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/*
 * 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: ego.c,v 1.2 2002-10-28 08:11:29 pj Exp $

 File:        $File$
 Revision:    $Revision: 1.2 $
 Last update: $Date: 2002-10-28 08:11:29 $
 ------------
**/

/*
 * Copyright (C) 2000 Paolo Gai and Giorgio Buttazzo
 *
 * 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
 *
 */

/****************************************************************/
/*      PERIODIC PROCESS TEST                                   */
/****************************************************************/

#include <kernel/kern.h>
#include <drivers/glib.h>
#include <drivers/keyb.h>

#include <semaphore.h>

#define X0      10

/* task periods */
#define PERIOD_T1 100000
#define PERIOD_T2 200000
#define PERIOD_T3 300000

/* X position of the text printed by each task */
int     y[3] = {100, 180, 260};

/* text printed by each task */
char    talk[3][50] = { "I am ego1 and I print a character every 100 ms",
                        "I am ego2 and I print a character every 200 ms",
                        "I am ego3 and I print a character every 300 ms"};

/* A semaphore used to access Video Cards in mutual exclusion */
sem_t   mutex;

/***************************************************************/

TASK    ego(void *arg)
{
int     i = (int)arg;
int     leng;
char    s[2];
int     x;
int     j = 0;

        /* compute the length of the string to print */
        leng = 0;
        while (talk[i][leng] != 0) leng++;

        x = X0;
        s[1] = 0;
        task_endcycle();

        while (1) {
                s[0] = talk[i][j];
                sem_wait(&mutex);
                /* grx_text("TEST", 100,100,12,0); */
                grx_text(s,x,y[i],12+i,0);
                sem_post(&mutex);
                x += 8;
                if (++j == leng) {
                        j = 0;
                        x = X0;
                        y[i] += 8;
                        if (y[i]>340) y[i]=100;
                }
                task_endcycle();
        }
}


/****************************************************************/

/* This is the exception handler. It is called when an exception
   is raised.
   It exits from the graphical mode, then it prints a message and
   shutdown the kernel using sys_abort()
*/

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),
  cprintf("\nS.Ha.R.K. Exception raised!!!"
          "\nTime (s:ns)     :%ld:%ld"
          "\nException number:%d (numbers in include/bits/errno.h)"
          "\nPID             :%d\n",
          t.tv_sec, t.tv_nsec, info->si_value.sival_int,
          info->si_task);
  sys_abort(1);
}

/******************************************************************/

/* This function is called when Alt-X is pressed.
   It simply shutdown the system using sys_end.
   Note that the byebye() function is called only if we exit from
   the system using sys_end()!!!!
*/
void my_end(KEY_EVT* e)
{
        sys_end();
}

/******************************************************************/

/* This function is called when the system exit correctly after Alt-X.
   It exits from the graphic mode and then it prints a small greeting.
   Note that:
   - The function calls grx_exit, so it must be registered using
     RUNLEVEL_BEFORE_EXIT (RUNLEVEL_AFTER_EXIT does not work because
     at that point the kernel is already returned in real mode!!!)
   - When an exception is raised, the exception handler is called.
     Since the exception handler already exits from the graphic mode,
     this funcion has not to be called. For this reason:
     . we registered byebye using the flag NO_AT_ABORT
     . the exception handler exits using sys_abort; in that way byebye is
       NOT called
*/

void byebye(void *arg)
{
  grx_close();
  cprintf("Bye Bye!\n");
}

/****************************** MAIN ******************************/

int main(int argc, char **argv)
{
  PID             pid1, pid2, pid3;
  KEY_EVT         emerg;
  HARD_TASK_MODEL m1, m2, m3;
  struct sigaction action;

        /* Init the standard S.Ha.R.K. exception handler */
        action.sa_flags = SA_SIGINFO;            /* Set the signal action */
        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) {  /* set the signal */
          perror("Error initializing signals...");
          sys_end();
        }

        /* Set the closing function */
        sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT|NO_AT_ABORT);

        /* Initializes the semaphore */
        sem_init(&mutex,0,1);

        /* graphic card Initialization */
        if (grx_init() < 1) {
           sys_abort(1);
        }

        if (grx_open(640, 480, 8) < 0) {
            cprintf("GRX Err\n");
            sys_abort(1);
        }

        /* set the keyboard handler to exit correctly */
        emerg.ascii = 'x';
        emerg.scan = KEY_X;
        emerg.flag = ALTL_BIT;
        keyb_hook(emerg,my_end);

        emerg.ascii = 'x';
        emerg.scan = KEY_X;
        emerg.flag = ALTR_BIT;
        keyb_hook(emerg,my_end);

        /* a small banner */
        grx_text("EGO Test",8,8,WHITE,0);
        grx_text("Press Alt-X to exit",8,16,WHITE,0);

        /* ego1 creation */
        hard_task_default_model(m1);
        hard_task_def_ctrl_jet (m1);
        hard_task_def_arg      (m1, (void *)0);
        hard_task_def_wcet     (m1, 5000);
        hard_task_def_mit      (m1, PERIOD_T1);
        hard_task_def_group    (m1,1);
        pid1 = task_create("ego1", ego, &m1, NULL);
        if (pid1 == NIL) {
          grx_close();
          perror("Could not create task <ego1>");
          sys_abort(1);
        }

        /* ego2 creation */
        hard_task_default_model(m2);
        hard_task_def_ctrl_jet (m2);
        hard_task_def_arg      (m2, (void *)1);
        hard_task_def_wcet     (m2, 5000);
        hard_task_def_mit      (m2, PERIOD_T2);
        hard_task_def_group    (m2,1);
        pid2 = task_create("ego2", ego, &m2, NULL);
        if (pid2 == NIL) {
          grx_close();
          perror("Could not create task <ego2>");
          sys_abort(1);
        }

        /* ego3 creation */
        hard_task_default_model(m3);
        hard_task_def_ctrl_jet (m3);
        hard_task_def_arg      (m3, (void *)2);
        hard_task_def_wcet     (m3, 5000);
        hard_task_def_mit      (m3, PERIOD_T3);
        hard_task_def_group    (m3,1);
        pid3 = task_create("ego3", ego, &m3, NULL);
        if (pid3 == NIL) {
          grx_close();
          perror("Could not create task <ego3>");
          sys_abort(1);
        }

        /* and finally we activate the three threads... */
        group_activate(1);

        /*
           now the task main ends, but the system does not shutdown because
           there are the three task ego1, ego2, and ego3 running.

           The demo will finish if a Alt-X key is pressed.
        */

        return 0;
}

/****************************************************************/