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/*
* 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 <ports/png.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 = 0, ImgHeight = 0;
static GLenum ImgFormat = 0;
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;
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
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);
PID refresh_PID, disegna_PID;
void read_png_file(char *file_name, GLubyte **buffer, GLint *width, GLint *height, png_byte *color_type)
{
int y;
png_byte bit_depth;
png_structp png_ptr;
png_infop info_ptr;
int number_of_passes;
png_bytep * row_pointers;
char header[8]; // 8 is the maximum size that can be checked
/* open file and test for it being a png */
FILE *fp = fopen(file_name, "rb");
if (!fp) {
cprintf("[read_png_file] File %s could not be opened for reading", file_name);
sys_end();
}
fread(header, 1, 8, fp);
if (png_sig_cmp(header, 0, 8))
cprintf("[read_png_file] File %s is not recognized as a PNG file", file_name);
/* initialize stuff */
png_ptr = png_create_read_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL);
if (!png_ptr)
cprintf("[read_png_file] png_create_read_struct failed");
info_ptr = png_create_info_struct(png_ptr);
if (!info_ptr)
cprintf("[read_png_file] png_create_info_struct failed");
png_init_io(png_ptr, fp);
png_set_sig_bytes(png_ptr, 8);
png_read_info(png_ptr, info_ptr);
*width = info_ptr->width;
*height = info_ptr->height;
*color_type = info_ptr->color_type;
bit_depth = info_ptr->bit_depth;
number_of_passes = png_set_interlace_handling(png_ptr);
cprintf("Open PNG W: %d H: %d CT: %d BD: %d\n",*width,*height,*color_type,bit_depth);
png_read_update_info(png_ptr, info_ptr);
row_pointers = (png_bytep*) malloc(sizeof(png_bytep) * info_ptr->height);
for (y=0; y<info_ptr->height; y++)
row_pointers[y] = (png_byte*) malloc(info_ptr->rowbytes);
png_read_image(png_ptr, row_pointers);
if(info_ptr->color_type == PNG_COLOR_TYPE_RGB) {
*buffer = malloc(info_ptr->height * info_ptr->rowbytes);
for(y=0; y<info_ptr->height; y++)
memcpy(*buffer+y*info_ptr->rowbytes,row_pointers[y],info_ptr->rowbytes);
}
fclose(fp);
}
static void make_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 };
table_list = glGenLists(1);
glNewList( table_list, GL_COMPILE );
/* load table's texture */
glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, table_mat );
/* glMaterialfv( GL_FRONT, GL_EMISSION, gray );*/
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 );
glEndList();
}
static void make_objects( void )
{
GLUquadricObj *q;
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 };
q = gluNewQuadric();
gluQuadricDrawStyle( q, GLU_FILL );
gluQuadricNormals( q, GLU_SMOOTH );
objects_list[0] = glGenLists(1);
glNewList( objects_list[0], GL_COMPILE );
glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, cyan );
glMaterialfv( GL_FRONT, GL_EMISSION, black );
gluCylinder( q, 0.5, 0.5, 1.0, 15, 1 );
glEndList();
objects_list[1] = glGenLists(1);
glNewList( objects_list[1], GL_COMPILE );
glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, green );
glMaterialfv( GL_FRONT, GL_EMISSION, black );
gluCylinder( q, 1.5, 0.0, 2.5, 15, 1 );
glEndList();
}
static void gl_init( void )
{
png_byte img_color;
GLfloat yAspect = 2.5;
GLfloat xAspect = yAspect * (float) WIDTH / (float) HEIGHT;
//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);
read_png_file("test.png",&Image,&ImgWidth,&ImgHeight,&img_color);
if (img_color == PNG_COLOR_TYPE_RGB && Image != NULL)
ImgFormat = GL_RGB;
else {
cprintf("Texture Load Falied !!\n");
sys_end();
}
make_table();
make_objects();
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, WIDTH, HEIGHT);
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 )
{
(void) eyex;
(void) eyey;
(void) eyez;
#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 );
glCallList( objects_list[0] );
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 );
glCallList( objects_list[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 );
glCallList( objects_list[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 );
glCallList( objects_list[0] );
glPopMatrix();
}
#endif
}
static void draw_table( void )
{
glCallList( table_list );
}
static void draw( void )
{
static GLfloat light_pos[] = { 0.0, 20.0, 0.0, 1.0 };
GLfloat dist = 20.0;
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);
WCET_REFRESH =((long int) PERIOD_REFRESH * (0.20));
WCET_DISEGNA =((long int) PERIOD_DISEGNA * (0.70));
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);
hard_task_def_stack(ht_disegna, 60000);
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;
}