;
-}
-/* return a static task from current interval or a guaranted task */
-static PID SLSH_staticOrGuaranteed(SLSH_level_des* lev)
-{
- int lowest_dl = 0; /* lowest dl found */
- PID pid = 0; /* static or guaranteed task */
- int t;
-
- /* Decide according to EDF, go through all static & guaranteed tasks */
- for(t = 0; t < MAX_PROC; ++t)
- {
- /* static tasks */
- if(proc_table[t].pclass == STATIC_PCLASS)
- {
- /* static task must belong to current interval */
- if(lev->tasks[t].interval == lev->current)
- {
- /* only ready tasks */
- if(proc_table[t].status == SLSH_READY)
- {
- /* a new lower dl was found */
- if(lev->tasks[t].dabs < lowest_dl)
- {
- lowest_dl = lev->tasks[t].dabs;
- pid = t;
- }
- }
- }
- } /* guaranteed tasks */
- else if(proc_table[t].pclass == HARD_PCLASS)
- {
- /* only ready tasks */
- if(proc_table[t].status == SLSH_READY)
- {
- /* a new lower dl was found */
- if(lev->tasks[t].dabs < lowest_dl)
- {
- lowest_dl = lev->tasks[t].dabs;
- pid = t;
- }
- }
- }
- }/* for all tasks */
-
- return pid;
-}
-
-/* return a static task among the candidates, all ready statics */
-static PID SLSH_candidates(SLSH_task* tasks)
-{
- int lowest_dl = 0;
- PID pid;
- int t;
-
- /* Use the EDL algorithm again to decide which task to run */
- for(t = 0; t < MAX_PROC; ++t)
- {
- /* only static tasks */
- if(proc_table[t].pclass == STATIC_PCLASS)
- {
- /* only ready tasks */
- if(proc_table[t].status == SLSH_READY)
- {
- /* a new lower dl was found */
- if(tasks[t].dabs < lowest_dl)
- {
- lowest_dl = tasks[t].dabs;
- pid = t;
- }
- }/* all ready tasks */
- }/* all static tasks */
- }/* for all tasks */
-
- return pid;
-}
-
-/* decrease the sc in a interval by amount */
-void SLSH_decSc(SLSH_interval* intervals, int i, int amount)
-{
- intervals[i].sc -= amount;
-}
-
-void SLSH_incSc(SLSH_interval* intervals, int i, int amount)
-{
- intervals[i].sc += amount;
-}
-
-/* swap the sc between intervals, also consider intervals with negative sc */
-void SLSH_swapSc(SLSH_interval* intervals, int current, int task_interval)
-{
- /* decrease the sc in the current interval */
- SLSH_decSc(intervals, current, 1);
-
- /* update the other interval(s) */
- if(intervals[task_interval].sc < 0) /* negative sc */
- {
- /* special case, increase next interval sc by 1 and also current interval (borrowing) */
- if(task_interval == current + 1)
- {
- SLSH_incSc(intervals, task_interval, 1);
- SLSH_incSc(intervals, current, 1);
- }
- else /* increase every interval sc that is negative between current and task_interval */
- {
- while(task_interval > current && intervals[task_interval].sc < 0)
- {
- SLSH_incSc(intervals, task_interval, 1);
- task_interval--;
- }
- }
- }
- else /* ordinary swapping */
- SLSH_incSc(intervals, task_interval, 1);
-}
-
-/* The scheduler, decides which task to run. */
-static PID SLSH_level_scheduler(LEVEL l)
-{
- SLSH_level_des* lev = (SLSH_level_des *)(level_table[l]);
- PID pid;
-
- /* The scheduler choses among static, guaranteed (hard aperiodic) and
- unspecified (soft aperiodic) tasks */
- /* no ready tasks and no sc, execute idle task */
- if(SLSH_R(lev->tasks) == 0 && SLSH_sc(lev->intervals, lev->current) == 0)
- return NIL;
- /* must execute a static from current intervall or a guaranteed task */
- else if(SLSH_R(lev->tasks) > 0 && SLSH_sc(lev->intervals, lev->current) == 0)
- return SLSH_staticOrGuaranteed(lev);
- /* sc available... */
- else if(SLSH_R(lev->tasks) > 0 && SLSH_sc(lev->intervals, lev->current) > 0)
- {
- /* If unspecified exist, execute it according to FIFO order */
- if(SLSH_T(lev->unspecified) == 0)
- {
- SLSH_decSc(lev->intervals, lev->current, 1); /* decrease sc by 1 */
- return (PID)qq_getfirst(&lev->unspecified);
- }
- else /* No unspecified, execute task from candidates (statics) */
- {
- pid = SLSH_candidates(lev->tasks);
-
- /* sc needs to be swapped */
- if(lev->tasks[pid].interval != lev->current)
- SLSH_swapSc(lev->intervals, lev->tasks[pid].interval, lev->current);
-
- return pid;
- }
- }
-
- kern_printf("(SLSH s)");
- return NIL;
-}
-
-/* not used, slot-shifting handles all guarantees itself, it handles all bandwidth */
-static int SLSH_level_guarantee(LEVEL l, bandwidth_t *freebandwidth)
-{
- *freebandwidth = 0;
- return 1;
-}
-
-/* get the interval that x is in */
-static int SLSH_getInterval(SLSH_interval* intervals, int x, int last)
-{
- int i;
-
- /* search through the intervals */
- for(i = 0; i <= last; ++i)
- {
- /* I is in the interval where start is smaller or equal and end is bigger */
- if(intervals[i].start <= x && x < intervals[i].end)
- return i;
- }
- return -1;
-}
-
-/* get the start of the interval I */
-static int SLSH_intervalStart(SLSH_interval* intervals, int I)
-{
- return intervals[I].start;
-}
-
-/* split interval I into two parts, slow because of copying. OBS!!! no check if there is
- enough space in the intervals array */
-static void SLSH_splitInterval(SLSH_level_des* lev, int I, int dabs)
-{
- SLSH_interval left_interval;
- int i;
-
-
- lev->last++;
-
- /* move every interval above and including I */
- for(i = lev->last; i > I; --i)
- memcpy(&lev->intervals[i], &lev->intervals[i - 1], sizeof(SLSH_interval));
-
- /* Left interval start, end and length */
- left_interval.start = lev->intervals[I].start;
- left_interval.end = dabs;
- left_interval.length = left_interval.end - left_interval.start;
-
- /* Right interval (uses old interval struct) start and length end remains as the old value */
- lev->intervals[I + 1].start = dabs;
- lev->intervals[I + 1].length = lev->intervals[I + 1].end - lev->intervals[I + 1].start;
-
- /* check if sc still exists in the right interval */
- if(lev->intervals[I + 1].length - lev->intervals[I + 1].maxt > 0)
- {
- lev->intervals[I + 1].sc = lev->intervals[I + 1].length - lev->intervals[I + 1].maxt;
- left_interval.sc = left_interval.length; /* the whole interval is free, for now... */
- }
- else /* no sc in the right interval */
- {
- lev->intervals[I + 1].maxt = lev->intervals[I + 1].length;
- left_interval.sc = lev->intervals[I + 1].sc; /* all sc in left interval */
- lev->intervals[I + 1].sc = 0;
- }
-
- /* insert the new interval */
- memcpy(&lev->intervals[I], &left_interval, sizeof(SLSH_interval));
-}
-
-/* Reduce the sc from back to front by the wcet amount, interval splitting may be neccesary */
-static void SLSH_updateSc(SLSH_level_des* lev, HARD_TASK_MODEL* h)
-{
- int dabs = ceil((lev->slot + h->drel)/lev->slot_length); /* absolute deadline of request */
- int dabs_interval = SLSH_getInterval(lev->intervals, dabs, lev->last); /* interval where dabs is */
- int C = ceil(h->wcet/lev->slot_length); /* amount of sc to reduce */
- int sc = 0;
- int i;
-
- /* check if interval splitting is neccesary */
- if(lev->intervals[dabs_interval].end != dabs)
- SLSH_splitInterval(lev, dabs_interval, dabs);
-
- /* decrease sc in all intervals that are neccesary from dabs_interval o current */
- for(i = dabs_interval; i >= lev->current && C > 0; --i)
- {
- if((sc = SLSH_sc(lev->intervals, i)) >= 0) /* only decrease where sc exists */
- {
- if(sc > C) /* the last sc dec */
- {
- SLSH_decSc(lev->intervals, i, C);
- C = 0;
- }
- else /* to little sc in this interval, decrease it to 0 */
- {
- C -= SLSH_sc(lev->intervals, i);
- SLSH_decSc(lev->intervals, i, SLSH_sc(lev->intervals, i));
- }
- }
- }/* for all intervals */
-}
-
-/* the guarantee algorithm for hard aperiodic requests */
-static int SLSH_guarantee(SLSH_level_des* lev, HARD_TASK_MODEL* h)
-{
- int total_sc = 0;
- int temp, i;
- int dabs = ceil((lev->slot + h->drel)/lev->slot_length); /* absolute deadline of request */
- int dabs_interval = SLSH_getInterval(lev->intervals, dabs, lev->last); /* interval where dabs is */
-
- /* check if the sc up until request deadline is >= request wcet */
- /* 1. the sc of the current interal */
- total_sc = SLSH_sc(lev->intervals, lev->current);
-
- /* 2. the sc for all whole intervals between current and the interval
- with the request deadline */
- for(i = (lev->current) + 1; i < dabs_interval; ++i)
- {
- if((temp = SLSH_sc(lev->intervals, i)) > 0)
- total_sc += temp;
- }
-
- /* 3. the min of sc or the execution need in the last interval */
- total_sc += min(SLSH_sc(lev->intervals, dabs_interval),
- dabs - SLSH_intervalStart(lev->intervals,
- dabs_interval));
-
- if(total_sc >= h->wcet)
- { /* update the sc in the intervals from back to front */
- SLSH_updateSc(lev, h);
- return 0;
- }
- else
- return -1;
-}
-
-/* check if task model is accepted and store nessecary parameters */
-static int SLSH_task_create(LEVEL l, PID p, TASK_MODEL *m)
-{
- SLSH_level_des lev = (SLSH_level_des )(level_table[l]);
- STATIC_TASK_MODEL* s;
- HARD_TASK_MODEL* h;
- SOFT_TASK_MODEL* u;
-
- /* if the SLSH_task_create is called, then the pclass must be a
- valid pclass. Slot-shifting accepts STATIC_TASK, HARD_TASK
- and SOFT_TASK models with some restrictions */
-
- /* est, dl and wcet is saved in slotlengths */
- switch(m->pclass)
- {
- case STATIC_PCLASS: /* offline scheduled tasks */
- s = (STATIC_TASK_MODEL *) m;
- lev->tasks[p].est = ceil(s->est/lev->slot_length);
- lev->tasks[p].dabs = ceil(s->dabs/lev->slot_length);
- lev->tasks[p].interval = s->interval;
- proc_table[p].avail_time = s->wcet;
- proc_table[p].wcet = s->wcet;
- break;
- case HARD_PCLASS: /* hard aperiodic tasks */
- h = (HARD_TASK_MODEL *) m;
- if(SLSH_guarantee(lev, h) == 0)
- {
- /* convert drel to dabs */
- lev->tasks[p].dabs = ceil((lev->slot + h->drel)/lev->slot_length);
- proc_table[p].avail_time = h->wcet;
- proc_table[p].wcet = h->wcet;
- }
- else /* task not guaranteed */
- return -1;
- break;
- case SOFT_PCLASS:
- u = (SOFT_TASK_MODEL *) m;
- proc_table[p].avail_time = u->wcet;
- proc_table[p].wcet = u->wcet;
- qq_insertlast(p, &lev->unspecified); /* respect FIFO order */
- break;
- default: /* a task model not supported */
- return -1;
- }
- /* enable wcet check in the kernel */
- proc_table[p].control \|= CONTROL_CAP;
-
- return 0;
-}
-
-static void SLSH_task_detach(LEVEL l, PID p)
-{
- /* do nothing */
-}
-
-/* check if a task chosen by scheduler is correct */
-static int SLSH_task_eligible(LEVEL l, PID p)
-{
- return 0; /* if the task p is chosen, it is always eligible */
-}
-
-/*********** The slot end event handler ***********/
-static void SLSH_slot_end(void* p)
-{
- SLSH_level_des* lev = (SLSH_level_des *) p;
- PID pid;
- int i;
-
- /* increase slot "time" by 1 */
- if(lev->slot < lev->LCM)
- {
- lev->slot++;
- /* check if new statics are ready */
- for(i = 0; lev->tasks[i].interval != -1; ++i)
- {
- if(lev->tasks[i].est <= lev->slot && proc_table[i].status == SLSH_WAIT)
- proc_table[i].status = SLSH_READY;
- }
-
- /* check if current (interval) needs updating */
- if(lev->current < SLSH_getInterval(lev->intervals, lev->slot, lev->last))
- lev->current++;
-
- }
- else /* restart from the beginning of the offline schedule */
- {
- lev->slot = 0;
-
- while((pid = q_getfirst(&lev->idle_statics)) != NIL)
- {
- if(lev->tasks[pid].est <= lev->slot)
- proc_table[pid].status = SLSH_READY;
- else
- proc_table[pid].status = SLSH_WAIT;
- }
- }
-
- /* call for a rescheduling, reset event flag and increase slot by 1 */
- lev->slot_event = -1;
- kern_printf("*");
- event_need_reschedule();
-}
-
-/* when a task becomes executing (EXE status) */
-static void SLSH_task_dispatch(LEVEL l, PID pid, int nostop)
-{
- SLSH_level_des lev = (SLSH_level_des )(level_table[l]);
- struct timespec t;
-
- /* the task state is set EXE by the scheduler()
- we extract the task from the unspecified queue.
- NB: we can't assume that p is the first task in the queue!!! */
-
- if(proc_table[pid].pclass == SOFT_PCLASS)
- qq_extract(pid, &lev->unspecified);
-
- /* also start the timer for one slot length */
- lev->slot_event = kern_event_post(&TIME2TIMESPEC(lev->slot_length, t),
- SLSH_slot_end, (void*) lev);
-}
-
-/* called when task is moved from EXE status */
-static void SLSH_task_epilogue(LEVEL l, PID pid)
-{
- SLSH_level_des lev = (SLSH_level_des )(level_table[l]);
-
- /* check if the wcet is finished... */
- if (proc_table[pid].avail_time <= 0)
- {
- /* if it is, raise a XWCET_VIOLATION exception */
- kern_raise(XWCET_VIOLATION, pid);
- proc_table[pid].status = SLSH_WCET_VIOLATED;
- }
- else /* the end of a slot. the task returns into the ready queue... */
- {
- if(proc_table[pid].pclass == SOFT_PCLASS)
- qq_insertfirst(pid,&lev->unspecified);
-
- proc_table[pid].status = SLSH_READY;
- }
-}
-
-/* when task go from SLEEP to SLSH_READY or SLSH_WAIT */
-static void SLSH_task_activate(LEVEL l, PID pid)
-{
- SLSH_level_des lev = (SLSH_level_des )(level_table[l]);
- WORD type = proc_table[pid].pclass;
-
- /* Test if we are trying to activate a non sleeping task */
- /* Ignore this; the task is already active */
- if (proc_table[pid].status != SLEEP && proc_table[pid].status != SLSH_WCET_VIOLATED)
- return;
-
- /* make task ready or waiting, dependong on slot (the time) for static tasks only*/
- if(type == STATIC_PCLASS && lev->tasks[pid].est <= lev->slot)
- proc_table[pid].status = SLSH_READY;
- else
- proc_table[pid].status = SLSH_WAIT;
-
- if(type == HARD_PCLASS)
- proc_table[pid].status = SLSH_READY;
-
- /* insert unspecified tasks in QQUEUE and make it ready */
- if(type == SOFT_PCLASS)
- {
- qq_insertlast(pid ,&lev->unspecified);
- proc_table[pid].status = SLSH_READY;
- }
-}
-
-/* when a task i returned to module from a semaphore, mutex ... */
-static void SLSH_task_insert(LEVEL l, PID pid)
-{
- SLSH_level_des lev = (SLSH_level_des )(level_table[l]);
-
- /* change staus of task */
- proc_table[pid].status = SLSH_READY;
-
- if(proc_table[pid].pclass == SOFT_PCLASS)
- qq_insertfirst(pid ,&lev->unspecified);
-}
-
-/* when a semaphore, mutex ... taskes a task from module */
-static void SLSH_task_extract(LEVEL l, PID pid)
-{
- /* Extract the running task from the level
- . we have already extract it from the ready queue at the dispatch time.
- . the capacity event have to be removed by the generic kernel
- . the wcet don't need modification...
- . the state of the task is set by the calling function
- . the deadline must remain...
-
- So, we do nothing!!!
- */
-}
-
-/* task has finished execution for this period */
-static void SLSH_task_endcycle(LEVEL l, PID pid)
-{
- /* do nothing */
-}
-
-/* the task has finihed its wcet, kill task (dont kill static tasks) */
-static void SLSH_task_end(LEVEL l, PID pid)
-{
- SLSH_level_des lev = (SLSH_level_des )(level_table[l]);
-
- if(proc_table[pid].pclass == SOFT_PCLASS)
- {
- if (proc_table[pid].status == SLSH_READY)
- qq_extract(pid, &lev->unspecified);
- }
- else if(proc_table[pid].pclass == HARD_PCLASS)
- {
- if (proc_table[pid].status == SLSH_READY)
- lev->tasks[pid].dabs = 0;
-
- }
- /* static tasks: put them in idle QUEUE, reset status and avail_time */
- else if(proc_table[pid].pclass == STATIC_PCLASS)
- {
- proc_table[pid].avail_time = proc_table[pid].wcet;
- proc_table[pid].status = SLSH_IDLE;
- q_insert(pid, &lev->idle_statics);
- }
-
- proc_table[pid].status = FREE;
-}
-
-/* called when a task should sleep but not execute for awhile, mabe a mode change */
-static void SLSH_task_sleep(LEVEL l, PID pid)
-{
-
- /* the task has terminated his job before it consume the wcet. All OK! */
- proc_table[pid].status = SLEEP;
-
- /* we reset the capacity counters... only for static tasks */
- if (proc_table[pid].pclass == STATIC_PCLASS)
- proc_table[pid].avail_time = proc_table[pid].wcet;
-
-}
-
-static void SLSH_task_delay(LEVEL l, PID p, TIME usdelay) { }
-
-/ Guest Functions, slot shifing accepts no guests, so all generates exceptions /
-
-static int SLSH_level_accept_guest_model(LEVEL l, TASK_MODEL* m) { return -1; }
-
-static int SLSH_guest_create(LEVEL l, PID p, TASK_MODEL *m)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); return 0; }
-
-static void SLSH_guest_detach(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void SLSH_guest_dispatch(LEVEL l, PID p, int nostop)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void SLSH_guest_epilogue(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void SLSH_guest_activate(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void SLSH_guest_insert(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void SLSH_guest_extract(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void SLSH_guest_endcycle(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void SLSH_guest_end(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void SLSH_guest_sleep(LEVEL l, PID p)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-static void SLSH_guest_delay(LEVEL l, PID p, TIME usdelay)
-{ kern_raise(XUNVALID_GUEST,exec_shadow); }
-
-/***** Registration functions *****/
-
-/+ Registration function: /
-void SLSH_register_level()
-{
- LEVEL l; /* the level that we register */
- SLSH_level_des lev; / for readableness only */
- PID i; /* a counter */
-
- kern_printf("SLSH_register_level\n");
-
- /* request an entry in the level_table */
- l = level_alloc_descriptor();
-
- /* alloc the space needed for the EDF_level_des */
- lev = (SLSH_level_des *)kern_alloc(sizeof(SLSH_level_des));
-
- /* update the level_table with the new entry */
- level_table[l] = (level_des *)lev;
-
- /* fill the standard descriptor */
- strncpy(lev->l.level_name, SLSH_LEVELNAME, MAX_LEVELNAME);
-
- lev->l.level_code = SLSH_LEVEL_CODE;
- lev->l.level_version = SLSH_LEVEL_VERSION;
-
- lev->l.level_accept_task_model = SLSH_level_accept_task_model;
- lev->l.level_accept_guest_model = SLSH_level_accept_guest_model;
- lev->l.level_status = SLSH_level_status;
- lev->l.level_scheduler = SLSH_level_scheduler;
-
- lev->l.level_guarantee = SLSH_level_guarantee;
-
- lev->l.task_create = SLSH_task_create;
- lev->l.task_detach = SLSH_task_detach;
- lev->l.task_eligible = SLSH_task_eligible;
- lev->l.task_dispatch = SLSH_task_dispatch;
- lev->l.task_epilogue = SLSH_task_epilogue;
- lev->l.task_activate = SLSH_task_activate;
- lev->l.task_insert = SLSH_task_insert;
- lev->l.task_extract = SLSH_task_extract;
- lev->l.task_endcycle = SLSH_task_endcycle;
- lev->l.task_end = SLSH_task_end;
- lev->l.task_sleep = SLSH_task_sleep;
- lev->l.task_delay = SLSH_task_delay;
-
- lev->l.guest_create = SLSH_guest_create;
- lev->l.guest_detach = SLSH_guest_detach;
- lev->l.guest_dispatch = SLSH_guest_dispatch;
- lev->l.guest_epilogue = SLSH_guest_epilogue;
- lev->l.guest_activate = SLSH_guest_activate;
- lev->l.guest_insert = SLSH_guest_insert;
- lev->l.guest_extract = SLSH_guest_extract;
- lev->l.guest_endcycle = SLSH_guest_endcycle;
- lev->l.guest_end = SLSH_guest_end;
- lev->l.guest_sleep = SLSH_guest_sleep;
- lev->l.guest_delay = SLSH_guest_delay;
-
- /* fill the SLSH descriptor part */
- for(i = 0; i < MAX_PROC; i++)
- {
- lev->tasks[i].est = -1;
- lev->tasks[i].dabs = 0;
- lev->tasks[i].interval = -1;
- }
-
- for(i = 0; i < MAX_INTERVALS; i++)
- {
- lev->intervals[i].start = -1;
- lev->intervals[i].end = -1;
- lev->intervals[i].length = 0;
- lev->intervals[i].maxt = 0;
- lev->intervals[i].sc = 0;
- }
-
- lev->current = 0;
- lev->last = NIL;
- lev->slot = 0;
- lev->slot_length = 0;
- lev->slot_event = -1;
-}
-
-
-void SLSH_set_interval(LEVEL l, int start, int end, int maxt)
-{
- SLSH_level_des* lev = (SLSH_level_des *)(level_table[l]);
- static int i = -1;
-
- i++;
- lev->intervals[i].start = start;
- lev->intervals[i].end = end;
- lev->intervals[i].length = end - start;
- lev->intervals[i].maxt = maxt;
- lev->intervals[i].sc = lev->intervals[i].length - maxt;
-
- lev->last = i;
-}
-
-void SLSH_set_variables(LEVEL l, TIME length)
-{
- SLSH_level_des* lev = (SLSH_level_des *)(level_table[l]);
-
- lev->slot_length = length;
-}
Index: pj/slsh/readme.txt
===================================================================
--- pj/slsh/readme.txt (revision 1344)
+++ pj/slsh/readme.txt (nonexistent)
@@ -1,6 +0,0 @@
-This Example has been made by Tomas Lenvall.
-
-There is not a lot of documentation available, so if you have problems please
-send an e-mail to Tomas ( mailto:tlv@mdh.se )
-
-Paolo
Index: pj/slsh/makefile
===================================================================
--- pj/slsh/makefile (revision 1344)
+++ pj/slsh/makefile (nonexistent)
@@ -1,16 +0,0 @@
-#
-#
-#
-
-ifndef BASE
-BASE=../..
-endif
-
-include $(BASE)/config/config.mk
-
-PROGS=slshtest
-
-include $(BASE)/config/example.mk
-
-slshtest:
- make -f $(SUBMAKE) APP=slshtest INIT= OTHEROBJS="slshinit.o slsh.o" OTHERINCL=
Index: pj/slsh/slshinit.c
===================================================================
--- pj/slsh/slshinit.c (revision 1344)
+++ pj/slsh/slshinit.c (nonexistent)
@@ -1,117 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: slshinit.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
-
- System initialization file
-
- The tick is set to TICK ms.
-
- This file contains the 2 functions needed to initialize the system.
-
- These functions register the following levels:
-
- a Slot Shifting level
- a Dummy level
-
- It can accept these task models:
-
- STATIC_TASK_MODEL
- HARD_TASK_MODEL(aperiodic)
- SOFT_TASK_MODEL
-
-**/
-
-/*
- * 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 "slsh.h"
-#include "modules/rr2.h"
-#include "modules/sem.h"
-#include "modules/hartport.h"
-#include "drivers/keyb.h"
-#include "modules/dummy.h"
-
-/+ sysyem tick in us +/
-#define TICK 300
-
-/* define RR tick in us*/
-#define RRTICK 10000
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- SLSH_register_level();
- RR2_register_level(RRTICK, RR2_MAIN_YES, mb);
- dummy_register_level();
-
- SEM_register_module();
-
- return TICK;
-}
-
-NRT_TASK_MODEL nrt;
-
-TASK __init__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- KEYB_PARMS k = BASE_KEYB;
-
- nrt_task_default_model(nrt);
- keyb_def_task(k,&nrt);
-
-
-
- HARTPORT_init();
-
- KEYB_init(NULL);
-
- __call_main__(mb);
-
- return 0;
-}
-
-
Index: pj/slsh/slsh.h
===================================================================
--- pj/slsh/slsh.h (revision 1344)
+++ pj/slsh/slsh.h (nonexistent)
@@ -1,205 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * Massimiliano Giorgi <massy@gandalf.sssup.it>
- * Luca Abeni <luca@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-
-/**
- ------------
- CVS : $Id: slsh.h,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:41 $
- ------------
- Author: Tomas Lennvall, Date: Feb 2000.
-
- This file contains the scheduling module for Slot shifting.
-
- Title:
- Slot Shifting
-
- Task Models Accepted:
- STATIC_TASK_MODEL - Periodic Hard tasks that are scheduled by
- an off-line scheduler, so that all guarantees regarding precedence, mutex
- deadline violation is taken care of. The tasks are in an executione schedule,
- that is the order in when they become ready. They have the following fields:
- est (earliest start time), wcet and absolute deadline.
-
- HARD_TASK_MODEL - Hard Tasks (Hard aperiodic requests)
- wcet field and drel field must be != 0. They are used to set the wcet
- and deadline of the tasks.
- periodicity field must be APERIODIC
- mit field is ignored.
-
- SOFT_TASK_MODEL - Soft Tasks (Unspecified tasks)
- wcet field must be != 0. periodicity filed must be APERIODIC
- period and met filed is ignored.
-
- Guest Models Accepted:
- NONE - Slot shifting handles all tasks by itself (at this moment).
-
- Description:
- This module schedules the offline scheduled tasks according to the slot-
- shifting paradigm, dividing time into slots of a fixed length and assigning
- tasks to execute in those slots. Slot-shifting also keeps track of the free
- bandwidth in the schedule by using disjoint intervals and sc (spare capacity).
- Each interval has a sc nr that represents the free bandwidth in that interval,
- the sc can be used by hard aperiodic tasks, static tasks from later interval or
- soft aperiodic tasks. Hard aperiodic tasks are guaranteed an incorporated in
- the schedule by reduction of sc before they execute. No guarantee is
- performed on the soft aperiodic tasks, they are run when no other task wants
- to execute and sc is available.
-
- Description:
- This module implements the Slot shifting algorithm, by Gerhard Fohler. Slot shifting
- schedules off-line scheduled tasks and also handles hard aperiodic requests by the
- guarantee alorithm. Slot shifting can also handle soft aperiodic tasks,
- called unspecified. That is tasks without a deadline.
-
- Exceptions raised:
- These exceptions are pclass-dependent...
- XDEADLINE_MISS
- If a task miss his deadline, the exception is raised.
-
- XWCET_VIOLATION
- If a task doesn't end the current cycle before if consume the wcet,
- an exception is raised, and the task is put in the EDF_WCET_VIOLATED
- state. To reactivate it, use EDF_task_activate via task_activate or
- manage directly the EDF data structure. Note that the exception is not
- handled properly, an XDEADLINE_MISS exeeption will also be raised at
- the period end...
-
- Restrictions & special features:
- - This level doesn't manage the main task.
- - At init time we can choose if the level have to activate
- . the wcet check
- (If a task require more time than declared, it is stopped and put in
- the state EDF_WCET_VIOLATED; a XWCET_VIOLATION exception is raised)
- . the task guarantee algorithm
- (when all task are created the system will check that the task_set
- will not use more than the available bandwidth)
- - The level use the priority and timespec_priority fields.
- - A function to return the used bandwidth of a level is provided.
- - The guest tasks don't provide the guest_endcycle function
-
-**/
-
-/*
- * 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
- *
- */
-
-
-#ifndef __SLSH_H__
-#define __SLSH_H__
-
-#include <ll/ll.h>
-#include <kernel/config.h>
-#include <sys/types.h>
-#include <kernel/types.h>
-#include <modules/codes.h>
-
-#define STATIC_PCLASS 0x0500
-
-#define SLSH_LEVELNAME "Slot Shifting"
-#define SLSH_LEVEL_CODE 5
-#define SLSH_LEVEL_VERSION 1
-
-
-
-/* -----------------------------------------------------------------------
- STATIC_TASK_MODEL: offline scheduled Tasks
- ----------------------------------------------------------------------- */
-/* Offline-scheduled tasks are hard periodic tasks that have been
- scheduled before runtime. All guarantees are made by the off-
- line scheduler so the tasks are already guaranteed.
-*/
-
-typedef struct {
- TASK_MODEL t;
- TIME est;
- TIME wcet;
- TIME dabs;
- int interval; /* used in slot shifting */
-} STATIC_TASK_MODEL;
-
-#define static_task_default_model(m) \
- task_default_model((m).t,STATIC_PCLASS), \
- (m).est = -1, \
- (m).dabs = 0, \
- (m).wcet = 0, \
- (m).interval = -1;
-#define static_task_def_level(m,l) task_def_level((m).t,l)
-#define static_task_def_arg(m,a) task_def_arg((m).t,a)
-#define static_task_def_stack(m,s) task_def_stack((m).t,s)
-#define static_task_def_group(m,g) task_def_group((m).t,g)
-#define static_task_def_usemath(m) task_def_usemath((m).t)
-#define static_task_def_system(m) task_def_system((m).t)
-#define static_task_def_nokill(m) task_def_nokill((m).t)
-#define static_task_def_ctrl_jet(m) task_def_ctrl_jet((m).t)
-#define static_task_def_est(m,p) (m).est = (p)
-#define static_task_def_dabs(m,d) (m).dabs = (d)
-#define static_task_def_wcet(m,w) (m).wcet = (w)
-#define static_task_def_interval(m,i) (m).interval = (i)
-#define static_task_def_trace(m) task_def_trace((m).t)
-#define static_task_def_notrace(m) task_def_notrace((m).t)
-
-
-
-
-/#define min(a, b) ((a) < (b) ? (a) : (b))/
-
-#define TIME2TIMESPEC(T, TS) \
-( \
- ((TS).tv_sec = ((T)/1000000)), \
- ((TS).tv_nsec = (((T)%1000000) * 1000)), \
- (TS) \
-)
-
-/* define the interval struct */
-typedef struct {
- int start; /* start of interval */
- int end; /* end of interval */
- int length; /* Length of interval */
- int maxt; /* maximum execution time in interval */
- int sc; /* spare capacity in interval */
-} SLSH_interval;
-
-/+ Registration function: /
-void SLSH_register_level();
-
-void SLSH_set_interval(LEVEL l, int start, int end, int maxt);
-void SLSH_set_variables(LEVEL l, TIME length);
-
-#endif
-
Index: pj/eli/eli.c
===================================================================
--- pj/eli/eli.c (revision 1344)
+++ pj/eli/eli.c (nonexistent)
@@ -1,782 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: eli.c,v 1.1.1.1 2002-09-02 09:37:45 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:45 $
- ------------
-
- This file is similar to the configuration of Hartik 3.3.1
-
-**/
-
-/*
- * Copyright (C) 2000 Paolo Gai and ALLEN-DESTRO
- *
- * 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 "eli.h"
-
-
-//########################################
-// Definizione variabili globali
-//########################################
-char tastiera;
-long double Forza_x,Forza_y,Velocita_x,Velocita_y,Acc_x,Acc_y,Pos_x,Pos_y;
-long double Pos_pe_y[5];
-long double Pos_pe_x[5];
-long double T1=0;
-long double r;
-int n_peso=0;
-int peso_agganciato[5]={0,0,0,0,0};
-int pre_peso[5]={0,0,0,0,0};
-int libero_peso[5]={0,0,0,0,0};
-PID pid_peso[5];
-PID pid_ruspa[5];
-int x_r=200;
-int n_ruspa=5;
-int indietro;
-int eli_occ=0;
-int kill_p;
-
-//PID pid_r0,pid_r1,pid_r2,pid_r3,pid_r4;
-PID pid_kill_p,pid_pulisci_p,pid_kill_e,pid_pulisci_e;
-
-
-// Definizione del semaforo per l'utilizzo della modalita' grafica
-sem_t mutex;
-sem_t pu;
-
-
-
-
-//#######################################################################
-//############### DEFINIZIONE TASK ######################################
-//#######################################################################
-
-TASK kill_task(int i)
-{ int x,y,dim;
- while (1)
- {
-
- if(i==1)
- {
- x=Pos_pe_x[kill_p];
- y=Pos_pe_y[kill_p];
- dim=25;
- }
- else
- {
- x=Pos_x;
- y=Pos_y;
- dim=35;
- }
-
- PULISCI(x,y,dim);
- ESPLOSIONE(x,y);
-
- sem_wait(&pu);
-
- if(i==1) task_activate(pid_pulisci_p);
- else task_activate(pid_pulisci_e);
-
- task_endcycle();
-
- }
-
-
-}
-
-TASK pulisci(int i)
-{ int x,y,dim;
- while (1)
- {
-
- if(i==1)
- {
- x=Pos_pe_x[kill_p];
- y=Pos_pe_y[kill_p];
- dim=25;
- }
- else
- {
- x=Pos_x;
- y=Pos_y;
- dim=35;
- }
-
-
- task_delay(3000);
- PULISCI(x,y,dim);
-
- sem_post(&pu);
-
- task_endcycle();
- }
-}
-
-
-
-
-TASK elicottero(int i)
-{ long double x_old,x_new,y_old,y_new;
- TIME us_old,us_new;
- long double delta_T;
- long double Fx,Fy,Ax,Ay,Vx,Vy,m_el;
- int Destra_old,Destra_new;
- // int uccidi,colore;
- // int prova;
-
- m_el=1;
- Vx=0;Vy=0;
- Ax=0;Ay=0;
- Fx=0;Fy=0-m_el*G; // Fy=0;
- x_old=150;
- y_old=150;
- Destra_old=1;
- Destra_new=1;
-
- us_old=sys_gettime(NULL);
-
- while (1)
- {
-
- // prova=2;
-
-
- us_new=sys_gettime(NULL);
- delta_T=(us_new-us_old)/100000;
- // if(delta_T<0.9) prova=1;
- // if(delta_T<0) prova=4;
- // if(delta_T>1.1) prova=3;
-
-
- delta_T=1;
- Ax=(Fx-(r*Vx))/m_el;
- Ay=(Fy-(rVy)+m_elG+T1)/m_el;
- x_new=x_old+Vxdelta_T+0.5Axdelta_Tdelta_T;
- y_new=y_old+Vydelta_T+0.5Aydelta_Tdelta_T;
-
- // if(prova==1) {x_new=300; y_new=150;}
- // if(prova==3) {x_new=150; y_new=300;}
- // if(prova==2) {x_new=300; y_new=300;}
- // if(prova==4) {x_new=400; y_new=400;}
-
- Vx=Vx+Ax*delta_T;
- Vy=Vy+Ay*delta_T;
- if ((Vx>0)\|\| ((Vx==0) && (Destra_old==1))) Destra_new=1;
- else Destra_new=0;
-
- if ( ((y_new>=(Y0max-DIM_EL/2-2)) \|\| ( (y_old<=400-DIM_EL/2-2) && (y_new>=400-DIM_EL/2-2) && (x_new>=X0min+151) && (x_new<=X0min+280) )) )
- {
- if ((x_new>=X0min+151) && (x_new<=X0min+280)) y_new=400-DIM_EL/2-2;
- else y_new=Y0max-DIM_EL/2-2;
- Vy=0;
- Vx=0;
- x_new=x_old;
- Ay=0;
- Ax=0;
- }
-
-
-
-
- sem_wait(&mutex);
-
- /*
- uccidi=0;
-
- colore=grx_getpixel(x_new-2*DIM_EL,y_new-DIM_EL);
- if ( (colore!=COL_SFONDO) && (colore!=YELLOW) && (colore!=RED)) uccidi=1;
- colore=grx_getpixel(x_new+2*DIM_EL,y_new-DIM_EL);
- if ( (colore!=COL_SFONDO) && (colore!=YELLOW) && (colore!=RED)) uccidi=1;
- colore=grx_getpixel(x_new-2*DIM_EL,y_new+DIM_EL/2);
- if ( (colore!=COL_SFONDO) && (colore!=YELLOW) && (colore!=RED)) uccidi=1;
- colore=grx_getpixel(x_new+2*DIM_EL,y_new+DIM_EL/2);
- if ( (colore!=COL_SFONDO) && (colore!=YELLOW) && (colore!=RED)) uccidi=1;
- colore=grx_getpixel(x_new,y_new);
- if ( (colore!=COL_SFONDO) && (colore!=YELLOW) && (colore!=RED)) uccidi=1;
- */
-
- if ((x_old>100) && (y_old>100) && (x_old<X0max) )
- {
- if (Destra_old==0) {ELICOTTERO_S(x_old,y_old,DIM_EL,COL_SFONDO,COL_SFONDO);}
- else {ELICOTTERO_D(x_old,y_old,DIM_EL,COL_SFONDO,COL_SFONDO);}
- }
-
- if ((x_new>100) && (y_new>100) && (x_new<X0max) )
- {
- /*
- if ( uccidi==1)
- {
- // grx_box(10,10,100,100,RED);
- // task_activate(pid_kill_e);
- // sem_post(&mutex);
- // eli_occ=0;
- sem_post(&mutex);
- task_abort();
- }
- */
-
-
- if (Destra_new==0) {ELICOTTERO_S(x_new,y_new,DIM_EL,COL_EL,COL_SFONDO);}
- else {ELICOTTERO_D(x_new,y_new,DIM_EL,COL_EL,COL_SFONDO);}
- }
- sem_post(&mutex);
-
- if (tastiera=='c') Fx=Fx+0.25;
- if (tastiera=='z') Fx=Fx-0.25;
- if (tastiera=='x') Fy=Fy+0.25;
- if (tastiera=='s') Fy=Fy-0.25;
-
- if (Fx>2) Fx=2;
- if (Fx<-2) Fx=-2;
- if (Fy>0) Fy=0;
- if (Fy<-17.5) Fy=-17.5;
-
- Forza_x=Fx;
- Forza_y=Fy;
- Acc_x=Ax;
- Acc_y=Ay;
- Velocita_x=Vx;
- Velocita_y=Vy;
- Pos_x=x_new;
- Pos_y=y_new;
-
-
- if ( (tastiera=='z') \|\| (tastiera=='x') \|\| (tastiera=='c') \|\| (tastiera=='s') )
- tastiera='q';
-
-
- us_old=us_new;
- x_old=x_new;
- y_old=y_new;
- Destra_old=Destra_new;
-
- task_endcycle();
- }
-}
-
-
-
-TASK peso(int i)
-{
- long double delta_T;
- long double Ay,Vy;
- long double x_new,x_old,y_old,y_new;
- int scelta=0;
- int rit,colore,uccidi;
- double m_peso[5]={0.5,0.4,0.3,0.1,0.6};
- int delta_y1,delta_y2;
-
-
- // PID pid;
- // MODEL m = BASE_MODEL;
-
- Vy=0;
- Ay=0;
-
- x_old=700-DIM_PESO-1;
- y_old=Y0max-DIM_PESO*2-1;
- delta_T=1;
- x_new=700-DIM_PESO-1;
-
- libero_peso[i]=0;
-
- while (1 )
- {
- uccidi=0;
-
- if (scelta==0 )
- {
-
- y_new=y_old;
- if (x_new+DIM_PESO==x_r-1) x_new=x_new-1;
- else x_new=x_new;
- if (indietro==1) {scelta=1; libero_peso[i]=1;}
- }
-
- if (scelta==1 )
- {
- y_new=y_old;
- x_new=x_old;
- if (peso_agganciato[i]==1) scelta=2;
- }
- if (scelta==2)
- {
- eli_occ=1;
- Ay=(m_peso[i]G-(rVy)-T1)/m_peso[i];
- if(peso_agganciato[i]==1) x_new=Pos_x;
- else x_new=x_old;
- y_new=y_old+Vydelta_T+0.5Aydelta_Tdelta_T;
- Vy=Vy+Ay*delta_T;
-
- delta_y1=Y0max-y_new;
- delta_y2=400-y_new;
-
- if ( (y_new>=(Y0max-2DIM_PESO-1)) \|\| ( (y_old<400-2DIM_PESO-1) && (y_new>=400-2*DIM_PESO-1) && (x_new>=X0min+151-DIM_PESO) && (x_new<=X0min+280+DIM_PESO) ) )
- {
- if ((x_new>=X0min+151-DIM_PESO) && (x_new<=X0min+280+DIM_PESO))
- {
- if (delta_y2<6) uccidi=1;
- y_new=400-2*DIM_PESO-2;
- }
- else {
- if (delta_y1<6) uccidi=1;
- y_new=Y0max-2*DIM_PESO-2;
- }
- Vy=0;
- if(peso_agganciato[i]==0) {scelta=3; rit=0;}
- }
- }
- if (scelta==3)
- {
- x_new=x_new;
- y_new=y_new;
- eli_occ=0;
- if (y_new==400-2*DIM_PESO-2) rit++;
-
-
-
- if (rit==100) {
- peso_agganciato[i]=0;
- pre_peso[i]=0;
- sem_wait(&mutex);
- PESO(x_old,y_old,DIM_PESO,COL_SFONDO);
- sem_post(&mutex);
-
- return NULL;
- }
-
- if(peso_agganciato[i]==1) scelta=2;
- }
-
- sem_wait(&mutex);
-
-
- colore=grx_getpixel(x_new-DIM_PESO,y_new);
- if ( (colore!=COL_SFONDO) && (colore!=DELTA_COL+i*2) && (colore!=RED)) uccidi=1;
-
- colore=grx_getpixel(x_new+DIM_PESO,y_new);
- if ( (colore!=COL_SFONDO) && (colore!=DELTA_COL+i*2) && (colore!=RED)) uccidi=1;
-
- colore=grx_getpixel(x_new-DIM_PESO,y_new+2*DIM_PESO);
- if ( (colore!=COL_SFONDO) && (colore!=DELTA_COL+i*2) && (colore!=RED)) uccidi=1;
-
- colore=grx_getpixel(x_new+DIM_PESO,y_new+2*DIM_PESO);
- if ( (colore!=COL_SFONDO) && (colore!=DELTA_COL+i*2) && (colore!=RED)) uccidi=1;
-
- colore=grx_getpixel(x_new,y_new+DIM_PESO);
- if ( (colore!=COL_SFONDO) && (colore!=DELTA_COL+i*2) && (colore!=RED)) uccidi=1;
-
-
-
- if ((x_old>100) && (y_old>100) && (x_old<X0max) )
- {
- PESO(x_old,y_old,DIM_PESO,COL_SFONDO);
- }
-
- y_old=y_new;
- x_old=x_new;
- Pos_pe_y[i]=y_new;
- Pos_pe_x[i]=x_new;
-
-
- if ((x_new>100) && (y_new>100) && (x_new<X0max) )
- {
- if ( uccidi==1)
- {
- kill_p=i;
- task_activate(pid_kill_p);
- sem_post(&mutex);
- eli_occ=0;
- pre_peso[i]=0;
- peso_agganciato[i]=0;
- return NULL;
- }
-
- PESO(x_new,y_new,DIM_PESO,DELTA_COL+i*2);
- }
- sem_post(&mutex);
-
-
- task_endcycle();
- }
-
-
-}
-
-TASK ruspa(int i)
-{
- int x,y,ii;
- int end_peso[5]={370,420,470,520,570};
-
- PID pid;
- HARD_TASK_MODEL m_hard;
-
- pre_peso[i]=1;
-
- hard_task_default_model(m_hard);
- hard_task_def_wcet(m_hard,1); // wcet ignored!!!
- hard_task_def_mit(m_hard,PER_DISEGNA);
- hard_task_def_usemath(m_hard);
- hard_task_def_arg(m_hard,(void *)i);
- pid=task_create("peso2",peso,&m_hard,NULL);
- pid_peso[i]=pid;
- task_activate(pid_peso[i]);
-
-
- x=720;
- y=Y0max;
-
- indietro=0;
- while (x!=end_peso[i]+DIM_PESO)
- {
- sem_wait(&mutex);
- RUSPA_S(x+1,y,COL_SFONDO,COL_SFONDO);
- RUSPA_S(x,y,YELLOW-1,LIGHTBLUE);
- sem_post(&mutex);
- x_r=x;
- x--;
- task_endcycle();
- }
- sem_wait(&mutex);
- RUSPA_S(x+1,y,COL_SFONDO,COL_SFONDO);
- sem_post(&mutex);
- indietro=1;
- while (x!=730 )
- {
- sem_wait(&mutex);
- RUSPA_D(x-1+40,y,COL_SFONDO,COL_SFONDO);
- RUSPA_D(x+40,y,YELLOW-1,LIGHTBLUE);
- sem_post(&mutex);
- x++;
- task_endcycle();
- }
-
- ii=i+1;
-
- while(ii>4)
- {
- n_ruspa=5;
- if(pre_peso[4]==0){
- ii=4;
- if(pre_peso[3]==0){
- ii=3;
- if(pre_peso[2]==0){
- ii=2;
- if(pre_peso[1]==0){
- ii=1;
- if(pre_peso[0]==0){
- ii=0;
- }
- }
- }
- }
- }
- task_endcycle();
-
- }
-
- hard_task_def_arg(m_hard,(void *)ii);
- pid_ruspa[ii]=task_create("ruspa",ruspa,&m_hard,NULL);
- task_activate(pid_ruspa[ii]);
- n_ruspa=ii;
-
- return NULL;
-}
-
-
-
-
-TASK molla(int i)
-{
- double k=0.05;
- double x,x_old,y1_old,y2_old;
- double T1_old; //,T2_old;
-
- x_old=Pos_x;
- y1_old=Pos_y;
- y2_old=Pos_pe_y[n_peso];
-
- while (1)
- {
-
- sem_wait(&mutex);
- if ((x_old>100-DIM_EL) && (y1_old>100-DIM_EL) && (x_old<X0max) )
- {
- MOLLA(x_old,y1_old+DIM_EL,y2_old,COL_SFONDO)
- }
- else if( (y2_old>100) && (x_old<X0max) && (x_old>100) )
- {
- MOLLA(x_old,X0min+100,y2_old,COL_SFONDO)
- }
-
- x_old=Pos_x;
- y1_old=Pos_y;
-
- if(peso_agganciato[n_peso]==0) y2_old=y1_old+20;
- else y2_old=Pos_pe_y[n_peso];
-
- if ((x_old>100) && (y1_old>100-DIM_EL) && (x_old<X0max) )
- {
- MOLLA(x_old,y1_old+DIM_EL,y2_old,RED)
- }
- else if( (y2_old>100) && (x_old<X0max) && (x_old>100))
- {
- MOLLA(x_old,X0min+100,y2_old,RED)
- }
- sem_post(&mutex);
-
- x=y2_old-y1_old;
- x=x-20;
- T1=x*k;
- T1_old=T1;
-
- task_endcycle();
-
- }
-}
-
-TASK seleziona(int i)
-{ int w,deltax,deltay,disegna;
-
- eli_occ=0;
- disegna=0;
-
- while (1)
- {
- disegna=0;
- for (w=0;w<5;w++)
- {
- deltax=Pos_pe_x[w]-Pos_x;
- deltay=Pos_pe_y[w]-Pos_y-DIM_PESO-20+DIM_EL;
- if ( (pre_peso[w]==1) && (eli_occ==0) && (deltax<4) && (deltax>-4) && (deltay<3) && (deltay>-3) )
- {
- disegna=1;
- if ( (tastiera=='p') && (libero_peso[w]==1) )
- {
- eli_occ=1;
- peso_agganciato[w]=1;
- n_peso=w;
-
- }
- }
- }
-
- if(disegna==1)
- {
- sem_wait(&mutex);
- grx_box(X0max-90,Y0min+5,X0max-5,Y0min+95,RED);
- // grx_text("Ok", X0max-40, Y0min+50, COL_TESTO, RED);
- sem_post(&mutex);
- } else
- {
- sem_wait(&mutex);
- grx_box(X0max-95,Y0min+5,X0max-5,Y0min+95,COL_SFONDO);
- sem_post(&mutex);
- }
-
- if(eli_occ==1)
- {
- sem_wait(&mutex);
- grx_box(X0max-90-100,Y0min+5,X0max-5-100,Y0min+95,GREEN);
- // grx_text("Go", X0max-35-100, Y0min+50, COL_TESTO, GREEN);
- sem_post(&mutex);
- } else
- {
- sem_wait(&mutex);
- grx_box(X0max-90-100,Y0min+5,X0max-5-100,Y0min+95,COL_SFONDO);
- sem_post(&mutex);
- }
-
-
- if (tastiera=='l') peso_agganciato[n_peso]=0;
-
- task_endcycle();
-
- }
-}
-
-
-//###############################################################
-// ##
-// Funzione di uscita dal programma ##
-// ##
-//################################################################
-void my_end(KEY_EVT* e)
-{
- //####################################
- // Sezione esecutiva della funzione ##
- //####################################
-
- grx_close();
- cprintf("Ctrl-brk pressed!\n");
- sys_end();
-} // Fine della funzionemy_end
-
-//################################################################
-// ##
-// Funzione di uscita dal programma ##
-// ##
-//################################################################
-void end()
-{
- //####################################
- // Sezione esecutiva della funzione ##
- //####################################
-
- grx_close();
-} // Fine della funzione my_end
-
-
-
-//##############################################################
-// ##
-// Main ##
-// ##
-//##############################################################
-int main()
-{
- //########################################
- // Sezione dichiarativa delle variabili ##
- //########################################
- // Identficativi di task generici
- PID pid0, pid1, pid3, pid5; //, pid2,pid4,pid6;
-
- HARD_TASK_MODEL m_hard;
- NRT_TASK_MODEL m_nrt;
-
- // Ascoltatore di eventi
- KEY_EVT emerg;
- // Contatori
- int j;
-
-
- //####################################
- // Sezione esecutiva del main ##
- //####################################
-
- set_exchandler_grx();
-
- // Inizializzazione dei parametri hartik
- sem_init(&mutex,0,1);
- sem_init(&pu,0,1);
-
- emerg.ascii = 'x';
- emerg.scan = KEY_X;
- emerg.flag = ALTL_BIT;
- keyb_hook(emerg, my_end);
- sys_atrunlevel(end, NULL, RUNLEVEL_BEFORE_EXIT);
-
- if (grx_open(800, 600, 8) < 0)
- {
- cprintf("GRX Err\n");
- sys_abort(300);
- }
- cprintf("scheda ok\n");
-
- r=0.1;
-
- /* Disposizione degli elementi grafici statici */
- sem_wait(&mutex);
- draw_static();
- sem_post(&mutex);
-
- // Attivazione dei task
- hard_task_default_model(m_hard);
- hard_task_def_wcet(m_hard,1); // wcet ignored!!!
- hard_task_def_usemath(m_hard);
-
- hard_task_def_mit(m_hard,PER_DISEGNA);
- pid0=task_create("elicottero",elicottero,&m_hard,NULL);
- task_activate(pid0);
-
- hard_task_def_mit(m_hard,PER_DISEGNA);
- pid1=task_create("indicometro",disegna_stato,&m_hard,NULL);
- task_activate(pid1);
-
- hard_task_def_mit(m_hard,PER_MOLLA);
- pid3=task_create("molla",molla,&m_hard,NULL);
- task_activate(pid3);
-
- hard_task_def_mit(m_hard,PER_DISEGNA);
- pid5=task_create("seleziona",seleziona,&m_hard,NULL);
- task_activate(pid5);
-
-
- hard_task_def_mit(m_hard,PER_DISEGNA);
- hard_task_def_arg(m_hard,0);
- pid_ruspa[0]=task_create("ruspa",ruspa,&m_hard,NULL);
- task_activate(pid_ruspa[0]);
- n_ruspa=0;
-
- nrt_task_default_model(m_nrt);
- nrt_task_def_usemath(m_nrt);
- nrt_task_def_arg(m_nrt,0);
- pid_kill_e = task_create("kill_task",kill_task, &m_nrt, NULL);
- pid_pulisci_e = task_create("pulisci",pulisci, &m_nrt, NULL);
-
- nrt_task_def_arg(m_nrt,(void *)1);
- pid_kill_p = task_create("kill_task",kill_task, &m_nrt, NULL);
- pid_pulisci_p = task_create("pulisci",pulisci, &m_nrt, NULL);
-
-
-
-
- do {
- tastiera = keyb_getch(BLOCK);
-
- } while(tastiera!=ESC);
-
- task_kill(pid5);
- task_kill(pid3);
- task_kill(pid1);
- task_kill(pid0);
-
- task_kill(pid_kill_p);
- task_kill(pid_kill_e);
-
- if (n_ruspa!=5) task_kill(pid_ruspa[n_ruspa]);
- for(j=0;j<5;j++) { if (pre_peso[j]==1) task_kill(pid_peso[j]); }
-
- grx_close();
- sys_end();
-
- return 0;
-} // Fine del main
-
-/*************************<Fine del file>*****************************/
Index: pj/eli/makefile
===================================================================
--- pj/eli/makefile (revision 1344)
+++ pj/eli/makefile (nonexistent)
@@ -1,16 +0,0 @@
-#
-#
-#
-
-ifndef BASE
-BASE=../..
-endif
-include $(BASE)/config/config.mk
-
-PROGS= eli
-
-include $(BASE)/config/example.mk
-
-eli:
- make -f $(SUBMAKE) APP=eli INIT= OTHEROBJS="initfile.o draw.o" OTHERINCL=
-
Index: pj/eli/draw.c
===================================================================
--- pj/eli/draw.c (revision 1344)
+++ pj/eli/draw.c (nonexistent)
@@ -1,519 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: draw.c,v 1.1.1.1 2002-09-02 09:37:45 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:45 $
- ------------
-
- This file is similar to the configuration of Hartik 3.3.1
-
-**/
-
-/*
- * Copyright (C) 2000 Paolo Gai and ALLEN-DESTRO
- *
- * 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 "eli.h"
-
-void draw_static()
-{
- int i;
- /************************************/
- /* Sezione esecutiva della funzione */
- /************************************/
-
- grx_rect(X0min,Y0min,X0max,Y0max,COL_CORNICE);
- // grx_rect(X0min+100,Y0min+100,X0max,Y0max,COL_CORNICE);
- grx_line(X0min,Y0min+100,X0min+100,Y0min+100,COL_CORNICE);
- // grx_line(X0min,Y0min+350,X0min+100,Y0min+350,COL_CORNICE);
-
- grx_line(X0min+25,Y0min+100,X0min+25,Y0max,COL_CORNICE);
- grx_line(X0min+50,Y0min+100,X0min+50,Y0max,COL_CORNICE);
- grx_line(X0min+75,Y0min+100,X0min+75,Y0max,COL_CORNICE);
-
- grx_line(X0min,Y0min+100+127,X0min+25,Y0min+100+127,LIGHTBLUE);
- grx_line(X0min+50,Y0min+100+127,X0min+100,Y0min+100+127,LIGHTBLUE);
- grx_line(X0min+50,Y0min+100+127+250,X0min+100,Y0min+100+127+250,LIGHTBLUE);
-
-
- grx_box(X0min+101+50,400,X0min+230+50,Y0max-1,BROWN);
- for(i=1;i<6;i++){
- grx_box(X0min+101+50+38,400+35i-10,X0min+101+50+48,400+35i,CYAN);
- grx_box(X0min+101+50+81,400+35i-10,X0min+101+50+91,400+35i,CYAN);
- }
- grx_box(X0min+101+50+60,Y0max-30,X0min+101+50+70,Y0max-1,GREEN);
-
-
- grx_box(700,520,X0max-1,Y0max-1,CYAN);
-
-
-
- grx_text("Fx", X0min+5, Y0min+90, COL_TESTO, COL_SFONDO);
- grx_text("Fy", X0min+30, Y0min+90, COL_TESTO, COL_SFONDO);
- grx_text("Ax", X0min+55, Y0min+90, COL_TESTO, COL_SFONDO);
- grx_text("Ay", X0min+80, Y0min+90, COL_TESTO, COL_SFONDO);
- // grx_text("M", X0min+10, Y0min+351, COL_TESTO, COL_SFONDO);
- // grx_text("P", X0min+35, Y0min+351, COL_TESTO, COL_SFONDO);
- grx_text("Vx", X0min+55, Y0min+351, COL_TESTO, COL_SFONDO);
- grx_text("Vy", X0min+80, Y0min+351, COL_TESTO, COL_SFONDO);
-
- grx_text("S : Su", X0min+110, Y0min+15, COL_TESTO, COL_SFONDO);
- grx_text("Z : Sinistra", X0min+110, Y0min+25, COL_TESTO, COL_SFONDO);
- grx_text("X : Giu", X0min+110, Y0min+35, COL_TESTO, COL_SFONDO);
- grx_text("C : Destra", X0min+110, Y0min+45, COL_TESTO, COL_SFONDO);
- grx_text("P : aggancia Peso", X0min+110, Y0min+55, COL_TESTO, COL_SFONDO);
- grx_text("L : Libera peso", X0min+110, Y0min+65, COL_TESTO, COL_SFONDO);
- grx_text("Esc : Usita Programma", X0min+110, Y0min+75, COL_TESTO, COL_SFONDO);
-
-
-} // Fine della funzione draw_static
-
-TASK disegna_stato(int i)
-{ //double j;
-
- while (1)
- {
-
- sem_wait(&mutex);
-
- grx_rect(X0min+100,Y0min+100,X0max,Y0max,COL_CORNICE);
-
- grx_box(700,565,770,Y0max-1,LIGHTCYAN);
-
- grx_box(X0min+101+50,400,X0min+230+50,420,BROWN);
-
-
- //####################### FORZA X #############################
- if ( 0.25<=Forza_x) grx_box(7,Y0min+210,26,Y0min+220,GREEN);
- else grx_box(7,Y0min+210,26,Y0min+220,COL_SFONDO);
- if ( 0.5<=Forza_x) grx_box(7,Y0min+195,26,Y0min+205,GREEN);
- else grx_box(7,Y0min+195,26,Y0min+205,COL_SFONDO);
- if ( 0.75<=Forza_x) grx_box(7,Y0min+180,26,Y0min+190,GREEN);
- else grx_box(7,Y0min+180,26,Y0min+190,COL_SFONDO);
- if ( 1<=Forza_x) grx_box(7,Y0min+165,26,Y0min+175,GREEN);
- else grx_box(7,Y0min+165,26,Y0min+175,COL_SFONDO);
- if ( 1.25<=Forza_x) grx_box(7,Y0min+150,26,Y0min+160,GREEN);
- else grx_box(7,Y0min+150,26,Y0min+160,COL_SFONDO);
- if ( 1.50<=Forza_x) grx_box(7,Y0min+135,26,Y0min+145,YELLOW);
- else grx_box(7,Y0min+135,26,Y0min+145,COL_SFONDO);
- if ( 1.75<=Forza_x) grx_box(7,Y0min+120,26,Y0min+130,RED);
- else grx_box(7,Y0min+120,26,Y0min+130,COL_SFONDO);
- if ( 2<=Forza_x) grx_box(7,Y0min+105,26,Y0min+115,RED);
- else grx_box(7,Y0min+105,26,Y0min+115,COL_SFONDO);
- //########### ------
- if (-0.25>=Forza_x) grx_box(7,Y0min+230,26,Y0min+240,GREEN);
- else grx_box(7,Y0min+230,26,Y0min+240,COL_SFONDO);
- if ( -0.5>=Forza_x) grx_box(7,Y0min+245,26,Y0min+255,GREEN);
- else grx_box(7,Y0min+245,26,Y0min+255,COL_SFONDO);
- if ( -0.75>=Forza_x) grx_box(7,Y0min+260,26,Y0min+270,GREEN);
- else grx_box(7,Y0min+260,26,Y0min+270,COL_SFONDO);
- if ( -1>=Forza_x) grx_box(7,Y0min+275,26,Y0min+285,GREEN);
- else grx_box(7,Y0min+275,26,Y0min+285,COL_SFONDO);
- if ( -1.25>=Forza_x) grx_box(7,Y0min+290,26,Y0min+300,GREEN);
- else grx_box(7,Y0min+290,26,Y0min+300,COL_SFONDO);
- if ( -1.50>=Forza_x) grx_box(7,Y0min+305,26,Y0min+315,YELLOW);
- else grx_box(7,Y0min+305,26,Y0min+315,COL_SFONDO);
- if ( -1.75>=Forza_x) grx_box(7,Y0min+320,26,Y0min+330,RED);
- else grx_box(7,Y0min+320,26,Y0min+330,COL_SFONDO);
- if ( -2>=Forza_x) grx_box(7,Y0min+335,26,Y0min+345,RED);
- else grx_box(7,Y0min+335,26,Y0min+345,COL_SFONDO);
- //####################### FORZA Y #############################
- if ( -0.5>=Forza_y) grx_box(32,Y0min+340,51,Y0min+345,GREEN);
- else grx_box(32,Y0min+340,51,Y0min+345,COL_SFONDO);
- if ( -1>=Forza_y) grx_box(32,Y0min+333,51,Y0min+338,GREEN);
- else grx_box(32,Y0min+333,51,Y0min+338,COL_SFONDO);
- if ( -1.5>=Forza_y) grx_box(32,Y0min+326,51,Y0min+331,GREEN);
- else grx_box(32,Y0min+326,51,Y0min+331,COL_SFONDO);
- if ( -2>=Forza_y) grx_box(32,Y0min+319,51,Y0min+324,GREEN);
- else grx_box(32,Y0min+319,51,Y0min+324,COL_SFONDO);
- if ( -2.5>=Forza_y) grx_box(32,Y0min+312,51,Y0min+317,GREEN);
- else grx_box(32,Y0min+312,51,Y0min+317,COL_SFONDO);
- if ( -3>=Forza_y) grx_box(32,Y0min+305,51,Y0min+310,GREEN);
- else grx_box(32,Y0min+305,51,Y0min+310,COL_SFONDO);
- if ( -3.5>=Forza_y) grx_box(32,Y0min+298,51,Y0min+303,GREEN);
- else grx_box(32,Y0min+298,51,Y0min+303,COL_SFONDO);
- if ( -4>=Forza_y) grx_box(32,Y0min+291,51,Y0min+296,GREEN);
- else grx_box(32,Y0min+291,51,Y0min+296,COL_SFONDO);
- if ( -4.5>=Forza_y) grx_box(32,Y0min+284,51,Y0min+289,GREEN);
- else grx_box(32,Y0min+284,51,Y0min+289,COL_SFONDO);
- if ( -5>=Forza_y) grx_box(32,Y0min+277,51,Y0min+282,GREEN);
- else grx_box(32,Y0min+277,51,Y0min+282,COL_SFONDO);
- if ( -5.5>=Forza_y) grx_box(32,Y0min+270,51,Y0min+275,GREEN);
- else grx_box(32,Y0min+270,51,Y0min+275,COL_SFONDO);
- if ( -6>=Forza_y) grx_box(32,Y0min+263,51,Y0min+268,GREEN);
- else grx_box(32,Y0min+263,51,Y0min+268,COL_SFONDO);
- if ( -6.5>=Forza_y) grx_box(32,Y0min+256,51,Y0min+261,GREEN);
- else grx_box(32,Y0min+256,51,Y0min+261,COL_SFONDO);
- if ( -7>=Forza_y) grx_box(32,Y0min+249,51,Y0min+254,GREEN);
- else grx_box(32,Y0min+249,51,Y0min+254,COL_SFONDO);
- if ( -7.5>=Forza_y) grx_box(32,Y0min+242,51,Y0min+247,GREEN);
- else grx_box(32,Y0min+242,51,Y0min+247,COL_SFONDO);
- if ( -8>=Forza_y) grx_box(32,Y0min+235,51,Y0min+240,GREEN);
- else grx_box(32,Y0min+235,51,Y0min+240,COL_SFONDO);
- if ( -8.5>=Forza_y) grx_box(32,Y0min+228,51,Y0min+233,GREEN);
- else grx_box(32,Y0min+228,51,Y0min+233,COL_SFONDO);
- if ( -9>=Forza_y) grx_box(32,Y0min+221,51,Y0min+226,GREEN);
- else grx_box(32,Y0min+221,51,Y0min+226,COL_SFONDO);
- if ( -9.5>=Forza_y) grx_box(32,Y0min+214,51,Y0min+219,GREEN);
- else grx_box(32,Y0min+214,51,Y0min+219,COL_SFONDO);
- if ( -10>=Forza_y) grx_box(32,Y0min+207,51,Y0min+212,GREEN);
- else grx_box(32,Y0min+207,51,Y0min+212,COL_SFONDO);
- if ( -10.5>=Forza_y) grx_box(32,Y0min+200,51,Y0min+205,GREEN);
- else grx_box(32,Y0min+200,51,Y0min+205,COL_SFONDO);
- if ( -11>=Forza_y) grx_box(32,Y0min+193,51,Y0min+198,GREEN);
- else grx_box(32,Y0min+193,51,Y0min+198,COL_SFONDO);
- if ( -11.5>=Forza_y) grx_box(32,Y0min+186,51,Y0min+191,GREEN);
- else grx_box(32,Y0min+186,51,Y0min+191,COL_SFONDO);
- if ( -12>=Forza_y) grx_box(32,Y0min+179,51,Y0min+184,GREEN);
- else grx_box(32,Y0min+179,51,Y0min+184,COL_SFONDO);
- if ( -12.5>=Forza_y) grx_box(32,Y0min+172,51,Y0min+177,GREEN);
- else grx_box(32,Y0min+172,51,Y0min+177,COL_SFONDO);
- if ( -13>=Forza_y) grx_box(32,Y0min+165,51,Y0min+170,GREEN);
- else grx_box(32,Y0min+165,51,Y0min+170,COL_SFONDO);
- if ( -13.5>=Forza_y) grx_box(32,Y0min+158,51,Y0min+163,GREEN);
- else grx_box(32,Y0min+158,51,Y0min+163,COL_SFONDO);
- if ( -14>=Forza_y) grx_box(32,Y0min+151,51,Y0min+156,GREEN);
- else grx_box(32,Y0min+151,51,Y0min+156,COL_SFONDO);
- if ( -14.5>=Forza_y) grx_box(32,Y0min+144,51,Y0min+149,GREEN);
- else grx_box(32,Y0min+144,51,Y0min+149,COL_SFONDO);
- if ( -15>=Forza_y) grx_box(32,Y0min+137,51,Y0min+142,YELLOW);
- else grx_box(32,Y0min+137,51,Y0min+142,COL_SFONDO);
- if ( -15.5>=Forza_y) grx_box(32,Y0min+130,51,Y0min+135,YELLOW);
- else grx_box(32,Y0min+130,51,Y0min+135,COL_SFONDO);
- if ( -16>=Forza_y) grx_box(32,Y0min+123,51,Y0min+128,RED);
- else grx_box(32,Y0min+123,51,Y0min+128,COL_SFONDO);
- if ( -16.5>=Forza_y) grx_box(32,Y0min+116,51,Y0min+121,RED);
- else grx_box(32,Y0min+116,51,Y0min+121,COL_SFONDO);
- if ( -17>=Forza_y) grx_box(32,Y0min+109,51,Y0min+114,RED);
- else grx_box(32,Y0min+109,51,Y0min+114,COL_SFONDO);
- if ( -17.5>=Forza_y) grx_box(32,Y0min+102,51,Y0min+107,RED);
- else grx_box(32,Y0min+102,51,Y0min+107,COL_SFONDO);
-
- //####################### ACCELERAZIONE X #############################
- if ( -2.125>=Acc_x)grx_box(56,Y0min+340,75,Y0min+345,RED);
- else grx_box(55,Y0min+340,75,Y0min+345,COL_SFONDO);
- if ( -2>=Acc_x) grx_box(56,Y0min+333,75,Y0min+338,RED);
- else grx_box(56,Y0min+333,75,Y0min+338,COL_SFONDO);
- if ( -1.875>=Acc_x)grx_box(56,Y0min+326,75,Y0min+331,RED);
- else grx_box(56,Y0min+326,75,Y0min+331,COL_SFONDO);
- if ( -1.750>=Acc_x) grx_box(56,Y0min+319,75,Y0min+324,YELLOW);
- else grx_box(56,Y0min+319,75,Y0min+324,COL_SFONDO);
- if ( -1.625>=Acc_x)grx_box(56,Y0min+312,75,Y0min+317,YELLOW);
- else grx_box(56,Y0min+312,75,Y0min+317,COL_SFONDO);
- if ( -1.5>=Acc_x) grx_box(56,Y0min+305,75,Y0min+310,GREEN);
- else grx_box(56,Y0min+305,75,Y0min+310,COL_SFONDO);
- if ( -1.375>=Acc_x)grx_box(56,Y0min+298,75,Y0min+303,GREEN);
- else grx_box(56,Y0min+298,75,Y0min+303,COL_SFONDO);
- if ( -1.250>=Acc_x) grx_box(56,Y0min+291,75,Y0min+296,GREEN);
- else grx_box(56,Y0min+291,75,Y0min+296,COL_SFONDO);
- if ( -1.125>=Acc_x)grx_box(56,Y0min+284,75,Y0min+289,GREEN);
- else grx_box(56,Y0min+284,75,Y0min+289,COL_SFONDO);
- if ( -1>=Acc_x) grx_box(56,Y0min+277,75,Y0min+282,GREEN);
- else grx_box(56,Y0min+277,75,Y0min+282,COL_SFONDO);
- if ( -0.875>=Acc_x)grx_box(56,Y0min+270,75,Y0min+275,GREEN);
- else grx_box(56,Y0min+270,75,Y0min+275,COL_SFONDO);
- if ( -0.750>=Acc_x) grx_box(56,Y0min+263,75,Y0min+268,GREEN);
- else grx_box(56,Y0min+263,75,Y0min+268,COL_SFONDO);
- if ( -0.625>=Acc_x)grx_box(56,Y0min+256,75,Y0min+261,GREEN);
- else grx_box(56,Y0min+256,75,Y0min+261,COL_SFONDO);
- if ( -0.5>=Acc_x) grx_box(56,Y0min+249,75,Y0min+254,GREEN);
- else grx_box(56,Y0min+249,75,Y0min+254,COL_SFONDO);
- if ( -0.375>=Acc_x)grx_box(56,Y0min+242,75,Y0min+247,GREEN);
- else grx_box(56,Y0min+242,75,Y0min+247,COL_SFONDO);
- if ( -0.250>=Acc_x) grx_box(56,Y0min+235,75,Y0min+240,GREEN);
- else grx_box(56,Y0min+235,75,Y0min+240,COL_SFONDO);
- if ( -0.125>=Acc_x)grx_box(56,Y0min+228,75,Y0min+233,GREEN);
- else grx_box(56,Y0min+228,75,Y0min+233,COL_SFONDO);
- //############# ------
- if ( 0.125<=Acc_x) grx_box(56,Y0min+221,75,Y0min+226,GREEN);
- else grx_box(56,Y0min+221,75,Y0min+226,COL_SFONDO);
- if ( 0.250<=Acc_x)grx_box(56,Y0min+214,75,Y0min+219,GREEN);
- else grx_box(56,Y0min+214,75,Y0min+219,COL_SFONDO);
- if ( 0.375<=Acc_x) grx_box(56,Y0min+207,75,Y0min+212,GREEN);
- else grx_box(56,Y0min+207,75,Y0min+212,COL_SFONDO);
- if (0.5<=Acc_x)grx_box(56,Y0min+200,75,Y0min+205,GREEN);
- else grx_box(56,Y0min+200,75,Y0min+205,COL_SFONDO);
- if ( 0.625<=Acc_x) grx_box(56,Y0min+193,75,Y0min+198,GREEN);
- else grx_box(56,Y0min+193,75,Y0min+198,COL_SFONDO);
- if (0.750<=Acc_x)grx_box(56,Y0min+186,75,Y0min+191,GREEN);
- else grx_box(56,Y0min+186,75,Y0min+191,COL_SFONDO);
- if (0.875<=Acc_x) grx_box(56,Y0min+179,75,Y0min+184,GREEN);
- else grx_box(56,Y0min+179,75,Y0min+184,COL_SFONDO);
- if (1<=Acc_x)grx_box(56,Y0min+172,75,Y0min+177,GREEN);
- else grx_box(56,Y0min+172,75,Y0min+177,COL_SFONDO);
- if (1.125<=Acc_x) grx_box(56,Y0min+165,75,Y0min+170,GREEN);
- else grx_box(56,Y0min+165,75,Y0min+170,COL_SFONDO);
- if (1.250<=Acc_x)grx_box(56,Y0min+158,75,Y0min+163,GREEN);
- else grx_box(56,Y0min+158,75,Y0min+163,COL_SFONDO);
- if (1.375<=Acc_x) grx_box(56,Y0min+151,75,Y0min+156,GREEN);
- else grx_box(56,Y0min+151,75,Y0min+156,COL_SFONDO);
- if (1.5<=Acc_x)grx_box(56,Y0min+144,75,Y0min+149,GREEN);
- else grx_box(56,Y0min+144,75,Y0min+149,COL_SFONDO);
- if (1.625<=Acc_x) grx_box(56,Y0min+137,75,Y0min+142,YELLOW);
- else grx_box(56,Y0min+137,75,Y0min+142,COL_SFONDO);
- if (1.750<=Acc_x)grx_box(56,Y0min+130,75,Y0min+135,YELLOW);
- else grx_box(56,Y0min+130,75,Y0min+135,COL_SFONDO);
- if (1.875<=Acc_x) grx_box(56,Y0min+123,75,Y0min+128,RED);
- else grx_box(56,Y0min+123,75,Y0min+128,COL_SFONDO);
- if (2<=Acc_x)grx_box(56,Y0min+116,75,Y0min+121,RED);
- else grx_box(56,Y0min+116,75,Y0min+121,COL_SFONDO);
- if (2.125<=Acc_x) grx_box(56,Y0min+109,75,Y0min+114,RED);
- else grx_box(56,Y0min+109,75,Y0min+114,COL_SFONDO);
- //####################### ACCELERAZIONE Y #############################
- if ( 2.5<=Acc_y) { grx_box(81,Y0min+340,100,Y0min+345,RED);
- grx_box(81+5,Y0min+340+1,100-5,Y0min+345-1,BLUE);
- }
- else grx_box(81,Y0min+340,100,Y0min+345,COL_SFONDO);
- if ( 2.200<=Acc_y) grx_box(81,Y0min+333,100,Y0min+338,RED);
- else grx_box(81,Y0min+333,100,Y0min+338,COL_SFONDO);
- if ( 1.950<=Acc_y) grx_box(81,Y0min+326,100,Y0min+331,RED);
- else grx_box(81,Y0min+326,100,Y0min+331,COL_SFONDO);
- if ( 1.750<=Acc_y) grx_box(81,Y0min+319,100,Y0min+324,YELLOW);
- else grx_box(81,Y0min+319,100,Y0min+324,COL_SFONDO);
- if ( 1.625<=Acc_y) grx_box(81,Y0min+312,100,Y0min+317,YELLOW);
- else grx_box(81,Y0min+312,100,Y0min+317,COL_SFONDO);
- if ( 1.5<=Acc_y) grx_box(81,Y0min+305,100,Y0min+310,GREEN);
- else grx_box(81,Y0min+305,100,Y0min+310,COL_SFONDO);
- if ( 1.375<=Acc_y) grx_box(81,Y0min+298,100,Y0min+303,GREEN);
- else grx_box(81,Y0min+298,100,Y0min+303,COL_SFONDO);
- if ( 1.250<=Acc_y) grx_box(81,Y0min+291,100,Y0min+296,GREEN);
- else grx_box(81,Y0min+291,100,Y0min+296,COL_SFONDO);
- if ( 1.125<=Acc_y) grx_box(81,Y0min+284,100,Y0min+289,GREEN);
- else grx_box(81,Y0min+284,100,Y0min+289,COL_SFONDO);
- if ( 1<=Acc_y) grx_box(81,Y0min+277,100,Y0min+282,GREEN);
- else grx_box(81,Y0min+277,100,Y0min+282,COL_SFONDO);
- if ( 0.875<=Acc_y) grx_box(81,Y0min+270,100,Y0min+275,GREEN);
- else grx_box(81,Y0min+270,100,Y0min+275,COL_SFONDO);
- if ( 0.750<=Acc_y) grx_box(81,Y0min+263,100,Y0min+268,GREEN);
- else grx_box(81,Y0min+263,100,Y0min+268,COL_SFONDO);
- if ( 0.625<=Acc_y) grx_box(81,Y0min+256,100,Y0min+261,GREEN);
- else grx_box(81,Y0min+256,100,Y0min+261,COL_SFONDO);
- if ( 0.5<=Acc_y) grx_box(81,Y0min+249,100,Y0min+254,GREEN);
- else grx_box(81,Y0min+249,100,Y0min+254,COL_SFONDO);
- if ( 0.375<=Acc_y) grx_box(81,Y0min+242,100,Y0min+247,GREEN);
- else grx_box(81,Y0min+242,100,Y0min+247,COL_SFONDO);
- if ( 0.25<=Acc_y) grx_box(81,Y0min+235,100,Y0min+240,GREEN);
- else grx_box(81,Y0min+235,100,Y0min+240,COL_SFONDO);
- if ( 0.125<=Acc_y) grx_box(81,Y0min+228,100,Y0min+233,GREEN);
- else grx_box(81,Y0min+228,100,Y0min+233,COL_SFONDO);
- //############# ------
- if ( -0.125>=Acc_y) grx_box(81,Y0min+221,100,Y0min+226,GREEN);
- else grx_box(81,Y0min+221,100,Y0min+226,COL_SFONDO);
- if ( -0.250>=Acc_y) grx_box(81,Y0min+214,100,Y0min+219,GREEN);
- else grx_box(81,Y0min+214,100,Y0min+219,COL_SFONDO);
- if ( -0.375>=Acc_y) grx_box(81,Y0min+207,100,Y0min+212,GREEN);
- else grx_box(81,Y0min+207,100,Y0min+212,COL_SFONDO);
- if (-0.5>=Acc_y) grx_box(81,Y0min+200,100,Y0min+205,GREEN);
- else grx_box(81,Y0min+200,100,Y0min+205,COL_SFONDO);
- if ( -0.625>=Acc_y) grx_box(81,Y0min+193,100,Y0min+198,GREEN);
- else grx_box(81,Y0min+193,100,Y0min+198,COL_SFONDO);
- if (-0.750>=Acc_y) grx_box(81,Y0min+186,100,Y0min+191,GREEN);
- else grx_box(81,Y0min+186,100,Y0min+191,COL_SFONDO);
- if (-0.875>=Acc_y) grx_box(81,Y0min+179,100,Y0min+184,GREEN);
- else grx_box(81,Y0min+179,100,Y0min+184,COL_SFONDO);
- if (-1>=Acc_y) grx_box(81,Y0min+172,100,Y0min+177,GREEN);
- else grx_box(81,Y0min+172,100,Y0min+177,COL_SFONDO);
- if (-1.125>=Acc_y) grx_box(81,Y0min+165,100,Y0min+170,YELLOW);
- else grx_box(81,Y0min+165,100,Y0min+170,COL_SFONDO);
- if (-1.250>=Acc_y) grx_box(81,Y0min+158,100,Y0min+163,YELLOW);
- else grx_box(81,Y0min+158,100,Y0min+163,COL_SFONDO);
- if (-1.375>=Acc_y) grx_box(81,Y0min+151,100,Y0min+156,YELLOW);
- else grx_box(81,Y0min+151,100,Y0min+156,COL_SFONDO);
- if (-1.5>=Acc_y) grx_box(81,Y0min+144,100,Y0min+149,YELLOW);
- else grx_box(81,Y0min+144,100,Y0min+149,COL_SFONDO);
- if (-1.625>=Acc_y) grx_box(81,Y0min+137,100,Y0min+142,RED);
- else grx_box(81,Y0min+137,100,Y0min+142,COL_SFONDO);
- if (-1.750>=Acc_y) grx_box(81,Y0min+130,100,Y0min+135,RED);
- else grx_box(81,Y0min+130,100,Y0min+135,COL_SFONDO);
- if (-1.875>=Acc_y) grx_box(81,Y0min+123,100,Y0min+128,RED);
- else grx_box(81,Y0min+123,100,Y0min+128,COL_SFONDO);
- if (-2>=Acc_y) grx_box(81,Y0min+116,100,Y0min+121,RED);
- else grx_box(81,Y0min+116,100,Y0min+121,COL_SFONDO);
- if (-2.3>=Acc_y) grx_box(81,Y0min+109,100,Y0min+114,RED);
- else grx_box(81,Y0min+109,100,Y0min+114,COL_SFONDO);
- //####################### VELOCITA X #############################
- //if ( -21.25>=Velocita_x)grx_box(56,Y0min+340+250,75,Y0min+345+250,RED);
- //else grx_box(55,Y0min+340+250,75,Y0min+345+250,COL_SFONDO);
- if ( -20>=Velocita_x) grx_box(56,Y0min+333+250,75,Y0min+338+250,RED);
- else grx_box(56,Y0min+333+250,75,Y0min+338+250,COL_SFONDO);
- if ( -18.75>=Velocita_x)grx_box(56,Y0min+326+250,75,Y0min+331+250,RED);
- else grx_box(56,Y0min+326+250,75,Y0min+331+250,COL_SFONDO);
- if ( -17.50>=Velocita_x)grx_box(56,Y0min+319+250,75,Y0min+324+250,YELLOW);
- else grx_box(56,Y0min+319+250,75,Y0min+324+250,COL_SFONDO);
- if ( -16.25>=Velocita_x)grx_box(56,Y0min+312+250,75,Y0min+317+250,YELLOW);
- else grx_box(56,Y0min+312+250,75,Y0min+317+250,COL_SFONDO);
- if ( -15>=Velocita_x) grx_box(56,Y0min+305+250,75,Y0min+310+250,GREEN);
- else grx_box(56,Y0min+305+250,75,Y0min+310+250,COL_SFONDO);
- if ( -13.75>=Velocita_x)grx_box(56,Y0min+298+250,75,Y0min+303+250,GREEN);
- else grx_box(56,Y0min+298+250,75,Y0min+303+250,COL_SFONDO);
- if ( -12.50>=Velocita_x)grx_box(56,Y0min+291+250,75,Y0min+296+250,GREEN);
- else grx_box(56,Y0min+291+250,75,Y0min+296+250,COL_SFONDO);
- if ( -11.25>=Velocita_x)grx_box(56,Y0min+284+250,75,Y0min+289+250,GREEN);
- else grx_box(56,Y0min+284+250,75,Y0min+289+250,COL_SFONDO);
- if ( -10>=Velocita_x) grx_box(56,Y0min+277+250,75,Y0min+282+250,GREEN);
- else grx_box(56,Y0min+277+250,75,Y0min+282+250,COL_SFONDO);
- if ( -8.75>=Velocita_x)grx_box(56,Y0min+270+250,75,Y0min+275+250,GREEN);
- else grx_box(56,Y0min+270+250,75,Y0min+275+250,COL_SFONDO);
- if ( -7.50>=Velocita_x)grx_box(56,Y0min+263+250,75,Y0min+268+250,GREEN);
- else grx_box(56,Y0min+263+250,75,Y0min+268+250,COL_SFONDO);
- if ( -6.25>=Velocita_x)grx_box(56,Y0min+256+250,75,Y0min+261+250,GREEN);
- else grx_box(56,Y0min+256+250,75,Y0min+261+250,COL_SFONDO);
- if ( -5>=Velocita_x) grx_box(56,Y0min+249+250,75,Y0min+254+250,GREEN);
- else grx_box(56,Y0min+249+250,75,Y0min+254+250,COL_SFONDO);
- if ( -3.75>=Velocita_x)grx_box(56,Y0min+242+250,75,Y0min+247+250,GREEN);
- else grx_box(56,Y0min+242+250,75,Y0min+247+250,COL_SFONDO);
- if ( -2.50>=Velocita_x)grx_box(56,Y0min+235+250,75,Y0min+240+250,GREEN);
- else grx_box(56,Y0min+235+250,75,Y0min+240+250,COL_SFONDO);
- if ( -1.25>=Velocita_x)grx_box(56,Y0min+228+250,75,Y0min+233+250,GREEN);
- else grx_box(56,Y0min+228+250,75,Y0min+233+250,COL_SFONDO);
- //############# ------
- if ( 1.25<=Velocita_x) grx_box(56,Y0min+221+250,75,Y0min+226+250,GREEN);
- else grx_box(56,Y0min+221+250,75,Y0min+226+250,COL_SFONDO);
- if ( 2.50<=Velocita_x) grx_box(56,Y0min+214+250,75,Y0min+219+250,GREEN);
- else grx_box(56,Y0min+214+250,75,Y0min+219+250,COL_SFONDO);
- if ( 3.75<=Velocita_x) grx_box(56,Y0min+207+250,75,Y0min+212+250,GREEN);
- else grx_box(56,Y0min+207+250,75,Y0min+212+250,COL_SFONDO);
- if (5<=Velocita_x) grx_box(56,Y0min+200+250,75,Y0min+205+250,GREEN);
- else grx_box(56,Y0min+200+250,75,Y0min+205+250,COL_SFONDO);
- if ( 6.25<=Velocita_x) grx_box(56,Y0min+193+250,75,Y0min+198+250,GREEN);
- else grx_box(56,Y0min+193+250,75,Y0min+198+250,COL_SFONDO);
- if (7.50<=Velocita_x) grx_box(56,Y0min+186+250,75,Y0min+191+250,GREEN);
- else grx_box(56,Y0min+186+250,75,Y0min+191+250,COL_SFONDO);
- if (8.75<=Velocita_x) grx_box(56,Y0min+179+250,75,Y0min+184+250,GREEN);
- else grx_box(56,Y0min+179+250,75,Y0min+184+250,COL_SFONDO);
- if (10<=Velocita_x) grx_box(56,Y0min+172+250,75,Y0min+177+250,GREEN);
- else grx_box(56,Y0min+172+250,75,Y0min+177+250,COL_SFONDO);
- if (11.25<=Velocita_x) grx_box(56,Y0min+165+250,75,Y0min+170+250,GREEN);
- else grx_box(56,Y0min+165+250,75,Y0min+170+250,COL_SFONDO);
- if (12.50<=Velocita_x) grx_box(56,Y0min+158+250,75,Y0min+163+250,GREEN);
- else grx_box(56,Y0min+158+250,75,Y0min+163+250,COL_SFONDO);
- if (13.75<=Velocita_x) grx_box(56,Y0min+151+250,75,Y0min+156+250,GREEN);
- else grx_box(56,Y0min+151+250,75,Y0min+156+250,COL_SFONDO);
- if (15<=Velocita_x) grx_box(56,Y0min+144+250,75,Y0min+149+250,GREEN);
- else grx_box(56,Y0min+144+250,75,Y0min+149+250,COL_SFONDO);
- if (16.25<=Velocita_x) grx_box(56,Y0min+137+250,75,Y0min+142+250,YELLOW);
- else grx_box(56,Y0min+137+250,75,Y0min+142+250,COL_SFONDO);
- if (17.50<=Velocita_x) grx_box(56,Y0min+130+250,75,Y0min+135+250,YELLOW);
- else grx_box(56,Y0min+130+250,75,Y0min+135+250,COL_SFONDO);
- if (18.75<=Velocita_x) grx_box(56,Y0min+123+250,75,Y0min+128+250,RED);
- else grx_box(56,Y0min+123+250,75,Y0min+128+250,COL_SFONDO);
- if (20<=Velocita_x) grx_box(56,Y0min+116+250,75,Y0min+121+250,RED);
- else grx_box(56,Y0min+116+250,75,Y0min+121+250,COL_SFONDO);
- if (21.25<=Velocita_x) grx_box(56,Y0min+109+250,75,Y0min+114+250,RED);
- else grx_box(56,Y0min+109+250,75,Y0min+114+250,COL_SFONDO);
-
- //####################### VELOCITA Y #############################
- // if ( 160<=Velocita_y)grx_box(81,Y0min+340+250,100,Y0min+345+250,RED);
- // else grx_box(81,Y0min+340+250,100,Y0min+345+250,COL_SFONDO);
- if ( 40<=Velocita_y) grx_box(81,Y0min+333+250,100,Y0min+338+250,RED);
- else grx_box(81,Y0min+333+250,100,Y0min+338+250,COL_SFONDO);
- if ( 37.5<=Velocita_y)grx_box(81,Y0min+326+250,100,Y0min+331+250,RED);
- else grx_box(81,Y0min+326+250,100,Y0min+331+250,COL_SFONDO);
- if ( 35<=Velocita_y)grx_box(81,Y0min+319+250,100,Y0min+324+250,YELLOW);
- else grx_box(81,Y0min+319+250,100,Y0min+324+250,COL_SFONDO);
- if ( 32.5<=Velocita_y)grx_box(81,Y0min+312+250,100,Y0min+317+250,YELLOW);
- else grx_box(81,Y0min+312+250,100,Y0min+317+250,COL_SFONDO);
- if ( 30<=Velocita_y) grx_box(81,Y0min+305+250,100,Y0min+310+250,GREEN);
- else grx_box(81,Y0min+305+250,100,Y0min+310+250,COL_SFONDO);
- if ( 27.5<=Velocita_y)grx_box(81,Y0min+298+250,100,Y0min+303+250,GREEN);
- else grx_box(81,Y0min+298+250,100,Y0min+303+250,COL_SFONDO);
- if ( 25<=Velocita_y)grx_box(81,Y0min+291+250,100,Y0min+296+250,GREEN);
- else grx_box(81,Y0min+291+250,100,Y0min+296+250,COL_SFONDO);
- if ( 22.5<=Velocita_y)grx_box(81,Y0min+284+250,100,Y0min+289+250,GREEN);
- else grx_box(81,Y0min+284+250,100,Y0min+289+250,COL_SFONDO);
- if ( 20<=Velocita_y) grx_box(81,Y0min+277+250,100,Y0min+282+250,GREEN);
- else grx_box(81,Y0min+277+250,100,Y0min+282+250,COL_SFONDO);
- if ( 17.5<=Velocita_y) grx_box(81,Y0min+270+250,100,Y0min+275+250,GREEN);
- else grx_box(81,Y0min+270+250,100,Y0min+275+250,COL_SFONDO);
- if ( 15<=Velocita_y) grx_box(81,Y0min+263+250,100,Y0min+268+250,GREEN);
- else grx_box(81,Y0min+263+250,100,Y0min+268+250,COL_SFONDO);
- if ( 12.5<=Velocita_y) grx_box(81,Y0min+256+250,100,Y0min+261+250,GREEN);
- else grx_box(81,Y0min+256+250,100,Y0min+261+250,COL_SFONDO);
- if ( 10<=Velocita_y) grx_box(81,Y0min+249+250,100,Y0min+254+250,GREEN);
- else grx_box(81,Y0min+249+250,100,Y0min+254+250,COL_SFONDO);
- if ( 7.5<=Velocita_y) grx_box(81,Y0min+242+250,100,Y0min+247+250,GREEN);
- else grx_box(81,Y0min+242+250,100,Y0min+247+250,COL_SFONDO);
- if ( 5<=Velocita_y) grx_box(81,Y0min+235+250,100,Y0min+240+250,GREEN);
- else grx_box(81,Y0min+235+250,100,Y0min+240+250,COL_SFONDO);
- if ( 2.5<=Velocita_y) grx_box(81,Y0min+228+250,100,Y0min+233+250,GREEN);
- else grx_box(81,Y0min+228+250,100,Y0min+233+250,COL_SFONDO);
- //############# ------
- if (-2.5>=Velocita_y) grx_box(81,Y0min+221+250,100,Y0min+226+250,GREEN);
- else grx_box(81,Y0min+221+250,100,Y0min+226+250,COL_SFONDO);
- if (-5>=Velocita_y) grx_box(81,Y0min+214+250,100,Y0min+219+250,GREEN);
- else grx_box(81,Y0min+214+250,100,Y0min+219+250,COL_SFONDO);
- if (-7.5>=Velocita_y) grx_box(81,Y0min+207+250,100,Y0min+212+250,GREEN);
- else grx_box(81,Y0min+207+250,100,Y0min+212+250,COL_SFONDO);
- if (-10>=Velocita_y) grx_box(81,Y0min+200+250,100,Y0min+205+250,GREEN);
- else grx_box(81,Y0min+200+250,100,Y0min+205+250,COL_SFONDO);
- if (-12.5>=Velocita_y) grx_box(81,Y0min+193+250,100,Y0min+198+250,GREEN);
- else grx_box(81,Y0min+193+250,100,Y0min+198+250,COL_SFONDO);
- if (-15>=Velocita_y) grx_box(81,Y0min+186+250,100,Y0min+191+250,GREEN);
- else grx_box(81,Y0min+186+250,100,Y0min+191+250,COL_SFONDO);
- if (-17.5>=Velocita_y) grx_box(81,Y0min+179+250,100,Y0min+184+250,GREEN);
- else grx_box(81,Y0min+179+250,100,Y0min+184+250,COL_SFONDO);
- if (-20>=Velocita_y) grx_box(81,Y0min+172+250,100,Y0min+177+250,GREEN);
- else grx_box(81,Y0min+172+250,100,Y0min+177+250,COL_SFONDO);
- if (-22.5>=Velocita_y) grx_box(81,Y0min+165+250,100,Y0min+170+250,GREEN);
- else grx_box(81,Y0min+165+250,100,Y0min+170+250,COL_SFONDO);
- if (-25>=Velocita_y) grx_box(81,Y0min+158+250,100,Y0min+163+250,GREEN);
- else grx_box(81,Y0min+158+250,100,Y0min+163+250,COL_SFONDO);
- if (-27.5>=Velocita_y) grx_box(81,Y0min+151+250,100,Y0min+156+250,GREEN);
- else grx_box(81,Y0min+151+250,100,Y0min+156+250,COL_SFONDO);
- if (-30>=Velocita_y) grx_box(81,Y0min+144+250,100,Y0min+149+250,GREEN);
- else grx_box(81,Y0min+144+250,100,Y0min+149+250,COL_SFONDO);
- if (-32.5>=Velocita_y) grx_box(81,Y0min+137+250,100,Y0min+142+250,YELLOW);
- else grx_box(81,Y0min+137+250,100,Y0min+142+250,COL_SFONDO);
- if (-35>=Velocita_y) grx_box(81,Y0min+130+250,100,Y0min+135+250,YELLOW);
- else grx_box(81,Y0min+130+250,100,Y0min+135+250,COL_SFONDO);
- if (-37.5>=Velocita_y) grx_box(81,Y0min+123+250,100,Y0min+128+250,RED);
- else grx_box(81,Y0min+123+250,100,Y0min+128+250,COL_SFONDO);
- if (-40>=Velocita_y) grx_box(81,Y0min+116+250,100,Y0min+121+250,RED);
- else grx_box(81,Y0min+116+250,100,Y0min+121+250,COL_SFONDO);
- if (-42.5>=Velocita_y) grx_box(81,Y0min+109+250,100,Y0min+114+250,RED);
- else grx_box(81,Y0min+109+250,100,Y0min+114+250,COL_SFONDO);
-
-
- sem_post(&mutex);
-
-
- task_endcycle();
- }
-}
-
-
Index: pj/eli/eli.h
===================================================================
--- pj/eli/eli.h (revision 1344)
+++ pj/eli/eli.h (nonexistent)
@@ -1,173 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: eli.h,v 1.1.1.1 2002-09-02 09:37:45 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:45 $
- ------------
-
- This file is similar to the configuration of Hartik 3.3.1
-
-**/
-
-/*
- * Copyright (C) 2000 ALLEN-DESTRO and 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
- *
- */
-
-
-/***************************************/
-/* Corso di Informatica Industriale */
-/* Libreria con le funzioni di disegno */
-/* Creata da ALLEN-DESTRO */
-/***************************************/
-
-//########################################
-// Librerie standard del linguaggio C
-//#######################################
-#include <math.h>
-#include <stdlib.h>
-#include <string.h>
-
-//########################################
-// Librerie Hartik
-//########################################
-#include <kernel/kern.h>
-#include <drivers/glib.h>
-#include <drivers/keyb.h>
-#include <ll/i386/cons.h>
-#include <semaphore.h>
-
-//########################################
-// Definizione delle costanti del programma
-//########################################
-
-#define PER_DISEGNA 100000
-#define PER_MOLLA 100000
-#define PER_KILL 200000
-#define G 10
-#define DIM_EL 12
-#define DIM_PESO 10
-#define COL_EL YELLOW
-
-
-#define X0min 4 // Ascissa minima della finestra grafica
-#define Y0min 4 // Ordinata minima della finestra grafica
-#define X0max 796 // Ascissa massima della finestra grafica
-#define Y0max 596 // Ordinata massima della finestra grafica
-#define TERRA 400 // Ordinata della pista di atteraggio
-#define COL_SFONDO 0 // Colore di sfondo della finestra grafica
-#define COL_TESTO 7 // Colore del testo della finestra grafica
-#define COL_CORNICE RED // Colore cornici della finestra grafica
-#define DELTA_COL 32
-
-
-// Valore di pigreco
-#define PIGRECO 3.14159
-
-#define ELICOTTERO_S(x,y,dim,col,sfo) grx_disc(x,y,dim,col); \
- grx_box(x-dim,y,x+dim,y+dim,sfo); \
- grx_line(x-dim2,y-dim,x+dim2,y-dim,col); \
- grx_box(x-dim,y,x+(dim*2),y+(dim/3),col); \
- grx_line(x-dim,y+dim/2,x+2*dim,y+dim/2,col); \
- grx_circle(x+dim*2,y,dim/2,col); \
- grx_box(x-dim/10,y,x+dim/10,y+dim/2,col)
-
-#define ELICOTTERO_D(x,y,dim,col,sfo) grx_disc(x,y,dim,col); \
- grx_box(x-dim,y,x+dim,y+dim,sfo); \
- grx_line(x-dim2,y-dim,x+dim2,y-dim,col); \
- grx_box(x-(dim*2),y,x+dim,y+(dim/3),col); \
- grx_line(x-2*dim,y+dim/2,x+dim,y+dim/2,col); \
- grx_circle(x-dim*2,y,dim/2,col); \
- grx_box(x-dim/10,y,x+dim/10,y+dim/2,col)
-
-#define PESO(x,y,dim,col) grx_box(x-dim,y,x+dim,y+2*dim,col)
-
-#define MOLLA(x,y1,y2,col) { \
- int w; \
- for (w=y1;w<y2;w=w+2) grx_line(x-3,w,x+3,w,col); \
- }
-
-#define RUSPA_S(x,y,col,colvet) grx_box(x,y-20,x+2,y,col); \
- grx_line(x,y-10,x+5,y-10,col); \
- grx_box(x+5,y-30,x+20,y-5,col); \
- grx_box(x+5,y-10,x+40,y-5,col); \
- grx_disc(x+10,y-5,5,col); \
- grx_disc(x+30,y-5,5,col); \
- grx_box(x+5,y-25,x+12,y-15,colvet)
-
-#define RUSPA_D(x,y,col,colvet) grx_box(x-2,y-20,x,y,col); \
- grx_line(x-5,y-10,x,y-10,col); \
- grx_box(x-20,y-30,x-5,y-5,col); \
- grx_box(x-40,y-10,x-5,y-5,col); \
- grx_disc(x-10,y-5,5,col); \
- grx_disc(x-30,y-5,5,col); \
- grx_box(x-12,y-25,x-5,y-15,colvet)
-
-#define ESPLOSIONE(x,y) grx_box(x-2,y-2,x+1,y+1,RED+1); \
- grx_box(x-5,y-5,x-4,y-3,RED+1); \
- grx_box(x-6,y-2,x-4,y,RED+1); \
- grx_box(x+3,y+4,x+4,y+7,RED+1); \
- grx_box(x+5,y-6,x+8,y-4,RED+1); \
- grx_box(x-10,y+10,x-8,y+8,RED+1); \
- grx_box(x-1,y-10,x+1,y-8,RED+1); \
- grx_box(x-13,y-1,x-10,y+1,RED+1); \
- grx_box(x+8,y-7,x+10,y-5,RED+1); \
- grx_box(x,y+6,x-1,y+8,RED+1); \
- grx_box(x-DIM_PESO-1,y-1,x-DIM_PESO+1,y+1,RED+1); \
- grx_box(x-DIM_PESO-1,y+2DIM_PESO-1,x-DIM_PESO+1,y+2DIM_PESO+1,RED+1); \
- grx_box(x+DIM_PESO-1,y-1,x+DIM_PESO+1,y+1,RED+1); \
- grx_box(x+DIM_PESO-1,y+2DIM_PESO-1,x+DIM_PESO+1,y+2DIM_PESO+1,RED+1); \
- grx_box(x-1,y+DIM_PESO-1,x+1,y+DIM_PESO+1,RED+1); \
- grx_box(x+4,y+DIM_PESO-1,x+6,y+DIM_PESO+1,RED+1); \
-
-//#define PULISCI(x,y) grx_box(x-14,y-11,x+DIM_PESO+2,y+2*DIM_PESO+2,COL_SFONDO)
-#define PULISCI(x,y,d) grx_disc(x,y,d,COL_SFONDO)
-
-/*********************************************************************/
-/* */
-/* Funzione per disegnare gli elementi statici */
-/* */
-/*********************************************************************/
-extern char tastiera;
-extern long double Forza_x,Forza_y,Velocita_x,Velocita_y,Acc_x,Acc_y,Massa;
-// Definizione del semaforo per l'utilizzo della modalità grafica
-extern sem_t mutex;
-
-TASK disegna_stato(int i);
-
-
-
Index: pj/eli/initfile.c
===================================================================
--- pj/eli/initfile.c (revision 1344)
+++ pj/eli/initfile.c (nonexistent)
@@ -1,100 +0,0 @@
-/*
- * Project: S.Ha.R.K.
- *
- * Coordinators:
- * Giorgio Buttazzo <giorgio@sssup.it>
- * Paolo Gai <pj@gandalf.sssup.it>
- *
- * Authors :
- * Paolo Gai <pj@gandalf.sssup.it>
- * (see the web pages for full authors list)
- *
- * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
- *
- * http://www.sssup.it
- * http://retis.sssup.it
- * http://shark.sssup.it
- */
-
-/**
- ------------
- CVS : $Id: initfile.c,v 1.1.1.1 2002-09-02 09:37:45 pj Exp $
-
- File: $File$
- Revision: $Revision: 1.1.1.1 $
- Last update: $Date: 2002-09-02 09:37:45 $
- ------------
-
- This file is similar to the configuration of Hartik 3.3.1
-
-**/
-
-/*
- * 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 "modules/edf.h"
-#include "modules/cbs.h"
-#include "modules/rr.h"
-#include "modules/dummy.h"
-
-#include "modules/sem.h"
-#include "modules/hartport.h"
-#include "modules/cabs.h"
-
-#include "drivers/keyb.h"
-
-
-/+ sysyem tick in us +/
-#define TICK 1000
-
-/+ RR tick in us +/
-#define RRTICK 10000
-
-TIME __kernel_register_levels__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- EDF_register_level(0);
- RR_register_level(RRTICK, RR_MAIN_YES, mb);
- CBS_register_level(CBS_ENABLE_ALL, 0);
- dummy_register_level();
-
- SEM_register_module();
-
- CABS_register_module();
-
- return TICK;
-}
-
-TASK __init__(void *arg)
-{
- struct multiboot_info mb = (struct multiboot_info )arg;
-
- HARTPORT_init();
-
- KEYB_init(NULL);
-
- __call_main__(mb);
-
- return (void *)0;
-}
-

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