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/demos/trunk/mesaref/mesaref.c
0,0 → 1,436
/*
* Project: S.Ha.R.K.
*
* Coordinators:
* Giorgio Buttazzo <giorgio@sssup.it>
* Paolo Gai <pj@gandalf.sssup.it>
*
* Authors :
* Giacomo Guidi <giacomo@gandalf.sssup.it>
*
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* http://shark.sssup.it
*/
 
#include <drivers/vga.h>
#include <drivers/keyb.h>
 
#include <GL/osmesa.h>
#include <GL/glut.h>
 
#include <math.h>
#include <stdlib.h>
#include <assert.h>
#include <kernel/log.h>
#include <kernel/kern.h>
 
#include <stdio.h>
 
#ifndef M_PI
#define M_PI 3.14159265
#endif
 
#define WIDTH 640
#define HEIGHT 480
#define BYTES_PP 2 //BytesPerPixel
#define INITSTR G640x480x64K //SVGAlib standard mode definitions
#define CARD NV3 //Video driver (Supported SAVAGE, NV3, R128 from SVGALib)
 
#define DEG2RAD (3.14159/180.0)
 
static GLint ImgWidth, ImgHeight;
static GLenum ImgFormat;
static GLubyte *Image = NULL;
 
#define MAX_OBJECTS 2
static GLint table_list;
static GLint objects_list[MAX_OBJECTS];
 
static GLfloat xrot, yrot;
static GLfloat spin;
 
static GLboolean Anim = GL_TRUE;
 
OSMesaContext ctx;
 
unsigned char *rgb_565_buf = NULL; //RGB 16 bpp Buffer
unsigned char *video_buf = NULL; //Video Buffer
 
unsigned long int VMEMLONG = WIDTH * HEIGHT * BYTES_PP / 4; // Used by copy_videomem_16to16
unsigned long int RGB565MEM = WIDTH * HEIGHT * BYTES_PP; // Total video mem
 
static GLint w = WIDTH, h = HEIGHT;
 
unsigned long int PERIOD_REFRESH = 80000; //fps = 20
unsigned long int PERIOD_DISEGNA = 80000;
 
unsigned long int WCET_REFRESH, WCET_DISEGNA;
 
TASK refesh(void);
TASK disegna(void);
 
GLUquadricObj *q;
 
PID refresh_PID, disegna_PID;
 
static void gl_init( void )
{
GLfloat yAspect = 2.5;
GLfloat xAspect = yAspect * (float) w / (float) h;
 
//Create the OSMesa Context
ctx = OSMesaCreateContext(OSMESA_RGB_565, NULL);
 
//Make Current Context
OSMesaMakeCurrent(ctx, rgb_565_buf, GL_UNSIGNED_SHORT_5_6_5, WIDTH, HEIGHT);
 
q = gluNewQuadric();
gluQuadricDrawStyle( q, GLU_FILL );
gluQuadricNormals( q, GLU_SMOOTH );
 
ImgWidth = 100;
ImgHeight = 100;
ImgFormat = GL_RGB;
Image = malloc(ImgWidth * ImgHeight * 3);
/*Image = LoadRGBImage( TABLE_TEXTURE, &ImgWidth, &ImgHeight, &ImgFormat );
if (!Image) {
printf("Couldn't read %s\n", TABLE_TEXTURE);
exit(0);
}*/
 
gluBuild2DMipmaps(GL_TEXTURE_2D, 3, ImgWidth, ImgHeight,
ImgFormat, GL_UNSIGNED_BYTE, Image);
 
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT );
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT );
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST );
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST );
 
xrot = 30.0;
yrot = 50.0;
spin = 0.0;
 
glShadeModel( GL_FLAT );
glEnable( GL_LIGHT0 );
glEnable( GL_LIGHTING );
 
glClearColor( 0.5, 0.5, 0.9, 0.0 );
 
glEnable( GL_NORMALIZE );
 
glViewport(0, 0, w, h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glFrustum( -xAspect, xAspect, yAspect, -yAspect, 10.0, 30.0 );
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
 
}
 
static void draw_objects( GLfloat eyex, GLfloat eyey, GLfloat eyez )
{
static GLfloat cyan[] = { 0.0, 1.0, 1.0, 1.0 };
static GLfloat green[] = { 0.2, 1.0, 0.2, 1.0 };
static GLfloat black[] = { 0.0, 0.0, 0.0, 0.0 };
 
#ifndef USE_ZBUFFER
if (eyex<0.5) {
#endif
glPushMatrix();
glTranslatef( 1.0, 1.5, 0.0 );
glRotatef( spin, 1.0, 0.5, 0.0 );
glRotatef( 0.5*spin, 0.0, 0.5, 1.0 );
glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, cyan );
glMaterialfv( GL_FRONT, GL_EMISSION, black );
gluCylinder( q, 0.5, 0.5, 1.0, 15, 1 );
glPopMatrix();
glPushMatrix();
glTranslatef( -1.0, 0.85+3.0*fabs( cos(0.01*spin) ), 0.0 );
glRotatef( 0.5*spin, 0.0, 0.5, 1.0 );
glRotatef( spin, 1.0, 0.5, 0.0 );
glScalef( 0.5, 0.5, 0.5 );
glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, green );
glMaterialfv( GL_FRONT, GL_EMISSION, black );
gluCylinder( q, 1.5, 0.0, 2.5, 15, 1 );
glPopMatrix();
#ifndef USE_ZBUFFER
}
else {
glPushMatrix();
glTranslatef( -1.0, 0.85+3.0*fabs( cos(0.01*spin) ), 0.0 );
glRotatef( 0.5*spin, 0.0, 0.5, 1.0 );
glRotatef( spin, 1.0, 0.5, 0.0 );
glScalef( 0.5, 0.5, 0.5 );
glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, green );
glMaterialfv( GL_FRONT, GL_EMISSION, black );
gluCylinder( q, 1.5, 0.0, 2.5, 15, 1 );
glPopMatrix();
 
glPushMatrix();
glTranslatef( 1.0, 1.5, 0.0 );
glRotatef( spin, 1.0, 0.5, 0.0 );
glRotatef( 0.5*spin, 0.0, 0.5, 1.0 );
glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, cyan );
glMaterialfv( GL_FRONT, GL_EMISSION, black );
gluCylinder( q, 0.5, 0.5, 1.0, 15, 1 );
glPopMatrix();
}
#endif
}
 
static void draw_table( void )
{
static GLfloat table_mat[] = { 1.0, 1.0, 1.0, 0.6 };
static GLfloat gray[] = { 0.4, 0.4, 0.4, 1.0 };
 
/* load table's texture */
glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, table_mat );
glMaterialfv( GL_FRONT, GL_DIFFUSE, table_mat );
glMaterialfv( GL_FRONT, GL_AMBIENT, gray );
/* draw textured square for the table */
glPushMatrix();
glScalef( 4.0, 4.0, 4.0 );
glBegin( GL_POLYGON );
glNormal3f( 0.0, 1.0, 0.0 );
glTexCoord2f( 0.0, 0.0 ); glVertex3f( -1.0, 0.0, 1.0 );
glTexCoord2f( 1.0, 0.0 ); glVertex3f( 1.0, 0.0, 1.0 );
glTexCoord2f( 1.0, 1.0 ); glVertex3f( 1.0, 0.0, -1.0 );
glTexCoord2f( 0.0, 1.0 ); glVertex3f( -1.0, 0.0, -1.0 );
glEnd();
glPopMatrix();
 
glDisable( GL_TEXTURE_2D );
 
}
 
static void draw( void )
{
static GLfloat light_pos[] = { 0.0, 20.0, 0.0, 1.0 };
static GLfloat dist = 20.0;
static GLfloat eyex, eyey, eyez;
 
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
 
eyex = dist * cos(yrot*DEG2RAD) * cos(xrot*DEG2RAD);
eyez = dist * sin(yrot*DEG2RAD) * cos(xrot*DEG2RAD);
eyey = dist * sin(xrot*DEG2RAD);
 
/* view from top */
glPushMatrix();
gluLookAt( eyex, eyey, eyez, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0 );
 
glLightfv( GL_LIGHT0, GL_POSITION, light_pos );
/* draw table into stencil planes */
glDisable( GL_DEPTH_TEST );
glEnable( GL_STENCIL_TEST );
glStencilFunc( GL_ALWAYS, 1, 0xffffffff );
glStencilOp( GL_REPLACE, GL_REPLACE, GL_REPLACE );
glColorMask( GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE );
draw_table();
glColorMask( GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE );
 
glEnable( GL_DEPTH_TEST );
 
/* render view from below (reflected viewport) */
/* only draw where stencil==1 */
if (eyey>0.0) {
glPushMatrix();
glStencilFunc( GL_EQUAL, 1, 0xffffffff ); /* draw if ==1 */
glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP );
glScalef( 1.0, -1.0, 1.0 );
 
/* Reposition light in reflected space. */
glLightfv(GL_LIGHT0, GL_POSITION, light_pos);
 
draw_objects(eyex, eyey, eyez);
glPopMatrix();
 
/* Restore light's original unreflected position. */
glLightfv(GL_LIGHT0, GL_POSITION, light_pos);
}
 
glDisable( GL_STENCIL_TEST );
 
glEnable( GL_BLEND );
glBlendFunc( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA );
 
glEnable( GL_TEXTURE_2D );
draw_table();
glDisable( GL_TEXTURE_2D );
glDisable( GL_BLEND );
 
/* view from top */
glPushMatrix();
 
draw_objects(eyex, eyey, eyez);
 
glPopMatrix();
 
glPopMatrix();
 
glFinish();
}
 
static int screen(int mode)
{
 
vga_modeinfo *minf;
 
vga_setmode(mode,CARD);
minf = vga_getmodeinfo(mode);
if(! (minf->flags & CAPABLE_LINEAR)){
vga_setmode(TEXT,CARD);
printk(KERN_INFO "The mode %d is not capable of linear\n",mode);
return 1;
}
vga_setpage(0);
if(vga_setlinearaddressing() == -1) {
vga_setmode(TEXT,CARD);
printk(KERN_INFO "Could not set linear addressing for mode %d\n",mode);
return 1;
}
video_buf = vga_getgraphmem();
rgb_565_buf = malloc(RGB565MEM);
 
grx_setbuffer(rgb_565_buf, WIDTH, HEIGHT); //Init of RGB16 version of grx functions
//created to work with Mesa buffer
return 0;
}
 
void program_end(void *arg)
{
OSMesaDestroyContext(ctx);
free(rgb_565_buf);
 
vga_setmode(TEXT,CARD);
 
sys_end();
 
}
 
void program_key_end(KEY_EVT *k)
{
 
sys_end();
 
}
 
TASK refresh(void)
{
 
while(1) {
 
copy_videomem_16to16(rgb_565_buf, video_buf, VMEMLONG);
task_endcycle();
 
}
 
sys_end();
 
}
 
 
TASK disegna(void)
{
 
char text[100];
TIME disegna_TIME, refresh_TIME;
while(1) {
jet_gettable(refresh_PID, &refresh_TIME, 1);
jet_gettable(disegna_PID, &disegna_TIME, 1);
 
spin += 2.0;
yrot += 3.0;
 
draw();
sprintf(text,"Hard Task Refresh PER:%6d us EX:%6d us",(int)PERIOD_REFRESH,(int)refresh_TIME);
grx_text(text,10,5,rgb16(0,0,255),0);
sprintf(text,"Hard Task Draw PER:%6d us EX:%6d us",(int)PERIOD_DISEGNA,(int)disegna_TIME);
grx_text(text,10,15,rgb16(0,0,255),0);
 
task_endcycle();
 
}
 
sys_end();
 
}
 
int main (int argc, char *argv[])
{
HARD_TASK_MODEL ht_refresh, ht_disegna;
 
sys_atrunlevel(program_end,NULL, RUNLEVEL_BEFORE_EXIT);
 
clear();
WCET_REFRESH =((long int) PERIOD_REFRESH * (0.22));
WCET_DISEGNA =((long int) PERIOD_DISEGNA * (0.72));
 
hard_task_default_model(ht_refresh);
hard_task_def_wcet(ht_refresh,WCET_REFRESH);
hard_task_def_mit(ht_refresh,PERIOD_REFRESH);
hard_task_def_usemath(ht_refresh);
hard_task_def_group(ht_refresh,1);
hard_task_def_ctrl_jet(ht_refresh);
 
refresh_PID = task_create("refresh", refresh, &ht_refresh, NULL);
if (refresh_PID == -1) {
sys_end();
exit(4);
}
 
hard_task_default_model(ht_disegna);
hard_task_def_mit(ht_disegna,PERIOD_DISEGNA);
hard_task_def_wcet(ht_disegna,WCET_DISEGNA);
hard_task_def_group(ht_disegna,1);
hard_task_def_ctrl_jet(ht_disegna);
hard_task_def_usemath(ht_disegna);
 
disegna_PID = task_create("disegna", disegna, &ht_disegna, NULL);
if (disegna_PID == -1) {
sys_end();
exit(4);
}
 
{
KEY_EVT k;
k.flag = ALTL_BIT;
k.scan = KEY_C;
k.ascii = 'c';
keyb_hook(k,program_key_end);
}
if (screen(INITSTR)) {
printk(KERN_INFO "Graphical initialization failed !!\n");
sys_end();
}
 
memset(rgb_565_buf, 0, RGB565MEM);
 
gl_init();
 
group_activate(1);
 
return 0;
}
/demos/trunk/mesaref/initfile.c
0,0 → 1,120
/*
* 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 2003-03-13 13:14:03 giacomo Exp $
 
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2003-03-13 13:14:03 $
------------
 
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
 
TIME __kernel_register_levels__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
 
EDF_register_level(EDF_ENABLE_ALL);
CBS_register_level(CBS_ENABLE_ALL, 0);
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
 
SEM_register_module();
 
CABS_register_module();
 
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/trunk/mesaref/makefile
0,0 → 1,19
#
#
#
 
ifndef BASE
BASE=../..
endif
include $(BASE)/config/config.mk
 
PROGS = mesaref
GRAPH_DRV = svga
 
include $(BASE)/config/example.mk
 
mesaref:
make -f $(SUBMAKE) GRAPH_DRV=svga APP=mesaref INIT= OTHEROBJS="initfile.o" OTHERINCL=
cd $(BASE)/demos/mesaref/
zip -9 mesaref.zip mesaref