void task_L(void* data)
{
rt_sem_p(&syncsem,TM_INFINITE);
rt_sem_p(&semA,TM_INFINITE);
int prio = rt_task_set_priority(NULL,99);
rt_printf("L : I got A\n");
busy_wait_ms(3);
rt_sem_p(&semB,TM_INFINITE);
busy_wait_ms(3);
print_pri(NULL,(char) data);
rt_sem_v(&semB);
rt_sem_v(&semA);
}
bool EcMaster::start() throw(EcError)
{
#ifdef HRT
rt_task_set_priority(&master,0);
if (asprintf(&devnameOutput, "/proc/xenomai/registry/rtipc/xddp/%s", XDDP_PORT_OUTPUT) < 0)
throw(EcError(EcError::FAIL_OUTPUT_LABEL));
//open the socket for the outputs
fdOutput = open(devnameOutput, O_WRONLY);
free(devnameOutput);
if (fdOutput < 0)
{
perror("open");
throw(EcError(EcError::FAIL_OPENING_OUTPUT));
}
if (asprintf(&devnameInput, "/proc/xenomai/registry/rtipc/xddp/%s", XDDP_PORT_INPUT) < 0)
throw(EcError(EcError::FAIL_INPUT_LABEL));
//open the socket for the inputs
fdInput = open(devnameInput, O_RDONLY);
free(devnameInput);
if (fdInput < 0)
{
perror("open");
throw(EcError(EcError::FAIL_OPENING_INPUT));
}
/*
*Create a thread for update slave inputs periodically
*/
sched_param sch;
sch.sched_priority = 90;
pthread_setschedparam(updateThread.native_handle(), SCHED_OTHER, &sch);
updateThread = std::thread(&EcMaster::update_EcSlaves,this);
#endif
for (int i = 0 ; i < m_drivers.size() ; i++)
m_drivers[i] -> start();
//wait to start correctly drivers
usleep(50000);
rt_printf("Master started!!! \n");
return true;
}
bool EcMaster::stop() throw(EcError)
{
#ifdef HRT
rt_task_set_priority(&master,98);
#endif
//Stops slaves
for (int i = 0 ; i < m_drivers.size() ; i++)
m_drivers[i] -> stop();
#ifdef HRT
//Stops the NRT thread
threadFinished = true;
updateThread.join();
threadFinished = false;
close(fdInput);
close(fdOutput);
#endif
rt_printf("Master stoped!!! \n");
return true;
}
int set_priority(int prio)
{
return rt_task_set_priority(&main_shadow_task, prio);
}
int game_init(void) {
int err, i;
player[0].enable = 1;
player[1].enable = 0;
player[2].enable = 0;
player[0].x = LCD_MAX_X / 2 - 8;
player[0].y = LCD_MAX_Y - 20;
player[0].lifes = MAX_HP;
gift.enable = 0;
for(i = 0; i < NB_MAX_SHOTS; i++)
{
shot[i].enable = 0;
}
for(i = 0; i < nbEnnemis; i++)
{
ennemi[i].enable = 1;
}
hp_update_leds();
err = rt_mutex_create(&mutex_ennemi, "mutex ennemi");
if (err != 0) {
printk("mutex ennemi creation failed: %d\n", err);
return -1;
}
err = rt_mutex_create(&mutex_shots, "mutex shots");
if (err != 0) {
printk("mutex shots creation failed: %d\n", err);
return -1;
}
err = rt_mutex_create(&mutex_score, "mutex score");
if (err != 0) {
printk("mutex score creation failed: %d\n", err);
return -1;
}
// Création de la tâche gérant le rafraichissement de l'écran
err = rt_task_create(&refresh_task, "refresh", STACK_SIZE, 50, 0);
if (err != 0) {
printk("refresh creation failed: %d\n", err);
return -1;
}
printk("Task created\n");
err = rt_task_start(&refresh_task, refresh, 0);
if (err != 0) {
printk("refresh task start failed: %d\n", err);
return -1;
}
// Création de la tâche gérant le rafraichissement de l'écran
err = rt_task_create(&move_task, "move_player", STACK_SIZE, 50, 0);
if (err != 0) {
printk("move player creation failed: %d\n", err);
return -1;
}
printk("Task created\n");
err = rt_task_start(&move_task, move_player, 0);
if (err != 0) {
printk("move player start failed: %d\n", err);
return -1;
}
err = rt_task_set_priority(&move_task, 80);
if (err < 0) {
printk("Switch events task set prio failed: %d\n", err);
return -1;
}
// Création de la tâche gérant le déplacement des vaisseaux ennemis
err = rt_task_create(&ennemi_task, "move_ennemi", STACK_SIZE, 50, 0);
if (err != 0) {
printk("ennemi task creation failed: %d\n", err);
return -1;
}
printk("Ennemi Task created\n");
err = rt_task_start(&ennemi_task, move_ennemi, 0);
if (err != 0) {
printk("ennemi task start failed: %d\n", err);
return -1;
}
// Création de la tâche gérant les tirs et les impacts
err = rt_task_create (&shots_impacts_task, "shots_impacts", STACK_SIZE, 50, 0);
if (err != 0) {
printk("Shots & impacts task creation failed: %d\n", err);
return -1;
}
printk("Shots & impacts task created\n");
err = rt_task_start(&shots_impacts_task, shots_impacts, 0);
if (err != 0) {
printk("Shots & impacts task start failed: %d\n", err);
return -1;
}
// Création de la tâche gérant les tirs et les impacts
err = rt_task_create (&missile_ennemi_task, "shots_ennemi", STACK_SIZE, 50, 0);
if (err != 0) {
printk("Shots ennemi task creation failed: %d\n", err);
return -1;
}
printk("Shots ennemi task created\n");
err = rt_task_start(&missile_ennemi_task, missile_ennemi, 0);
if (err != 0) {
printk("Shots ennemi task start failed: %d\n", err);
return -1;
}
// Création de la tâche gérant le gift
err = rt_task_create (&gift_task, "gift", STACK_SIZE, 50, 0);
if (err != 0) {
printk("gift task creation failed: %d\n", err);
return -1;
}
printk("gift task created\n");
err = rt_task_start(&gift_task, gift_weapon, 0);
if (err != 0) {
printk("gift task start failed: %d\n", err);
return -1;
}
// Création de la tâche gérant les switchs
err = rt_task_create (&switch_events_task, "switch_events", STACK_SIZE, 50, 0);
if (err != 0) {
printk("Switch events task creation failed: %d\n", err);
return -1;
}
printk("Switch events task created\n");
err = rt_task_start(&switch_events_task, switch_events_handler, 0);
if (err != 0) {
printk("Switch events task start failed: %d\n", err);
return -1;
}
/* Attribution d'un priorité plus élevée pour la lecture sur le bus i2c */
err = rt_task_set_priority(&switch_events_task, 99);
if (err < 0) {
printk("Switch events task set prio failed: %d\n", err);
return -1;
}
return 0;
}
