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/*
 * Project: S.Ha.R.K.
 *
 * Coordinators: Giorgio Buttazzo <giorgio@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://shark.sssup.it
 */

/*
 * 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 <kernel/func.h>
#include <stdlib.h>
#include <drivers/keyb.h>
#include <math.h>

#include "joy.h"

PID     pid;

void endfun(KEY_EVT *k)
{
        cprintf("Ctrl-Brk pressed! Ending...\n");
        sys_end();
}

void my_close(void *arg)
{
        int i;
        TIME tmp;

        kern_printf("Taskset Execution Time\n\n");
        for (i=3; i<MAX_PROC; i++){
                if (!jet_getstat(i, NULL, &tmp, NULL, NULL))
                        kern_printf("Task Name : %s - Max Time  : %d\n", proc_table[i].name, (int)tmp);
        }
}


TASK write()
{
        JOY_STATE       jsa;

        while (1) {
                get_joystick_A(&jsa);
                place(2,4);
                cprintf("The X coord. is: %3d and the Y coord. is: %3d of the joystick1\n", jsa.x, jsa.y);
                place(2,12);
                cprintf("The button 1, joystick 1 is: %3d\n", jsa.b1);
                place(2,14);
                cprintf("The button 2, joystick 1 is: %3d\n", jsa.b2);

                task_endcycle();
        }
        return 0;
}

int main(int argc, char **argv)
{
        SOFT_TASK_MODEL ms;
        KEY_EVT         k;
        TIME            seme;

        JOY_BOUND       jb;

        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);

        seme = sys_gettime(NULL);
        srand(seme);

        sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT);

        clear();

        if (get_joystick_bound_A(&jb)) {
                perror("Could not find Joystick.");
                sys_end();
        }

        place(2,2);
        cprintf("The X bounds are: [ %3d - %3d ] and the Y bounds are: [ %3d - %3d ]\n", jb.x_min,jb.x_max,jb.y_min,jb.y_max);

        soft_task_default_model(ms);
        soft_task_def_level(ms,1);
        soft_task_def_ctrl_jet(ms);
        soft_task_def_met(ms,100);
        soft_task_def_period(ms,10000);
        soft_task_def_usemath(ms);
        pid = task_create("Write", write, &ms, NULL);
        if (pid == NIL) {
                perror("Could not create task <Write>");
                sys_end();
        } else {
                task_activate(pid);
        }

        return 0;
}