fsmReturnStatus led_toggle(Fsm * fsm, const Event* e) {
//!!!!!!make all tasks global.
//!!!mistake: set td.next=NULL will disrupt scheduler!!!!
// static taskDescriptor td;
// td.task = &wrapper_red_led;
// //td.param = &; //void pointer point to void, param is of type void
// td.expire = 0;
// td.period = 250; //0.25s = 4Hz
// td.execute = 0;
// td.next = NULL;
//
// static taskDescriptor td2;
// td2.task = &wrapper_turnoff_led;
// td2.param = fsm; //void pointer point to void, param is of type void
// td2.expire = 5000; //count 5s
// td2.period = 0;
// td2.execute = 0;
// td2.next = NULL;
//
// static taskDescriptor td3;
// td3.task = &time_increment;
// td3.param = fsm;
// td3.expire = 0;
// td3.period = 1000; // every second update the time of the clock
// td3.execute = 0;
// td3.next = NULL;
switch (e->signal) {
case ENTRY:
td_toggle_led.expire = 0;
td_turnoff_led.expire = 5000;
td_time_increment.expire = 0;
scheduler_add(&td_toggle_led);
scheduler_add(&td_turnoff_led);
scheduler_add(&td_time_increment);
return RET_HANDLED;
case JOYSTICK_PRESSED:
return TRANSITION(normal_operating);
case ROTARY_PRESSED:
return TRANSITION(normal_operating);
case EXIT:
led_redOff();
scheduler_remove(&td_toggle_led);
scheduler_remove(&td_turnoff_led);
scheduler_remove(&td_time_increment);
return RET_HANDLED;
default:
return RET_IGNORED;
}
}
int main(void) {
button_init(true);
led_greenInit();
led_yellowInit();
led_redInit();//testing
lcd_init();
scheduler_init();
//5.2.1:toggle green led every 2s
taskDescriptor td1; //= (taskDescriptor*) malloc(sizeof(taskDescriptor));
td1.task = &wrapper_greenToggle;
//td.param = &; //void pointer point to void, param is of type void
td1.expire = 2000;
td1.period = 2000;
td1.execute = 0;
td1.next = NULL;
scheduler_add(&td1);
//5.2.2: schedule button_checkState
taskDescriptor td2; //= (taskDescriptor*) malloc(sizeof(taskDescriptor));
td2.task = &wrapper_button_checkState;
//td.param = &; //void pointer point to void, param is of type void
td2.expire = 0;
td2.period = 5;
td2.execute = 0;
td2.next = NULL;
scheduler_add(&td2);
//5.2.3: scheduler or button click determines the situation
button_setJoystickButtonCallback(control_yellow);
//5.2.4 :schedule stopwatch
fprintf(lcdout, "Please press the rotary button to start the stopwatch");
button_setRotaryButtonCallback(stopWatch);
taskDescriptor td5; //= (taskDescriptor*) malloc(sizeof(taskDescriptor));
td5.task = &calc_time;
//td5.param = ; //void pointer point to void, param is of type void
td5.expire = 0; //immediately run
td5.period = 100; //0.1s
td5.execute = 0;
td5.next = NULL;
scheduler_add(&td5);
sei();
scheduler_run();
return 1;
}
fsmReturnStatus normal_operating(Fsm * fsm, const Event* e) {
static bool enable = false;
switch (e->signal) {
case ENTRY:
td_time_increment.expire = 0;
scheduler_add(&td_time_increment);
return RET_HANDLED;
case JOYSTICK_PRESSED:
return TRANSITION(set_alarm_hour);
case ROTARY_PRESSED:
enable = !enable;
fsm->isAlarmEnabled = enable;
if (enable)
led_yellowOn();
else
led_yellowOff();
return RET_HANDLED;
case MATCHING:
if (fsm->isAlarmEnabled) {
return TRANSITION(led_toggle);
} else
return RET_HANDLED;
case EXIT:
scheduler_remove(&td_time_increment);
return RET_HANDLED;
default:
return RET_IGNORED;
}
}
int main() {
//task 6.1
pButtonCallback joystickButton = wrapper_pwm;
button_init(true); //debouncing, timer1 is initialized in this function
button_setJoystickButtonCallback(joystickButton);
pwm_init();
pwm_setDutyCycle(0); //initially motor idle
//task 6.2,6.3
lcd_init();
led_yellowInit();
led_greenInit();
scheduler_init(); // timer2_start() is called there.
motorFrequency_init(); //timer 5 and external interrupt settings
taskDescriptor td1; //= (taskDescriptor*) malloc(sizeof(taskDescriptor));
td1.task = &display;
//td.param = &; //void pointer point to void, param is of type void
td1.expire = 0;
td1.period = 500; //timer2 INT every 1ms
td1.execute = 0;
td1.next = NULL;
scheduler_add(&td1);
//task6.4
uart_init(57600); //debugging
pidData_t pidData;
pid_Init(P * SCALING_FACTOR, I* SCALING_FACTOR, D *SCALING_FACTOR, &pidData); //set p=0; i=1.5, d=0;
taskDescriptor td2; //= (taskDescriptor*) malloc(sizeof(taskDescriptor));
td2.task = &wrapper_pid;
td2.param = &pidData; //void pointer point to void, param is of type void
td2.expire = 0;
td2.period = 200; //timer2 INT every 1ms
td2.execute = 0;
td2.next = NULL;
scheduler_add(&td2);
sei();
scheduler_run();
return 0;
}
void scheduler_clear(void)
{
// deb = get_iopin(9);
// set_dir(deb, 1);
for (uint16_t i=0; i<MAX_TRIGGERED; i++) {
triggered_tasks[i] = 0;
}
num_scheduled = 0;
scheduler_add(10, led_task);
}
fsmReturnStatus alarm_init(Fsm * fsm, const Event* e) {
td_toggle_led.task = &wrapper_red_led;
//td.param = ;
td_toggle_led.expire = 0;
td_toggle_led.period = 250; //0.25s = 4Hz
td_toggle_led.execute = 0;
td_toggle_led.next = NULL;
td_turnoff_led.task = &wrapper_turnoff_led;
td_turnoff_led.param = fsm;
td_turnoff_led.expire = 5000; //count 5s
td_turnoff_led.period = 0;
td_turnoff_led.execute = 0;
td_turnoff_led.next = NULL;
td_time_increment.task = &time_increment;
// td3.param ;
td_time_increment.expire = 0;
td_time_increment.period = 1000; // every second update the time of the clock
td_time_increment.execute = 0;
td_time_increment.next = NULL;
td_check_matching.task = &check_matching;
// td4.param
td_check_matching.expire = 0;
td_check_matching.period = 1000; // every second check if matching
td_check_matching.execute = 0;
td_check_matching.next = NULL;
td_check_rotary_encoder.task = &wrapper_check_rotary;
td_check_rotary_encoder.expire = 0; //immediately execute the task
td_check_rotary_encoder.period = 1; //
td_check_rotary_encoder.execute = 0;
td_check_rotary_encoder.next = NULL;
scheduler_add(&td_check_rotary_encoder);
switch (e->signal) {
case ENTRY:
fsm->isAlarmEnabled = false;
fprintf(lcdout, "%02d:%02d\n", 0, 0);
fprintf(lcdout, "set clock hour");
(fsm->timeSet).hour = 0;
(fsm->timeSet).minute = 0;
(fsm->timeSet).second = 0;
return TRANSITION(sethour);
default:
return RET_IGNORED;
}
}
/*-------------------------------------------------------------------------*/
message_t *fsm_handle_preload(fsm_t *fsm, message_t *msg) {
ophcrack_t *crack = fsm->crack;
scheduler_t *sched = crack->sched;
// If the preloading of the tables is finished, then we start
// searching into the tables.
if (msg->kind == msg_done) {
msg_done_t *done = (msg_done_t*)msg->data;
int nthreads = sched->nthreads;
int n;
if (done->kind == preload_all) {
assert(fsm->psize_curr <= fsm->psize_total);
// Check that the tables have been correctly preloaded.
// if (fsm->psize_curr < fsm->psize_total)
// ophcrack_preload_check(crack);
// This is necessary to prevent the status bar from indicating
// that a preload task is 'waiting' if no preloading occured.
fsm->psize_curr = 1;
fsm->psize_total = 1;
// Start the work tasks.
for (n=0; n < MY_MAX(1, nthreads-1); ++n)
if (ophcrack_next(crack) == 0) break;
// If no tasks have been scheduled, then we schedule a fake task
// which will possibly trigger the 'done(all)' message if it is
// the last one to be executed. This trick is required since the
// brute force might still be running, therefore we should not
// stop here, but wait until the 'done(all)' message is
// received.
if (n == 0) {
ophtask_t *task = ophtask_alloc(find);
scheduler_add(sched, task, low);
}
fsm->state = st_work1;
}
}
return msg;
}
/*-------------------------------------------------------------------------*/
void fsm_launch_preload(fsm_t *fsm) {
ophcrack_t *crack = fsm->crack;
scheduler_t *sched = crack->sched;
ophtask_t *task = ophtask_alloc(preload_all);
ophload_t *load = (ophload_t*)task->data;
list_t *enabled = crack->enabled;
list_nd_t *tnd = 0;
for (tnd = enabled->head; tnd != 0; tnd = tnd->next)
list_add_tail(load->tables, tnd->data);
scheduler_add(sched, task, disk);
fsm->preload = 0;
}
fsmReturnStatus set_alarm_min(Fsm * fsm, const Event* e) {
Time_t *temp = &(fsm->timeSet);
switch (e->signal) {
case ENTRY:
lcd_clear();
lcd_setCursor(0, 0);
fprintf(lcdout, "%02d:%02d\n", temp->hour, temp->minute);
fprintf(lcdout, "set alarm min");
return RET_HANDLED;
case ROTARY_PRESSED:
if (++(temp->minute) > 59)
temp->minute = 0;
lcd_clear();
lcd_setCursor(0, 0);
fprintf(lcdout, "%02d:%02d\n", temp->hour, temp->minute);
fprintf(lcdout, "set alarm min");
return RET_HANDLED;
case ROTARY_INC:
if (++(temp->minute) > 59)
temp->minute = 0;
lcd_clear();
lcd_setCursor(0, 0);
fprintf(lcdout, "%02d:%02d\n", temp->hour, temp->minute);
fprintf(lcdout, "set alarm min");
return RET_HANDLED;
case ROTARY_DEC:
if ((temp->minute) == 0)
temp->minute = 60;
lcd_clear();
lcd_setCursor(0, 0);
fprintf(lcdout, "%02d:%02d\n", temp->hour, --(temp->minute));
fprintf(lcdout, "set alarm min");
return RET_HANDLED;
case JOYSTICK_PRESSED:
return TRANSITION(normal_operating);
case EXIT:
td_check_matching.param = fsm;//in order to get the timeSet in the check matching
td_check_matching.expire = 0;
scheduler_add(&td_check_matching);
return RET_HANDLED;
default:
return RET_IGNORED;
}
}
void control_yellow() {
static taskDescriptor td3;
//td3 should remain same as before.
//without static, the parameter in wrapper_yellowOff(&td3); would be null.
state_on = !state_on;
if (state_on) {
led_yellowOn();
td3.task = &wrapper_yellowOff;
td3.param = &td3;
td3.expire = 5000; //count 5s
td3.period = 0;//run once
td3.execute = 0;
td3.next = NULL;
scheduler_add(&td3);
} else {
led_redOff();
wrapper_yellowOff(&td3);
scheduler_remove(&td3);
}
}
/*-------------------------------------------------------------------------*/
void fsm_launch_bforce(fsm_t *fsm) {
ophcrack_t *crack = fsm->crack;
scheduler_t *sched = crack->sched;
ophtask_t *task = ophtask_alloc(bforce_all);
ophbforce_t *force = (ophbforce_t*)task->data;
list_t *hashes = crack->hashes;
list_nd_t *nd;
int nhashes = hashes->size;
int n;
force->nhashes = nhashes;
force->hashes = (hash_t**)malloc(nhashes*sizeof(hash_t*));
for (nd=hashes->head, n=0; nd!=0; nd=nd->next, ++n)
force->hashes[n] = (hash_t*)nd->data;
scheduler_add(sched, task, low);
fsm->bforce = 0;
}
/*-------------------------------------------------------------------------*/
message_t *fsm_handle_work2(fsm_t *fsm, message_t *msg) {
ophcrack_t *crack = fsm->crack;
scheduler_t *sched = crack->sched;
arg_t *arg = fsm->arg;
if (msg->kind != msg_done) return msg;
msg_done_t *done = (msg_done_t*)msg->data;
if (done->kind == all) {
// If there are still some hashes to crack and some tables remain,
// then we continue.
int npwds_total = crack->npwds_total;
int npwds_found = crack->npwds_found;
if (crack->remaining->size > 0 && npwds_found < npwds_total) {
ophtask_t *task = ophtask_alloc(preload_all);
scheduler_add(sched, task, disk);
fsm->state = st_preload;
}
// Otherwise, we stop.
else {
if (arg->bforce) {
fsm->bforce_curr = 1;
fsm->bforce_total = 1;
}
fsm->state = st_wait;
}
}
return msg;
}
int main( int argc, char* argv[] ) {
// setup COM2/terminal
bwsetfifo( COM2, OFF );
// setup peripherals and handlers
kernel_init();
// Create idle task
struct task* idle_task = task_create(&idle_task_entry, PRIORITY_IDLE, -1);
scheduler_add(idle_task);
// bootstrap first user task
struct task* first_task = task_create(&first_task_entry, PRIORITY_HIGHEST, -1);
scheduler_add(first_task);
long idleTicks = 0;
long userTicks = 0;
struct task *current_task;
int request;
long elapsed;
while (1) {
current_task = scheduler_get_next();
if (current_task == 0) {
break;
}
ACTIVATE:
// Time the execution of the task
elapsed = rtc_get_ticks();
// run the user task
request = task_activate(current_task);
elapsed = rtc_get_ticks() - elapsed;
if (current_task == idle_task) {
idleTicks += elapsed;
}
userTicks += elapsed;
switch (__interrupt_type) {
case INT_TYPE_HWI:
// handle the interrupt request and determine if we should preempt the running task
if (interrupts_handle_irq(current_task) == HWI_CONTINUE && current_task != idle_task) {
goto ACTIVATE;
} else {
scheduler_add(current_task);
}
break;
case INT_TYPE_SWI:
// handle the system call request and determine if we should shutdown
if (sys_handle_request(current_task, request) == -1) {
goto shutdown;
}
break;
default:
KASSERT(0, "We got a weird interrupt type... %d", __interrupt_type);
break;
}
}
shutdown:
kernel_shutdown();
// reset the scrolling window, in case it exists!
bwprintf(COM2, CURSOR_SCROLL, 0, 999);
bwprintf(COM2, CURSOR_CLEAR_SCREEN);
// int i;
// for (i = 0; i < MAX_NUM_TASKS; i++) {
// task_print(COM2, i);
// }
printSensorTicks();
bwprintf(COM2, "Idle time: %d%%\r\n", ((idleTicks * 100) / userTicks));
bwprintf(COM2, "Kernel exiting.\r\n");
return 0;
}
void qlevel_load(STRING *filename)
{
STRING *file = "#256";
make_path(file, filename);
if(!file_exists(file))
{
error("FIXIT! qlevel_load: File does not exist!");
return;
}
level_load(NULL);
int countEntity = ini_read_int(file, "Level Information", "EntityCount", 0);
int countLight = ini_read_int(file, "Level Information", "LightCount", 0);
int countFog = ini_read_int(file, "Level Information", "FogCount", 0);
STRING *section = "#64";
int i;
char buffer[256];
STRING *strTemp = "#128";
for(i = 0; i < countEntity; i++)
{
diag("\nLoad :");
str_cpy(section, "Entity ");
str_cat(section, str_for_int(NULL, i));
diag(section);
ini_read_buffer(file, section, "Model", "error.mdl", buffer, 256);
ENTITY *ent = ent_create(buffer, nullvector, qlevel_entity_init);
ent->group = GROUP_LEVEL;
ent->x = ini_read_float(file, section, "X", 0);
ent->y = ini_read_float(file, section, "Y", 0);
ent->z = ini_read_float(file, section, "Z", 0);
ent->pan = ini_read_float(file, section, "Pan", 0);
ent->tilt = ini_read_float(file, section, "Tilt", 0);
ent->roll = ini_read_float(file, section, "Roll", 0);
ent->scale_x = ini_read_float(file, section, "ScaleX", 0);
ent->scale_y = ini_read_float(file, section, "ScaleY", 0);
ent->scale_z = ini_read_float(file, section, "ScaleZ", 0);
ent->lightrange = ini_read_float(file, section, "Lightrange", 0);
int iActionCount = ini_read_int(file, section, "ActionCount", 0);
int iA = 0;
STRING *actionName = "#64";
for(iA = 0; iA < iActionCount; iA++)
{
str_cpy(actionName, "Action");
str_cat(actionName, str_for_int(NULL, iA));
ini_read_buffer(file, section, actionName, "", buffer, 256);
str_cpy(strTemp, buffer);
diag("\nTry adding action '");
diag(strTemp);
diag("'...");
if(actinfo_add(ent->string1, strTemp))
{
diag(" SUCCESS!\n\tTry getting function pointer...");
void *fn = action_getptr(strTemp);
if(fn != NULL)
{
diag(" SUCCESS!");
scheduler_add(fn, ent);
}
else
{
diag(" FAILED!");
}
}
else
{
diag(" FAILED!");
}
}
diag("\nEntity loaded!");
}
}
static void get_note_list(note_list *l, doc *d)
{
struct {
int delta;
alteration_type alter[128];
alteration_type armature_alter[128];
} *sl;
struct {
int n;
unsigned long start_time;
unsigned long end_time;
} midi[16];
/* we may have as many silence channels as ncessary */
struct {
int on;
unsigned long start_time;
unsigned long end_time;
} *silence = NULL;
int silence_size = 0;
int silence_used_size = 0;
schedule_list s;
int i, n;
int line;
int max;
unsigned long curtime;
unsigned long min_advance;
double duration;
memset(&s, 0, sizeof(s));
for (i = 0; i < 16; i++) midi[i].n = -1;
/* get biggest line size and allocate sl appropriately */
max = 0;
for (i = 0; i < d->size; i++) {
if (d->l[i].n > max) max = d->l[i].n;
}
sl = malloc(max * sizeof(*sl)); if (sl == NULL) abort();
curtime = 0;
/* feed the scheduler */
for (line = 0; line < d->size; line++) {
int it;
for (i = 0; i < d->l[line].n; i++) {
/* by default central line is si */
sl[i].delta = 0;
memset(&sl[i].alter, 0, sizeof(sl[i].alter));
memset(&sl[i].armature_alter, 0, sizeof(sl[i].armature_alter));
}
for (it = 0; it < d->l[line].size; it++) {
item *cur = &d->l[line].i[it];
int k;
min_advance = ULONG_MAX;
for (k = 0; k < cur->size; k++) {
vertical_item *v = &cur->i[k];
switch (v->t) {
case CLEF:
switch (v->clef.t) {
case CLEF_SOL: sl[v->clef.s].delta = -v->clef.p - 2; break;
case CLEF_FA: sl[v->clef.s].delta = -v->clef.p - 10; break;
case CLEF_DO: sl[v->clef.s].delta = -v->clef.p - 6; break;
}
break;
case ARMATURE:
switch (v->armature.t) {
default: /* normally you can't come here */ break;
case DIESE:
case BEMOL:
case BECARRE:
i = pos_to_midi(v->armature.p+sl[v->armature.s].delta) % 12;
while (i < 128) {
sl[v->armature.s].alter[i] =
sl[v->armature.s].armature_alter[i] = v->armature.t;
i += 12;
}
break;
}
break;
case NOTE: {
int cc;
double dd;
int mm, deltamm;
duration = 4. / (1UL << v->note.duration);
duration = 60000. / d->tempo * duration;
/* not fully sure of how to deal with multiple dots */
for (cc = 0, dd = duration / 2; cc < v->note.dots; cc++, dd /= 2)
duration += dd;
mm = pos_to_midi(v->note.p+sl[v->note.s].delta);
/* deal with alterations */
/* not sure about DDIESE/BBEMOL, do they imply continuous DIESE/BEMOL
* or continuous DDIESE/BBEMOL or something else?
* let's go continuous DIESE/BEMOL
*/
switch (v->note.alteration) {
case DDIESE: deltamm = 1; sl[v->note.s].alter[mm] = DIESE; break;
case DIESE: deltamm = 0; sl[v->note.s].alter[mm] = DIESE; break;
case BBEMOL: deltamm = -1; sl[v->note.s].alter[mm] = BEMOL; break;
case BEMOL: deltamm = 0; sl[v->note.s].alter[mm] = BEMOL; break;
case BECARRE:
deltamm = 0; sl[v->note.s].alter[mm] = NO_ALTERATION; break;
case NO_ALTERATION: deltamm = 0; break;
}
switch (sl[v->note.s].alter[mm]) {
case DIESE: mm++; break;
case BEMOL: mm--; break;
case NO_ALTERATION: /* nothing */ break;
default: abort();
}
mm += deltamm;
if (mm < 0) mm = 0; if (mm > 127) mm = 127;
scheduler_add(&s, mm, curtime, curtime + duration, line, it);
if (duration < min_advance) min_advance = duration;
break;
}
case SILENCE: {
/* add a note -1 */
int cc;
double dd;
duration = 4. / (1UL << v->silence.duration);
duration = 60000. / d->tempo * duration;
/* not fully sure of how to deal with multiple dots */
for (cc = 0, dd = duration / 2; cc < v->silence.dots; cc++, dd /= 2)
duration += dd;
scheduler_add(&s, -1, curtime, curtime + duration, line, it);
if (duration < min_advance) min_advance = duration;
break;
}
case BAR:
for (i = 0; i < d->l[line].n; i++)
memcpy(&sl[i].alter, &sl[i].armature_alter, sizeof(sl[i].alter));
break;
}
}
if (min_advance != ULONG_MAX) curtime += min_advance;
}
}
/* sort the scheduler */
qsort(s.s, s.size, sizeof(s.s[0]), sched_sort);
/* schedule the 16 midi channels with our notes */
/* If all 16 channels are full when scheduling a note
* stop the note that would stop first and take its place.
* I don't think a more complex scheme is required practically speaking,
* even if this one is not very good (the shortest note might be a new one
* that has not even been played yet at all).
*/
/* 2015-07-19: I think I get it wrong. I think midi can throw more
* than one note per channel.
* Anyway, I'll keep the thing as it is, no big deal.
*/
n = 0;
curtime = 0;
while (1) {
unsigned long nexttime = ULONG_MAX;
/* schedule note off */
for (i = 0; i < 16; i++)
if (midi[i].n != -1 && midi[i].end_time == curtime) {
add_note_elem(l, (note_elem){ t:NOTE_OFF, port:i, note:midi[i].n });
midi[i].n = -1;
}
Item *every(List *expression)
{
scheduler_add(eval_as_uint16(second(expression)),store_expression(rest(rest(expression))));
return 0;
}
