add new repoHEADmaster

12 files changed, 636 insertions, 0 deletions

diff --git a/Master/Real-Time Systems/RTS_A8/src/ApplicationWindow.cpp b/Master/Real-Time Systems/RTS_A8/src/ApplicationWindow.cpp
new file mode 100644
index 0000000..4d7c027
--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/ApplicationWindow.cpp
@@ -0,0 +1,84 @@
+/*
+ * ApplicationWindow.cpp
+ *
+ *  Created on: 01.12.2010
+ *      Author: sven
+ */
+#include <GL/gl.h>
+#include <GL/glut.h>
+#include "ApplicationWindow.h"
+
+ApplicationWindow::ApplicationWindow(int width,int height,int bpp)
+:mWidth(width),mHeight(height),mBpp(bpp),mCaption("RTS_A8"),mState(0)
+{
+}
+
+ApplicationWindow::~ApplicationWindow()
+{
+	destroy();
+}
+
+bool ApplicationWindow::create()
+{
+	int a=0;
+	glutInit(&a, NULL);
+	glutInitDisplayMode(GLUT_RGB|GLUT_DOUBLE);
+	glutInitWindowSize(mWidth, mHeight);
+	glutCreateWindow(mCaption.c_str());
+
+	/*
+	 * Now Initialize OpenGL (ES)
+	 */
+	glEnable(GL_LINE_SMOOTH);
+	glShadeModel(GL_SMOOTH);
+	glDisable(GL_ALPHA_TEST);
+	glAlphaFunc(GL_EQUAL, 1.0f);
+	glEnable(GL_BLEND);
+	glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+	glViewport(0, 0, mWidth, mHeight);
+
+	glMatrixMode(GL_PROJECTION);
+	glLoadIdentity();
+	glClearColor(0.0f,0.0f,0.0f,1.0f);
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // ist das hier notwendig?
+	glOrtho(0, mWidth, 0, mHeight, 0, 100);
+
+	return true;
+}
+
+//--------------------------------------------------------------------
+bool ApplicationWindow::destroy()
+{
+  return true;
+}
+
+//--------------------------------------------------------------------
+void ApplicationWindow::setResolution( int width, int height )
+{
+  mWidth  = width;
+  mHeight = height;
+}
+
+//--------------------------------------------------------------------
+void ApplicationWindow::setColorDepth( int bpp )
+{
+  mBpp = bpp;
+}
+
+//--------------------------------------------------------------------
+void ApplicationWindow::setCaption( const std::string& caption )
+{
+  mCaption = caption;
+}
+
+void ApplicationWindow::setFullscreen( bool enable )
+{
+  if( enable )
+  {
+    mState |= FULL_SCREEN;
+  }
+  else
+  {
+    mState &= ~FULL_SCREEN;
+  }
+}
diff --git a/Master/Real-Time Systems/RTS_A8/src/ApplicationWindow.h b/Master/Real-Time Systems/RTS_A8/src/ApplicationWindow.h
new file mode 100644
index 0000000..e747e2b
--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/ApplicationWindow.h
@@ -0,0 +1,45 @@
+/*
+ * ApplicationWindow.h
+ *
+ *  Created on: 01.12.2010
+ *      Author: sven
+ */
+
+#ifndef APPLICATIONWINDOW_H_
+#define APPLICATIONWINDOW_H_
+
+#include <string>
+
+class ApplicationWindow {
+public:
+	ApplicationWindow(int width,int height,int bpp);
+	virtual ~ApplicationWindow();
+	bool create();
+	bool destroy();
+	void setResolution( int width, int height );
+	void setColorDepth( int bpp );
+	void setCaption( const std::string& caption );
+	void setFullscreen( bool enable = true );
+
+    enum
+    {
+      OPENED_WINDOW = 0x0001,
+      FULL_SCREEN   = 0x0002
+    };
+private:
+	int mWidth;
+	int mHeight;
+	int mBpp;
+
+	std::string mCaption;
+    char mState;
+
+	//----------------------------------------------------------------
+    ///
+    /// copy constructor and assign operator
+    /// set private
+    ApplicationWindow(const ApplicationWindow& src);
+    ApplicationWindow& operator=(const ApplicationWindow& src);
+};
+
+#endif /* APPLICATIONWINDOW_H_ */
diff --git a/Master/Real-Time Systems/RTS_A8/src/Display.cpp b/Master/Real-Time Systems/RTS_A8/src/Display.cpp
new file mode 100644
index 0000000..7f8e925
--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/Display.cpp
@@ -0,0 +1,111 @@
+/*
+ * Display.cpp
+ *
+ *  Created on: 30.11.2010
+ *      Author: istsveise
+ */
+
+#include "Display.h"
+#ifndef POS_H_
+	#include "POS.h"
+#endif
+#include <iostream>
+#include <pthread.h>
+#include <GL/gl.h>
+#include <GL/glu.h>
+#include <GL/glut.h>
+#include <stdlib.h>
+
+using namespace std;
+
+extern POS vehiclePosition;
+extern double lineDir;
+const int WIN_WIDTH = 600;
+const int WIN_HEIGHT = 600;
+const int WIN_BPP = 32;
+
+// because of static
+Display* Display::msDispPtr = NULL;
+
+void* dispInit(void*) {
+	ApplicationWindow appWin(WIN_WIDTH,WIN_HEIGHT,WIN_BPP);
+	if(!appWin.create()) {
+		cout << "error creating app window. exiting" << endl;
+		exit(1);
+	}
+	Display::msDispPtr->mStarted = true;
+	glutDisplayFunc(displayFunc);
+	glutMainLoop();
+	return NULL;
+}
+
+Display::Display(int t)
+:Task(t),mStarted(false)
+{
+	Display::msDispPtr = this;
+	sem_init(&dispSem,0,0);
+	pthread_create(&mDispThread,NULL,dispInit,NULL);
+}
+
+Display::~Display() {
+}
+
+void Display::execute()
+{
+	cout << "...Display::execute T="<< T <<endl;
+	pthread_mutex_unlock(&vehicleMutex);
+	while(true) {
+		pthread_mutex_lock(&vehicleMutex);
+		vehiclePosition.display("P=");
+//		cout << "Abstand = " << Abstand(p,lineDir) << endl;
+		pthread_mutex_unlock(&vehicleMutex);
+		if(Display::msDispPtr != NULL && mStarted) {
+			sem_post(&dispSem);
+		}
+		waitForNextCycle();
+	}
+	return;
+}
+Display* Display::getDisplay()
+{
+	return Display::msDispPtr;
+}
+void displayFunc() {
+	double posX,posY,dir;
+	const int size = 8;
+
+	pthread_mutex_lock(&vehicleMutex);
+	posX = vehiclePosition.x;
+	posY = vehiclePosition.y;
+	dir = lineDir;
+	pthread_mutex_unlock(&vehicleMutex);
+
+	double px = WIN_WIDTH;
+	double m = tan(dir*PI/180);
+	double py = px*m;
+
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+	glLineWidth(5.0);
+	glBegin(GL_LINES);
+		glColor3f(0.0f,0.0f,1.0f);
+		//origin
+		glVertex3f(0.0f,0.0f,0.0f);
+		//point
+		glVertex3f((float)px,(float)py,0.0f);
+	glEnd();
+
+	glBegin(GL_QUADS);
+		glColor3f(0.0f,1.0f,0.0f);
+		glVertex3f(posX-size,posY+size,0.0f);
+		glVertex3f(posX+size,posY+size,0.0f);
+		glVertex3f(posX+size,posY-size,0.0f);
+		glVertex3f(posX-size,posY-size,0.0f);
+	glEnd();
+
+	glFlush();
+	glutSwapBuffers();
+	glutPostRedisplay();
+
+	sem_wait(&Display::msDispPtr->dispSem);
+}
diff --git a/Master/Real-Time Systems/RTS_A8/src/Display.h b/Master/Real-Time Systems/RTS_A8/src/Display.h
new file mode 100644
index 0000000..dd3446a
--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/Display.h
@@ -0,0 +1,37 @@
+/*
+ * Display.h
+ *
+ *  Created on: 30.11.2010
+ *      Author: istsveise
+ */
+
+#ifndef DISPLAY_H_
+#define DISPLAY_H_
+
+#include "ApplicationWindow.h"
+#include "Task.h"
+
+extern pthread_mutex_t vehicleMutex;
+extern const double PI;
+extern const int WIN_WIDTH;
+extern const int WIN_HEIGHT;
+extern const int WIN_BPP;
+
+void displayFunc();
+
+class Display : public Task {
+public:
+	Display(int);
+	virtual ~Display();
+	virtual void execute();
+	friend void displayFunc();
+	friend void* dispInit(void*);
+	static Display* getDisplay();
+private:
+	static Display* msDispPtr;
+	pthread_t mDispThread;
+	bool mStarted;
+	sem_t dispSem;
+};
+
+#endif /* DISPLAY_H_ */
diff --git a/Master/Real-Time Systems/RTS_A8/src/Fahren.cpp b/Master/Real-Time Systems/RTS_A8/src/Fahren.cpp
new file mode 100644
index 0000000..12c77a0
--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/Fahren.cpp
@@ -0,0 +1,44 @@
+/*
+ * Fahren.cpp
+ *
+ *  Created on: 30.11.2010
+ *      Author: istsveise
+ */
+
+#include "Fahren.h"
+#ifndef POS_H_
+	#include "POS.h"
+#endif
+#include <iostream>
+using namespace std;
+
+extern POS vehiclePosition;
+extern double lineDir;
+
+Fahren::Fahren(int t, int v, int d)
+:Task(t),V(v),D(d)
+{
+}
+
+Fahren::~Fahren() {
+}
+void Fahren::execute()
+{
+	cout << "...Fahren::execute T="<< T << endl;
+	while(true) {
+		pthread_mutex_lock(&vehicleMutex);
+		double realV = (T*V) / 1000;
+		vehiclePosition.move(realV,D);
+		double entf = Abstand(vehiclePosition,lineDir);
+		pthread_mutex_unlock(&vehicleMutex);
+//		cout << "entf: " << entf << endl;
+		const int deltha = 1;
+		if(entf < 0)
+			D += deltha;
+		else if (entf > 0)
+			D -= deltha;
+
+		waitForNextCycle();
+//		cout << "Fahren::execute next cycle" << endl;
+	}
+}
diff --git a/Master/Real-Time Systems/RTS_A8/src/Fahren.h b/Master/Real-Time Systems/RTS_A8/src/Fahren.h
new file mode 100644
index 0000000..987f4f7
--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/Fahren.h
@@ -0,0 +1,25 @@
+/*
+ * Fahren.h
+ *
+ *  Created on: 30.11.2010
+ *      Author: istsveise
+ */
+
+#ifndef FAHREN_H_
+#define FAHREN_H_
+
+#include "Task.h"
+
+extern pthread_mutex_t vehicleMutex;
+
+class Fahren : public Task {
+public:
+	Fahren(int,int,int);
+	virtual ~Fahren();
+	virtual void execute();
+private:
+	int V;
+	int D;
+};
+
+#endif /* FAHREN_H_ */
diff --git a/Master/Real-Time Systems/RTS_A8/src/Notbremse.cpp b/Master/Real-Time Systems/RTS_A8/src/Notbremse.cpp
new file mode 100644
index 0000000..dc7f02f
--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/Notbremse.cpp
@@ -0,0 +1,34 @@
+/*
+ * Notbremse.cpp
+ *
+ *  Created on: 01.12.2010
+ *      Author: sven
+ */
+
+#include "Notbremse.h"
+#include <iostream>
+#include <stdlib.h>
+#include <cmath>
+using namespace std;
+
+Notbremse::Notbremse(int t)
+:Task(t),DIST_THRESHOLD(50)
+{
+}
+
+Notbremse::~Notbremse() {
+	// TODO Auto-generated destructor stub
+}
+void Notbremse::execute() {
+	cout << "...Notbremse::executeT=" << T <<endl;
+	while(true) {
+		pthread_mutex_lock(&vehicleMutex);
+		double dist = Abstand(vehiclePosition,lineDir);
+		if(abs(dist) > DIST_THRESHOLD) {
+			cout << "NOTBREMSE" << endl;
+			exit(1);
+		}
+		pthread_mutex_unlock(&vehicleMutex);
+		waitForNextCycle();
+	}
+}
diff --git a/Master/Real-Time Systems/RTS_A8/src/Notbremse.h b/Master/Real-Time Systems/RTS_A8/src/Notbremse.h
new file mode 100644
index 0000000..86f092a
--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/Notbremse.h
@@ -0,0 +1,30 @@
+/*
+ * Notbremse.h
+ *
+ *  Created on: 01.12.2010
+ *      Author: sven
+ */
+
+#ifndef NOTBREMSE_H_
+#define NOTBREMSE_H_
+
+#include "Task.h"
+#ifndef POS_H_
+	#include "POS.h"
+#endif
+#include <pthread.h>
+
+extern pthread_mutex_t vehicleMutex;
+extern POS vehiclePosition;
+extern double lineDir;
+
+class Notbremse: public Task {
+public:
+	Notbremse(int t);
+	virtual ~Notbremse();
+	virtual void execute();
+private:
+	const double DIST_THRESHOLD;
+};
+
+#endif /* NOTBREMSE_H_ */
diff --git a/Master/Real-Time Systems/RTS_A8/src/POS.h b/Master/Real-Time Systems/RTS_A8/src/POS.h
new file mode 100644
index 0000000..490838a
--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/POS.h
@@ -0,0 +1,69 @@
+/*
+ * POS.h
+ *
+ *  Created on: 30.11.2010
+ *      Author: istsveise
+ */
+
+#ifndef POS_H_
+#define POS_H_
+
+#include <iostream>
+#include <cmath>
+
+using namespace std;
+
+extern const double PI;
+
+struct vector3d {
+	double x;
+	double y;
+	double z;
+	vector3d(double px,double py):x(px),y(py),z(1) {};
+	vector3d():x(0),y(0),z(1) {};
+	double length() {
+		return sqrt( (x*x) + (y*y) );
+	}
+	double scalarProduct(const vector3d& l) {
+		return (x*l.x)+(y*l.y)+(z*l.z);
+	}
+	void crossProduct(const vector3d& l,vector3d& res)
+	{
+		res.x = ( (y*l.z) - (z*l.y) );
+		res.y = ( (z*l.x) - (x*l.z) );
+		res.z = ( (x*l.y) - (y*l.x) );
+	}
+	void normalize()
+	{
+		double len = length();
+		x = x / len;
+		y = y / len;
+		z = z / len;
+	}
+};
+
+struct POS {
+	double x;
+	double y;
+	void move(double v, double dir)
+	{
+//		cout << "v: " << v << " dir: " << dir <<endl;
+		double dx = v * cos(dir*PI/180);
+		double dy = v * sin(dir*PI/180);
+//		cout << "dx: " << dx << " dy: " << dy <<endl;
+		x += dx;
+		y += dy;
+	}
+	void display(const char* prefix) {
+		cout << prefix << " "<< x << " " << y << endl;
+	}
+};
+
+#ifndef ABSTAND
+#define ABSTAND
+
+extern double Abstand(POS p,double Ldir);
+
+#endif
+
+#endif /* POS_H_ */
diff --git a/Master/Real-Time Systems/RTS_A8/src/Task.cpp b/Master/Real-Time Systems/RTS_A8/src/Task.cpp
new file mode 100644
index 0000000..e0bce66
--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/Task.cpp
@@ -0,0 +1,51 @@
+/*
+ * Task.cpp
+ *
+ *  Created on: 30.11.2010
+ *      Author: istsveise
+ */
+
+#include "Task.h"
+#include <pthread.h>
+#include <iostream>
+#include <sys/time.h>
+#include <signal.h>
+
+using namespace std;
+
+void* timer_main(void* task) {
+	Task* t = (Task*) task;
+	while(true) {
+		usleep(t->T*1000);
+		sem_post(&t->threadSem);
+	}
+	return NULL;
+}
+
+void* execute_main(void* task) {
+	cout << "Start execution..." << endl;
+	Task* t = (Task*) task;
+	t->execute();
+
+	return NULL;
+}
+
+Task::Task(int t=1000)
+:T(t)
+{
+	sem_init(&this->threadSem,0,0);
+
+	pthread_t timerthread;
+	pthread_t executethread;
+
+	pthread_create(&timerthread,NULL,&timer_main,(void*) this);
+	pthread_create(&executethread,NULL,&execute_main,(void*) this);
+}
+
+Task::~Task() {
+}
+
+void Task::waitForNextCycle()
+{
+	sem_wait(&this->threadSem);
+}
diff --git a/Master/Real-Time Systems/RTS_A8/src/Task.h b/Master/Real-Time Systems/RTS_A8/src/Task.h
new file mode 100644
index 0000000..be3b377
--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/Task.h
@@ -0,0 +1,28 @@
+/*
+ * Task.h
+ *
+ *  Created on: 30.11.2010
+ *      Author: istsveise
+ */
+
+#ifndef TASK_H_
+#define TASK_H_
+
+#include <semaphore.h>
+
+class Task {
+public:
+	Task(int);
+	virtual ~Task();
+protected:
+	int T; // period in ms
+	sem_t threadSem;
+public:
+	friend void* timer_main(void* task);
+	friend void* execute_main(void* task);
+	virtual void execute() = 0;
+protected:
+	void waitForNextCycle();
+};
+
+#endif /* TASK_H_ */
diff --git a/Master/Real-Time Systems/RTS_A8/src/main.cpp b/Master/Real-Time Systems/RTS_A8/src/main.cpp
new file mode 100644
index 0000000..fc3feed
--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/main.cpp
@@ -0,0 +1,78 @@
+/*
+ * main.cpp
+ *
+ *  Created on: 30.11.2010
+ *      Author: istsveise
+ */
+#include "Task.h"
+#include "Display.h"
+#include "Fahren.h"
+#ifndef POS_H_
+	#include "POS.h"
+#endif
+#ifndef NOTBREMSE_H_
+	#include "Notbremse.h"
+#endif
+
+#include <iostream>
+#include <stdlib.h>
+#include <pthread.h>
+#include <semaphore.h>
+#include <cmath>
+
+using namespace std;
+
+// global mutex to protect vehicle
+pthread_mutex_t vehicleMutex;
+
+POS vehiclePosition;
+double lineDir;
+const double PI = 3.14159265359;
+
+double Abstand(POS p,double Ldir)
+{
+	vector3d origin;
+	vector3d point(p.x,p.y);
+	double polx = 1.0;
+	double ldirRad = Ldir*PI/180;
+	double m = tan(ldirRad);
+	double poly = polx*m;
+	vector3d pointOnLine(polx,poly);
+	vector3d normVec;
+	origin.crossProduct(pointOnLine,normVec);
+	normVec.normalize();
+	double d = normVec.scalarProduct(point);
+	return d;
+}
+
+void InitAll(int x)
+{
+	pthread_mutex_init(&vehicleMutex,NULL);
+	pthread_mutex_lock(&vehicleMutex);
+	lineDir = x;
+	vehiclePosition.x = 0;
+	vehiclePosition.y = 0;
+	pthread_mutex_unlock(&vehicleMutex);
+}
+
+int main(int argc,char* argv[])
+{
+	InitAll(30); // direction of line [0, 90]
+
+	sleep(1);
+
+	Display D(100);
+	Notbremse N(100);
+
+	cout << "Los geht's...!" << endl;
+	Fahren F(/* period in ms */ 100,
+			/* speed in pixels per second */ 20,
+			/* start direction [0, 90] */ 0);
+
+	//sleep for ever
+	sem_t block;
+	sem_init(&block,0,0);
+	sem_wait(&block);
+
+	return EXIT_SUCCESS;
+}