void main(void)
{
OSInit();
TMOD = (TMOD & 0XF0) | 0X01;
TL0 = 0x0;
TH0 = 0x0;
TR0 = 1;
ET0 = 1;
TF0 = 0;
PC_DispClrScr(DISP_FGND_WHITE + DISP_BGND_BLACK);
PC_DispStr(15, 0, "Small RTOS(51), the Real-Time Kernel(For Keil c51)", DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
PC_DispStr(35, 1, "ChenMingJi", DISP_FGND_WHITE);
PC_DispStr(35, 3, "EXAMPLE #2", DISP_FGND_WHITE);
OSTaskCreate(TaskA, NULL, 0);
OSTaskCreate(TaskB, NULL, 1);
OSTaskCreate(TaskC, NULL, 2);
OSTaskCreate(TaskD, NULL, 3);
OSTaskCreate(TaskE, NULL, 4);
while(1)
{
PCON = PCON | 0x01; /* CPU进入休眠状态 */
}
}
void DisplayTitle ( void )
{
PC_DispStr(20, 0, "uC/OS-II, The Real-Time Kernel's Shell", DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
PC_DispStr(30, 1, "Yu Ren on 2005/09/20", DISP_FGND_WHITE);
PC_DispStr( 0, 22, "#Tasks : xxxxx CPU Usage: xxx %", DISP_FGND_WHITE);
PC_DispStr( 0, 23, "#Task switch/sec: xxxxx", DISP_FGND_WHITE);
PC_DispStr(28, 24, "<-PRESS 'ESC' TO QUIT->", DISP_FGND_WHITE + DISP_BLINK);
}
void DisplayMessage ( char *sMsg )
{
PWINDOWS ptr = GetActiveWindow();
memset(sLine, 0x20, ptr->ex - ptr->sx);
sLine[ptr->ex - ptr->sx] = '\0';
PC_DispStr(1, EndY - 1, sLine, ptr->color);
// PC_DispClrLine(EndY - 1, DISP_FGND_WHITE + DISP_BGND_BLUE);
PC_DispStr(1, EndY - 1, sMsg, ptr->color);
}
void DoHelp ( void )
{
char buffer[82];
PWINDOWS ptr = GetActiveWindow();
ClearWindow();
memset(buffer, 0x00, 82);
sprintf(buffer, "StartAll -- resume all tasks");
PC_DispStr(ptr->cx, ptr->cy, buffer, ptr->color);
ptr->cy ++;
sprintf(buffer, "StopAll -- suspend all tasks");
PC_DispStr(ptr->cx, ptr->cy, buffer, ptr->color);
// printf("Test printf functions!\n");
}
void Task (void *pdata)
{
FP32 x;
FP32 y;
FP32 angle;
FP32 radians;
char s[81];
INT8U ypos;
ypos = *(INT8U *)pdata + 7;
//pdata points to an 8 bit integer containing the task priority
//to make each task calculate different angles, offset each task by 36 degrees
angle = (FP32)(*(INT8U *)pdata) * (FP32)36.0;
for (;;) {
//sin() and cos() assumes radians instead of degrees, and thus the conversion
radians = (FP32)2.0 * (FP32)3.141592 * angle / (FP32)360.0;
x = cos(radians);
y = sin(radians);
sprintf(s, " %2d %8.3f %8.3f %8.3f", *(INT8U *)pdata, angle, x, y);
PC_DispStr(0, ypos, s, DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
if (angle >= (FP32)360.0) {
angle = (FP32)0.0;
} else {
angle += (FP32)0.01;
}
OSTimeDly(1);
}
}
void DisplayPrompt ( void )
{
PWINDOWS ptr = GetActiveWindow();
PC_DispStr(1, ptr->cy, sCmdPrompt, ptr->color);
DisplayCursor (strlen(sCmdPrompt) + 1, ptr->cy);
}
/*
*********************************************************************************************************
* STATISTIC TASK HOOK
*********************************************************************************************************
*/
void OSTaskStatHook (void)
{
char s[80];
INT8U i;
INT32U total;
INT8U pct;
total = 0L; /* Totalize TOT. EXEC. TIME for each task */
for (i = 0; i < 7; i++) {
total += TaskUserData[i].TaskTotExecTime;
DispTaskStat(i); /* Display task data */
}
if (total > 0) {
for (i = 0; i < 7; i++) { /* Derive percentage of each task */
pct = (INT8U) (100 * TaskUserData[i].TaskTotExecTime / total);
sprintf(s, "%3d %%", pct);
PC_DispStr(62, (INT8U) (i + 11), s, DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
}
}
if (total > 1000000000L) { /* Reset total time counters at 1 billion */
for (i = 0; i < 7; i++) {
TaskUserData[i].TaskTotExecTime = 0L;
}
}
}
void DisplayStatus ( void )
{
char s[100];
sprintf(s, "%5d", OSTaskCtr); /* Display #tasks running */
PC_DispStr(18, 22, s, DISP_FGND_BLUE + DISP_BGND_CYAN);
sprintf(s, "%3d", OSCPUUsage); /* Display CPU usage in % */
PC_DispStr(36, 22, s, DISP_FGND_BLUE + DISP_BGND_CYAN);
sprintf(s, "%5d", OSCtxSwCtr); /* Display #context switches per second */
PC_DispStr(18, 23, s, DISP_FGND_BLUE + DISP_BGND_CYAN);
OSCtxSwCtr = 0;
sprintf(s, "V%3.2f", (float)OSVersion() * 0.01); /* Display version number as Vx.yy */
PC_DispStr(75, 24, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
PC_GetDateTime(s); /* Get and display date and time */
PC_DispStr(0, 24, s, DISP_FGND_BLUE + DISP_BGND_CYAN);
}
void Task (void *pdata) {
unsigned int rand_num;
INT8U err;
INT8U pos_x, pos_y = 0;
FILE* fp; //used for storing information to data.dat
char str_send[10];
char str_sum[10];
char filename[25];
static int value[10]; //values send used for calculate the average
for (;;) {
GetDate(filename);
strcat(filename, "Sd.dat");
fp = fopen(filename,"a");
OSSemPend(RandomSem, 0, &err);
rand_num = random(500);
OSSemPost(RandomSem);
sprintf(str_send,"%5d",rand_num);
OSQPost(MSGQ,str_send);
pos_x = *(INT8U*)pdata - '0';
fprintf(fp,"%s",str_send);
PC_DispStr(pos_x*6+5, pos_y + 2, str_send, DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
value[pos_x] = (int)rand_num;
//if this group of value are gotten, sum and average it
if (pos_x == 9) {
memset(str_sum,0,sizeof(str_sum));
sprintf(str_sum,"%6.2f",(float)sum(value,10)/10.0);
//show sum col
PC_DispStr(68, 2 + pos_y, str_sum, DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
fprintf(fp,"%8s\n%6s",str_sum," ");
memset(value,0,sizeof(value));
}
if (pos_y == 7) pos_y = 0;
OSTimeDlyHMSM(0,0,1,0);
pos_y ++; ///start next row
fclose(fp);
}
}
void TaskRTC(void *pdata) {
INT32U clk;
char s[24];
pdata = pdata;
while(1) {
PC_GetDateTime(&s[0]);
PC_DispStr(X_INTER1+16, Y_END+1, s, DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY + DISP_BLINK);
OSTimeDly(1); //delay here for the kernel to switch to another task
}
}
void TaskClk (void *pdata)
{
char s[40];
pdata = pdata;
for (;;) {
PC_GetDateTime(s);
PC_DispStr(58, 22, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
OSTimeDlyHMSM(0, 0, 0, 500);
}
}
void main (void) {
int far *bootend;
int result;
int *test1, *test2;
msgIndex = tickCnt = 0;
init_queue(&osqueue1);
init_queue(&osqueue2);
bootend = MK_FP(0x7c0, 510);
result = *bootend;
if(result == 0xAA55)
isFunnyOS = 1;
//test1 = osMalloc(10);
//strcpy(test1, "testmallcabcdefghi");
//test2 = osMalloc(20);
//strcpy(test2, "test2malloc");
PC_DispClrScr(DISP_FGND_WHITE + DISP_BGND_BLACK); /* Clear the screen */
PC_DispStr( 0, 0, " Funny OS Demo ", DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
//PC_DispChar( 10, 0, '0' + isFunnyOS , DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
//PC_DispStr( 15, 0, test1, DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
//PC_DispStr( 15, 1, test2, DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
//PC_DispChar( 14, 0, *bootend , DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
PC_SetTickRate(18); /* Reprogram tick rate */
//PC_TickISR = &TickISR;
PC_TickISR = PC_VectGet(0x8);
PC_VectSet(0x8, &TickISR); //asm {int 08h};
// ptask1 = &testTask1;
// ptask2 = &testTask2;
task[0].ptask = &gameSnake;//&testTask1;
task[0].stack_SS = 0x9000;
task[0].stack_SP = 0x100;
taskCount++;
task[1].ptask = &gameTetris;//&task_bubble_sort;//&testTask2;
task[1].stack_SS = 0x8000;
task[1].stack_SP = 0x100;
taskCount++;
task[2].ptask = &taskReadKeyBoard; //&task_select_sort;
task[2].stack_SS = 0x7000;
task[2].stack_SP = 0x100;
taskCount++;
task[3].ptask = &task_quick_sort;
task[3].stack_SS = 0x6000;
task[3].stack_SP = 0x100;
//taskCount++;
for(;;);
}
void TaskClk (void *pdata)
{
char s[40];
pdata = pdata;
for (;;) {
PC_GetDateTime(s);
PC_DispStr(60, 23, s, DISP_FGND_YELLOW + DISP_BGND_BLUE); //display current date and time once a 500ms
OSTimeDlyHMSM(0, 0, 0, 500);
}
}
void DispTaskStat (INT8U id)
{
char s[80];
sprintf(s, "%-18s %05u %5u %10ld",
TaskUserData[id].TaskName,
TaskUserData[id].TaskCtr,
TaskUserData[id].TaskExecTime,
TaskUserData[id].TaskTotExecTime);
PC_DispStr(0, (INT8U) (id + 11), s, DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
}
void Task1 (void *pdata)
{
char *msg;
INT8U err;
pdata = pdata;
for (;;) {
msg = (char *)OSQPend(MsgQueue, 0, &err);
PC_DispStr(70, 13, msg, DISP_FGND_YELLOW + DISP_BGND_BLUE);
OSTimeDlyHMSM(0, 0, 0, 100);
}
}
void Task1 (void *pdata)
{
char *msg;
INT8U err;
pdata = pdata;
for (;;) {
//returns the pointer to the message, MsgQueue is the queue being created using MsgQueue = OSQCreate(&MsgQueueTbl[0], MSG_QUEUE_SIZE);
msg = (char *)OSQPend(MsgQueue, 0, &err); //wait forever for a message to arrive
PC_DispStr(70, 13, msg, DISP_FGND_YELLOW + DISP_BGND_BLUE); //display the message when it arrives
OSTimeDlyHMSM(0, 0, 0, 100); //delayed for 100ms to allow you to see the message received
}
}
static void TaskStartDisp (void)
{
char s[80];
sprintf(s, "%5d", OSTaskCtr); /* Display #tasks running */
PC_DispStr(18, 22, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
#if OS_TASK_STAT_EN > 0
sprintf(s, "%3d", OSCPUUsage); /* Display CPU usage in % */
PC_DispStr(36, 22, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
#endif
sprintf(s, "%5d", OSCtxSwCtr); /* Display #context switches per second */
PC_DispStr(18, 23, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
#ifdef __WIN32__
sprintf(s, "uCOS-II V%1d.%02d WIN32 V%1d.%02d", OSVersion() / 100, OSVersion() % 100, OSPortVersion() / 100, OSPortVersion() % 100); /* Display uC/OS-II's version number */
#endif
#ifdef __LINUX__
sprintf(s, "uCOS-II V%1d.%02d LINUX V%1d.%02d", OSVersion() / 100, OSVersion() % 100, OSPortVersion() / 100, OSPortVersion() % 100); /* Display uC/OS-II's version number */
#endif
PC_DispStr(52, 23, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
}
static void TaskStartDisp (void)
{
char s[80];
sprintf(s, "%5d", OSTaskCtr); /* Display #tasks running */
PC_DispStr(18, 22, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
#if OS_TASK_STAT_EN > 0
sprintf(s, "%3d", OSCPUUsage); /* Display CPU usage in % */
PC_DispStr(36, 22, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
#endif
sprintf(s, "%5d", OSCtxSwCtr); /* Display #context switches per second */
PC_DispStr(18, 23, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
sprintf(s, "V%4.2f", (float)OSVersion() * 0.01); /* Display uC/OS-II's version number */
PC_DispStr(75, 24, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
switch (_8087) { /* Display whether FPU present */
case 0:
PC_DispStr(71, 22, " NO FPU ", DISP_FGND_YELLOW + DISP_BGND_BLUE);
break;
case 1:
PC_DispStr(71, 22, " 8087 FPU", DISP_FGND_YELLOW + DISP_BGND_BLUE);
break;
case 2:
PC_DispStr(71, 22, "80287 FPU", DISP_FGND_YELLOW + DISP_BGND_BLUE);
break;
case 3:
PC_DispStr(71, 22, "80387 FPU", DISP_FGND_YELLOW + DISP_BGND_BLUE);
break;
}
}
static void TaskStartDispInit(void) {
PC_DispStr( 0, 0, " RTOS_Final_Project:Traffic lights Student name:Vu Nguyen ID:1005157 ", DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
PC_DispStr( 0, 1, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 2, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 3, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 4, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 5, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 6, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 7, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 8, "__________________________________|_______________________|_____________________", DISP_FGND_RED + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 9, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 10, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 11, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 12, "__________________________________|_______________________|_____________________", DISP_FGND_RED + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 13, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 14, " '$' represents a pedestrian | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 15, " 'X' represents car 1 | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 16, " 'Y' represents car 2 | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 17, " 'Z' represents car 3 | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 18, " 'R' represents red light | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 19, " 'Y' represents yellow light | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 20, " 'G' represents green light | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 21, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 22, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 23, " | | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 24, " <-PRESS 'ESC' TO QUIT-> ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY + DISP_BLINK);
}
static void TaskStartDispInit (void)
{
/* 1111111111222222222233333333334444444444555555555566666666667777777777 */
/* 01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
PC_DispStr( 0, 0, " uC/OS-II, The Real-Time Kernel ", DISP_FGND_WHITE + DISP_BGND_RED);
#ifdef __WIN32__
PC_DispStr( 0, 1, " Original version by Jean J. Labrosse, 80x86-WIN32 port by Werner Zimmermann ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
#endif
#ifdef __LINUX__
PC_DispStr( 0, 1, " Original version by Jean J. Labrosse, 80x86-LINUX port by Werner Zimmermann ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
#endif
PC_DispStr( 0, 2, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 3, " EXAMPLE #3 ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 4, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 5, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 6, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 7, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 8, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 9, "Task Name Counter Exec.Time(uS) Tot.Exec.Time(uS) %Tot. ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 10, "----------------- ------- ------------- ----------------- ----- ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 11, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 12, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 13, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 14, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 15, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 16, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 17, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 18, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 19, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 20, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 21, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 22, "#Tasks : CPU Usage: % ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 23, "#Task switch/sec: ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 24, " <-PRESS 'ESC' TO QUIT-> ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
/* 1111111111222222222233333333334444444444555555555566666666667777777777 */
/* 01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
}
void TaskStart ( void *data )
{
PWINDOWS ptr = GetActiveWindow();
UBYTE i;
char sCmd[MAX_X];
WORD key;
WORD index, pos = 0x00;
data = data; /* Prevent compiler warning */
OS_ENTER_CRITICAL();
PC_VectSet(0x08, OSTickISR); /* Install uC/OS-II's clock tick ISR */
PC_SetTickRate(OS_TICKS_PER_SEC); /* Reprogram tick rate */
OS_EXIT_CRITICAL();
PC_DispChar(0, 0, ' ', 0x00);
PC_DispStr (8, 16, "Determining CPU's capacity ...", DISP_FGND_WHITE);
CreateWindow (0, StartY, MAX_X, EndY, DISP_FGND_WHITE, DISP_BGND_BLUE, "[ Prompt Window ]");
CreateTaskWindows();
OSStatInit(); /* Initialize uC/OS-II's statistics */
for (i = 0; i < N_TASKS; i ++)
{ /* Create N_TASKS identical tasks */
TaskData[i] = '0' + i; /* Each task will display its own letter */
OSTaskCreate(Task, (void *)&TaskData[i], (void *)&TaskStk[i][TASK_STK_SIZE - 1], i + 1);
}
DisplayTitle();
ClearWindow();
memset(sCmd, 0x00, MAX_X);
DisplayPrompt();
for (;;)
{
DisplayStatus(); // display status of tasks
if (PC_GetKey(&key) == TRUE)
{ /* See if key has been pressed */
if (key == 0x1B)
{ /* Yes, see if it's the ESCAPE key */
PC_DOSReturn(); /* Return to DOS */
}
else if (key == 0x08) // backspace
{
pos --;
pos = pos <= 0x00 ? 0x00 : pos;
sCmd[pos] = '\0';
PC_DispChar(ptr->cx + pos + strlen(sCmdPrompt), ptr->cy, ' ', ptr->color);
DisplayCursor(ptr->cx + pos + strlen(sCmdPrompt), ptr->cy);
}
else if (key == 0x0d || key == 0x0a) // enter
{
if (pos)
{
index = ParseCommand(sCmd);
HandleCommand(index);
}
memset(sCmd, 0x00, MAX_X);
pos = 0x00;
ptr->cy ++;
if (ptr->cy == ptr->ey - 1)
ClearWindow();
DisplayPrompt();
}
else if ((key >= '0' && key <= '9') ||
(key >= 'a' && key <= 'z') || (key >= 'A' && key <= 'Z'))
{
if (pos < MAX_X)
{
sCmd[pos] = (char)key;
PC_DispChar(ptr->cx + pos + strlen(sCmdPrompt), ptr->cy, key, ptr->color);
DisplayCursor (ptr->cx + pos + strlen(sCmdPrompt) + 1, ptr->cy);
}
pos ++;
}
}
OSTimeDlyHMSM(0, 0, 0, 200); /* Wait 200 ms */
}
}
void TaskTrafficLightsController(void *pdata) {
/*
* The traffic lights controller is implemented using finite state machine (FSM)
* There are 4 states in the FSM: green_red state, yellow_red state, red_green state, and red_flashingGreen state
* The controller is simulated based on the real life traffic lights in Finland
* However, the small difference is that it controls based on the sensors located at 4 different locations before each of the
* crossing lines.
*/
void *carMsg = "";
void *pedMsg = "";
TtrafLightState currentState = green_red;
TtrafLightState nextState = yellow_red;
pdata = pdata;
while(1) {
switch(currentState) {
case green_red:
carLights = green;
pedLights = red;
displayCarLights(green);
displayPedLights(red);
carMsg = OSMboxAccept(CarMbox);
pedMsg = OSMboxAccept(PedMbox);
if (pedMsg != "PED_REQUEST") {
currentState = currentState;
} else {
nextState = yellow_red;
currentState = nextState;
}
break;
case yellow_red:
carLights = yellow;
pedLights = red;
displayCarLights(yellow);
displayPedLights(red);
pedMsg = OSMboxAccept(PedMbox);
carMsg = OSMboxAccept(CarMbox);
if (carMsg != "CAR_REQUEST" || carMsg == "CAR_FINISH") {
nextState = red_green;
currentState = nextState;
} else {
currentState = currentState;
}
break;
case red_green:
carLights = red;
pedLights = green;
displayCarLights(red);
displayPedLights(green);
pedMsg = OSMboxAccept(PedMbox);
carMsg = OSMboxAccept(CarMbox);
if (carMsg != "CAR_REQUEST") {
currentState = currentState;
} else {
nextState = red_flashingGreen;
currentState = nextState;
}
break;
case red_flashingGreen:
carLights = red;
pedLights = flashingGreen;
displayCarLights(red);
displayPedLights(flashingGreen);
carMsg = OSMboxAccept(CarMbox);
pedMsg = OSMboxAccept(PedMbox);
if (pedMsg == "PED_REQUEST" || pedMsg != "PED_FINISH") {
currentState = currentState;
} else {
nextState = green_red;
currentState = nextState;
}
break;
default:
PC_DispStr(X_START+1, Y_END-1, "in default state", DISP_FGND_YELLOW + DISP_BGND_LIGHT_GRAY);
carLights = red;
pedLights = green;
displayCarLights(red);
displayPedLights(green);
pedMsg = OSMboxAccept(PedMbox);
carMsg = OSMboxAccept(CarMbox);
nextState == red_flashingGreen;
currentState = nextState;
break;
}
OSTimeDly(1); //delay here for the kernel to switch to another task
}
}
/*
*********************************************************************************************************
* PRINTINTNUMBER
*********************************************************************************************************
*/
void PntIntNum(INT16U number, INT8U x, INT8U y) {
char str_p[10];
sprintf(str_p,"%5d", number);
PC_DispStr(x, y, str_p, DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
}
static void TaskStartDispInit (void) {
/* 1111111111222222222233333333334444444444555555555566666666667777777777 */
/* 01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
PC_DispStr( 0, 0, " Feng Wendi NO.2012011686 Class: CS1206 ", DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
PC_DispStr( 0, 1, "Source:(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (AVG) ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 2, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 3, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 4, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 5, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 6, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 7, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 8, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 9, "--------------------------------------------------------------------------------", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 10, "Recei: ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 11, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 12, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 13, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 14, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 15, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 16, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 17, "Times: | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 18, "Max : | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 19, "Min : | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 20, "Avg : | ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 21, " --------------", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 22, "#Tasks : CPU Usage: % ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 23, "#Task switch/sec: ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 24, " <-PRESS 'q' TO QUIT 'b' TO Suspend 'r' TO Resume-> ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY + DISP_BLINK);
/* 1111111111222222222233333333334444444444555555555566666666667777777777 */
/* 01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
}
/*
*********************************************************************************************************
* PRINTFLOATNUMBER
*********************************************************************************************************
*/
void PntFltNum(float num, INT8U x, INT8U y) {
char str_p[10];
sprintf(str_p,"%6.1f", num);
PC_DispStr(x, y, str_p, DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
}
/*
*********************************************************************************************************
* CLEARGRAPHICAREA
*********************************************************************************************************
*/
void RemoveGraph(void) {
INT8U i;
char* white = " ";
for (i = 0; i < 4; i++)
PC_DispStr(67, 17+i, white, DISP_BGND_LIGHT_GRAY);
}
static void TaskStartDispInit (void)
{
/* 1111111111222222222233333333334444444444555555555566666666667777777777 */
/* 01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
PC_DispStr( 0, 0, " uC/OS-II, The Real-Time Kernel ", DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
PC_DispStr( 0, 1, " Jean J. Labrosse ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 2, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 3, " EXAMPLE #4 ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 4, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 5, "TaskPrio Angle cos(Angle) sin(Angle) ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 6, "-------- ----- ---------- ---------- ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 7, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 8, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 9, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 10, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 11, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 12, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 13, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 14, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 15, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 16, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 17, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 18, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 19, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 20, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 21, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 22, "#Tasks : CPU Usage: % ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 23, "#Task switch/sec: ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 24, " <-PRESS 'ESC' TO QUIT-> ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY + DISP_BLINK);
/* 1111111111222222222233333333334444444444555555555566666666667777777777 */
/* 01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
}
/*
*********************************************************************************************************
* RECEIVETASK
*********************************************************************************************************
*/
void ReceiveTask(void *pdata) {
INT8U err;
INT8U pos_x = 0, pos_y = 0;
INT8U font_color;
char *str_receiv;
INT16U recev;
float result;
char avg[10];
char attention[2];
INT16U i = 0; ///used for row control
char str_print[10];
INT16U number = 0; //used for calculating averages in receiving data.
FILE* fp;
char filename[25];
INT16U data_iter = 0; //data_iter/10 is the row and data_iter%10 is the col
static INT16U times[10]; //used for count the times received
static INT16U data[10]; //used for record all the data.
static INT16U max[10];
static INT16U min[10];
static INT16U sumr[10];
pdata = pdata;
memset(min,1000,sizeof(min)); //initialize the min array
for (;;) {
GetDate(filename);
strcat(filename,"Rv.dat");
fp = fopen(filename, "a");
str_receiv = OSQPend(MSGQ,20,&err); //request message
pos_x = i;
i ++;
i %= 10;
if (pos_y/10 == 7) {
pos_y = 0;
PC_DispClrScr(DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
TaskStartDispInit();
}
PC_DispStr(5+6*pos_x, 10 + pos_y/10, str_receiv, DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
fprintf(fp, "%s", str_receiv);
recev = atoi(str_receiv);
if (data_iter == 70) {
data_iter = 0;
}
data[data_iter%10] = recev;
PntIntNum((++ times[data_iter%10]),5+6*pos_x, 17);
if (times[9] == 100) {
TaskSuspend();
}
max[data_iter%10] = (max[data_iter%10] < recev) ? recev : max[data_iter%10];
PntIntNum(max[data_iter%10],5+6*pos_x, 18);
min[data_iter%10] = (min[data_iter%10] > recev) ? recev : min[data_iter%10];
PntIntNum(min[data_iter%10],5+6*pos_x, 19);
sumr[data_iter%10] += recev;
PntFltNum((float)sumr[data_iter%10]/(float)times[data_iter%10],5+6*pos_x,20);
DrawGraph(sumr[data_iter%10]/times[data_iter%10], pos_x);
data_iter ++;
number += recev;
result = (float)number/10.0;
sprintf(avg,"%6.2f",result);
attention[0] = Classify((unsigned int)result);
attention[1] = 0; //the string ending
strcat(avg,attention);
font_color = 0x00 + ((*attention) - 'A');
PC_DispStr(68, 10 + pos_y/10, avg, font_color + DISP_BGND_LIGHT_GRAY);
if (pos_y%10 == 9) {
fprintf(fp, "%8s\n%6s",avg," ");
memset(avg,0,sizeof(avg));
number = 0;
RemoveGraph();
}
OSTimeDlyHMSM(0, 0, 0, 100);
pos_y ++;
fclose(fp);
}
}
