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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 1.1.1.1 2002-09-02 09:37:41 pj Exp $
File: $File$
Revision: $Revision: 1.1.1.1 $
Last update: $Date: 2002-09-02 09:37:41 $
------------
**/
/*
* 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),
kern_printf("\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();
kern_printf("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) {
kern_printf("GRX Err\n");
sys_abort(1);
}
kern_printf("Video card ok!\n");
/* 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;
}
/****************************************************************/