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/*
 * Project: HARTIK (HA-rd R-eal TI-me K-ernel)
 *
 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
 *               Gerardo Lamastra <gerardo@sssup.it>
 *
 * Authors     : Mauro Marinoni <mauro.marinoni@unipv.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
 */

/*
 * 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 "edf/edf/edf.h"
#include "cbs/cbs/cbs.h"
#include "rr/rr/rr.h"
#include "dummy/dummy/dummy.h"
#include "intdrive/intdrive/intdrive.h"

#include "sem/sem/sem.h"
#include "hartport/hartport/hartport.h"

#include <drivers/shark_linuxc26.h>
#include <drivers/shark_input26.h>
#include <drivers/shark_joy26.h>

/*+ sysyem tick in us +*/
#define TICK 0

/*+ RR tick in us +*/
#define RRTICK 10000

/*+ Interrupt Server +*/
#define INTDRIVE_Q 1000
#define INTDRIVE_T 10000
#define INTDRIVE_FLAG 0

PID shutdown_task_PID = 1;

TIME __kernel_register_levels__(void *arg)
{
        struct multiboot_info *mb = (struct multiboot_info *)arg;

        INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_T, INTDRIVE_FLAG);
        EDF_register_level(EDF_ENABLE_ALL);
        CBS_register_level(CBS_ENABLE_ALL, 1);
        RR_register_level(RRTICK, RR_MAIN_YES, mb);
        dummy_register_level();

        SEM_register_module();

        return TICK;
}

int device_drivers_close() {
                                                                                                                             
        JOY26_close();
        INPUT26_close();
                                                                                                                             
        return 0;                                                                                                                        
}

int device_drivers_init() {

        LINUXC26_register_module();
        INPUT26_init();

        JOY26_init();

        return 0;

}

TASK shutdown_task_body(void *arg) {

        device_drivers_close();
        sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
        return NULL;
}

void set_shutdown_task() {

        NRT_TASK_MODEL nrt;

        nrt_task_default_model(nrt);
        nrt_task_def_system(nrt);

        shutdown_task_PID = task_create("Shutdown Task", shutdown_task_body, &nrt, NULL);
        if (shutdown_task_PID == NIL) {
                sys_shutdown_message("Error: Cannot create shutdown task\n");
                exit(1);
        }

}

#define SHUTDOWN_TIMEOUT_SEC 3

void call_shutdown_task(void *arg) {
        struct timespec t;

        sys_gettime(&t);
        t.tv_sec += SHUTDOWN_TIMEOUT_SEC;

        /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
        kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);

        task_activate(shutdown_task_PID);
}

TASK __init__(void *arg)
{
        struct multiboot_info *mb = (struct multiboot_info *)arg;

        HARTPORT_init();

        set_shutdown_task();

        device_drivers_init();

        sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);

        __call_main__(mb);

        return (void *)0;
}