Subversion Repositories shark

/*
 * 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 <drivers/glib.h>
#include <semaphore.h>
#include "modules/sem.h"
#include "modules/hartport.h"

#include <math.h>

#include "joy.h"

#define RGB_BLACK     rgb16(  0,  0,  0)
#define RGB_GRAY      rgb16(127,127,127)
#define RGB_WHITE     rgb16(255,255,255)
#define RGB_RED       rgb16(255,  0,  0)
#define RGB_GREEN     rgb16(  0,255,  0)
#define RGB_BLUE      rgb16(  0,  0,255)
#define RGB_YELLOW    rgb16(255,255,  0)
#define RGB_MAGENTA   rgb16(255,  0,255)
#define RGB_CYAN      rgb16(  0,255,255)
#define RGB_D_RED     rgb16(127,  0,  0)
#define RGB_D_GREEN   rgb16(  0,127,  0)
#define RGB_D_BLUE    rgb16(  0,  0,127)
#define RGB_D_YELLOW  rgb16(127,127,  0)
#define RGB_D_MAGENTA rgb16(127,  0,127)
#define RGB_D_CYAN    rgb16(  0,127,127)

sem_t           mx_mat, mx_grf;         /* mutex semaphores */
PID             pid;
JOY_BOUND       jb;


TASK write()
{
        int             x = 319, y = 239;
        float           dx, dy;
        JOY_STATE       jsa;

        clear();

        dx = 640 / (jb.x_max - jb.x_min);
        dy = 480 / (jb.y_max - jb.y_min);

        while (1) {
                sem_wait(&mx_grf);
                grx_circle(10 + x, 10 + y, 9, RGB_BLACK);
                sem_post(&mx_grf);

                get_joystick_A(&jsa);

                x = (jsa.x - jb.x_min) * dx;
                y = (jsa.y - jb.y_min) * dy;

                sem_wait(&mx_grf);
                if (jsa.b1==1)
                        grx_circle(10 + dx * x, 10 + dy * y, 9, RGB_RED);
                else
                        grx_circle(10 + dx * x, 10 + dy * y, 9, RGB_YELLOW);
                sem_post(&mx_grf);

                task_endcycle();
        }
        return 0;
}

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

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

        grx_close();
        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);
        }
}

void init_graph() {
        grx_box( 0, 0,639,479,RGB_BLACK);
}

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

        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);

        sem_init(&mx_mat,0,1);
        sem_init(&mx_grf,0,1);

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

        sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT);

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

        grx_init();
        modenum = grx_getmode(640, 480, 16);
        grx_setmode(modenum);
        init_graph();

        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) {
                grx_close();
                perror("Could not create task <Write>");
                sys_end();
        } else {
                task_activate(pid);
        }

        return 0;
}