lift.java

Java Op Processor java vhdl processor

/*
 * Copyright (c) Martin Schoeberl, [e-mail]
 * All rights reserved.
 *
 *
 * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED.  IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
 * SUCH DAMAGE.
 *
 */

package tal;

/**
*	Tal.java: test main.
*
*	Author: Martin Schoeberl ([e-mail])
*
*/

import joprt.RtThread;
import util.Dbg;
import util.Timer;
import ejip.CS8900;
import ejip.Html;
import ejip.LinkLayer;
import ejip.Net;

/**
*	TAL Main, Lift version.
*/

public class Lift {

	static Net net;
	static LinkLayer ipLink;

	static Modem modem;
	static Fwp fwp;
	static Param par;
	private static Loop loop;	// reference not used by anyone else
	private static LiftControl ctrl;
	
	private static boolean run;
	
	private static boolean simpc;
	private static boolean evn;
	/**
	*	Start all threads and enter forever loop.
	*/
	
	public static void main(String[] args) {

simpc = args!=null;	// we provide a null pointer in Startup.java for JOP
evn = true;
		run = true;
		// not so good for final application
		// will be UDP...
		if (simpc) {
			Dbg.initSer();
		} else {
			Dbg.init();
		}



		//
		//	start TCP/IP and all (four) threads
		//
		net = Net.init();
		int[] outReg = new int[1];
		outReg[0] = 0;
		Html.setOutValArray(outReg);
		//
		//	start device driver threads
		//
		// don't use CS8900 when simulating on PC
		if (!simpc) {
			ipLink = CS8900.init(Net.eth, Net.ip);
			// use instead Slip for PC simulation
			// LinkLayer ipLink = Slip.init(Const.IO_UART_BG_MODEM_BASE,
			//	(192<<24) + (168<<16) + (1<<8) + 2); 
			new RtThread(5, 10000) {
				public void run() {
					for (;;) {
						waitForNextPeriod();
						net.loop();
						ipLink.loop();
					}
				}
			};
		}

/* there is some problem with the ACEX board and paramter in Flash ???
 
 
		par = new Param();
		fwp = new Fwp();
		Serial ser;
		if (simpc) {
			ser = new Serial(Const.IO_UART_BG_MODEM_BASE, 10, 3000);
		} else {
			ser = new Serial(Const.IO_UART1_BASE, 10, 3000);
		}
		if (evn) {
			modem = Modem.getInstance(5, 100000, ser);
		} else {
			new Modbus(5, 10000, ser, outReg);
		}
		
		loop = new Loop(7, 20000);
*/

		ctrl = new LiftControl();
		
		RtThread.startMission();
		forever();
	}
	
	public static void stop() {
		run = false;
	}

	private static void forever() {

		//
		//	Just do the WD blink with lowest priority.
		//	=> if the other threads take to long there will be a reset
		//
		for (int cnt=0;cnt<20;) {
			RtThread.sleepMs(500);
			Timer.wd();
			if (!run) ++cnt;	// stop in 10 seconds
		}
	}
}