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/demos/branches/pj/orbit/orbit.c
0,0 → 1,344
/*
* 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: orbit.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
*
*/
 
/****************************************************************/
/* SIMULAZIONE DI MASSE CHE ORBITANO */
/****************************************************************/
 
#include <kernel/kern.h>
#include <drivers/glib.h>
#include <drivers/keyb.h>
#include <semaphore.h>
#include <stdlib.h>
#include <math.h>
 
#define MAX 11 /* numero massimo pianeti */
#define ESC 27 /* codice ASCII tasto ESCAPE */
#define XMAX 639 /* valore massimo coordinata X */
#define YMAX 479 /* valore massimo coordinata Y */
 
struct coord {
double x;
double y;
};
 
char fbuf[1000]; // buffer for reading a file
int flen; // file length
 
double mass[MAX]; /* vettore masse pianeti */
struct coord pos[MAX]; /* vettore posizioni attuali */
struct coord vel[MAX]; /* vettore velocita' iniziali */
 
int XGS, YGS; /* Coordinate centro spazio */
int RP, RT; /* raggio pianeta, raggio Terra */
int np; /* numero attuale di pianeti */
double G; /* Gravitazione Universale */
double tick; /* tick di sistema */
double delta; /* incremento temporale */
double scala; /* fattore grafico di scala */
 
// -------------------------------------------------------
// NOTA: %f o %lf significa double e %nf significa float
// -------------------------------------------------------
 
PID pid;
int period; /* task period */
int wcet; /* task wcet */
sem_t mutex; /* semaforo di mutua esclusione */
 
 
void get_par(void);
 
/*--------------------------------------------------------------*/
 
void my_fine(void *arg)
{
grx_close();
}
 
/*--------------------------------------------------------------*/
 
int inside(int x, int y)
{
return ((x > RP) && (x < XMAX-RP) &&
(y > RP) && (y < YMAX-RP));
}
 
/*--------------------------------------------------------------*/
 
TASK massa(void *xxx)
{
int i = (int)xxx; /* parametro del task */
int gx, gy; /* coordinate grafiche pallina */
int ox, oy; /* vecchia posizione pallina */
int j;
int r, col; /* raggio e colore pianeta */
double dt; /* incremento temporale */
double dist=0.0, dx, dy; /* distanze pianeta-pianeta */
double dist0=0.0; /* distanze pianeta-Terra */
double x, y; /* posizione del pianeta */
double vx, vy; /* velocita' del pianeta */
double ax, ay; /* accelerazione del pianeta */
double k; /* variabile ausiliaria */
double arg; /* variabile di appoggio */
 
x = pos[i].x; y = pos[i].y;
vx = vel[i].x; vy = vel[i].y;
ox = XGS + x / scala;
oy = YGS + y / scala;
dt = delta;
 
do {
x = pos[i].x;
y = pos[i].y;
ax = ay = 0.0;
for (j=0; j<np; j++) {
if (j != i) {
dx = pos[j].x - x;
dy = pos[j].y - y;
arg = dx*dx + dy*dy;
dist = sqrt(arg);
if (dist < RP*scala) dist = RP*scala;
k = G * mass[j] / (dist*dist*dist);
ax += k * dx;
ay += k * dy;
}
if (j == 0) dist0 = dist - (RP+RT)*scala;
}
x += vx*dt + 0.5*ax*dt*dt;
y += vy*dt + 0.5*ay*dt*dt;
vx += ax * dt;
vy += ay * dt;
 
gx = XGS + x / scala;
gy = YGS + y / scala;
 
r = RP;
col = i + 1;
 
sem_wait(&mutex);
grx_disc(ox,oy,r,0);
grx_disc(gx,gy,r,col);
sem_post(&mutex);
 
pos[i].x = x; pos[i].y = y;
ox = gx; oy = gy;
 
task_endcycle();
 
} while ((dist0 > 0) && inside(gx,gy));
 
sem_wait(&mutex);
grx_disc(ox,oy,r,0);
grx_disc(XGS,YGS,RT,12);
grx_circle(XGS,YGS,RT,14);
sem_post(&mutex);
 
return NULL;
}
 
/*--------------------------------------------------------------*/
/* MAIN */
/*--------------------------------------------------------------*/
 
TASK main()
{
HARD_TASK_MODEL m;
char c; /* carattere letto da tastiera */
 
set_exchandler_grx();
sys_atrunlevel(my_fine, NULL, RUNLEVEL_BEFORE_EXIT);
 
sem_init(&mutex,0,1);
 
get_par();
keyb_getch(BLOCK);
 
grx_init();
grx_open(640, 480, 8);
 
grx_disc(XGS,YGS,RT,12);
grx_circle(XGS,YGS,RT,14);
 
np = 0;
 
do {
if (np < MAX-1) {
np++;
hard_task_default_model(m);
hard_task_def_arg (m, (void *)np);
hard_task_def_wcet (m, wcet);
hard_task_def_mit (m, period);
hard_task_def_usemath (m);
pid = task_create("massa", massa, &m, NULL);
if (pid == NIL) {
grx_close();
perror("Could not create task");
c = keyb_getch(BLOCK);
sys_abort(1);
}
task_activate(pid);
}
c = keyb_getch(BLOCK);
 
} while (c != ESC);
 
sys_end();
 
return 0;
}
 
/*------------------------------------------------------*/
/* file reading */
/*------------------------------------------------------*/
 
void read_file(void)
{
int err;
DOS_FILE *fp;
 
fp = DOS_fopen("orbit.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 orbit.dat\n", flen);
 
DOS_fclose(fp);
}
 
/*------------------------------------------------------*/
/* get data from buffer */
/*------------------------------------------------------*/
 
void get_par(void)
{
int x = 0;
int i;
double vx, vy;
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%d", &period);
cprintf("period = %d\n", period);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%d", &wcet);
cprintf("wcet = %d\n", wcet);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &delta);
cprintf("delta = %f\n", delta);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &scala);
cprintf("scala = %f\n", scala);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &G);
cprintf("G = %20.15f\n", G);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%d", &RP);
cprintf("RP = %d\n", RP);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%d", &RT);
cprintf("RT = %d\n", RT);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%d", &XGS);
cprintf("XGS = %d\n", XGS);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%d", &YGS);
cprintf("YGS = %d\n", YGS);
 
for (i=0; i<MAX; i++) {
while ((fbuf[x] != ':') && (x < flen)) x++;
x++; x++;
sscanf(&fbuf[x], "%f", &mass[i]);
 
while ((fbuf[x] != '\t') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &vx);
 
while ((fbuf[x] != '\t') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &vy);
pos[i].x = vx; pos[i].y = vy;
 
while ((fbuf[x] != '\t') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &vx);
 
while ((fbuf[x] != '\t') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &vy);
vel[i].x = vx; vel[i].y = vy;
 
cprintf("mass[%d] = %f\t", i, mass[i]);
cprintf("pos: %f, %f\t", pos[i].x, pos[i].y);
cprintf("vel: %f, %f\n", vel[i].x, vel[i].y);
}
}
 
/*--------------------------------------------------------------*/
 
/demos/branches/pj/orbit/initfile.c
0,0 → 1,124
/*
* 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;
}
 
/demos/branches/pj/orbit/orbit.dat
0,0 → 1,21
----------------------------------------------------
period: 10000 wcet: 100
delta: 1. scala: 150.
G: 6.6e-15
r_pianeta: 4 r_Terra: 8
X_centro: 320 Y_centro: 240
 
------------------- pianeti ------------------------
massa pos.x pos.y vel.x vel.y
0: 6.0e21 0. 0. 0. 0.
1: 1.0e21 10000. 8000. -60. 0.
2: 1.0e8 5000. 0. 0. 80.
3: 5.0e18 10000. 8000. -50. 0.
4: 1.0e9 10000. 8000. -40. 20.
5: 1.0e15 1000. 5000. -80. 0.
6: 1.0e5 1000. 5000. -80. 0.
7: 1.0e17 1000. 5000. -80. 0.
8: 1.0e5 1000. 5000. -80. 0.
9: 1.0e5 1000. 5000. -80. 0.
10: 1.0e5 1000. 5000. -80. 0.
----------------------------------------------------
/demos/branches/pj/orbit/makefile
0,0 → 1,16
#
#
#
 
ifndef BASE
BASE=../..
endif
include $(BASE)/config/config.mk
 
PROGS= orbit
 
include $(BASE)/config/example.mk
 
orbit:
make -f $(SUBMAKE) APP=orbit INIT= OTHEROBJS="initfile.o" OTHERINCL=
 
/demos/branches/pj/thdemo/fft.c
0,0 → 1,533
// FFT Part
/*
 
FFTPlay 1.0
-----------
 
This application reads data from the audio microphone and then put it
to the screen in a graphical oscilloscope-like form (both standard Hartik
SB driver and Alsa driver can be used).
 
The application also calculate a FFT on the latest values, and displays
the power spectrum in tho ways, one like an equalizator, and the other in a
2D form.
 
A resolution of 1024x768, 64K colors is used.
 
The task set is composed by these tasks and functions:
 
Self buffering functions (SB only)
----------------------------------
this function takes the samples read by the mic and then makes a window
with the last WINDATA_NSAMPLES samples. The window is then put in
the CAB windata.
 
Task raw and task mixer (ALSA only)
-----------------------------------
These tasks are used with the Alsa driver; because it doesn't support the
self-buffering mode, we have to do a forever cycle in witch we have to read
all the data. Then the data are managed like the self-buffering functions of
the SB driver or sent to the mixer task (with a STREAM mailbox) which makes
the window.
(This approach is not good for realtime...)
 
Task wave
---------
This task read the last window and then put it on the screen in a wave form
on the top of the screen.
The task's period is set to 40 ms (25 fps).
 
Task fft
--------
This task read the last window and then it computes the FFT.
With the FFT data it computes the power spectrum, whitch is sent to the
CAB pwrdata.
The task's period is set to 10 ms (good for the 2D story task).
This task is the only Hard Task.
 
Task equ
--------
This task read the last power spectrum and displays it in a graphical
form, like a hi-fi equalizator.
The Histograms can be white or coloured like the equ2D task (see EQU_SHADE)
The task's period is set to 40 ms (25 fps).
 
Task equ2D
----------
This task read the lasf power spectrum and displays it in a graphical
one-line form. Each pixel is a power coefficient, and its colour shade
from black (no power) to red (high power) passing through green and blue.
The task display the last EQU2D_WIDTH power lines.
The task's period is set to 10 ms (good for the 2D story task).
 
****************************************************************************
TASK LOAD
****************************************************************************
 
period wcet
task tick (ms) us %
--------------------------------------------------------
sound driver 24->3 12->1.5 200 0.016->0.133
wave 80 40 11500 0.2875
fft 20 10 3000 0.3000
equ 80 40 7000 0.1750
equ2D 20 10 500 0.0500
-------------
0.812 (last 4)
*/
 
#include "demo.h"
//#include <ll/ll.h>
 
//#include <kernel/types.h>
#include <kernel/model.h>
#include <kernel/func.h>
 
#include <modules/cabs.h>
 
//#include <string.h>
//#include <stdlib.h>
#include <semaphore.h>
 
//#include <drivers/keyb.h>
//#include <drivers/crtwin.h>
#include <drivers/glib.h>
#include <drivers/sound.h>
#include <ports/rfftw.h>
 
/* CAB ports... */
CAB cab_windata; /* a window on the last WINDATA_DIM samples */
CAB cab_pwrdata; /* the last power spectrum */
 
/* for the cab_windata */
typedef struct {
int start;
SAMPLE sample[WINDATA_NSAMPLES];
} window;
 
/* for the cab_pwrdata */
typedef struct {
fftw_real p[PWR_NSAMPLES];
} power;
 
 
// win is global... because is used by raw_infun...
window win;
 
/*
This is the self-buffering function: read the samples and put their mean
value in a CAB
*/
int raw_infun(void *b)
{
int i;
char *w;
SAMPLE *audiobuf = (SAMPLE *)b;
 
for (i=0; i<rawdata_nsamples/2; i++) {
win.sample[win.start] = audiobuf[i];
win.start = (win.start+1) % WINDATA_NSAMPLES;
}
 
w = cab_reserve(cab_windata);
memcpy(w, &win, sizeof(window));
cab_putmes(cab_windata,w);
 
#if defined(NO_GRX)
cprintf("X"); //"XXX%d\n",win.sample[win.start]);
#endif
return 0;
}
 
 
 
void init_rawdata()
{
int i;
char *w;
 
win.start = 0;
for (i=0; i<WINDATA_NSAMPLES; i++)
win.sample[i] = 0;
 
w = cab_reserve(cab_windata);
memcpy(w, &win, sizeof(window));
cab_putmes(cab_windata,w);
}
 
 
 
 
 
TASK wave_task()
{
window *p;
int x,y;
int s;
 
while(1)
{
p = (window *)cab_getmes(cab_windata);
 
/* let's print the wave */
mutex_lock(&mutex);
for(x = WAVE_X, s = p->start;
x < WAVE_X+WAVE_NSAMPLES;
x++, s = (s+1)%WINDATA_NSAMPLES )
{
y = WAVE_Y + (WAVE_HEIGHT * p->sample[s]) / MAX_SAMPLE;
SHORT_CRITICAL_SECTIONS(x);
grx_plot(x,y,white);
}
mutex_unlock(&mutex);
 
task_endcycle();
 
/* let's erase the wave */
mutex_lock(&mutex);
for(x = WAVE_X, s = p->start;
x < WAVE_X+WAVE_NSAMPLES;
x++, s = (s+1)%WINDATA_NSAMPLES )
{
y = WAVE_Y + (WAVE_HEIGHT * p->sample[s]) / MAX_SAMPLE;
SHORT_CRITICAL_SECTIONS(x);
grx_plot(x,y,black);
}
mutex_unlock(&mutex);
 
cab_unget(cab_windata,(char *)p);
 
}
}
 
 
rfftw_plan plan;
 
void fft_close(void *arg)
{
rfftw_destroy_plan(plan);
}
 
 
TASK fft_task()
{
fftw_real in[FFT_NSAMPLES], out[FFT_NSAMPLES];
power power_spectrum;
 
#if defined(NO_GRX)
fftw_real max = 0.0;
#endif
 
char *m;
 
int k, i;
 
window *p;
 
plan = rfftw_create_plan(FFT_NSAMPLES, FFTW_REAL_TO_COMPLEX, FFTW_ESTIMATE);
 
sys_atrunlevel(fft_close, NULL, RUNLEVEL_BEFORE_EXIT);
 
while(1)
{
/* Let's prepare the intput FFT data */
p = (window *)cab_getmes(cab_windata);
 
for (k = 0, i = p->start;
k < FFT_NSAMPLES;
k++, i = (i+1)%WINDATA_NSAMPLES)
in[k] = p->sample[i]/FFT_SCALE;
 
cab_unget(cab_windata,(char *)p);
 
/* zero-padding if needed */
for (k=WINDATA_NSAMPLES; k < FFT_NSAMPLES; k++)
in[k] = 0.0;
 
rfftw_one(plan, in, out);
 
/* power spectrum computation */
power_spectrum.p[0] = out[0]*out[0]; /* DC component */
for (k = 1; k < PWR_NSAMPLES; ++k) /* (k < N/2 rounded up) */
power_spectrum.p[k] = out[k]*out[k] + out[FFT_NSAMPLES-k]*out[FFT_NSAMPLES-k];
if (FFT_NSAMPLES % 2 == 0) /* N is even */
power_spectrum.p[FFT_NSAMPLES/2] = out[FFT_NSAMPLES/2]*out[FFT_NSAMPLES/2]; /* Nyquist freq. */
 
m = cab_reserve(cab_pwrdata);
memcpy(m, &power_spectrum, sizeof(power));
cab_putmes(cab_pwrdata,m);
 
#if defined(NO_GRX)
max = 0.0;
for (k=0; k<PWR_NSAMPLES; k++)
if (power_spectrum.p[k] > max)
max = power_spectrum.p[k];
 
//cprintf("%f %f\n",max,(max / EQU_SCALE) );
#endif
 
task_endcycle();
 
}
}
 
/* structure is like the wave task... */
TASK equ_task()
{
power *p;
 
int x[PWR_NSAMPLES];
int y;
int s;
 
int r,g,b;
 
while(1)
{
p = (power *)cab_getmes(cab_pwrdata);
 
/* print the lines */
mutex_lock(&mutex);
for(y = EQU_Y, s = 0;
s < EQU_NSAMPLES;
y++, s++ )
{
x[s] = (int)(p->p[s] / EQU_SCALE);
 
if (x[s] > EQU_HEIGHT)
x[s] = EQU_HEIGHT;
 
x[s] = EQU_X - x[s];
 
 
#if defined(EQU_SHADE)
 
/* like the task equ2d... */
r = (int)(p->p[s] / EQU2D_SCALE);
if (r > EQU2D_CLIP)
r = EQU2D_CLIP;
 
if (r< 64) g = r * 4;
else if (r<128) g = (128-r) * 4;
else g = 0;
 
if (r<128) b = 0;
else if (r<192) b = (r-128) * 4;
else b = (256-r) * 4;
 
SHORT_CRITICAL_SECTIONS(y);
grx_line(EQU_X,y,x[s],y,rgb16(r,g,b));
#else
SHORT_CRITICAL_SECTIONS(y);
grx_line(EQU_X,y,x[s],y,white);
#endif
}
mutex_unlock(&mutex);
 
task_endcycle();
 
/* erase the lines... */
mutex_lock(&mutex);
for(y = EQU_Y, s = 0;
s < EQU_NSAMPLES;
y++, s++ )
{
SHORT_CRITICAL_SECTIONS(y);
grx_line(EQU_X,y,x[s],y,black);
}
mutex_unlock(&mutex);
 
cab_unget(cab_pwrdata,(char *)p);
 
}
}
 
TASK equ2d_task()
{
power *p;
 
int pwrint;
 
int x = 0;
 
int y,s;
 
int r,g,b;
 
while(1)
{
 
p = (power *)cab_getmes(cab_pwrdata);
 
/* print the line */
mutex_lock(&mutex);
 
for(y = EQU2D_Y, s = 0;
s < EQU2D_NSAMPLES;
y++, s++ )
{
pwrint = (int)(p->p[s] / EQU2D_SCALE);
 
if (pwrint > EQU2D_CLIP)
pwrint = EQU2D_CLIP;
 
r = pwrint;
 
if (pwrint< 64) g = pwrint * 4;
else if (pwrint<128) g = (128-pwrint) * 4;
else g = 0;
 
if (pwrint<128) b = 0;
else if (pwrint<192) b = (pwrint-128) * 4;
else b = (256-pwrint) * 4;
 
SHORT_CRITICAL_SECTIONS(y);
grx_plot(EQU2D_X+x,y,rgb16(r,g,b));
}
 
x = (x+1) % EQU2D_WIDTH;
grx_line(EQU2D_X+x,EQU2D_Y,EQU2D_X+x,EQU2D_Y+EQU2D_NSAMPLES-1,white);
 
mutex_unlock(&mutex);
 
cab_unget(cab_pwrdata,(char *)p);
 
task_endcycle();
}
}
 
 
void init_fftplay(int freq)
{
SOFT_TASK_MODEL m3, m4, m5, m6;
 
PID p3,p4,p5,p6;
 
cab_windata = cab_create("windata", sizeof(window), 5);
cab_pwrdata = cab_create("pwr", sizeof(power), 5);
 
/* Init the sound lib */
sound_init((rawdata_nsamples * sizeof(SAMPLE)), NULL);
sound_info();
 
/* Init the data used by the raw_infun */
init_rawdata();
 
/* Start the self-buffering sampling operation */
sound_setfun(raw_infun, (int (*)(void *))-1);
sound_sample(NULL, freq, 0, DMA_OP | PCM16 | MYFUN, NULL);
 
soft_task_default_model(m3);
soft_task_def_level(m3,1);
soft_task_def_period(m3, PERIOD_WAVE);
soft_task_def_met(m3, WCET_WAVE);
soft_task_def_ctrl_jet(m3);
soft_task_def_group(m3, 1);
p3 = task_create("wave", wave_task, &m3, NULL);
if (p3 == -1) {
grx_close();
perror("FFTPlay: Could not create task <wave>\n");
ll_abort(54);
sys_end();
}
 
soft_task_default_model(m4);
soft_task_def_level(m4,1);
soft_task_def_period(m4, PERIOD_FFT);
soft_task_def_met(m4, WCET_FFT);
soft_task_def_group(m4, 1);
soft_task_def_stack(m4,32*1024);
soft_task_def_usemath(m4);
soft_task_def_ctrl_jet(m4);
p4 = task_create("fft", fft_task, &m4, NULL);
if (p4 == -1) {
grx_close();
perror("FFTPlay: Could not create task <fft>\n");
ll_abort(54);
sys_end();
}
 
soft_task_default_model(m5);
soft_task_def_level(m5,1);
soft_task_def_period(m5, PERIOD_EQU);
soft_task_def_met(m5, WCET_EQU);
soft_task_def_group(m5, 1);
soft_task_def_stack(m5,32*1024);
soft_task_def_usemath(m5);
soft_task_def_ctrl_jet(m5);
p5 = task_create("equ", equ_task, &m5, NULL);
if (p5 == -1) {
grx_close();
perror("FFTPlay: Could not create task <equ>\n");
ll_abort(54);
perror("FFTPlay: Could not create task <equ>\n");
sys_end();
}
 
soft_task_default_model(m6);
soft_task_def_level(m6,1);
soft_task_def_period(m6, PERIOD_EQU2D);
soft_task_def_met(m6, WCET_EQU2D);
soft_task_def_group(m6, 1);
soft_task_def_stack(m6,32*1024);
soft_task_def_usemath(m6);
soft_task_def_ctrl_jet(m6);
p6 = task_create("equ2D", equ2d_task, &m6, NULL);
if (p6 == -1) {
grx_close();
perror("FFTPlay: Could not create task <equ2d>\n");
ll_abort(54);
perror("FFTPlay: Could not create task <equ2D>\n");
sys_end();
}
}
 
void scenario_fftplay(int f)
{
int i,y;
char s[50];
 
grx_line(0,WAVE_Y-WAVE_HEIGHT-1,383,WAVE_Y-WAVE_HEIGHT-1,red);
grx_line(0,WAVE_Y+WAVE_HEIGHT+1,383,WAVE_Y+WAVE_HEIGHT+1,red);
grx_line(0,EQU_Y-11 ,383,EQU_Y-11 ,red);
 
 
 
/* lines near the frequencies */
grx_line(EQU_X +1,EQU_Y,EQU_X +1,EQU_Y+EQU_NSAMPLES-1,red);
grx_line(EQU2D_X-1,EQU_Y,EQU2D_X-1,EQU_Y+EQU_NSAMPLES-1,red);
 
for (i=0; i<SCENARIO_NLABEL; i++)
{
y = (i*EQU_NSAMPLES)/(SCENARIO_NLABEL-1);
if (i == SCENARIO_NLABEL-1) y--;
grx_line(EQU_X +1,EQU_Y+y,EQU_X +4,EQU_Y+y,red);
grx_line(EQU2D_X-1,EQU_Y+y,EQU2D_X-4,EQU_Y+y,red);
 
itoa((i*f)/(SCENARIO_NLABEL-1),s);
grx_text(s,EQU_X+20,EQU_Y+y-8,white,black);
}
 
grx_text("Power Spectrum" , 0, EQU_Y-21, rgb16(0,0,255), black);
grx_text("Power Spectrum Story", EQU2D_X+EQU2D_WIDTH-160, EQU_Y-21, rgb16(0,0,255), black);
grx_text("Waveform" , 0, WAVE_Y-WAVE_HEIGHT-10, rgb16(0,0,255), black);
}
 
void compute_params(int *freq,WORD *nsamp)
{
if (*freq< 2000)
{
cprintf("WARNING: frequency less than 2000Hz\n ---> frequency set to 2000Hz\n");
*freq = 2000;
}
if (*freq<= 8000) { *nsamp = 64; return; } //128
if (*freq<=16000) { *nsamp = 64; return; } //256
if (*freq<=24000) { *nsamp = 64; return; } //512
if (*freq>48000)
{
cprintf("WARNING: frequency greather than 48000Hz\n ---> frequency set to 48000Hz\n");
*freq = 48000;
}
if (*freq<=48000) { *nsamp = 64; return; } //1024
}
 
/demos/branches/pj/thdemo/initfile.c
0,0 → 1,146
/*
* Project: HARTIK (HA-rd R-eal TI-me K-ernel)
*
* Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
* Gerardo Lamastra <gerardo@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://hartik.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 $
------------
 
System initialization file
 
h3pi.c
 
This file is equal to hartik3.c plus the resources module...
 
**/
 
/*
* 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 1000
 
/*+ RR tick in us +*/
#define RRTICK 10000
//#define RRTICK 3000
 
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=%ld\n",sys_gettime(NULL));
KEYB_init(NULL);
kern_printf("TIME=%ld\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
/demos/branches/pj/thdemo/demo.c
0,0 → 1,294
/* Project: HARTIK 3.0 */
/* Description: Hard Real TIme Kernel for 386 & higher machines */
/* Author: Paolo Gai <pgai@rsk.it> */
/* Advanced Linux Sound Architecture (ALSA) */
/* Copyright (c) by Jaroslav Kysela <perex@jcu.cz> */
/* Luca Abeni */
/* FFTW by M. Frigo and S. G. Johnson */
 
/* Date: 08/09/1999 */
 
/* File: fftplay.c */
/* Revision: 1.00 (Kernel 0.1.4; Library 0.0.9; Util 0.0.4) */
 
 
 
#include "demo.h"
 
//#include <kernel/types.h>
//#include <kernel/model.h>
#include <kernel/func.h>
 
//#include <modules/cabs.h>
 
#include <string.h>
#include <stdlib.h>
 
#include <drivers/keyb.h>
//#include <drivers/crtwin.h>
#include <drivers/glib.h>
//#include <drivers/sound.h>
//#include <ports/rfftw.h>
 
 
 
/* Informations about the sampling rate and buffers */
WORD rawdata_nsamples;
WORD rawdata_buffer_size;
WORD rawdata_freq;
 
/* 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( "Hartik FFT Play 1.0\n" );
cprintf( "-----------------------\n" );
cprintf( "by Paolo Gai 1999\n" );
cprintf( " <pj@hartik.sssup.it>\n" );
cprintf( "-----------------------\n" );
}
 
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 display_jet(PID i)
{
char st[200];
TIME sum, max;
int n;
 
if (jet_getstat(i, &sum, &max, &n, NULL) != -1) {
if (n==0) n=1;
sprintf(st, "PID=%2d st=%3d Mean=%5d Max=%5d na=%10s",
(int)i,
(int)proc_table[i].status, (int)sum/n, (int)max,
proc_table[i].name);
mutex_lock(&mutex);
grx_text(st, 0, 400+i*8, 255, 0);
mutex_unlock(&mutex);
}
}
 
 
 
void scenario(int f)
{
grx_text("HARTIK 4.0 - LEGO Version" , 0,0, rgb16(0,255,0), black );
grx_text("Thesis Demo", 0,8, rgb16(0,255,0), black );
 
#ifdef FFT_ON
scenario_fftplay(f);
#endif
 
#ifdef FRAMEGRABBER_ON
scenario_framegrabber();
#endif
 
#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("\nHartik Exception raised!!!"
"\nTime (s:ns) :%ld:%ld"
"\nException number:%d"
"\nPID :%d\n",
t.tv_sec, t.tv_nsec, info->si_value.sival_int,
info->si_task);
sys_end();
// ll_abort(5);
}
 
void my_close(void *arg)
{
grx_close();
// sys_status(3);
}
 
 
void endfun(KEY_EVT *k)
{
grx_close();
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:%ld.%ld p:%d handler:%d\n",
(int)p->par, p->time.tv_sec, p->time.tv_nsec/1000, (int)p, (int)p->handler);
}
kern_sti();
}
 
int main(int argc, char **argv)
{
int modenum;
 
int f;
 
KEY_EVT k;
 
struct sigaction action;
 
srand(4);
 
version();
 
#ifdef FRAMEGRABBER_ON
if (argc == 1)
{
cprintf("type x fftplay <freq>");
return 0;
}
 
f = atoi(argv[1]);
compute_params(&f,&rawdata_nsamples);
#endif
 
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);
 
/* Init the standard Hartik exception handler */
/* Set the signal action */
action.sa_flags = SA_SIGINFO;
action.sa_sigaction = demo_exc_handler;
action.sa_handler = 0;
sigfillset(&action.sa_mask); /* we block all the other signals... */
 
if (sigaction(SIGHEXC, &action, NULL) == -1) {
perror("Error initializing signals...");
sys_end();
}
 
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(f/2);
// grx_close();
// clear();
#ifdef FFT_ON
init_fftplay(f);
#endif
 
#ifdef FRAMEGRABBER_ON
init_framegrabber();
#endif
 
#ifdef JET_ON
init_jetcontrol();
#endif
 
#ifdef BALL_ON
init_ball();
#endif
 
group_activate(1);
 
#ifdef FRAMEGRABBER_ON
start_framegrabber();
#endif
 
return 0;
}
 
 
/demos/branches/pj/thdemo/fftplay.c
0,0 → 1,770
/* Project: HARTIK 3.0 */
/* Description: Hard Real TIme Kernel for 386 & higher machines */
/* Author: Paolo Gai <pgai@rsk.it> */
/* Advanced Linux Sound Architecture (ALSA) */
/* Copyright (c) by Jaroslav Kysela <perex@jcu.cz> */
/* Luca Abeni */
/* FFTW by M. Frigo and S. G. Johnson */
 
/* Date: 08/09/1999 */
 
/* File: fftplay.c */
/* Revision: 1.00 (Kernel 0.1.4; Library 0.0.9; Util 0.0.4) */
 
 
/*
 
FFTPlay 1.0
-----------
 
This application reads data from the audio microphone and then put it
to the screen in a graphical oscilloscope-like form (both standard Hartik
SB driver and Alsa driver can be used).
 
The application also calculate a FFT on the latest values, and displays
the power spectrum in tho ways, one like an equalizator, and the other in a
2D form.
 
A resolution of 1024x768, 64K colors is used.
 
The task set is composed by these tasks and functions:
 
Self buffering functions (SB only)
----------------------------------
this function takes the samples read by the mic and then makes a window
with the last WINDATA_NSAMPLES samples. The window is then put in
the CAB windata.
 
Task raw and task mixer (ALSA only)
-----------------------------------
These tasks are used with the Alsa driver; because it doesn't support the
self-buffering mode, we have to do a forever cycle in witch we have to read
all the data. Then the data are managed like the self-buffering functions of
the SB driver or sent to the mixer task (with a STREAM mailbox) which makes
the window.
(This approach is not good for realtime...)
 
Task wave
---------
This task read the last window and then put it on the screen in a wave form
on the top of the screen.
The task's period is set to 40 ms (25 fps).
 
Task fft
--------
This task read the last window and then it computes the FFT.
With the FFT data it computes the power spectrum, whitch is sent to the
CAB pwrdata.
The task's period is set to 10 ms (good for the 2D story task).
This task is the only Hard Task.
 
Task equ
--------
This task read the last power spectrum and displays it in a graphical
form, like a hi-fi equalizator.
The Histograms can be white or coloured like the equ2D task (see EQU_SHADE)
The task's period is set to 40 ms (25 fps).
 
Task equ2D
----------
This task read the lasf power spectrum and displays it in a graphical
one-line form. Each pixel is a power coefficient, and its colour shade
from black (no power) to red (high power) passing through green and blue.
The task display the last EQU2D_WIDTH power lines.
The task's period is set to 10 ms (good for the 2D story task).
 
****************************************************************************
TASK LOAD
****************************************************************************
 
period wcet
task tick (ms) us %
--------------------------------------------------------
sound driver 24->3 12->1.5 200 0.016->0.133
wave 80 40 11500 0.2875
fft 20 10 3000 0.3000
equ 80 40 7000 0.1750
equ2D 20 10 500 0.0500
-------------
0.812 (last 4)
*/
 
#include <ll/ll.h>
 
#include <kernel/types.h>
#include <kernel/model.h>
#include <kernel/func.h>
 
#include <modules/cabs.h>
 
#include <string.h>
#include <stdlib.h>
#include <semaphore.h>
 
#include <drivers/keyb.h>
#include <drivers/crtwin.h>
#include <drivers/glib.h>
#include <drivers/sound.h>
#include <ports/rfftw.h>
 
/* now the load constants... */
 
#define WCET_WAVE 11500
#define WCET_FFT 3000
#define WCET_EQU 500
#define WCET_EQU2D 500
 
#define PERIOD_WAVE 40000
#define PERIOD_FFT 10000
#define PERIOD_EQU 40000
#define PERIOD_EQU2D 10000
 
/* define if shorts critical sections wanted */
#define SHORT_CRITICAL_SECTIONS(x) \
if (!((x)%64)) \
{ \
sem_post(&mutex); \
sem_wait(&mutex); \
}
 
/* define if you want NRT or SOFT... */
#define TASK_TYPE SOFT
//#define TASK_TYPE NRT
 
 
 
/* Only 4 Debug... */
/*#define NO_GRX */
 
/* Samples are 16-bit signed integers */
typedef short SAMPLE;
#define MAX_SAMPLE 32768
 
/* Informations about the sampling rate and buffers */
WORD rawdata_nsamples;
WORD rawdata_buffer_size;
WORD rawdata_freq;
 
/* Numbers of samples of the sample window */
#define WINDATA_NSAMPLES 1024
 
/* task WAVE */
/* the point (wave_x,wave_y) is on the center left of the area... */
#define WAVE_NSAMPLES 1024
#define WAVE_X 0
#define WAVE_Y 130
#define WAVE_HEIGHT 80
 
/* task FFT */
#define FFT_NSAMPLES WINDATA_NSAMPLES
#define PWR_NSAMPLES (FFT_NSAMPLES/2+1)
 
/* task EQU */
/* the point (equ_x, equ_y) is the top right corner */
#define EQU_NSAMPLES PWR_NSAMPLES
#define EQU_X 170
#define EQU_Y 255
#define EQU_HEIGHT 170
#define EQU_SHADE
 
/* task EQU2D */
/* the point (equ2d_x, equ2d_y) is the top left corner */
#define EQU2D_NSAMPLES EQU_NSAMPLES
#define EQU2D_X 255
#define EQU2D_Y EQU_Y
#define EQU2D_WIDTH 768
#define EQU2D_CLIP 255
 
/* scenario */
#define SCENARIO_NLABEL 16
 
/* Scale factors */
#define FFT_SCALE (16384.0)
#define EQU_SCALE (32.0)
#define EQU2D_SCALE (8.0)
//#define EQU_SCALE (64.0)
//#define EQU2D_SCALE (16.0)
 
 
/* CAB ports... */
CAB cab_windata; /* a window on the last WINDATA_DIM samples */
CAB cab_pwrdata; /* the last power spectrum */
 
/* for the cab_windata */
typedef struct {
int start;
SAMPLE sample[WINDATA_NSAMPLES];
} window;
 
/* for the cab_pwrdata */
typedef struct {
fftw_real p[PWR_NSAMPLES];
} power;
 
/* graphic mutex... */
sem_t mutex;
 
// win is global... because is used by raw_infun...
window win;
 
 
 
/* useful colors... */
int white;
int black;
int red;
 
static void version( void )
{
cprintf( "Hartik FFT Play 1.0\n" );
cprintf( "-----------------------\n" );
cprintf( "by Paolo Gai 1999\n" );
cprintf( " <pj@hartik.sssup.it>\n" );
cprintf( "-----------------------\n" );
}
 
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;
}
 
 
 
/*
This is the self-buffering function: read the samples and put their mean
value in a CAB
*/
int raw_infun(void *b)
{
int i;
char *w;
SAMPLE *audiobuf = (SAMPLE *)b;
 
for (i=0; i<rawdata_nsamples/2; i++) {
win.sample[win.start] = audiobuf[i];
win.start = (win.start+1) % WINDATA_NSAMPLES;
}
 
w = cab_reserve(cab_windata);
memcpy(w, &win, sizeof(window));
cab_putmes(cab_windata,w);
 
#if defined(NO_GRX)
cprintf("X"); //"XXX%d\n",win.sample[win.start]);
#endif
return 0;
}
 
 
 
void init_rawdata()
{
int i;
char *w;
 
win.start = 0;
for (i=0; i<WINDATA_NSAMPLES; i++)
win.sample[i] = 0;
 
w = cab_reserve(cab_windata);
memcpy(w, &win, sizeof(window));
cab_putmes(cab_windata,w);
}
 
 
 
 
 
TASK wave_task()
{
window *p;
int x,y;
int s;
 
while(1)
{
p = (window *)cab_getmes(cab_windata);
 
/* let's print the wave */
sem_wait(&mutex);
for(x = WAVE_X, s = p->start;
x < WAVE_X+WAVE_NSAMPLES;
x++, s = (s+1)%WINDATA_NSAMPLES )
{
y = WAVE_Y + (WAVE_HEIGHT * p->sample[s]) / MAX_SAMPLE;
SHORT_CRITICAL_SECTIONS(x);
grx_plot(x,y,white);
}
sem_post(&mutex);
 
task_endcycle();
 
/* let's erase the wave */
sem_wait(&mutex);
for(x = WAVE_X, s = p->start;
x < WAVE_X+WAVE_NSAMPLES;
x++, s = (s+1)%WINDATA_NSAMPLES )
{
y = WAVE_Y + (WAVE_HEIGHT * p->sample[s]) / MAX_SAMPLE;
SHORT_CRITICAL_SECTIONS(x);
grx_plot(x,y,black);
}
sem_post(&mutex);
 
cab_unget(cab_windata,(char *)p);
 
}
}
 
 
rfftw_plan plan;
 
void fft_close(void *arg)
{
rfftw_destroy_plan(plan);
}
 
 
TASK fft_task()
{
fftw_real in[FFT_NSAMPLES], out[FFT_NSAMPLES];
power power_spectrum;
 
#if defined(NO_GRX)
fftw_real max = 0.0;
#endif
 
char *m;
 
int k, i;
 
window *p;
 
plan = rfftw_create_plan(FFT_NSAMPLES, FFTW_REAL_TO_COMPLEX, FFTW_ESTIMATE);
 
sys_atrunlevel(fft_close, NULL, RUNLEVEL_BEFORE_EXIT);
 
while(1)
{
/* Let's prepare the intput FFT data */
p = (window *)cab_getmes(cab_windata);
 
for (k = 0, i = p->start;
k < FFT_NSAMPLES;
k++, i = (i+1)%WINDATA_NSAMPLES)
in[k] = p->sample[i]/FFT_SCALE;
 
cab_unget(cab_windata,(char *)p);
 
/* zero-padding if needed */
for (k=WINDATA_NSAMPLES; k < FFT_NSAMPLES; k++)
in[k] = 0.0;
 
rfftw_one(plan, in, out);
 
/* power spectrum computation */
power_spectrum.p[0] = out[0]*out[0]; /* DC component */
for (k = 1; k < PWR_NSAMPLES; ++k) /* (k < N/2 rounded up) */
power_spectrum.p[k] = out[k]*out[k] + out[FFT_NSAMPLES-k]*out[FFT_NSAMPLES-k];
if (FFT_NSAMPLES % 2 == 0) /* N is even */
power_spectrum.p[FFT_NSAMPLES/2] = out[FFT_NSAMPLES/2]*out[FFT_NSAMPLES/2]; /* Nyquist freq. */
 
m = cab_reserve(cab_pwrdata);
memcpy(m, &power_spectrum, sizeof(power));
cab_putmes(cab_pwrdata,m);
 
#if defined(NO_GRX)
max = 0.0;
for (k=0; k<PWR_NSAMPLES; k++)
if (power_spectrum.p[k] > max)
max = power_spectrum.p[k];
 
//cprintf("%f %f\n",max,(max / EQU_SCALE) );
#endif
 
task_endcycle();
 
}
}
 
/* structure is like the wave task... */
TASK equ_task()
{
power *p;
 
int x[PWR_NSAMPLES];
int y;
int s;
 
int r,g,b;
 
while(1)
{
p = (power *)cab_getmes(cab_pwrdata);
 
/* print the lines */
sem_wait(&mutex);
for(y = EQU_Y, s = 0;
s < EQU_NSAMPLES;
y++, s++ )
{
x[s] = (int)(p->p[s] / EQU_SCALE);
 
if (x[s] > EQU_HEIGHT)
x[s] = EQU_HEIGHT;
 
x[s] = EQU_X - x[s];
 
 
#if defined(EQU_SHADE)
 
/* like the task equ2d... */
r = (int)(p->p[s] / EQU2D_SCALE);
if (r > EQU2D_CLIP)
r = EQU2D_CLIP;
 
if (r< 64) g = r * 4;
else if (r<128) g = (128-r) * 4;
else g = 0;
 
if (r<128) b = 0;
else if (r<192) b = (r-128) * 4;
else b = (256-r) * 4;
 
SHORT_CRITICAL_SECTIONS(y);
grx_line(EQU_X,y,x[s],y,rgb16(r,g,b));
#else
SHORT_CRITICAL_SECTIONS(y);
grx_line(EQU_X,y,x[s],y,white);
#endif
}
sem_post(&mutex);
 
task_endcycle();
 
/* erase the lines... */
sem_wait(&mutex);
for(y = EQU_Y, s = 0;
s < EQU_NSAMPLES;
y++, s++ )
{
SHORT_CRITICAL_SECTIONS(y);
grx_line(EQU_X,y,x[s],y,black);
}
sem_post(&mutex);
 
cab_unget(cab_pwrdata,(char *)p);
 
}
}
 
TASK equ2d_task()
{
power *p;
 
int pwrint;
 
int x = 0;
 
int y,s;
 
int r,g,b;
 
while(1)
{
 
p = (power *)cab_getmes(cab_pwrdata);
 
/* print the line */
sem_wait(&mutex);
 
for(y = EQU2D_Y, s = 0;
s < EQU2D_NSAMPLES;
y++, s++ )
{
pwrint = (int)(p->p[s] / EQU2D_SCALE);
 
if (pwrint > EQU2D_CLIP)
pwrint = EQU2D_CLIP;
 
r = pwrint;
 
if (pwrint< 64) g = pwrint * 4;
else if (pwrint<128) g = (128-pwrint) * 4;
else g = 0;
 
if (pwrint<128) b = 0;
else if (pwrint<192) b = (pwrint-128) * 4;
else b = (256-pwrint) * 4;
 
SHORT_CRITICAL_SECTIONS(y);
grx_plot(EQU2D_X+x,y,rgb16(r,g,b));
}
 
x = (x+1) % EQU2D_WIDTH;
grx_line(EQU2D_X+x,EQU2D_Y,EQU2D_X+x,EQU2D_Y+EQU2D_NSAMPLES,white);
 
sem_post(&mutex);
 
cab_unget(cab_pwrdata,(char *)p);
 
task_endcycle();
}
}
 
TASK prova_task()
{
window *p;
 
while(1)
{
p = (window *)cab_getmes(cab_windata);
cprintf("%d %d %d\t", p->start /*sample[0]*/,p->sample[1],p->sample[2]);
cab_unget(cab_windata,(char *)p);
 
task_endcycle();
}
}
 
 
void scenario(int f)
{
int i,y;
char s[6];
 
grx_line(0,WAVE_Y-WAVE_HEIGHT-1,1023,WAVE_Y-WAVE_HEIGHT-1,red);
grx_line(0,WAVE_Y+WAVE_HEIGHT+1,1023,WAVE_Y+WAVE_HEIGHT+1,red);
grx_line(0,EQU_Y-11 ,1023,EQU_Y-11 ,red);
 
 
 
/* lines near the frequencies */
grx_line(EQU_X +1,EQU_Y,EQU_X +1,EQU_Y+EQU_NSAMPLES,red);
grx_line(EQU2D_X-1,EQU_Y,EQU2D_X-1,EQU_Y+EQU_NSAMPLES,red);
 
for (i=0; i<SCENARIO_NLABEL; i++)
{
y = (i*EQU_NSAMPLES)/(SCENARIO_NLABEL-1);
if (i == SCENARIO_NLABEL-1) y--;
grx_line(EQU_X +1,EQU_Y+y,EQU_X +10,EQU_Y+y,red);
grx_line(EQU2D_X-1,EQU_Y+y,EQU2D_X-10,EQU_Y+y,red);
 
itoa((i*f)/(SCENARIO_NLABEL-1),s);
grx_text(s,EQU_X+20,EQU_Y+y-8,white,black);
}
 
grx_text("FFTPlay 1.0 - by Paolo Gai 1999 <pj@hartik.sssup.it>", 0,8, rgb16(0,255,0), black );
grx_text("...press ENTER key to exit..." , 0,24, rgb16(0,255,0), black );
 
grx_text("FFT Power Spectrum", 0 , EQU_Y-21, rgb16(0,0,255), black);
grx_text("FFT Power Story", EQU2D_X+16, EQU_Y-21, rgb16(0,0,255), black);
grx_text("Waveform" , 0, WAVE_Y-WAVE_HEIGHT-10, rgb16(0,0,255), black);
 
}
 
 
 
 
void compute_params(int *freq,WORD *nsamp, WORD *per)
{
if (*freq< 2000)
{
cprintf("WARNING: frequency less than 2000Hz\n ---> frequency set to 2000Hz\n");
*freq = 2000;
}
if (*freq<= 8000) { *nsamp = 128; *per = 10; return; }
if (*freq<=16000) { *nsamp = 256; *per = 10; return; }
if (*freq<=24000) { *nsamp = 512; *per = 10; return; }
if (*freq>48000)
{
cprintf("WARNING: frequency greather than 48000Hz\n ---> frequency set to 48000Hz\n");
*freq = 48000;
}
if (*freq<=48000) { *nsamp = 1024;*per = 10; return; }
}
 
 
 
void my_close(void *arg)
{
grx_close();
sys_status(3);
}
 
 
void endfun(KEY_EVT *k)
{
cprintf("Ctrl-Brk pressed! Ending...\n");
sys_end();
}
 
int main(int argc, char **argv)
{
int modenum;
 
int f;
 
/* irq period... */
WORD period;
 
KEY_EVT k;
 
SOFT_TASK_MODEL m3, m4, m5, m6;
 
PID p3,p4,p5,p6;
 
version();
 
if (argc == 1)
{
cprintf("type x fftplay <freq>");
return 0;
}
 
f = atoi(argv[1]);
compute_params(&f,&rawdata_nsamples,&period);
 
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);
 
cab_windata = cab_create("windata", sizeof(window), 4);
cab_pwrdata = cab_create("pwr", sizeof(power), 4);
 
/* Init the sound lib */
sound_init((rawdata_nsamples * sizeof(SAMPLE)), NULL);
sound_info();
 
/* Init the data used by the raw_infun */
init_rawdata();
 
/* Start the self-buffering sampling operation */
sound_setfun(raw_infun, (int (*)(void *))-1);
sound_sample(NULL, f, 0, DMA_OP | PCM16 | MYFUN, NULL);
 
cprintf("Press Enter...");
while (keyb_getchar() != 13);
 
sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT);
 
#if !defined(NO_GRX)
grx_init();
modenum = grx_getmode(1024, 768, 16);
grx_setmode(modenum);
 
/* init the graphic mutex */
sem_init(&mutex, 0, 1);
 
/* useful colors ... */
white = rgb16(255,255,255);
black = rgb16(0,0,0);
red = rgb16(255,0,0);
 
scenario(f/2);
 
#endif
 
#if !defined(NO_GRX)
soft_task_default_model(m3);
soft_task_def_period(m3, PERIOD_WAVE);
soft_task_def_met(m3, WCET_WAVE);
soft_task_def_group(m3, 1);
p3 = task_create("wave", wave_task, &m3, NULL);
if (p3 == -1) {
perror("FFTPlay: Could not create task <wave>\n");
sys_end();
}
#endif
 
soft_task_default_model(m4);
soft_task_def_period(m4, PERIOD_FFT);
soft_task_def_met(m4, WCET_FFT);
soft_task_def_group(m4, 1);
soft_task_def_stack(m4,32*1024);
soft_task_def_usemath(m4);
p4 = task_create("fft", fft_task, &m4, NULL);
if (p4 == -1) {
perror("FFTPlay: Could not create task <fft>\n");
sys_end();
}
 
#if !defined(NO_GRX)
soft_task_default_model(m5);
soft_task_def_period(m5, PERIOD_EQU);
soft_task_def_met(m5, WCET_EQU);
soft_task_def_group(m5, 1);
soft_task_def_stack(m5,32*1024);
soft_task_def_usemath(m5);
p5 = task_create("equ", equ_task, &m5, NULL);
if (p5 == -1) {
perror("FFTPlay: Could not create task <equ>\n");
sys_end();
}
#endif
 
#if !defined(NO_GRX)
soft_task_default_model(m6);
soft_task_def_period(m6, PERIOD_EQU2D);
soft_task_def_met(m6, WCET_EQU2D);
soft_task_def_group(m6, 1);
soft_task_def_stack(m6,32*1024);
soft_task_def_usemath(m6);
p6 = task_create("equ2D", equ2d_task, &m5, NULL);
if (p6 == -1) {
perror("FFTPlay: Could not create task <equ2D>\n");
sys_end();
}
#else
/* Start the prova task */
//task_def_wcet(m6,1000);
//task_activate(task_create("prova",prova_task,TASK_TYPE,PERIODIC,200,&m6));
#endif
 
group_activate(1);
 
/* Wait until the user get bored */
while (keyb_getchar() != 13);
 
sys_end();
 
return 0;
}
 
 
/demos/branches/pj/thdemo/jetctrl.c
0,0 → 1,200
// 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, 248, rgb16(0,0,255), black);
grx_line(384,258,639,258,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);
grx_line(384,258,639,258,red);
}
 
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("FFTPlay: Could not create task <jetctrl>\n");
ll_abort(54);
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("FFTPlay: Could not create task <jetdummy>\n");
ll_abort(54);
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("FFTPlay: Could not create task <jetslide>\n");
ll_abort(54);
sys_end();
}
}
 
/demos/branches/pj/thdemo/camera.c
0,0 → 1,516
// framegrabber stuffs
 
/* File name ......... : ELABOR.C
* Project............ :
* Object ............ :
* Author ............ : Facchinetti Tullio
* Language .......... : C
* Compiler .......... : GNU C
* Operative system .. : MS-DOS/HARTIK
* Creation data ..... : 04/03/2000
* Last modify ....... : 19/11/99
*/
 
 
 
 
#include <kernel/func.h>
#include <modules/cabs.h>
#include <stdio.h>
#include <drivers/pxc.h>
#include "demo.h"
 
PID camera_PID;
PID tracking_PID;
 
static CAB frameCAB; // CAB di deposito delle immagini
static CAB trackingCAB; // CAB di deposito delle info di tracking
 
 
int img_border = 10;
int window_width = 40;
int window_height = 40;
TPixel pix_threshold = 128;
 
// a 256 grayscale palette
WORD gray_palette[256];
 
// the image to be putted on the screen
WORD converted_image[IMG_COL*IMG_ROW];
 
TDataObj sequence[N_FRAMES];
 
 
 
void border_up_function(KEY_EVT key)
{
img_border++;
}
 
void border_down_function(KEY_EVT key)
{
img_border--;
}
 
void threshold_up_function(KEY_EVT key)
{
char st[50];
pix_threshold++;
sprintf(st, "threshold %4d", pix_threshold);
mutex_lock(&mutex);
grx_text(st, 400, 100, 255, 0);
mutex_unlock(&mutex);
}
 
void threshold_down_function(KEY_EVT key)
{
char st[50];
pix_threshold--;
sprintf(st, "threshold %4d", pix_threshold);
mutex_lock(&mutex);
grx_text(st, 400, 100, 255, 0);
mutex_unlock(&mutex);
}
 
float distance(unsigned int x1, unsigned int y1,
unsigned int x2, unsigned int y2)
{
return(sqrt(((y2 - y1) * (y2 - y1)) + ((x2 - x1) * (x2 - x1))));
}
 
char scan_window_frame(TDataObj *data, TPixel *in_frame,
unsigned int xc, unsigned int yc, int border)
{
unsigned long int offset;
unsigned int i, j;
TPixel pix;
double sum_x = 0.0, sum_y = 0.0;
unsigned int n_pix = 0;
int x1, y1, x2, y2; // Must be int!!!
char found;
 
data->x1 = N_COL;
data->y1 = N_ROW;
data->x2 = data->y2 = 0;
data->xb = data->yb = -1;
data->time_stamp = -1;
 
found = 0;
 
x1 = MAX_NUM((xc - window_width / 2), (border));
y1 = MAX_NUM((yc - window_height / 2), (border));
x2 = MIN_NUM((xc + window_width / 2), (N_COL - border));
y2 = MIN_NUM((yc + window_height / 2), (N_ROW - border));
 
for (i = y1; i < y2; i++) {
for (j = x1; j < x2; j++) {
offset = i * N_COL + j;
pix = *(in_frame + offset);
 
#ifdef __BLACK_ON_WHITE
// Pixel found (object is black, background is white)
if (pix < pix_threshold) {
#else
// Pixel found (object is white, background is black)
if (pix > pix_threshold) {
#endif
data->time_stamp = sys_gettime(NULL);
found = 1;
n_pix++;
sum_x += j;
sum_y += i;
// *(in_frame + offset) = 0;
if (i < data->y1)
data->y1 = i;
if (i > data->y2)
data->y2 = i;
if (j < data->x1)
data->x1 = j;
if (j > data->x2)
data->x2 = j;
 
} else {
// *(in_frame + offset) = 255;
}
}
}
data->xb = sum_x / n_pix;
data->yb = sum_y / n_pix;
return(found);
}
 
char scan_all_frame(TDataObj *data, TPixel *in_frame)
{
unsigned long int offset;
unsigned int i, j;
TPixel pix;
double sum_x = 0.0, sum_y = 0.0;
unsigned int n_pix = 0;
char found;
 
data->x1 = N_COL;
data->y1 = N_ROW;
data->x2 = data->y2 = 0;
data->xb = data->yb = -1;
data->time_stamp = -1;
 
found = 0;
 
// In a single image scanning it performs thresholding and computation
for (i = img_border; i < N_ROW - img_border; i++) {
for (j = img_border; j < N_COL - img_border; j++) {
offset = i * N_COL + j;
pix = *(in_frame + offset);
 
#ifdef __BLACK_ON_WHITE
// Pixel found (object is black, background is white)
if (pix < pix_threshold) {
#else
// Pixel found (object is white, background is black)
if (pix > pix_threshold) {
#endif
data->time_stamp = sys_gettime(NULL);
found = 1;
n_pix++;
sum_x += j;
sum_y += i;
// *(in_frame + offset) = 0;
if (i < data->y1)
data->y1 = i;
if (i > data->y2)
data->y2 = i;
if (j < data->x1)
data->x1 = j;
if (j > data->x2)
data->x2 = j;
 
} else {
// *(in_frame + offset) = 255;
}
}
}
data->xb = sum_x / n_pix;
data->yb = sum_y / n_pix;
return(found);
}
 
void tracking(int top_frame, int *track_x, int *track_y, int *int_vx, int *int_vy, int time_to)
{
float vx, vy;
 
vx = (float)(sequence[top_frame - 1].xb - sequence[top_frame - 2].xb) /
(float)(sequence[top_frame - 1].time_stamp - sequence[top_frame - 2].time_stamp);
vx *= 1000;
 
vy = (float)(sequence[top_frame - 1].yb - sequence[top_frame - 2].yb) /
(float)(sequence[top_frame - 1].time_stamp - sequence[top_frame - 2].time_stamp);
vy *= 1000;
 
*track_x = sequence[top_frame - 1].xb + vx * time_to;
*track_y = sequence[top_frame - 1].yb + vy * time_to;
 
*int_vx = vx * 1000;
*int_vy = vy * 1000;
}
 
TASK tracking_task(void *arg)
{
// static unsigned int n_frame = 0;
char found;
TPixel *grabber_frame;
int top_frame = 0;
TDataObj current;
TTracking *track;
 
frameCAB = PXC_GetCab();
 
grabber_frame = cab_getmes(frameCAB);
 
// Executes first time
found = scan_all_frame(&current, grabber_frame);
if (found) {
memcpy(&sequence[top_frame], &current, sizeof(TDataObj));
top_frame++;
}
 
cab_unget(frameCAB, grabber_frame);
 
task_endcycle();
 
while (1) {
// Acquisizione immagine corrente
grabber_frame = (TPixel *)cab_getmes(frameCAB);
track = (TTracking *)cab_reserve(trackingCAB);
 
// Estrazione della nuova trasformata sul frame corrente
if (found) {
found = scan_window_frame(&current, grabber_frame, current.xb, current.yb, img_border);
} else {
found = scan_all_frame(&current, grabber_frame);
}
 
track->found = found;
 
if (found) {
if (top_frame < N_FRAMES) {
memcpy(&sequence[top_frame], &current, sizeof(TDataObj));
top_frame++;
} else {
top_frame = 0;
memcpy(&sequence[top_frame], &current, sizeof(TDataObj));
}
 
track->top_frame = top_frame;
memcpy(&track->current, &current, sizeof(TDataObj));
 
if (top_frame > 1) {
tracking(top_frame, &track->predx, &track->predy,
&track->vx, &track->vy, 100);
}
} else {
track->top_frame = top_frame = 0;
}
 
// Release CABs
cab_putmes(trackingCAB, (char *)track);
cab_unget(frameCAB, grabber_frame);
 
task_endcycle();
}
}
 
 
 
 
 
 
 
/*
*
*
*
* Camera task
*
*
*
*
*/
 
 
TASK camera_task(void *arg)
{
register int i,j,col,row;
static unsigned int n_frame = 0;
TPixel *grabber_frame;
TTracking *track;
char st[50];
 
// Inizializzazione del task
frameCAB = PXC_GetCab();
 
while (1) {
n_frame++;
sprintf(st, "frame n. %5d", n_frame);
 
grx_text(st, 400, 224, white, 0);
 
// Acquisizione immagine corrente
grabber_frame = cab_getmes(frameCAB);
 
for (i=1; i<IMG_ROW-1; i++)
for (j=0; j<IMG_COL; j++) {
col = (j*(N_COL-1))/(IMG_COL-1);
row = (i*(N_ROW-1))/(IMG_ROW-1);
converted_image[i*IMG_COL+j] = gray_palette[*(grabber_frame+row*N_COL+col)];
}
 
// Release CAB
cab_unget(frameCAB, grabber_frame);
 
for (j=0; j<IMG_COL; j++) {
converted_image[j] = gray_palette[0];
converted_image[(IMG_ROW-1)*IMG_COL+j] = gray_palette[0];
}
 
mutex_lock(&mutex);
grx_putimage(IMG_X, IMG_Y, IMG_X+IMG_COL-1, IMG_Y+IMG_ROW-1,
(BYTE *)converted_image);
mutex_unlock(&mutex);
 
track = (TTracking *)cab_getmes(trackingCAB);
 
if (track->found) {
mutex_lock(&mutex);
// sprintf(st, "found: %d", track->found);
// grx_text(st, 400, 280, 255, 0);
 
if (track->top_frame > 1) {
int px, py;
 
// sprintf(st, "top_frame %5d", track->top_frame);
// grx_text(st, 400, 270, 255, 0);
 
if (track->predx < img_border)
px = img_border;
else if (track->predx > N_COL-img_border)
px = N_COL-img_border;
else
px = track->predx;
 
if (track->predy < img_border)
py = img_border;
else if (track->predy > N_ROW-img_border)
py = N_ROW-img_border;
else
py = track->predy;
 
grx_disc(IMG_X+(px*2)/3, IMG_Y+(py*2)/3, 3, 127);
 
// grx_disc(IMG_X+(current.xb*2)/3, IMG_Y+(current.yb*2)/3, 3, 127);
grx_rect(IMG_X+(track->current.x1*2)/3, IMG_Y+(track->current.y1*2)/3,
IMG_X+(track->current.x2*2)/3, IMG_Y+(track->current.y2*2)/3, 127);
 
sprintf(st, "speed = (%5d, %5d) pix/s", track->vx, track->vy);
grx_text(st, 400, 232, white, 0);
}
mutex_unlock(&mutex);
}
cab_unget(trackingCAB, (char *)track);
 
task_endcycle();
}
}
 
 
 
 
 
/*
*
*
*
* Framegrabber Initialization
*
*
*
*
*/
 
void start_listener(TIME p);
 
void framegrabber_close(void *arg)
{
PXC_Close();
}
 
void scenario_framegrabber()
{
grx_text("Camera" , 384, WAVE_Y-WAVE_HEIGHT-10, rgb16(0,0,255), black);
grx_line(384,WAVE_Y-WAVE_HEIGHT-1,639,WAVE_Y-WAVE_HEIGHT-1,red);
}
 
void init_framegrabber(void)
{
register int i;
KEY_EVT my_key;
TIME period;
 
my_key.ascii = 'a';
my_key.scan = KEY_A;
keyb_hook(my_key, (void (*)(KEY_EVT *))threshold_up_function);
 
my_key.ascii = 'z';
my_key.scan = KEY_Z;
keyb_hook(my_key, (void (*)(KEY_EVT *))threshold_down_function);
 
my_key.ascii = 's';
my_key.scan = KEY_S;
keyb_hook(my_key, (void (*)(KEY_EVT *))border_up_function);
 
my_key.ascii = 'x';
my_key.scan = KEY_X;
keyb_hook(my_key, (void (*)(KEY_EVT *))border_down_function);
 
// Aggiusta la palette
for (i = 0; i < 256; i++)
gray_palette[i] = rgb16(i,i,i);
//for (i = 0; i < 256; i++)
// grx_setcolor(i, i/4, i/4, i/4);
 
mutex_lock(&mutex);
// grx_text("Grabber enabled: no test!", 10, 10, 255, 0);
 
// Some messages on screen
// grx_text("A-Z change threshold", 400, 240, 255, 0);
// grx_text("S-X change window borders", 400, 250, 255, 0);
mutex_unlock(&mutex);
 
period = PXC_Initiate(4);
 
if (!period) {
grx_close();
cprintf("Problemi nell'inizializzazione del framegrabber\n");
halt();
sys_end();
} else {
TTracking *trdata;
// tracking CAB init
trackingCAB = cab_create("trackingCAB", sizeof(TTracking), 3);
trdata = (TTracking *)cab_reserve(trackingCAB);
trdata->found = 0;
cab_putmes(trackingCAB, (char *)trdata);
 
start_listener(period);
}
 
sys_atrunlevel(framegrabber_close, NULL, RUNLEVEL_BEFORE_EXIT);
}
 
 
void start_listener(TIME period)
{
SOFT_TASK_MODEL m1, m2;
 
soft_task_default_model(m1);
soft_task_def_level(m1,1);
soft_task_def_met(m1,WCET_TRACKING);
soft_task_def_usemath(m1);
// soft_task_def_aperiodic(m1);
soft_task_def_period(m1,(PERIOD_TRACKING));
soft_task_def_group(m1,1);
soft_task_def_ctrl_jet(m1);
soft_task_def_skip_arrivals(m1);
tracking_PID = task_create("track", tracking_task, &m1, NULL);
if (tracking_PID == -1) {
grx_close();
perror("FFTPlay: Could not create task <tra>\n");
ll_abort(54);
perror("FFTPlay: Could not create task <tracking>\n");
sys_end();
}
 
soft_task_default_model(m2);
soft_task_def_level(m2,1);
soft_task_def_met(m2,WCET_CAMERA);
soft_task_def_usemath(m2);
// soft_task_def_aperiodic(m2);
soft_task_def_period(m2,PERIOD_CAMERA);
soft_task_def_group(m2,1);
soft_task_def_ctrl_jet(m2);
// soft_task_def_skip_arrivals(m2);
camera_PID = task_create("cam", camera_task, &m2, NULL);
if (camera_PID == -1) {
grx_close();
perror("FFTPlay: Could not create task <came>\n");
ll_abort(54);
perror("FFTPlay: Could not create task <camera>\n");
sys_end();
}
 
}
 
void start_framegrabber()
{
// PXC_Push_Listener(tracking_PID,2);
PXC_Start();
}
/demos/branches/pj/thdemo/demo.h
0,0 → 1,280
 
 
#include <ll/ll.h>
#include <kernel/types.h>
#include <kernel/descr.h>
#include <math.h>
#include <drivers/glib.h>
#include <drivers/keyb.h>
 
 
#define FFT_ON
#define FRAMEGRABBER_ON
#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
 
// on Celeron 366
#define WCET_WAVE 450
#define WCET_FFT 722
#define WCET_EQU 1000
#define WCET_EQU2D 318
 
#define PERIOD_WAVE 40000
#define PERIOD_FFT 3000
#define PERIOD_EQU 40000
#define PERIOD_EQU2D 3000
 
 
 
 
#define WCET_TRACKING 4000
#define WCET_CAMERA 7000
 
#define PERIOD_TRACKING 40000
#define PERIOD_CAMERA 40000
 
 
#define WCET_JETCTRL 2600
#define WCET_JETDUMMY 1000
#define WCET_JETSLIDE 1000
 
#define PERIOD_JETCTRL 100000
#define PERIOD_JETDUMMY 100000
#define PERIOD_JETSLIDE 100000
 
 
#define WCET_BALL 60
 
#define PERIOD_BALL 10000
 
 
/*
*
* Soundcard related defines
*
*/
 
 
/* Samples are 16-bit signed integers */
typedef short SAMPLE;
#define MAX_SAMPLE 32768
 
 
 
/*
*
* FFT defines
*
*/
 
/* Numbers of samples of the sample window */
#define WINDATA_NSAMPLES 512
 
/* task WAVE */
/* the point (wave_x,wave_y) is on the center left of the area... */
#define WAVE_NSAMPLES 384
#define WAVE_X 0
#define WAVE_Y 64
#define WAVE_HEIGHT 32
 
/* task FFT */
#define FFT_NSAMPLES 512
#define PWR_NSAMPLES (FFT_NSAMPLES/2+1)
 
/* task EQU */
/* the point (equ_x, equ_y) is the top right corner */
#define EQU_NSAMPLES PWR_NSAMPLES
#define EQU_X 64
#define EQU_Y 128
#define EQU_HEIGHT 64
#define EQU_SHADE
 
/* task EQU2D */
/* the point (equ2d_x, equ2d_y) is the top left corner */
#define EQU2D_NSAMPLES EQU_NSAMPLES
#define EQU2D_X 128
#define EQU2D_Y EQU_Y
#define EQU2D_WIDTH 255
#define EQU2D_CLIP 255
 
/* scenario */
#define SCENARIO_NLABEL 16
 
/* Scale factors */
#define FFT_SCALE (16384.0)
#define EQU_SCALE (32.0)
#define EQU2D_SCALE (8.0)
//#define EQU_SCALE (64.0)
//#define EQU2D_SCALE (16.0)
 
 
 
/* Informations about the sampling rate and buffers */
extern WORD rawdata_nsamples;
extern WORD rawdata_buffer_size;
extern WORD rawdata_freq;
 
 
 
/*
*
* Global Stuffs
*
*/
 
/* graphic mutex... */
extern mutex_t mutex;
 
/* useful colors... */
extern int white;
extern int black;
extern int red;
extern int gray;
 
/* define if shorts critical sections wanted */
#define SHORT_CRITICAL_SECTIONS(x) \
if (!((x)%64)) \
{ \
mutex_lock(&mutex); \
mutex_unlock(&mutex); \
}
 
void init_fftplay(int freq);
void init_framegrabber();
void init_jetcontrol();
void init_ball(void);
void start_framegrabber();
 
 
void scenario_jetcontrol(void);
void scenario_fftplay(int f);
void scenario_framegrabber();
void scenario_ball();
 
void compute_params(int *freq,WORD *nsamp);
 
char * itoa(int n, char *s);
 
/*
*
* Framegrabber stuffs
*
*/
 
// if defined... object black on a white background
#ifndef __BLACK_ON_WHITE
#define __BLACK_ON_WHITE
#endif
 
#define ABS_NUM(a) ((a >= 0) ? a : -a)
#define MIN_NUM(a, b) ((a < b) ? a : b)
#define MAX_NUM(a, b) ((a > b) ? a : b)
 
 
// Cols and rows of the framegrabber image
#define N_COL 384
#define N_ROW 288
#define N_BPS 8 // Bits per pixel
#define N_GRIGI 256
 
#define N_FRAMES 100
 
/* pixel of the video image */
#define IMG_COL 256
#define IMG_ROW 192
 
/* position of the video image */
#define IMG_X 384
#define IMG_Y 32
 
// I singoli pixel sono caratteri a 8 bit
typedef unsigned char TPixel;
 
typedef struct {
int x1, y1;
int x2, y2;
int xb, yb;
TIME time_stamp;
} TDataObj;
 
typedef struct {
int found;
int top_frame;
int vx,vy;
int predx;
int predy;
TDataObj current;
} TTracking;
 
 
float distance(unsigned int x1, unsigned int y1,
unsigned int x2, unsigned int y2);
 
char scan_all_frame(TDataObj *data, TPixel *in_frame);
 
char scan_window_frame(TDataObj *data, TPixel *in_frame,
unsigned int xc, unsigned int yc, int border);
 
void threshold_up_function(KEY_EVT key);
void threshold_down_function(KEY_EVT key);
 
void border_up_function(KEY_EVT key);
void border_down_function(KEY_EVT key);
 
void tracking(int top_frame, int *track_x, int *track_y, int *int_vx, int *int_vy, int time_to);
 
TASK elab_image_TASK(void);
 
 
 
/*
*
* JETCONTROL stuffs
*
*/
 
#define JET_NTASK 18
#define JET_Y_NAME 320
 
#define DUMMY_PID 1
 
#define JET_DUMMY_WIDTH 210
#define JET_DUMMY_HEIGHT 40
 
/* the point (x, y) is the top left corner */
#define JET_DUMMY_X 428
#define JET_DUMMY_Y 264
 
#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 475 /* position of the floor */
#define BALL_HEIGHT 70 /* initial height of the ball */
#define BALL_XMIN 3 /* min position X of the ball */
#define BALL_XMAX 380 /* max position X of the ball */
#define BALL_VELX 5. /* horizontal ball velocity */
#define BALL_VYMIN 11. /* velocit… minima per suono */
#define BALL_MAX_P 50 /* max number of balls */
 
#define BALL_GROUP 2 /* task group of the balls */
/demos/branches/pj/thdemo/ball.c
0,0 → 1,164
/*--------------------------------------------------------------*/
/* SIMULATION OF JUMPING BALLS */
/*--------------------------------------------------------------*/
 
/* CVS $Id: ball.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $ */
 
 
#include "demo.h"
#include <kernel/func.h>
#include <stdlib.h>
 
#define R 2 /* 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 + rand()%9;
tx = 0;
ty = 0;
dt = ((float)PERIOD_BALL)/100000;
 
while (1) {
y = y0 + vy*ty - .5*G*ty*ty;
x = x0 + vx * tx;
 
if (y < 0) {
y = 0;
 
if (vy == 0.0)
vy = vy0;
else if (vy < BALL_VYMIN)
vy = vy0 * (1.0 - (rand()%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) {
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;
 
if (npc == BALL_MAX_P) return;
 
ballexit = 0;
 
r = 64 + rand()%192;
g = 64 + rand()%192;
b = 64 + rand()%192;
 
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", palla, &mp, NULL);
if (pid != NIL) {
task_activate(pid);
npc++;
}
}
 
 
/*--------------------------------------------------------------*/
/* MAIN process */
/*--------------------------------------------------------------*/
 
void scenario_ball()
{
grx_text("Noise", 0, BALL_Y-BALL_HEIGHT-15, rgb16(0,0,255), black);
grx_line(0,BALL_Y-BALL_HEIGHT-6,383,BALL_Y-BALL_HEIGHT-6,red);
}
 
void init_ball(void)
{
KEY_EVT k;
 
mutex_lock(&mutex);
grx_rect(BALL_XMIN-R-1, BALL_Y-BALL_HEIGHT-R-1,
BALL_XMAX+R+1, BALL_Y+R+1, rgb16(0,200,0));
mutex_unlock(&mutex);
 
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);
}
 
/*--------------------------------------------------------------*/
/demos/branches/pj/thdemo/camera2.c
0,0 → 1,424
// framegrabber stuffs
 
/* File name ......... : ELABOR.C
* Project............ :
* Object ............ :
* Author ............ : Facchinetti Tullio
* Language .......... : C
* Compiler .......... : GNU C
* Operative system .. : MS-DOS/HARTIK
* Creation data ..... : 04/03/2000
* Last modify ....... : 19/11/99
*/
 
 
 
 
#include <kernel/func.h>
#include <modules/cabs.h>
#include <stdio.h>
#include <drivers/pxc.h>
#include "demo.h"
 
PID image_elab_PID;
TIME periodo;
CAB PXC_CAB;
 
static CAB frameCAB; // CAB di deposito delle immagini
static TDataObj current, older;
 
// extern in INIT.C
int img_border = 10;
int window_width = 40;
int window_height = 40;
 
// a 256 grayscale palette
WORD gray_palette[256];
 
// the image to be putted on the screen
WORD converted_image[IMG_COL*IMG_ROW];
 
 
#ifdef __BLACK_ON_WHITE
TPixel pix_threshold = 64;
#else
TPixel pix_threshold = 243;
#endif
 
 
// Global for testing!!!
static char st[50];
TIME before;
 
TDataObj sequence[N_FRAMES];
int top_frame = 0;
 
double dist, speed;
 
static TPixel *grabber_frame;
 
void border_up_function(KEY_EVT key)
{
img_border++;
}
 
void border_down_function(KEY_EVT key)
{
img_border--;
}
 
void threshold_up_function(KEY_EVT key)
{
pix_threshold++;
sprintf(st, "threshold %4d", pix_threshold);
mutex_lock(&mutex);
//grx_text(st, 400, 300, 255, 0);
mutex_unlock(&mutex);
}
 
void threshold_down_function(KEY_EVT key)
{
pix_threshold--;
sprintf(st, "threshold %4d", pix_threshold);
mutex_lock(&mutex);
//grx_text(st, 400, 300, 255, 0);
mutex_unlock(&mutex);
}
 
float distance(unsigned int x1, unsigned int y1,
unsigned int x2, unsigned int y2)
{
return(sqrt(((y2 - y1) * (y2 - y1)) + ((x2 - x1) * (x2 - x1))));
}
 
char scan_window_frame(TDataObj *data, TPixel *in_frame,
unsigned int xc, unsigned int yc, int border)
{
unsigned long int offset;
unsigned int i, j;
TPixel pix;
double sum_x = 0.0, sum_y = 0.0;
unsigned int n_pix = 0;
int x1, y1, x2, y2; // Must be int!!!
char found;
 
data->x1 = N_COL;
data->y1 = N_ROW;
data->x2 = data->y2 = 0;
data->xb = data->yb = -1;
data->time_stamp = -1;
 
found = 0;
 
x1 = MAX_NUM((xc - window_width / 2), (border));
y1 = MAX_NUM((yc - window_height / 2), (border));
x2 = MIN_NUM((xc + window_width / 2), (N_COL - border));
y2 = MIN_NUM((yc + window_height / 2), (N_ROW - border));
 
for (i = y1; i < y2; i++) {
for (j = x1; j < x2; j++) {
offset = i * N_COL + j;
pix = *(in_frame + offset);
 
#ifdef __BLACK_ON_WHITE
// Pixel found (object is black, background is white)
if (pix < pix_threshold) {
#else
// Pixel found (object is white, background is black)
if (pix > pix_threshold) {
#endif
data->time_stamp = sys_gettime(NULL);
found = 1;
n_pix++;
sum_x += j;
sum_y += i;
*(in_frame + offset) = 0;
if (i < data->y1)
data->y1 = i;
if (i > data->y2)
data->y2 = i;
if (j < data->x1)
data->x1 = j;
if (j > data->x2)
data->x2 = j;
 
} else {
*(in_frame + offset) = 255;
}
}
}
data->xb = sum_x / n_pix;
data->yb = sum_y / n_pix;
return(found);
}
 
char scan_all_frame(TDataObj *data, TPixel *in_frame)
{
unsigned long int offset;
unsigned int i, j;
TPixel pix;
double sum_x = 0.0, sum_y = 0.0;
unsigned int n_pix = 0;
char found;
 
data->x1 = N_COL;
data->y1 = N_ROW;
data->x2 = data->y2 = 0;
data->xb = data->yb = -1;
data->time_stamp = -1;
 
found = 0;
 
// In a single image scanning it performs thresholding and computation
for (i = img_border; i < N_ROW - img_border; i++) {
for (j = img_border; j < N_COL - img_border; j++) {
offset = i * N_COL + j;
pix = *(in_frame + offset);
 
#ifdef __BLACK_ON_WHITE
// Pixel found (object is black, background is white)
if (pix < pix_threshold) {
#else
// Pixel found (object is white, background is black)
if (pix > pix_threshold) {
#endif
data->time_stamp = sys_gettime(NULL);
found = 1;
n_pix++;
sum_x += j;
sum_y += i;
*(in_frame + offset) = 0;
if (i < data->y1)
data->y1 = i;
if (i > data->y2)
data->y2 = i;
if (j < data->x1)
data->x1 = j;
if (j > data->x2)
data->x2 = j;
 
} else {
*(in_frame + offset) = 255;
}
}
}
data->xb = sum_x / n_pix;
data->yb = sum_y / n_pix;
return(found);
}
 
void tracking(int *track_x, int *track_y, int time_to)
{
float vx, vy;
 
vx = (float)(sequence[top_frame - 1].xb - sequence[top_frame - 2].xb) /
(float)(sequence[top_frame - 1].time_stamp - sequence[top_frame - 2].time_stamp);
vx *= 1000000;
 
vy = (float)(sequence[top_frame - 1].yb - sequence[top_frame - 2].yb) /
(float)(sequence[top_frame - 1].time_stamp - sequence[top_frame - 2].time_stamp);
vy *= 1000000;
 
(*track_x) = sequence[top_frame - 1].xb + vx * time_to;
(*track_y) = sequence[top_frame - 1].yb + vy * time_to;
 
sprintf(st, "speed = (%5d, %5d) pix/s", (int)vx, (int)vy);
mutex_lock(&mutex);
//grx_text(st, 400, 410, 255, 0);
mutex_unlock(&mutex);
}
 
void put_frame(TPixel *frame)
{
register int i,j,col,row;
 
for (i=0; i<IMG_ROW; i++)
for (j=0; j<IMG_COL; j++) {
col = (j*(N_COL-1))/(IMG_COL-1);
row = (i*(N_ROW-1))/(IMG_ROW-1);
converted_image[i*IMG_COL+j] = gray_palette[*(frame+row*N_COL+col)];
}
 
mutex_lock(&mutex);
//grx_putimage(IMG_X, IMG_Y, IMG_X+IMG_COL-1, IMG_Y+IMG_ROW-1,
// (BYTE *)converted_image);
mutex_unlock(&mutex);
}
 
 
TASK elab_image_TASK(void)
{
// register int i, j;
static unsigned int n_frame = 0;
char found;
int pred_x, pred_y;
 
// Inizializzazione del task
frameCAB = PXC_GetCab();
 
grabber_frame = cab_getmes(frameCAB);
 
// Executes first time
found = scan_all_frame(&current, grabber_frame);
// found =0;
if (found) {
memcpy(&sequence[top_frame], &current, sizeof(TDataObj));
top_frame++;
}
 
cab_unget(frameCAB, grabber_frame);
 
task_endcycle();
 
while (1) {
 
// before = sys_gettime(NULL);
 
n_frame++;
sprintf(st, "frame n. %5d", n_frame);
 
mutex_lock(&mutex);
//grx_text(st, 400, 290, 255, 0);
 
sprintf(st, "top_frame %5d", top_frame);
//grx_text(st, 400, 270, 255, 0);
 
sprintf(st, "found: %d!", found);
//grx_text(st, 400, 280, 255, 0);
mutex_unlock(&mutex);
 
// Acquisizione immagine corrente
grabber_frame = cab_getmes(frameCAB);
 
// copy current in older
memcpy(&older, &current, sizeof(TDataObj));
 
// Estrazione della nuova trasformata sul frame corrente
if (found) {
found = scan_window_frame(&current, grabber_frame, current.xb, current.yb, img_border);
} else {
found = scan_all_frame(&current, grabber_frame);
}
 
// //grx_putimage(0, 0, N_COL - 1, N_ROW - 1, grabber_frame);
put_frame(grabber_frame);
 
if (found) {
if (top_frame < N_FRAMES) {
memcpy(&sequence[top_frame], &current, sizeof(TDataObj));
top_frame++;
} else {
top_frame = 0;
memcpy(&sequence[top_frame], &current, sizeof(TDataObj));
}
 
if (top_frame > 1) {
tracking(&pred_x, &pred_y, 100);
 
mutex_lock(&mutex);
// //grx_disc(IMG_X+(pred_x*2)/3, IMG_Y+(pred_y*2)/3, 3, 127);
 
//grx_disc(IMG_X+(current.xb*2)/3, IMG_Y+(current.yb*2)/3, 3, 127);
//grx_rect(IMG_X+(current.x1*2)/3, IMG_Y+(current.y1*2)/3,
// IMG_X+(current.x2*2)/3, IMG_Y+(current.y2*2)/3, 127);
mutex_unlock(&mutex);
 
}
} else {
top_frame = 0;
}
 
// Release CAB
cab_unget(frameCAB, grabber_frame);
 
// sprintf(st, "durata = %3d ms", (int)(sys_gettime(NULL) - before)/1000);
// mutex_lock(&mutex);
// //grx_text(st, 400, 400, 255, 0);
// mutex_unlock(&mutex);
 
task_endcycle();
}
}
 
 
void start_listener(void);
 
void framegrabber_close(void *arg)
{
PXC_Close();
}
 
void init_framegrabber(void)
{
register int i;
KEY_EVT my_key;
 
my_key.ascii = 'a';
my_key.scan = KEY_A;
keyb_hook(my_key, (void (*)(KEY_EVT *))threshold_up_function);
 
my_key.ascii = 'z';
my_key.scan = KEY_Z;
keyb_hook(my_key, (void (*)(KEY_EVT *))threshold_down_function);
 
my_key.ascii = 's';
my_key.scan = KEY_S;
keyb_hook(my_key, (void (*)(KEY_EVT *))border_up_function);
 
my_key.ascii = 'x';
my_key.scan = KEY_X;
keyb_hook(my_key, (void (*)(KEY_EVT *))border_down_function);
 
// Aggiusta la palette
for (i = 0; i < 256; i++)
gray_palette[i] = rgb16(i,i,i);
//for (i = 0; i < 256; i++)
// grx_setcolor(i, i/4, i/4, i/4);
 
mutex_lock(&mutex);
// grx_text("Grabber enabled: no test!", 10, 10, 255, 0);
 
// Some messages on screen
//grx_text("A-Z change threshold", 400, 240, 255, 0);
//grx_text("S-X change window borders", 400, 250, 255, 0);
mutex_unlock(&mutex);
 
periodo = PXC_Initiate(3);
PXC_CAB = PXC_GetCab();
 
if (!periodo) {
//grx_close();
cprintf("Problemi nell'inizializzazione del driver\n");
sys_end();
} else {
start_listener();
}
 
sys_atrunlevel(framegrabber_close, NULL, RUNLEVEL_BEFORE_EXIT);
}
 
 
void start_listener(void)
{
SOFT_TASK_MODEL m_soft;
 
soft_task_default_model(m_soft);
soft_task_def_met(m_soft,IMAGING_WCET);
soft_task_def_usemath(m_soft);
soft_task_def_aperiodic(m_soft);
soft_task_def_period(m_soft,(periodo*3));
soft_task_def_group(m_soft,1);
soft_task_def_ctrl_jet(m_soft);
 
image_elab_PID = task_create("imaging", elab_image_TASK, &m_soft, NULL);
 
/* task_activate( image_elab_PID);
PXC_Push_Listener(image_elab_PID,2);
PXC_Start();*/
}
 
void start_framegrabber()
{
PXC_Push_Listener(image_elab_PID,2);
PXC_Start();
}
/demos/branches/pj/thdemo/readme.txt
0,0 → 1,17
PJ's Thesis demo
----------------
 
This is my Thesis Demo. The demo works correctly on my PC :-)
(a celeron 366 Mhz), Probably It will have some problems with other slower PCs.
 
The demo simply reads data from the soundblaster, then print the sound wave, compute a power spectrun and display it on the screen.
 
Then there is another few tasks that reads data from a framegrabber and track a black image on a white board.
 
Moreover, there are some noise balls to test the system in overload conditions, and there are finally a few tasks that displays the system load.
 
If you have any problems using this demo, please contact pj@sssup.it
 
bye
 
Paolo
/demos/branches/pj/thdemo/makefile
0,0 → 1,23
#
#
#
 
ifndef BASE
BASE=../..
endif
include $(BASE)/config/config.mk
 
PROGS= demo
 
include $(BASE)/config/example.mk
 
demo:
make -f $(SUBMAKE) APP=demo INIT= OTHEROBJS="fft.o camera.o initfile.o jetctrl.o ball.o" OTHERINCL=
 
 
 
 
 
 
 
 
/demos/branches/pj/thdemo/ball2.c
0,0 → 1,156
/*--------------------------------------------------------------*/
/* SIMULATION OF JUMPING BALLS */
/*--------------------------------------------------------------*/
 
/* CVS $Id: ball2.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $ */
 
 
#include "demo.h"
#include <kernel/func.h>
#include <stdlib.h>
//#include <drivers/glib.h>
//#include <drivers/keyb.h>
//#include <math.h>
 
#define R 2 /* dimension of a ball */
#define G 9.8 /* acceleration of gravity */
#define BASE 30 /* position of the floor */
#define TOP 80 /* initial height of the ball */
#define XMIN 3 /* min position X of the ball */
#define XMAX 380 /* max position X of the ball */
#define VELX 5. /* horizontal ball velocity */
#define VMIN 11. /* velocit… minima per suono */
#define ESC 27 /* ASCII code of ESCAPE key */
#define MAX_P 50 /* max number of balls */
 
double v0[MAX_P]; /* impact velocity with floor */
 
/*--------------------------------------------------------------*/
/* Periodic task for ball simulation */
/*--------------------------------------------------------------*/
 
TASK palla(int i)
{
int x, y; /* coordinate grafiche pallina */
int ox, oy; /* vecchia posizione pallina */
int x0; /* posizione iniziale X pallina */
float vx, vy; /* velocit… della pallina */
float t, tx; /* variabile temporale */
float dt; /* incremento temporale */
double arg; /* variabile di appoggio */
 
y = oy = TOP;
x = ox = x0 = XMIN;
 
arg = 2. * G * (float)TOP;
vy = sqrt(arg);
vx = VELX;// + rand()%10;
tx = 0.0;
t = vy / G;
dt = 0.1;
 
while (1) {
y = TOP + vy*t - .5*G*t*t;
x = x0 + vx * tx;
 
if (y < BASE) {
t = 0.0;
v0[i] = .9 * v0[i];
// if (v0[i]<VMIN) {
 
// v0[i] = sqrt(2. * G * (float)TOP);
// v0[i] = sqrt(arg);// * (1-((float)(rand()%20))/100);
//vx = vx + rand()%5 - 2;
//tx = 0.0;
//x0 = x;
// }
 
vy = v0[i];
y = TOP + vy*t - .5*G*t*t;
}
 
 
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;
}
y = 480-y;
 
mutex_lock(&mutex);
grx_disc(ox, oy, R, 0);
grx_disc(x, y, R, i);
mutex_unlock(&mutex);
 
oy = y; ox = x;
t += dt;
tx += dt;
task_endcycle();
}
}
 
 
void ballfun(KEY_EVT *k)
{
static int npc = 0; /* number of tasks created */
SOFT_TASK_MODEL mp;
int r,g,b;
PID pid;
 
if (npc == MAX_P) return;
 
r = 64 + rand()%192;
g = 64 + rand()%192;
b = 64 + rand()%192;
 
soft_task_default_model(mp);
soft_task_def_level(mp,1);
soft_task_def_ctrl_jet(mp);
soft_task_def_arg(mp, rgb16(r,g,b));
soft_task_def_group(mp, 1);
soft_task_def_met(mp, WCET_BALL);
soft_task_def_period(mp,PERIOD_BALL);
soft_task_def_usemath(mp);
pid = task_create("palla", palla, &mp, NULL);
if (pid != NIL) {
task_activate(pid);
npc++;
}
}
 
 
/*--------------------------------------------------------------*/
/* MAIN process */
/*--------------------------------------------------------------*/
 
 
void init_ball(void)
{
char c; /* character from keyboard */
int i; /* pressed number */
double arg; /* temporary variable */
KEY_EVT k;
 
arg = 2. * G * (float)TOP;
for (i=0; i<MAX_P; i++) v0[i] = sqrt(arg);
 
mutex_lock(&mutex);
grx_rect(XMIN-R-1, 480-TOP-BASE-R-1, XMAX+R+1, 480-BASE+R+1, 14);
mutex_unlock(&mutex);
 
k.flag = 0;
k.scan = KEY_SPC;
k.ascii = ' ';
keyb_hook(k,ballfun);
 
}
 
/*--------------------------------------------------------------*/
/demos/branches/pj/thdemo/camera4.c
0,0 → 1,168
// framegrabber stuffs
 
/* File name ......... : ELABOR.C
* Project............ :
* Object ............ :
* Author ............ : Facchinetti Tullio
* Language .......... : C
* Compiler .......... : GNU C
* Operative system .. : MS-DOS/HARTIK
* Creation data ..... : 04/03/2000
* Last modify ....... : 19/11/99
*/
 
 
 
 
#include <kernel/func.h>
#include <modules/cabs.h>
#include <stdio.h>
#include <drivers/pxc.h>
#include "demo.h"
 
PID image_elab_PID;
TIME periodo;
CAB PXC_CAB;
 
static CAB frameCAB; // CAB di deposito delle immagini
static TDataObj current, older;
 
// extern in INIT.C
int img_border = 10;
int window_width = 40;
int window_height = 40;
 
// a 256 grayscale palette
WORD gray_palette[256];
 
// the image to be putted on the screen
WORD converted_image[IMG_COL*IMG_ROW];
 
 
#ifdef __BLACK_ON_WHITE
TPixel pix_threshold = 64;
#else
TPixel pix_threshold = 243;
#endif
 
 
// Global for testing!!!
static char st[50];
TIME before;
 
TDataObj sequence[N_FRAMES];
int top_frame = 0;
 
double dist, speed;
 
static TPixel *grabber_frame;
 
void put_frame(TPixel *frame)
{
register int i,j,col,row;
 
for (i=1; i<IMG_ROW-1; i++)
for (j=0; j<IMG_COL; j++) {
col = (j*(N_COL-1))/(IMG_COL-1);
row = (i*(N_ROW-1))/(IMG_ROW-1);
converted_image[i*IMG_COL+j] = gray_palette[*(frame+row*N_COL+col)];
}
 
for (j=0; j<IMG_COL; j++) {
converted_image[j] = gray_palette[0];
converted_image[(IMG_ROW-1)*IMG_COL+j] = gray_palette[0];
}
 
mutex_lock(&mutex);
grx_putimage(IMG_X, IMG_Y, IMG_X+IMG_COL-1, IMG_Y+IMG_ROW-1,
(BYTE *)converted_image);
mutex_unlock(&mutex);
}
 
 
TASK elab_image_TASK(void)
{
// register int i, j;
static unsigned int n_frame = 0;
char found;
int pred_x, pred_y;
 
// Inizializzazione del task
frameCAB = PXC_GetCab();
 
while (1) {
n_frame++;
sprintf(st, "frame n. %5d", n_frame);
 
mutex_lock(&mutex);
grx_text(st, 400, 290, 255, 0);
mutex_unlock(&mutex);
 
// Acquisizione immagine corrente
grabber_frame = cab_getmes(frameCAB);
 
put_frame(grabber_frame);
 
// Release CAB
cab_unget(frameCAB, grabber_frame);
 
task_endcycle();
}
}
 
 
void start_listener(void);
 
void framegrabber_close(void *arg)
{
PXC_Close();
}
 
void init_framegrabber(void)
{
register int i;
KEY_EVT my_key;
 
// Aggiusta la palette
for (i = 0; i < 256; i++)
gray_palette[i] = rgb16(i,i,i);
 
periodo = PXC_Initiate(3);
PXC_CAB = PXC_GetCab();
 
if (!periodo) {
grx_close();
cprintf("Problemi nell'inizializzazione del driver\n");
sys_end();
} else {
start_listener();
}
 
sys_atrunlevel(framegrabber_close, NULL, RUNLEVEL_BEFORE_EXIT);
}
 
 
void start_listener(void)
{
SOFT_TASK_MODEL m_soft;
 
soft_task_default_model(m_soft);
soft_task_def_met(m_soft,IMAGING_WCET);
soft_task_def_usemath(m_soft);
soft_task_def_aperiodic(m_soft);
soft_task_def_period(m_soft,(periodo));
soft_task_def_group(m_soft,1);
soft_task_def_ctrl_jet(m_soft);
 
image_elab_PID = task_create("imaging", elab_image_TASK, &m_soft, NULL);
 
/* task_activate( image_elab_PID);
PXC_Push_Listener(image_elab_PID,2);
PXC_Start();*/
}
 
void start_framegrabber()
{
PXC_Push_Listener(image_elab_PID,1);
PXC_Start();
}
/demos/branches/pj/simcity/keyboard.c
0,0 → 1,49
/* ------------------ */
/* Keyboard handler */
/* ------------------ */
 
#include <drivers/keyb.h>
#include "include/keyfunct.h"
 
void keyb_h() {
KEY_EVT k;
keyb_set_map(itaMap);
/* Exit keys: ALT-X, ENTER */
k.flag = ALTL_BIT;
k.scan = KEY_X;
k.ascii = 'x';
keyb_hook(k, endfun);
k.flag = ALTR_BIT;
k.scan = KEY_X;
k.ascii = 'x';
keyb_hook(k, endfun);
k.flag = 0;
k.scan = KEY_ENT;
k.ascii = 13;
keyb_hook(k, endfun);
/* Create HARD cars */
k.flag = 0;
k.scan = KEY_C;
k.ascii = 'c';
keyb_hook(k, h_car_create);
/* kill hard cars*/
k.flag = 0;
k.scan = KEY_K;
k.ascii = 'k';
keyb_hook(k, h_car_kill);
//refresh map
k.flag=0;
k.scan = KEY_R;
k.ascii = 'r';
keyb_hook(k, refresh);
//create soft cars
k.flag=0;
k.scan = KEY_S;
k.ascii = 's';
keyb_hook(k, s_car_create);
//toggle sensors
k.flag=0;
k.scan = KEY_D;
k.ascii = 'd';
keyb_hook(k, sensor_switch);
}
/demos/branches/pj/simcity/include/constant.h
0,0 → 1,99
/*************************const.h*******************************/
// constants and new types declaration
#include <kernel/func.h>
#define CST
 
#define NO_SPRITE 8
 
 
#define GRAPH
#define SENSOR
#define MAX_CAR 10
#define MAX_TL 3
#define S_POINT 4
#define PERIOD_CAR 135000 //period for K62 350MHZ
//#define PERIOD_CAR 87000 //period for PIII 733MHZ
#define SPERIOD_CAR 13000
#define SCAR_WCET 4300
#define SECOND 1000000
#define TL_WCET 200
#define CAM_WCET 200
#define GAUGE_WCET 200
#define ARROW_WCET 100
//#define CAR_WCET 7700 //wcet for PIII 733MHZ
#define CAR_WCET 12400 //wcet for K62 350MHZ
#define ROW 30
#define COL 30
#define NCAR 24
#define W 640
#define H 480
#define SH 12
#define SW 12
#define MAX_DIST 50.0
#define NORM_DIST 15.0
#define COLL_DIST 25.0
#define MIN_SPEED 0.0
#define NORM_SPEED 4.0
#define MAX_SPEED 6.0
#define MAX_LOOK 50
#define LOOK_ANGLE 70
#define DIST_ANGLE 90
#define CORR_FACT 0.7
#define FRANTIC 0.0
#define POS_RAND
#define OBL_START 1
#define DEG_TO_RAD(x) ((float)x)/180.0*3.14
#define RAD_TO_DEG(x) ((float)x)/3.14*180.0
#define RANDDIR (rand()%3-1)
#define L 0
#define R 1
#define U 2
#define D 3
 
#define DRAW 1
#define CANCEL 0
#define VERTICAL 1
#define HORIZONTAL 0
 
#define STEER_LEFT 1
#define STEER_RIGHT -1
#define STRAIGHT 0
 
#define CAMX 670
#define CAMY 120
#define MAPX 8
#define MAPY 113
 
#define FREE 0
#define STOP 1
#define CAR 2
 
/*data types*/
 
typedef struct car_d {
int number;
float xpos,ypos;
int xp,yp;
float dist_obs,dist_sem;
float speed,middle,front,rear,somma;
int angle,sat;
char collision,boom,correggi,incrocio;
char dir,running;
struct car_d *next;
} car_data;
 
typedef struct {
int x,y;
} point;
 
typedef struct {
char vpos,hpos,tl_name[8];
point l,r,u,d;
PID pid;
DWORD period;
} tl_data;
 
 
typedef struct {
int xpos,ypos,angles;
} starting_set;
/demos/branches/pj/simcity/include/misc.h
0,0 → 1,18
//*****************************misc.h************************************
// miscellaneous useful functions
#ifndef CST
#include "constant.h"
#endif
 
int my_rint(float);
void fill_table();
void tl_init();
void set_start_point();
int returnCarIndex(int);
int find_col(int,int);
int find_tl(int,int,int);
int allinea(int);
int module(int,int,int,int);
int normalize(int);
 
 
/demos/branches/pj/simcity/include/draw.h
0,0 → 1,14
//****************************draw.h*******************************
// drawing functions
#ifndef CST
#include "constant.h"
#endif
 
void drawSprites(int,int,char,char);
void drawStreet(int,int);
void get_images();
void drawCar(int,int,int,char);
void bold_rect(WORD,WORD,WORD,WORD,BYTE,BYTE,BYTE);
void draw_scenario();
void draw_tl(int x,int y,DWORD img[SH][SW]);
void drawFaces(int,int,short);
/demos/branches/pj/simcity/include/simcity.h
0,0 → 1,77
/********************************simcity.h***************************/
// global variables and tasks bodies declaration
 
#include <kernel/func.h>
#include <semaphor.h>
#ifndef CST
#include "constant.h"
#endif
 
/*Global stuff*/
 
extern car_data car_data_array[MAX_CAR];
extern tl_data tl_data_array[MAX_TL];
 
//car starting points
extern starting_set starting_set_array[S_POINT];
 
// PID vectors
extern PID p_table[MAX_CAR];
extern PID c_table[MAX_CAR];
extern PID g_table[MAX_CAR];
extern PID a_table[MAX_CAR];
 
extern char kill_flag[MAX_CAR];
//graphic mutex
extern sem_t mutex;
 
//kill_flag mutexes
extern sem_t kill_mutex[MAX_CAR];
 
//various sprites
extern DWORD macchine[ROW][COL][NCAR];
extern DWORD strada[H][W];
extern BYTE street[H*W*2];
extern BYTE vbuf[MAX_CAR][ROW*COL*2];
extern BYTE clrcam[(ROW+2)*(COL+2)*2];
extern BYTE gauge_img[ROW*COL*2];
extern BYTE brk_gauge[ROW*COL*2];
extern BYTE arrow[3][ROW*COL*2];
extern DWORD sprites[ROW][COL][NO_SPRITE];
extern BYTE clrscr[800*600*2];
extern DWORD faces[2][74][47];
 
extern char sens;
//sine & cosine look-up tables
extern float cosine[360],sine[360];
 
//traffic light sprites
extern DWORD y_sem[4][SH][SW];
extern DWORD r_sem[4][SH][SW];
extern DWORD g_sem[4][SH][SW];
 
//useful colors
extern DWORD white;
extern DWORD black;
extern DWORD red;
extern DWORD gray;
extern DWORD blue;
extern DWORD green;
extern DWORD border;
extern DWORD tl_bg;
 
//task chain pointers
extern car_data *free_n,*busy_n,*free_o,*busy_o;
// car counter
extern short maxc;
 
/*function declaration */
 
/* task bodies*/
TASK car(car_data *);
TASK traffic_light(tl_data *);
TASK camera(int);
TASK gauge_c(int);
TASK blink_arrow(int);
TASK refresher(void *);
TASK killer(void *);
/demos/branches/pj/simcity/include/states.h
0,0 → 1,21
enum stati {
NORM,
INC1,
DX1,
STR1,
STR2,
SX1,
SX2,
SX3
} ;
 
enum sprite_type {
EXPL,
GAUGE,
ARR_OFF,
ARR_SX,
ARR_DX,
VECCHINA,
V_SPLAT,
GAUGE_ROTTO
};
/demos/branches/pj/simcity/include/proc.h
0,0 → 1,23
//***************************proc.h******************************
// task management functions
#ifndef CST
#include "constant.h"
#endif
 
 
int add();
void del(int);
void init_struct();
int del_o();
void gauge_create(char *,int);
void arrow_create(char *,int);
void killer_create();
void ref_create();
void cam_create(char *,int);
void stl_create(char *,int);
void h_create(char *,int);
void s_create(char *,int);
void killing(int);
 
 
 
/demos/branches/pj/simcity/include/car.h
0,0 → 1,10
//*****************************car.h********************************
// car management functions
#ifndef CST
#include "constant.h"
#endif
 
char collision_sensor(car_data *);
int sensore(car_data *);
void ch_spd(car_data *,char);
 
/demos/branches/pj/simcity/include/keyfunct.h
0,0 → 1,10
/*******************************keyfunct.h****************************/
// keyboard handler functions
#include <drivers/keyb.h>
 
void h_car_create(KEY_EVT *);
void s_car_create(KEY_EVT *);
void h_car_kill(KEY_EVT *);
void endfun(KEY_EVT *);
void refresh(KEY_EVT *);
void sensor_switch(KEY_EVT *);
/demos/branches/pj/simcity/sem/green_l.raw
0,0 → 1,0
€€€€€€€€€€€€€€€€€€€€€€€€€ÿ€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿ€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿ€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿ€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€€€€€€€€€€€€
/demos/branches/pj/simcity/sem/red_r.raw
0,0 → 1,0
€€€€€€€€€€€€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€ÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€ÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€ÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€ÿ€€€€€€€€€€€€€€€€€€€€€€€€€
/demos/branches/pj/simcity/sem/yellow_r.raw
0,0 → 1,0
€€€€€€€€€€€€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€ÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€ÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€ÿÿ€€€€€€€€€€€€€€€€€€€€€€€€€
/demos/branches/pj/simcity/sem/red_d.raw
0,0 → 1,0
€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€ÿÿ€€€€€€€€€ÿÿÿÿ€€€€€€€ÿÿÿÿÿÿ€€€€€ÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€
/demos/branches/pj/simcity/sem/red_u.raw
0,0 → 1,0
€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿ€€€€€ÿÿÿÿÿÿ€€€€€€€ÿÿÿÿ€€€€€€€€€ÿÿ€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€
/demos/branches/pj/simcity/sem/yellow_d.raw
0,0 → 1,0
€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€ÿÿÿÿ€€€€€€€€€ÿÿÿÿÿÿÿÿ€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€
/demos/branches/pj/simcity/sem/yellow_u.raw
0,0 → 1,0
€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€ÿÿÿÿÿÿÿÿ€€€€€€€€€ÿÿÿÿ€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€
/demos/branches/pj/simcity/sem/green_r.raw
0,0 → 1,0
€€€€€€€€€€€€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€ÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€ÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€ÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€ÿ€€€€€€€€€€€€€€€€€€€€€€€€€
/demos/branches/pj/simcity/sem/green_d.raw
0,0 → 1,0
€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€ÿÿ€€€€€€€€€ÿÿÿÿ€€€€€€€ÿÿÿÿÿÿ€€€€€ÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€
/demos/branches/pj/simcity/sem/green_u.raw
0,0 → 1,0
€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿ€€€€€ÿÿÿÿÿÿ€€€€€€€ÿÿÿÿ€€€€€€€€€ÿÿ€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€
/demos/branches/pj/simcity/sem/red_l.raw
0,0 → 1,0
€€€€€€€€€€€€€€€€€€€€€€€€€ÿ€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿ€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿ€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿ€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€€€€€€€€€€€€
/demos/branches/pj/simcity/sem/yellow_l.raw
0,0 → 1,0
€€€€€€€€€€€€€€€€€€€€€€€€€ÿÿ€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿ€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿ€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€€€€€€€€€€€€
/demos/branches/pj/simcity/proc.c
0,0 → 1,393
#include <drivers/glib.h>
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include "include/simcity.h"
#include "include/misc.h"
#include "include/proc.h"
 
int add() {
if(maxc>0 && maxc<MAX_CAR-1) {
busy_n->next=free_o;
busy_n=free_o;
free_o=free_o->next;
busy_n->next=NULL;
}
if(maxc==0) {
busy_n=busy_o=free_o;
free_o=free_o->next;
busy_n->next=NULL;
}
if(maxc==MAX_CAR-1) {
busy_n->next=free_o;
busy_n=free_o;
free_o=free_n=NULL;
busy_n->next=NULL;
}
if(maxc<MAX_CAR) {
maxc++;
return(busy_n->number);
} else
return(-1);
}
 
void del(int num) {
car_data *d,*db;
 
db=d=busy_o;
if(maxc>1) {
while((d->number)!=num) {
db=d;
d=d->next;
}
if(d==busy_n) {
db->next=NULL;
busy_n=db;
} else if(d==busy_o) {
busy_o=busy_o->next;
} else {
db->next=d->next;
}
if(maxc!=MAX_CAR) {
free_n->next=d;
free_n=d;
free_n->next=NULL;
}
else {
free_n=free_o=d;
}
}
else {
free_n->next=d;
free_n=d;
free_n->next=NULL;
busy_n=busy_o=NULL;
}
maxc--;
}
 
void init_struct() {
int i;
 
free_o=&(car_data_array[0]);
free_n=&(car_data_array[MAX_CAR-1]);
busy_n=busy_o=NULL;
for(i=0;i<MAX_CAR;i++)
car_data_array[i].number=i;
for(i=0;i<MAX_CAR;i++) {
if(i<MAX_CAR-1)
car_data_array[i].next=&(car_data_array[i+1]);
else
car_data_array[i].next=NULL;
}
maxc=0;
}
 
int del_o() {
 
if(maxc<MAX_CAR && maxc>1) {
free_n->next=busy_o;
free_n=busy_o;
busy_o=busy_o->next;
free_n->next=NULL;
} else
if(maxc==MAX_CAR) {
free_n=free_o=busy_o;
busy_o=busy_o->next;
free_n->next=NULL;
} else
if(maxc==1) {
free_n->next=busy_o;
free_n=busy_o;
free_n->next=NULL;
busy_o=busy_n=NULL;
}
if(maxc>0) {
maxc--;
return(free_n->number);
} else
return -1;
}
 
void gauge_create(char *name,int num) {
void *par;
PID pid;
SOFT_TASK_MODEL stm;
 
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
par=(void *) num;
soft_task_def_arg(stm,par);
soft_task_def_met(stm,GAUGE_WCET);
soft_task_def_period(stm,PERIOD_CAR);
soft_task_def_usemath(stm);
pid = task_create(name, gauge_c, &stm, NULL);
if (pid == NIL) {
grx_close();
perror("stl_create():Could not create task <Gauge_c>");
sys_abort(1);
}
g_table[num]=pid;
task_activate(pid);
}
 
 
void arrow_create(char *name,int num) {
void *par;
PID pid;
SOFT_TASK_MODEL stm;
 
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
par=(void *) num;
soft_task_def_arg(stm,par);
soft_task_def_met(stm,ARROW_WCET);
soft_task_def_period(stm,PERIOD_CAR*4);
pid = task_create(name,blink_arrow, &stm, NULL);
if (pid == NULL) {
grx_close();
perror("stl_create():Could not create task <arrow>");
sys_abort(1);
}
a_table[num]=pid;
task_activate(pid);
}
 
void killer_create() {
void *par;
PID pid;
SOFT_TASK_MODEL stm;
 
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
par=(void *) 0;
soft_task_def_arg(stm,par);
soft_task_def_met(stm,1000);
soft_task_def_period(stm,5*SECOND);
pid = task_create("killer", killer, &stm, NULL);
if (pid == NULL) {
grx_close();
perror("ref_create():Could not create task <killer>");
sys_abort(1);
}
task_activate(pid);
}
 
 
void ref_create() {
void *par;
PID pid;
SOFT_TASK_MODEL stm;
 
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
par=(void *) 0;
soft_task_def_arg(stm,par);
soft_task_def_met(stm,3000);
soft_task_def_period(stm,4*SECOND);
pid = task_create("Refresher", refresher, &stm, NULL);
if (pid == NULL) {
grx_close();
perror("ref_create():Could not create task <refresher>");
sys_abort(1);
}
task_activate(pid);
}
 
void cam_create(char *name,int num) {
void *par;
PID pid;
SOFT_TASK_MODEL stm;
 
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
par=(void *) num;
soft_task_def_arg(stm,par);
soft_task_def_met(stm,CAM_WCET);
soft_task_def_period(stm,PERIOD_CAR);
pid = task_create(name, camera, &stm, NULL);
if (pid == NULL) {
grx_close();
perror("stl_create():Could not create task <Camera>");
sys_abort(1);
}
c_table[num]=pid;
task_activate(pid);
}
 
void stl_create(char *name,int num) {
void *par;
PID pid;
SOFT_TASK_MODEL stm;
 
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
strcpy(tl_data_array[num].tl_name,name);
par=(void *) &(tl_data_array[num]);
soft_task_def_arg(stm,par);
soft_task_def_met(stm,TL_WCET);
soft_task_def_period(stm,tl_data_array[num].period);
pid = task_create(name, traffic_light, &stm, NULL);
if (pid == NULL) {
grx_close();
perror("stl_create():Could not create task <Traffic Light>");
sys_abort(1);
}
tl_data_array[num].pid=pid;
task_activate(pid);
}
 
void h_create(char *name,int num) {
void *par;
PID pid;
int start_point=0;
short flag=0;
HARD_TASK_MODEL htm;
car_data cd,*d;
 
#ifdef POS_RAND
start_point=rand()%S_POINT;
if(busy_o!=NULL)
do {
flag=0;
d=busy_o;
do {
if(d->number!=num)
if(module(starting_set_array[start_point].xpos,d->xp,starting_set_array[start_point].ypos,d->yp)<256) {
start_point=(start_point+1)%S_POINT;
flag=1;
break;
}
d=d->next;
} while(d!=NULL);
} while(flag);
#endif
#ifndef POS_RAND
start_point=OBL_START;
#endif
 
cd.number=num;
cd.xpos=cd.xp=starting_set_array[start_point].xpos;
cd.ypos=cd.yp=starting_set_array[start_point].ypos;
cd.angle=starting_set_array[start_point].angles;
cd.speed=MIN_SPEED;
cd.dist_obs=MAX_DIST;
cd.collision=cd.boom=cd.correggi=cd.somma=0;
cd.dir=STRAIGHT;
car_data_array[num]=cd;
hard_task_default_model(htm);
hard_task_def_ctrl_jet(htm);
par=(void *) &(car_data_array[num]);
hard_task_def_arg(htm,par);
hard_task_def_wcet(htm, CAR_WCET);
hard_task_def_mit(htm,PERIOD_CAR);
hard_task_def_usemath(htm);
pid = task_create(name, car, &htm, NULL);
if (pid == NULL) {
grx_close();
perror("h_create():Could not create task <hard car>");
sys_abort(1);
}
else {
p_table[num]=pid;
sem_wait(&(kill_mutex[num]));
kill_flag[num]=0;
car_data_array[num].running=1;
sem_post(&(kill_mutex[num]));
task_activate(pid);
}
}
 
void s_create(char *name,int num) {
void *par;
PID pid;
int start_point=0;
SOFT_TASK_MODEL stm;
car_data cd,*d;
short flag=0;
 
#ifdef POS_RAND
start_point=rand()%S_POINT;
if(busy_o!=NULL)
do {
flag=0;
d=busy_o;
do {
if(d->number!=num)
if(module(starting_set_array[start_point].xpos,d->xp,starting_set_array[start_point].ypos,d->yp)<256) {
start_point=(start_point+1)%S_POINT;
flag=1;
break;
}
d=d->next;
} while(d!=NULL);
} while(flag);
#endif
#ifndef POS_RAND
start_point=OBL_START;
#endif
 
cd.number=num;
cd.xpos=cd.xp=starting_set_array[start_point].xpos;
cd.ypos=cd.yp=starting_set_array[start_point].ypos;
cd.angle=starting_set_array[start_point].angles;
cd.speed=MIN_SPEED;
cd.dist_obs=MAX_DIST;
cd.collision=cd.boom=cd.correggi=cd.somma=0;
cd.dir=STRAIGHT;
car_data_array[num]=cd;
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
par=(void *) &(car_data_array[num]);;
soft_task_def_arg(stm,par);
soft_task_def_met(stm,SCAR_WCET);
soft_task_def_period(stm,SPERIOD_CAR);
soft_task_def_usemath(stm);
pid = task_create(name, car, &stm, NULL);
if (pid == NULL) {
grx_close();
perror("h_create():Could not create task <soft car>");
sys_abort(1);
}
else {
p_table[num]=pid;
sem_wait(&(kill_mutex[num]));
kill_flag[num]=0;
car_data_array[num].running=1;
sem_post(&(kill_mutex[num]));
task_activate(pid);
}
}
 
void killing(int num) {
PID car_to_kill,cam_to_kill,gauge_to_kill,a_to_kill;
int c;
 
c=car_data_array[num].number*46;
car_to_kill=p_table[num];
cam_to_kill=c_table[num];
gauge_to_kill=g_table[num];
a_to_kill=a_table[num];
sem_wait(&(kill_mutex[num]));
kill_flag[num]=1;
car_data_array[num].running=0;
sem_post(&(kill_mutex[num]));
task_kill(car_to_kill);
task_kill(cam_to_kill);
task_kill(gauge_to_kill);
task_kill(a_to_kill);
sem_wait(&mutex);
grx_putimage(car_data_array[num].xp-15,car_data_array[num].yp-15,car_data_array[num].xp+14,car_data_array[num].yp+14,vbuf[car_data_array[num].number]);
grx_putimage(CAMX-1,CAMY-1+c,CAMX+30,CAMY+30+c,clrcam);
grx_putimage(CAMX+40-1,CAMY-1+c,CAMX+40+30,CAMY+c+30,clrcam);
grx_putimage(CAMX+80-1,CAMY-1+c,CAMX+80+30,CAMY+c+30,clrcam);
grx_text(" ",CAMX,CAMY+c+30,black,black);
sem_post(&mutex);
}
/demos/branches/pj/simcity/initfile.c
0,0 → 1,109
//****************************initfile.c*******************************
#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>
 
//#include "ll/i386/x-dos.h"
 
 
/*+ sysyem tick in us +*/
#define TICK 0
 
/*+ RR tick in us +*/
//#define RRTICK 10000
#define RRTICK 2000
 
 
void getCars(void);
void getRoad(void);
void getSem(void);
void getSprites(void);
void getFaces(void);
void tl_pos();
 
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);
 
// 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();
 
getFaces();
getCars();
getRoad();
getSem();
getSprites();
tl_pos();
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
/demos/branches/pj/simcity/car.c
0,0 → 1,175
#include <drivers/glib.h>
#include <stdlib.h>
#include <math.h>
#include "include/simcity.h"
#include "include/misc.h"
#include "include/car.h"
#include "include/draw.h"
 
char collision_sensor(car_data *cd) {
float i,dx,dx1,dy,dy1,deltax,deltay;
int colore,colore1;
int speed_done=0;
char col=FREE;
 
dx=cd->xpos+2.0*cosine[normalize(cd->angle+90)];
dy=cd->ypos-2.0*sine[normalize(cd->angle+90)];
dx1=cd->xpos-8.0*cosine[normalize(cd->angle+90)];
dy1=cd->ypos+8.0*sine[normalize(cd->angle+90)];
 
for (i=0.0;i<MAX_LOOK;i+=0.1) {
deltax=i*cosine[normalize(cd->angle)];
deltay=i*sine[normalize(cd->angle)];
sem_wait(&mutex);
colore=grx_getpixel(my_rint(dx+deltax),my_rint(dy-deltay));
colore1=grx_getpixel(my_rint(dx1+deltax),my_rint(dy1-deltay));
sem_post(&mutex);
if (((colore==white)||(colore1==white) || ((colore==red)||(colore1==red)))) {
if((colore==white)||(colore1==white))
col=STOP;
else
col=CAR;
cd->dist_obs=i;
cd->collision=1;
speed_done=1;
}
if (!speed_done) {
if (sens) {
sem_wait(&mutex);
grx_plot(my_rint(dx+deltax),my_rint(dy-deltay),gray);
grx_plot(my_rint(dx1+deltax),my_rint(dy1-deltay),gray);
sem_post(&mutex);
}
}
}
if (!speed_done) {
cd->collision=0;
cd->dist_obs=MAX_LOOK;
}
return col;
}
 
int sensore(car_data *cd) {
int col_front,col_rear,col_middle;
int done_front=0,done_rear=0,done_middle=0;
float front,rear,middle,store_middle;
int angolo;
float i;
float x1,y1,x05,y05;
float xs,ys,xs1,ys1;
float coordx,coordy,distx,disty;
 
cd->front=cd->rear=cd->middle=front=rear=middle=store_middle=NORM_DIST;
x1=cd->xpos-10.0*cosine[normalize(cd->angle)]; // coordinata sensore dietro
y1=cd->ypos+10.0*sine[normalize(cd->angle)];
 
x05=cd->xpos-5.0*cosine[normalize(cd->angle)]; // coordinata sensore mezzo
y05=cd->ypos+5.0*sine[normalize(cd->angle)];
 
for (i=0.0;i<MAX_DIST;i+=0.1) {
coordx=i*cosine[normalize(cd->angle-LOOK_ANGLE)];
coordy=i*sine[normalize(cd->angle-LOOK_ANGLE)];
distx=i*cosine[normalize(cd->angle-DIST_ANGLE)];
disty=i*sine[normalize(cd->angle-DIST_ANGLE)];
col_front=grx_getpixel(my_rint(cd->xpos+coordx),my_rint(cd->ypos-coordy));
col_rear=grx_getpixel(my_rint(x1+coordx),my_rint(y1-coordy));
col_middle=grx_getpixel(my_rint(x05+distx),my_rint(y05-disty));
if ((col_front==border) && !done_front) {
done_front=1;
cd->front=front=i;
}
if ((col_middle==border) && !done_middle) {
done_middle=1;
middle=cd->middle=i;
}
if ((col_rear==border) && !done_rear) {
done_rear=1;
cd->rear=rear=i;
}
if (sens) {
sem_wait(&mutex);
if (!done_front) {
grx_plot(my_rint(cd->xpos+coordx),my_rint(cd->ypos-coordy),gray);
}
if (!done_rear) {
grx_plot(my_rint(x1+coordx),my_rint(y1-coordy),blue);
}
if (!done_middle) {
grx_plot(my_rint(x05+distx),my_rint(y05-disty),green);
}
sem_post(&mutex);
}
}
 
if (!done_front) {
front=cd->front=MAX_DIST;
}
if (!done_rear) {
rear=cd->rear=MAX_DIST;
}
if (!done_middle) {
cd->middle=middle=MAX_DIST;
}
xs=cd->xpos+front*cosine[normalize(cd->angle-LOOK_ANGLE)];
xs1=x1+rear*cosine[normalize(cd->angle-LOOK_ANGLE)];
ys=cd->ypos-front*sine[normalize(cd->angle-LOOK_ANGLE)];
ys1=y1-rear*sine[normalize(cd->angle-LOOK_ANGLE)];
if (xs==xs1) {
angolo=90;
} else {
angolo=my_rint(RAD_TO_DEG(atan((-ys1+ys)/(xs1-xs))));
}
 
if (angolo<0) angolo+=360;
if (angolo>=360) angolo-=360;
 
if ((ys-ys1<0) && (xs1-xs>0)) {
angolo-=180;
}
if ((ys-ys1>=0) && (xs1-xs>0)) {
angolo+=180;
}
 
if ((xs1-xs==0) && (ys-ys1>0)) {
angolo=270;
}
 
if (abs(middle-NORM_DIST)>FRANTIC) {
cd->correggi=1;
} else {
cd->somma=0;
cd->correggi=0;
}
 
if (cd->correggi) {
if (middle>NORM_DIST) {
cd->somma-=CORR_FACT;
}
if (middle<NORM_DIST) {
cd->somma+=CORR_FACT;
}
}
angolo+=cd->somma;
return angolo;
}
 
void ch_spd(car_data *cd,char ob_type) {
float set_spd=0.0;
float bf;
 
if(cd->collision) {
if(ob_type==STOP)
bf=0.001;
else
bf=0.7;
set_spd=cd->speed-(MAX_LOOK-cd->dist_obs)*bf;
if(set_spd<0)
set_spd=0;
}
else {
set_spd=cd->speed+0.4;
if(set_spd>MAX_SPEED)
set_spd=MAX_SPEED;
}
cd->speed=set_spd;
}
/demos/branches/pj/simcity/reading.c
0,0 → 1,237
/********************************************reading.c******************************/
#include <kernel/func.h>
#include <drivers/glib.h>
#include <ll/i386/x-dos.h>
#include <stdlib.h>
#include <string.h>
#include "include/constant.h"
#define rgb rgb16
 
DWORD macchine[ROW][COL][NCAR];
DWORD strada[H][W];
DWORD sprites[ROW][COL][NO_SPRITE];
DWORD y_sem[4][SH][SW];
DWORD r_sem[4][SH][SW];
DWORD g_sem[4][SH][SW];
DWORD faces[2][74][47];
extern tl_data tl_data_array[MAX_TL];
 
char nomefile[17];
char nomestrada[17];
char nomesem[17];
char nomesprite[16];
 
void getSem() {
int i,j,k,count;
BYTE colore[3];
DOS_FILE *fp;
char letter[5];
 
strcpy(letter,"lrud");
strcpy(nomesem,"sem/green_ .raw");
 
//green traffic light....
for(k=0;k<4;k++) {
nomesem[10]=letter[k];
fp=DOS_fopen(nomesem,"r");
if(!fp) {
perror(nomesem);
sys_abort(1);
}
for(i=0;i<SH;i++) {
for(j=0;j<SW;j++) {
count=DOS_fread(&colore,sizeof(BYTE),3,fp);
if(count!=3) break;
g_sem[k][i][j]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
fp=0;
}
 
//red traffic light...
strcpy(nomesem,"sem/red_ .raw");
for(k=0;k<4;k++) {
nomesem[8]=letter[k];
fp=DOS_fopen(nomesem,"r");
if(!fp) {
perror(nomesem);
sys_abort(1);
}
for(i=0;i<SH;i++) {
for(j=0;j<SW;j++) {
count=DOS_fread(&colore,sizeof(BYTE),3,fp);
if(count!=3) break;
r_sem[k][i][j]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
fp=0;
}
 
//yellow traffic light...
strcpy(nomesem,"sem/yellow_ .raw");
for(k=0;k<4;k++) {
nomesem[11]=letter[k];
fp=DOS_fopen(nomesem,"r");
if(!fp) {
perror(nomesem);
sys_abort(1);
}
for(i=0;i<SH;i++) {
for(j=0;j<SW;j++) {
count=DOS_fread(&colore,sizeof(BYTE),3,fp);
if(count!=3) break;
y_sem[k][i][j]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
fp=0;
}
}
 
void getCars() {
int i,j,k,l,index;
int tmp;
char id_car[3];
BYTE colore[3];
DOS_FILE *fp;
 
strcpy(nomefile,"img/car_XXXn.raw");
k=0;
for (index=0;index<360;index+=15) {
tmp=index;
for (l=2;l>=0;l--) {
id_car[l]=tmp%10+'0';
tmp/=10;
}
nomefile[8]=id_car[0];
nomefile[9]=id_car[1];
nomefile[10]=id_car[2];
fp=DOS_fopen(nomefile,"r");
if (!fp) {
perror(nomefile);
sys_abort(1);
}
 
for (i=0;i<ROW;i++) {
for (j=0;j<COL;j++) {
DOS_fread(&colore,sizeof(BYTE),3,fp);
macchine[i][j][k]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
fp=0;
k++;
}
}
 
void getRoad() {
DOS_FILE *fp;
int i,j,test;
BYTE colore[3];
 
strcpy(nomestrada,"img/street.raw");
fp=DOS_fopen(nomestrada,"r");
if (!fp) {
perror(nomestrada);
sys_abort(1);
}
 
for (i=0;i<H;i++) {
for (j=0;j<W;j++) {
test=DOS_fread(&colore,sizeof(BYTE),3,fp);
if(test!=3) {
perror("Few bytes read!!!!!!\n");
 
}
strada[i][j]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
}
 
void getSprites(void) {
int i,j,k;
DOS_FILE *fp;
BYTE colore[3];
 
strcpy(nomesprite,"sprite/sp_X.raw");
for (k=0;k<NO_SPRITE;k++) {
nomesprite[10]=k+'0';
fp=DOS_fopen(nomesprite,"r");
if (!fp) {
perror(nomesprite);
sys_abort(1);
}
for (i=0;i<ROW;i++) {
for (j=0;j<COL;j++) {
DOS_fread(&colore,sizeof(BYTE),3,fp);
sprites[i][j][k]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
fp=0;
}
}
 
void tl_pos(void) {
DOS_FILE *fp;
int i;
char buf[7];
int dimx,dimy;
 
fp=DOS_fopen("sem.raw","r");
if (!fp) {
perror("sem.raw");
sys_abort(1);
}
buf[6]='\0';
for (i=0;i<MAX_TL;i++) {
DOS_fread(&buf,sizeof(char),6,fp);
dimx=(buf[0]-'0')*100+(buf[1]-'0')*10+(buf[2]-'0');
dimy=(buf[3]-'0')*100+(buf[4]-'0')*10+(buf[5]-'0');
tl_data_array[i].u.x=dimx;
tl_data_array[i].u.y=dimy;
DOS_fread(&buf,sizeof(char),6,fp);
dimx=(buf[0]-'0')*100+(buf[1]-'0')*10+(buf[2]-'0');
dimy=(buf[3]-'0')*100+(buf[4]-'0')*10+(buf[5]-'0');
tl_data_array[i].d.x=dimx;
tl_data_array[i].d.y=dimy;
DOS_fread(&buf,sizeof(char),6,fp);
dimx=(buf[0]-'0')*100+(buf[1]-'0')*10+(buf[2]-'0');
dimy=(buf[3]-'0')*100+(buf[4]-'0')*10+(buf[5]-'0');
tl_data_array[i].l.x=dimx;
tl_data_array[i].l.y=dimy;
DOS_fread(&buf,sizeof(char),6,fp);
dimx=(buf[0]-'0')*100+(buf[1]-'0')*10+(buf[2]-'0');
dimy=(buf[3]-'0')*100+(buf[4]-'0')*10+(buf[5]-'0');
tl_data_array[i].r.x=dimx;
tl_data_array[i].r.y=dimy;
}
DOS_fclose(fp);
}
 
void getFaces(void) {
int i,j,k;
DOS_FILE *fp;
BYTE colore[3];
 
strcpy(nomesprite,"img/bbX.raw");
for (k=0;k<2;k++) {
nomesprite[6]=k+'0';
fp=DOS_fopen(nomesprite,"r");
if (!fp) {
perror(nomesprite);
sys_abort(1);
}
for (i=0;i<74;i++) {
for (j=0;j<47;j++) {
DOS_fread(&colore,sizeof(BYTE),3,fp);
faces[k][i][j]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
fp=0;
}
}
/demos/branches/pj/simcity/simcity.c
0,0 → 1,182
/************************** Simcity ************************/
// Main,initialization functions and global variables allocation
#include <kernel/func.h>
#include <string.h>
#include <stdlib.h>
#include <drivers/keyb.h>
#include <drivers/glib.h>
#include <kernel/kern.h>
#include <semaphor.h>
#include <math.h>
#include "include/constant.h"
#include "include/misc.h"
#include "include/draw.h"
#include "include/proc.h"
#define rgb rgb16
 
/* graphic mutex... */
sem_t mutex;
//kill flag mutexes
sem_t kill_mutex[MAX_CAR];
 
// various sprites to use with grx_putimage()....
BYTE vbuf[MAX_CAR][ROW*COL*2];
BYTE clrscr[800*600*2];
BYTE clrcam[(ROW+2)*(COL+2)*2];
BYTE gauge_img[ROW*COL*2];
BYTE brk_gauge[ROW*COL*2];
BYTE arrow[3][ROW*COL*2];
BYTE street[H*W*2];
 
//task chain pointers
car_data *free_n,*free_o,*busy_n,*busy_o;
 
// various sprites to plot
extern DWORD macchine[ROW][COL][NCAR];
extern DWORD sprites[ROW][COL][NO_SPRITE];
extern DWORD strada[H][W];
 
//resolution to use
WORD r=600;
WORD c=800;
BYTE bpp=16;
 
// useful colors...
DWORD white;
DWORD black;
DWORD red;
DWORD gray;
DWORD blue;
DWORD green;
DWORD border;
DWORD tl_bg;
 
//PID vectors
 
PID p_table[MAX_CAR];
PID c_table[MAX_CAR];
PID g_table[MAX_CAR];
PID a_table[MAX_CAR];
 
char kill_flag[MAX_CAR];
float cosine[360],sine[360];
 
// data structures
car_data car_data_array[MAX_CAR];
tl_data tl_data_array[MAX_TL];
starting_set starting_set_array[S_POINT];
 
void keyb_h(void);
 
static void version( void )
{
cprintf("\n\nDemo presented by\n");
cprintf("Aguzzi Marco\n");
cprintf(" &\n");
cprintf("Ferrari Fabio\n");
}
 
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("Shutting down SIMCITY\n");
}
 
int main(int argc, char **argv)
{
int i;
char tl_name[4];
struct sigaction action;
 
version();
 
/* Init the standard Hartik exception handler */
/* Set the signal action */
action.sa_flags = SA_SIGINFO;
action.sa_sigaction = demo_exc_handler;
action.sa_handler = 0;
sigfillset(&action.sa_mask); /* we block all the other signals... */
if (sigaction(SIGHEXC, &action, NULL) == -1) {
perror("Error initializing signals...");
sys_end();
}
sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT);
 
//resetting kill flags
for(i=0;i<MAX_CAR;i++) {
p_table[i]=0;
kill_flag[i]=0;
}
 
// graphic mode initialization
#ifdef GRAPH
if (grx_init() < 1) {
kern_printf("Error initializing graphics\n");
sys_abort(1);
}
if (grx_open(c,r,bpp) < 0) {
kern_printf("GRX Open Err\n");
sys_abort(1);
}
get_images();
#endif
srand(sys_gettime(NULL));
 
//init the graphic mutex
sem_init(&mutex,1,1);
//init kill flag mutexes
for(i=0;i<MAX_CAR;i++) sem_init(&(kill_mutex[i]),1,1);
//fill sine & cosine lookup tables
fill_table();
/*init keys*/
keyb_h();
set_start_point();
tl_init();
init_struct();
 
/* useful colors ... */
white = rgb(255,255,255);
black = rgb(0,0,0);
red = rgb(255,0,0);
gray = rgb(210,210,210);
blue = rgb(0,0,220);
green = rgb(0,255,0);
border= rgb(128,128,128);
tl_bg= rgb(0,128,0);
#ifdef GRAPH
/* paint scenario*/
draw_scenario();
#endif
#ifndef GRAPH
cprintf("Main: max_tl:%d\n",MAX_TL);
#endif
 
//creating refresher,killer and traffic light processes...
ref_create();
killer_create();
for(i=0;i<MAX_TL;i++) {
sprintf(tl_name,"tl%d",i+1);
#ifndef GRAPH
cprintf("main:tname=%s",tl_name);
#endif
stl_create(tl_name,i);
}
return 0;
}
/demos/branches/pj/simcity/sprite/sp_6.raw
0,0 → 1,23
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/demos/branches/pj/simcity/sprite/sp_7.raw
0,0 → 1,0
vtvÀÀÀÀÀÀÀÀÀÂÀÂÂÀÂÂÀÂÀÀÀ'&'œ›œ•—•{{€€{{~~||{{€€µ´µKLKÂÀ‰Š‰~~RNRMNMRNRNONPOPRORaba~~¦¥¦vtv'''ÀÀÀ~~tutRQRÞÝÞÞÝÞXYXÞÛÞÞÛÞ¢¤¢XYX{{™™™˜˜˜ŠŽŠ€}€jljikiÞÛÞXWXÙÛÙÞÛÞÜÛÜÚÝÚXYXÁ¿ÁRMR€€KLKÂÀŠbbb…‰…ÞÛÞÞÝÞÚÛÚÚÛڅƒ…±°±ÞÜÞÞÛÞÞÛÞÞßÞMNMtut¦¥¦vtvqtq¦£¦WXW¥¤¥…ƒ…°°°ÚÜÚÙÛÙÞÛÞXYXÜÛÜÚÛÚÙÛÙÙÛÙXWXÞÝÞiiijljÀ¾À'%''''ÀÀÀlklÀÁÀÞÛÞÞÜÞÙÛÙXWXÞÜÞXWX………±¯±ÙÛÙÞÛÞÜÝÜÚÛÚÞÛÞÞÞޅ‡…š™š–˜–—›—š—šÞÝÞXWXÙÛÙÚÝÚ¯®¯………ÚÛÚÜÛÜXYXÜÛÜÚÝÚÚÛÚÞÜÞ¬¯¬………¶µ¶µ´µKLKŒ]b]ÚÛÚÜÝÜÞÛÞÙÛÙ±®±ÞÛÞÙÛÙÞÛÞÙÛÙÞÛÞ¢¤¢€€ONOKNK‚¥£¥ÞÝÞÙÛÙÞÛÞÞÛÞXYXÞÝÞÜÛÜÙÛÙÙÜÙÞÛÞXXXXYXÞÛÞÜÛÜsss¦¦¦§¦§xsx¥¤¥ÚÛÚÜÛÜÚÛÚÚÝÚÚÛÚÚÛÚÜÛÜÚÛÚÚÛÚÞÛÞ,+,ÚÛÚÜÛÜÙÜÙÞÛÞsvs~~vtv¦¥¦swsXYX…ƒ…,,,ÙÜÙÙÛÙÞÛÞÙÛÙÞÛÞÞÛÞÙÜÙÞÛÞÞÝÞÞÛÞÙÝÙÞÛހƒ€”’”lllqqqvtvjij¾ÂÞÛÞÞÝÞXWXÞÛÞÙÛÙÙÛÙÙÝÙÞÛÞÚÛÚÚÜÚÞÛÞÙÛÙÙÛÙXYX,,,ÞÜÞÞÜޅ‡…š™š%&%qqqlllÀÁÀÙÛمƒ…±±±ÙÛÙÞÛÞÙÝÙÚÝÚÜÛÜÙÛÙÞÛÞÙÛÙÙÛÙÞÛÞÞÜÞXWXXXXXYXÞÝÞÙÛمˆ…š—š%%%'''™™™ŠˆŠÞÝÞÞÛހƒ€,,,ÞÛÞÚÜÚÜÛÜÞÛÞÜÛÜÚÛÚÚÛÚÜÛÜÙÛÙÙÛÙXWX,+,ÚÛÚÜÛÜÞÛÞada‹‹‹&&&ššš…‡…ÜÛÜÚÛÚÞÝÞÞÛÞÙÜÙÞÛÞÚÛÚÚÛÚÜÛÜÞÛÞÙÛÙÜÝÜÚÛÚÞÛÞÚÝÚÜÛÜÞÜÞ]`]Žb`b………±¯±ÞÛÞÙÛÙÙÛÙÞÛÞÜÛÜÞÝÞÙÛÙÜÝÜÚÛÚÞÝÞÞÛÞÙÛÙÜÝÜÞÛÞÙÛÙXWX¥¦¥‚ONO‹Œ‹abaÞÜÞÜÛÜÚÛÚÞÛÞÜÝÜÙÜÙÜÛÜÚÛÚÞÛÞÙÛÙÞÛÞÙÛÙÙÛÙÞÝÞÙÛÙÞÛÞÞÛÞÙÝÙÞÛÞÙÛÙÜÛÜÚÛÚ¢¢¢ƒƒƒKLKONO‚¥£¥ÚÝÚÜÛÜÞÛÞÙÝÙÙÛÙÚÛÚÜÛÜÞÛÞÙÜÙÞÛÞÙÛÙÞÛÞÚÛÚÜÛÜÙÛÙÚÝÚÜÛÜXWX…ƒ…,,,ÞÝÞÞÜÞsss¦¦¦KLKƒƒƒ¢¤¢ÞÛÞ¬®¬XWXÜÛÜÙÝÙÜÛÜÚÝÚÞÛÞÙÛÙÞÛÞÜÛÜÙÜÙÞÛÞÙÛÙXWXÞÝÞXXXÙÜÙÞÛÞquq§£§ONO‚¥£¥ÙÛÙ±®±………XYXÞÛÞÙÝÙÙÛÙÞÛÞÙÛÙÞÛÞÞÛÞÜÛÜÚÛÚÚÛÚÜÛÜÙÛÙXWX…ƒ…±±±ÞÛÞÙÛÙsss¦¨¦KLKƒƒƒ¢¢¢XWX±®±ÜÛÜÙÛÙÞÛÞÞÝÞÚÛÚÜÛÜÞÛÞÙÛÙÜÛÜÚÝÚÞÛÞÙÝÙÙÛÙXYXsts¦¥¦ONO‚MNMÞÜÞÚÛÚÜÛÜÙÜÙÞÛÞÜÛÜÚÝÚÜÝÜÙÛÙÞÛÞÜÛÜÚÜÚÞÜÞÙÛÙÞÛÞÙÛÙÞÛÞÞÛÞÙÝÙÞÛÞ¢¤¢XVX§£§KLKŒbbb½¾½ÂÀ½¾½ÀÀÀ¾À¾Â¾Â½¾½¾¿¾ÀÀÀÀÀÀ¾¾¾Â¾Â½¾½¾À¾À¾À½À½Â¿Â½À½ÂÀ½¾½½À½Â¾Â½À½½À½’’xwx¢¨¢
/demos/branches/pj/simcity/sprite/sp_0.raw
0,0 → 1,0
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/demos/branches/pj/simcity/sprite/sp_1.raw
0,0 → 1,0
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/demos/branches/pj/simcity/sprite/sp_2.raw
0,0 → 1,0
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/demos/branches/pj/simcity/sprite/sp_3.raw
0,0 → 1,0
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/demos/branches/pj/simcity/sprite/sp_4.raw
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/demos/branches/pj/simcity/sprite/sp_5.raw
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/demos/branches/pj/simcity/tasks.c
0,0 → 1,409
//*******************************tasks.c************************************
// task bodies
#include <drivers/glib.h>
#include <stdlib.h>
#include <string.h>
#include <kernel/func.h>
#include <drivers/glib.h>
#include <semaphor.h>
#include <math.h>
#include "include/simcity.h"
#include "include/states.h"
#include "include/draw.h"
#include "include/misc.h"
#include "include/car.h"
#include "include/proc.h"
#define rgb rgb16
 
/*extern starting_set starting_set_array[S_POINT];
extern short maxc; */
 
TASK killer(void *arg) {
short i,j=0;
DWORD col[3];
char flag=0;
 
col[0]=red;
col[1]=green;
col[2]=white;
 
while(1) {
if(maxc>0) {
for(i=0;i<MAX_CAR;i++) {
sem_wait(&(kill_mutex[i]));
if(car_data_array[i].boom && car_data_array[i].running) flag=1;
else flag=0;
sem_post(&(kill_mutex[i]));
if(flag) {
del(i);
killing(i);
}
}
}
j=(j+1)%3;
sem_wait(&mutex);
grx_text("Killer active!",CAMX,CAMY+MAX_CAR*46,col[j],black);
sem_post(&mutex);
task_endcycle();
}
}
 
 
TASK refresher(void *arg) {
int i;
tl_data *d;
 
while(1) {
sem_wait(&mutex);
grx_putimage(MAPX,MAPY,MAPX+W-1,MAPY+H-1,street);
for(i=0;i<MAX_TL;i++) {
d=&(tl_data_array[i]);
if((d->vpos=='g')) {
draw_tl(d->u.x,d->u.y,g_sem[U]);
draw_tl(d->d.x,d->d.y,g_sem[D]);
draw_tl(d->l.x,d->l.y,r_sem[L]);
draw_tl(d->r.x,d->r.y,r_sem[R]);
} else if(d->vpos=='y') {
draw_tl(d->u.x,d->u.y,y_sem[U]);
draw_tl(d->d.x,d->d.y,y_sem[D]);
draw_tl(d->l.x,d->l.y,r_sem[L]);
draw_tl(d->r.x,d->r.y,r_sem[R]);
} else if(d->hpos=='g') {
draw_tl(d->u.x,d->u.y,r_sem[U]);
draw_tl(d->d.x,d->d.y,r_sem[D]);
draw_tl(d->l.x,d->l.y,g_sem[L]);
draw_tl(d->r.x,d->r.y,g_sem[R]);
} else if(d->hpos=='y') {
draw_tl(d->u.x,d->u.y,r_sem[U]);
draw_tl(d->d.x,d->d.y,r_sem[D]);
draw_tl(d->l.x,d->l.y,y_sem[L]);
draw_tl(d->r.x,d->r.y,y_sem[R]);
}
}
sem_post(&mutex);
task_endcycle();
}
}
 
TASK blink_arrow(int number) {
char ld=0,prev=0,dir=0;
short c;
BYTE *arrow_img;
 
c=number*46;
while(1) {
if(kill_flag[number]) {
return 0;
}
if(!car_data_array[number].boom) {
dir=car_data_array[number].dir+1;
if(dir==prev) {
ld=(ld+1)%2;
if(ld==1)
arrow_img=arrow[(int)dir];
else
arrow_img=arrow[1];
 
sem_wait(&mutex);
grx_putimage(CAMX+80,CAMY-1+c,CAMX+80+29,CAMY-1+c+29,arrow_img);
sem_post(&mutex);
} else {
prev=dir;
ld=0;
sem_wait(&mutex);
grx_putimage(CAMX+80,CAMY-1+c,CAMX+80+29,CAMY-1+c+29,arrow[(int)dir]);
sem_post(&mutex);
}
}
task_endcycle();
}
}
 
 
TASK gauge_c(int number) {
int c;
float angle,ro;
int x,y;
char vel[5];
 
c=number*46;
while(1) {
if(kill_flag[number]) {
return 0;
}
if(!car_data_array[number].boom) {
angle=180.0*car_data_array[number].speed/MAX_SPEED;
sprintf(vel,"%.1f",car_data_array[number].speed);
ro=9.0;
y=my_rint(ro*sine[my_rint(angle)]);
x=my_rint(ro*cosine[my_rint(angle)]);
sem_wait(&mutex);
grx_putimage(CAMX,CAMY+c,CAMX+29,CAMY+29+c,gauge_img);
grx_line(CAMX+14,CAMY-1+c+25,CAMX+14-x,CAMY-1+c+25-y,blue);
grx_text(vel,CAMX,CAMY+c+30,white,black);
sem_post(&mutex);
} else {
sem_wait(&mutex);
grx_putimage(CAMX,CAMY+c,CAMX+29,CAMY+29+c,brk_gauge);
sem_post(&mutex);
}
task_endcycle();
}
}
 
TASK camera(int number) {
int c;
 
c=number*46;
grx_rect(CAMX+40-1,CAMY-1+c,CAMX+40+30,CAMY+30+c,green);
while(1) {
if(kill_flag[number]) {
return 0;
}
sem_wait(&mutex);
grx_putimage(CAMX+40,CAMY+c,CAMX+40+29,CAMY+c+29,vbuf[number]);
sem_post(&mutex);
task_endcycle();
}
}
 
TASK traffic_light(tl_data *d) {
char hpos,vpos,flag;
 
flag=0;
vpos=d->vpos;
if(vpos=='g') {
hpos='r';
#ifdef GRAPH
sem_wait(&mutex);
draw_tl(d->l.x,d->l.y,r_sem[L]);
draw_tl(d->r.x,d->r.y,r_sem[R]);
draw_tl(d->u.x,d->u.y,g_sem[U]);
draw_tl(d->d.x,d->d.y,g_sem[D]);
sem_post(&mutex);
#endif
} else {
vpos='r';
hpos='g';
#ifdef GRAPH
sem_wait(&mutex);
draw_tl(d->l.x,d->l.y,g_sem[L]);
draw_tl(d->r.x,d->r.y,g_sem[R]);
draw_tl(d->u.x,d->u.y,r_sem[U]);
draw_tl(d->d.x,d->d.y,r_sem[D]);
sem_post(&mutex);
#endif
}
task_endcycle();
while(1) {
if(vpos=='g') {
vpos='y';
flag=1;
#ifdef GRAPH
sem_wait(&mutex);
draw_tl(d->u.x,d->u.y,y_sem[U]);
draw_tl(d->d.x,d->d.y,y_sem[D]);
sem_post(&mutex);
#endif
}
if((vpos=='y')&&(!flag)) {
vpos='r';
hpos='g';
flag=1;
#ifdef GRAPH
sem_wait(&mutex);
draw_tl(d->u.x,d->u.y,r_sem[U]);
draw_tl(d->d.x,d->d.y,r_sem[D]);
draw_tl(d->l.x,d->l.y,g_sem[L]);
draw_tl(d->r.x,d->r.y,g_sem[R]);
sem_post(&mutex);
#endif
}
if((vpos=='r')&&(!flag)) {
if(hpos=='g') {
hpos='y';
flag=1;
#ifdef GRAPH
sem_wait(&mutex);
draw_tl(d->l.x,d->l.y,y_sem[L]);
draw_tl(d->r.x,d->r.y,y_sem[R]);
sem_post(&mutex);
#endif
}
if((hpos=='y')&&(!flag)) {
hpos='r';
vpos='g';
#ifdef GRAPH
sem_wait(&mutex);
draw_tl(d->l.x,d->l.y,r_sem[L]);
draw_tl(d->r.x,d->r.y,r_sem[R]);
draw_tl(d->u.x,d->u.y,g_sem[U]);
draw_tl(d->d.x,d->d.y,g_sem[D]);
sem_post(&mutex);
#endif
}
}
flag=0;
d->vpos=vpos;
d->hpos=hpos;
#ifndef GRAPH
sem_wait(&mutex);
cprintf("semaforo %s: verticale:%c orizz.:%c\n",d->tl_name,vpos,hpos);
sem_post(&mutex);
#endif
task_endcycle();
}
}
 
TASK car(car_data *cd) {
char ob_type=FREE;
int start_point,sat_angle=0;
int tl=0;
short stato=NORM,dir_flag=0;
 
sem_wait(&(kill_mutex[cd->number]));
while(kill_flag[cd->number]){
cd->running=0;
sem_post(&(kill_mutex[cd->number]));
return 0;
}
sem_post(&(kill_mutex[cd->number]));
while(1) {
sem_wait(&(kill_mutex[cd->number]));
while(kill_flag[cd->number]){
cd->running=0;
sem_post(&(kill_mutex[cd->number]));
return 0;
}
sem_post(&(kill_mutex[cd->number]));
if(cd->xp>630||cd->yp>590||cd->xp<18||cd->yp<MAPY+3) {
start_point=rand()%S_POINT;
if(start_point==2)
start_point++;
cd->xpos=cd->xp=starting_set_array[start_point].xpos;
cd->ypos=cd->yp=starting_set_array[start_point].ypos;
cd->angle=starting_set_array[start_point].angles;
}
if (!cd->boom) {
// Control State Machine
if(stato==NORM) {
cd->dir=STRAIGHT;
ob_type=collision_sensor(cd);
ch_spd(cd,ob_type);
if(cd->dist_obs<30 && ob_type==STOP) {
stato=INC1;
}
if(ob_type==FREE || cd->dist_obs>=27 || cd->speed>=2.0) {
cd->angle=sensore(cd);
cd->angle=normalize(cd->angle);
}
}
if(stato==INC1) {
tl=find_tl(cd->angle,cd->xp,cd->yp);
if(!dir_flag)
cd->dir=rand()%3-1;
if(find_col(cd->angle,tl)=='g') {
switch(cd->dir) {
case STEER_RIGHT:
stato=DX1;
break;
case STRAIGHT:
case STEER_LEFT:
stato=STR1;
break;
default:
stato=DX1;
}
} else {
cd->speed=0.0;
dir_flag=1;
}
}
if(stato==DX1) {
dir_flag=0;
cd->speed=4.0;
cd->angle=sensore(cd);
if(ob_type!=STOP)
stato=NORM;
else {
ob_type=collision_sensor(cd);
if(ob_type==CAR)
ch_spd(cd,ob_type);
}
}
if(stato==STR1) {
dir_flag=0;
cd->angle=allinea(cd->angle);
sensore(cd);
cd->speed=4.0;
ob_type=collision_sensor(cd);
if(ob_type==CAR)
ch_spd(cd,ob_type);
if(cd->middle==MAX_DIST) {
if(cd->dir==STRAIGHT)
stato=STR2;
else {
sat_angle=cd->angle+90;
stato=SX1;
}
}
}
if(stato==STR2) {
cd->speed=4.0;
sensore(cd);
ob_type=collision_sensor(cd);
if(ob_type==CAR)
ch_spd(cd,ob_type);
if(abs(cd->front-cd->rear)<0.1 && ((cd->middle-NORM_DIST)<7.0))
stato=NORM;
}
if(stato==SX1) {
cd->speed=4.0;
sensore(cd);
ob_type=collision_sensor(cd);
if(ob_type==CAR)
ch_spd(cd,ob_type);
else {
cd->angle+=7;
if(cd->angle>=sat_angle) {
cd->angle=sat_angle;
}
}
if(abs(cd->front-cd->rear)<0.1 && ((cd->middle-NORM_DIST)<7.0))
stato=NORM;
}
}
if (cd->dist_obs<COLL_DIST && ob_type==CAR) {
cd->boom=1;
cd->speed=0.0;
}
sem_wait(&mutex);
grx_getimage(cd->xp-15,cd->yp-15,cd->xp+14,cd->yp+14,vbuf[cd->number]);
if (cd->boom==0) {
drawCar(cd->xp,cd->yp,cd->angle,DRAW);
}
if (cd->boom==1) {
drawSprites(cd->xp,cd->yp,0,DRAW);
}
sem_post(&mutex);
task_endcycle();
sem_wait(&mutex);
if (cd->boom==0) {
grx_putimage(cd->xp-15,cd->yp-15,cd->xp+14,cd->yp+14,vbuf[cd->number]);
} else {
drawSprites(cd->xp,cd->yp,0,CANCEL);
}
sem_post(&mutex);
sem_wait(&(kill_mutex[cd->number]));
while(kill_flag[cd->number]){
cd->running=0;
sem_post(&(kill_mutex[cd->number]));
return 0;
}
sem_post(&(kill_mutex[cd->number]));
cd->xpos+=cd->speed*cos(DEG_TO_RAD(cd->angle));
cd->ypos-=cd->speed*sin(DEG_TO_RAD(cd->angle));
cd->xp=my_rint(cd->xpos);
cd->yp=my_rint(cd->ypos);
}
}
/demos/branches/pj/simcity/keyfunct.c
0,0 → 1,85
/**************** Functions called by keyboard handler*********/
#include <drivers/keyb.h>
#include <drivers/glib.h>
#include <drivers/glib.h>
#include <stdlib.h>
#include <string.h>
#include "include/simcity.h"
#include "include/proc.h"
 
short maxc=0;
char sens=0;
 
extern starting_set starting_set_array[S_POINT];
 
void h_car_create(KEY_EVT *k)
{
char name[10];
int num;
 
if((maxc<MAX_CAR)) {
num=add();
if(num>=0) {
sprintf(name,"car%d",num);
h_create(name,num);
sprintf(name,"camera%d",num);
cam_create(name,num);
sprintf(name,"speed%d",num);
gauge_create(name,num);
sprintf(name,"arrow%d",num);
arrow_create(name,num);
}
}
}
 
void s_car_create(KEY_EVT *k)
{
char name[10];
int num;
 
if((maxc<MAX_CAR)) {
num=add();
if(num>=0) {
sprintf(name,"car%d",num);
h_create(name,num);
sprintf(name,"camera%d",num);
cam_create(name,num);
sprintf(name,"speed%d",num);
gauge_create(name,num);
sprintf(name,"arrow%d",num);
arrow_create(name,num);
}
}
}
 
void h_car_kill(KEY_EVT *k) {
int num;
 
if(maxc>0) {
num=del_o();
if(num>=0) {
killing(num);
}
}
}
 
void endfun(KEY_EVT *k)
{
grx_close();
cprintf("Brk command pressed! Ending...\n");
sys_end();
}
 
void refresh(KEY_EVT *k){
 
sem_wait(&mutex);
//heavy and obsolete.....
//draw_scenario();
grx_putimage(MAPX,MAPY,MAPX+W-1,MAPY+H-1,street);
sem_post(&mutex);
}
 
void sensor_switch(KEY_EVT *k) {
if(sens==0) sens=1;
else sens=0;
}
/demos/branches/pj/simcity/misc.c
0,0 → 1,215
#include <math.h>
#include "include/misc.h"
#include "include/simcity.h"
 
int my_rint(float num) {
return (int)floor(num+0.5);
}
 
void fill_table(void) {
int i;
for (i=0;i<360;i++) {
sine[i]=sin(DEG_TO_RAD(i));
cosine[i]=cos(DEG_TO_RAD(i));
}
}
 
void tl_init() {
//MAPX,MAPY
char col[2];
short i;
 
col[0]='r';
col[1]='g';
for(i=0;i<MAX_TL;i++) {
tl_data_array[i].vpos=col[i%2];
tl_data_array[i].period=(i+3)*SECOND;
tl_data_array[i].l.x+=MAPX;
tl_data_array[i].l.y+=MAPY;
tl_data_array[i].r.x+=MAPX;
tl_data_array[i].r.y+=MAPY;
tl_data_array[i].u.x+=MAPX;
tl_data_array[i].u.y+=MAPY;
tl_data_array[i].d.x+=MAPX;
tl_data_array[i].d.y+=MAPY;
}
}
 
void set_start_point() {
//MAPX,MAPY
starting_set_array[0].xpos=607+MAPX;
starting_set_array[0].ypos=20+MAPY;
starting_set_array[0].angles=180;
starting_set_array[1].xpos=12+MAPX;
starting_set_array[1].ypos=62+MAPY;
starting_set_array[1].angles=0;
starting_set_array[2].xpos=260+MAPX;
starting_set_array[2].ypos=460+MAPY;
starting_set_array[2].angles=90;
starting_set_array[3].xpos=605+MAPX;
starting_set_array[3].ypos=205+MAPY;
starting_set_array[3].angles=180;
}
 
int returnCarIndex(int a) {
int indice=-1;
int angle;
 
angle=normalize(a);
if (((angle>=0) && (angle<=8)) || ((angle>353) && (angle<360))) { // 0 (+8 ; -7)
indice=0;
}
if ((angle<=23) && (angle>8)) { // 15
indice=1;
}
if ((angle<=38) && (angle>23)) { // 30
indice=2;
}
if ((angle<=53) && (angle>38)) { // 45
indice=3;
}
if ((angle<=68) && (angle>53)) { // 60
indice=4;
}
if ((angle<=83) && (angle>68)) { // 75
indice=5;
}
if ((angle<=98) && (angle>83)) { // 90
indice=6;
}
if ((angle<=113) && (angle>98)) { // 105
indice=7;
}
if ((angle<=128) && (angle>113)) { // 120
indice=8;
}
if ((angle<=143) && (angle>128)) { // 135
indice=9;
}
if ((angle<=158) && (angle>143)) { // 150
indice=10;
}
if ((angle<=173) && (angle>158)) { // 165
indice=11;
}
if ((angle<=188) && (angle>173)) { // 180
indice=12;
}
if ((angle<=203) && (angle>188)) { // 195
indice=13;
}
if ((angle<=218) && (angle>203)) { // 210
indice=14;
}
if ((angle<=233) && (angle>218)) { // 225
indice=15;
}
if ((angle<=248) && (angle>233)) { // 240
indice=16;
}
if ((angle<=263) && (angle>248)) { // 255
indice=17;
}
if ((angle<=278) && (angle>263)) { // 270
indice=18;
}
if ((angle<=293) && (angle>278)) { // 285
indice=19;
}
if ((angle<=308) && (angle>293)) { // 300
indice=20;
}
if ((angle<=323) && (angle>308)) { // 315
indice=21;
}
if ((angle<=338) && (angle>323)) { // 330
indice=22;
}
if ((angle<=353) && (angle>338)) { // 345
indice=23;
}
if (angle==360) {
indice=0;
}
return indice;
}
 
int normalize(int angle) {
if(angle<0)
return ((angle+360));
if(angle>=360)
return ((angle-360));
return angle;
}
 
int module(int x1,int x2,int y1,int y2) {
int x,y;
 
x=x1-x2;
y=y1-y2;
x*=x;
y*=y;
return x+y;
}
 
int allinea(int angle) {
int old_angle;
 
old_angle=normalize(angle);
if(old_angle<45)
old_angle=0;
else if(old_angle<135)
old_angle=90;
else if(old_angle<225)
old_angle=180;
else
old_angle=270;
return old_angle;
}
 
int find_tl(int angle,int xp,int yp) {
int a,min_tl,old_min,mins,i;
 
a=allinea(angle);
min_tl=old_min=10000;
for(mins=i=0;i<MAX_TL;i++) {
switch(a) {
case 0:
min_tl=module( xp,tl_data_array[i].l.x, yp,tl_data_array[i].l.y);
break;
case 90:
min_tl=module( xp,tl_data_array[i].d.x, yp,tl_data_array[i].d.y);
break;
case 180:
min_tl=module( xp,tl_data_array[i].r.x, yp,tl_data_array[i].r.y);
break;
case 270:
min_tl=module( xp,tl_data_array[i].u.x, yp,tl_data_array[i].u.y);
break;
default:
break;
}
if(min_tl<old_min) {
old_min=min_tl;
mins=i;
}
}
return mins;
}
 
int find_col(int angle,int tl) {
int min_tl=0,a;
 
a=allinea(angle);
switch(a) {
case 0:
case 180:
min_tl=tl_data_array[tl].hpos;
break;
case 90:
case 270:
min_tl=tl_data_array[tl].vpos;
break;
}
return min_tl;
}
/demos/branches/pj/simcity/sem.raw
0,0 → 1,0
199146290278187261299163441142537285427269538166193318290431178423298324
/demos/branches/pj/simcity/img/car_000n.raw
0,0 → 1,0
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/demos/branches/pj/simcity/img/Bb0.raw
0,0 → 1,0
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/demos/branches/pj/simcity/img/street.raw
0,0 → 1,0
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