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/*

 * Project: S.Ha.R.K.

 *

 * Coordinators:

 *   Giorgio Buttazzo    <giorgio@sssup.it>

 *   Paolo Gai           <pj@gandalf.sssup.it>

 *

 * Authors     :

 *   Paolo Gai           <pj@gandalf.sssup.it>

 *   (see the web pages for full authors list)

 *

 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://shark.sssup.it

 */

/**

 ------------

 CVS :        $Id: ball.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $

 File:        $File$

 Revision:    $Revision: 1.1.1.1 $

 Last update: $Date: 2002-09-02 09:37:41 $

 ------------

**/

/*

 * Copyright (C) 2000 Paolo Gai

 *

 * This program is free software; you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation; either version 2 of the License, or

 * (at your option) any later version.

 *

 * This program is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with this program; if not, write to the Free Software

 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

 *

 */

/*--------------------------------------------------------------*/

/*              SIMULATION OF JUMPING BALLS                     */

/*--------------------------------------------------------------*/

#include "demo.h"

#include <kernel/func.h>

#include <stdlib.h>

#define R       8               /* dimension of a ball          */

#define G       9.8             /* acceleration of gravity      */

static int ballexit = 0;

static int      npc = 0;        /* number of tasks created      */

/*--------------------------------------------------------------*/

/*      Periodic task for ball simulation                       */

/*--------------------------------------------------------------*/

TASK    palla(int i)

{

int     x, y;           /* coordinate grafiche pallina  */

int     ox, oy;         /* vecchia posizione pallina    */

int     x0, y0;         /* posizione iniziale X pallina */

float   vx, vy;         /* velocit… della pallina       */

float   vy0;            /* velocita' pallina al primo rimbalzo */

float   ty, tx;         /* variabile temporale          */

float   dt;             /* incremento temporale         */

    y = oy = y0 = BALL_HEIGHT;

    x = ox = x0 = BALL_XMIN;

    vy0= sqrt(2. * G * (float)BALL_HEIGHT);

    vy = 0;

    vx = BALL_VELX + myrand(9);

    tx = 0;

    ty = 0;

    dt = ((float)PERIOD_BALL)/100000;

    while (1) {

        y = y0 + vy*ty - .5*G*ty*ty;

        x = x0 + vx * tx;

        if (y < 0) {

                y = 0;

                if (vy == 0.0)

                  vy = vy0;

                else if (vy < BALL_VYMIN)

                  vy = vy0 * (1.0 - myrand(50)/100.0);

                else

                  vy = 0.9 * vy;

                ty = 0.0;

                y0 = 0;

        }

        if (x > BALL_XMAX) {

                tx = 0.0;

                x0 = BALL_XMAX;

                vx = -vx;

                x = x0 + vx * tx;

        }

        if (x < BALL_XMIN) {

                tx = 0.0;

                x0 = BALL_XMIN;

                vx = -vx;

                x = x0 + vx * tx;

        }

        mutex_lock(&mutex);

        grx_disc(ox, oy, R, 0);

        ox = x;

        oy = BALL_Y - y;

        mutex_unlock(&mutex);

        if (ballexit && i!=0xFFFF) {

          npc--;

          return 0;

        }

        mutex_lock(&mutex);

        grx_disc(ox, oy, R, i);

        mutex_unlock(&mutex);

        {

          int xxx;

          for (xxx=0; xxx<10000; xxx++);

        }

        ty += dt;

        tx += dt;

        task_endcycle();

    }

}

void killball(KEY_EVT *k)

{

  ballexit = 1;

}

void ballfun(KEY_EVT *k)

{

  SOFT_TASK_MODEL mp;

  int r,g,b;

  PID pid;

  char palla_str[]="palla  ";

  if (npc == BALL_MAX_P) return;

  ballexit = 0;

  r = 64 + myrand(190);

  g = 64 + myrand(190);

  b = 64 + myrand(190);

  itoa(npc,palla_str+5);

  soft_task_default_model(mp);

  soft_task_def_level(mp,1);

  soft_task_def_ctrl_jet(mp);

  soft_task_def_arg(mp, (void *)rgb16(r,g,b));

  soft_task_def_group(mp, BALL_GROUP);

  soft_task_def_met(mp, WCET_BALL);

  soft_task_def_period(mp,PERIOD_BALL);

  soft_task_def_usemath(mp);

  pid = task_create(palla_str, palla, &mp, NULL);

  if (pid != NIL) {

    task_activate(pid);

    npc++;

  }

}

void hardball()

{

  HARD_TASK_MODEL mp;

  int r,g,b;

  PID pid;

  r = 255;

  g = 255;

  b = 255;

  hard_task_default_model(mp);

  hard_task_def_ctrl_jet(mp);

  hard_task_def_arg(mp, (void *)rgb16(r,g,b));

  hard_task_def_wcet(mp, 380);

  hard_task_def_mit(mp,PERIOD_BALL);

  hard_task_def_usemath(mp);

  pid = task_create("pallaEDF", palla, &mp, NULL);

  if (pid == NIL) {

        grx_close();

        perror("Could not create task <pallaEDF>");

        sys_end();

  }

  else

    task_activate(pid);

}

/*--------------------------------------------------------------*/

/*                      MAIN process                            */

/*--------------------------------------------------------------*/

void scenario_ball()

{

  grx_text("Noise", 0, 45 /*BALL_Y-BALL_HEIGHT-15*/, rgb16(0,0,255), black);

  grx_line(0,55,383,55,red);

//grx_line(0,BALL_Y-BALL_HEIGHT-6,383,BALL_Y-BALL_HEIGHT-6,red);

  grx_rect(BALL_XMIN-R-1, BALL_Y-BALL_HEIGHT-R-1,

           BALL_XMAX+R+1, BALL_Y+R+1, rgb16(0,200,0));

}

void init_ball(void)

{

    KEY_EVT k;

    hardball();

    k.flag = 0;

    k.scan = KEY_SPC;

    k.ascii = ' ';

    keyb_hook(k,ballfun);

    k.flag = 0;

    k.scan = KEY_BKS;

    k.ascii = ' ';

    keyb_hook(k,killball);

}

/*--------------------------------------------------------------*/