From 33613a85afc4b1481367fbe92a17ee59c240250b Mon Sep 17 00:00:00 2001
From: Sven Eisenhauer <sven@sven-eisenhauer.net>
Date: Fri, 10 Nov 2023 15:11:48 +0100
Subject: add new repo

---
 Master/Real-Time Systems/RTS_A8/src/Display.cpp | 111 ++++++++++++++++++++++++
 1 file changed, 111 insertions(+)
 create mode 100644 Master/Real-Time Systems/RTS_A8/src/Display.cpp

(limited to 'Master/Real-Time Systems/RTS_A8/src/Display.cpp')

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);
+}
-- 
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