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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1085 | pj | 1 | //*******************************tasks.c************************************ |
| 2 | // task bodies |
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| 3 | #include <drivers/glib.h> |
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| 4 | #include <stdlib.h> |
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| 5 | #include <string.h> |
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| 6 | #include <kernel/func.h> |
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| 7 | #include <drivers/glib.h> |
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| 8 | #include <semaphor.h> |
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| 9 | #include <math.h> |
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| 10 | #include "include/simcity.h" |
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| 11 | #include "include/states.h" |
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| 12 | #include "include/draw.h" |
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| 13 | #include "include/misc.h" |
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| 14 | #include "include/car.h" |
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| 15 | #include "include/proc.h" |
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| 16 | #define rgb rgb16 |
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| 17 | |||
| 18 | /*extern starting_set starting_set_array[S_POINT]; |
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| 19 | extern short maxc; */ |
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| 20 | |||
| 21 | TASK killer(void *arg) { |
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| 22 | short i,j=0; |
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| 23 | DWORD col[3]; |
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| 24 | char flag=0; |
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| 25 | |||
| 26 | col[0]=red; |
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| 27 | col[1]=green; |
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| 28 | col[2]=white; |
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| 29 | |||
| 30 | while(1) { |
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| 31 | if(maxc>0) { |
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| 32 | for(i=0;i<MAX_CAR;i++) { |
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| 33 | sem_wait(&(kill_mutex[i])); |
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| 34 | if(car_data_array[i].boom && car_data_array[i].running) flag=1; |
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| 35 | else flag=0; |
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| 36 | sem_post(&(kill_mutex[i])); |
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| 37 | if(flag) { |
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| 38 | del(i); |
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| 39 | killing(i); |
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| 40 | } |
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| 41 | } |
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| 42 | } |
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| 43 | j=(j+1)%3; |
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| 44 | sem_wait(&mutex); |
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| 45 | grx_text("Killer active!",CAMX,CAMY+MAX_CAR*46,col[j],black); |
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| 46 | sem_post(&mutex); |
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| 47 | task_endcycle(); |
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| 48 | } |
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| 49 | } |
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| 50 | |||
| 51 | |||
| 52 | TASK refresher(void *arg) { |
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| 53 | int i; |
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| 54 | tl_data *d; |
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| 55 | |||
| 56 | while(1) { |
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| 57 | sem_wait(&mutex); |
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| 58 | grx_putimage(MAPX,MAPY,MAPX+W-1,MAPY+H-1,street); |
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| 59 | for(i=0;i<MAX_TL;i++) { |
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| 60 | d=&(tl_data_array[i]); |
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| 61 | if((d->vpos=='g')) { |
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| 62 | draw_tl(d->u.x,d->u.y,g_sem[U]); |
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| 63 | draw_tl(d->d.x,d->d.y,g_sem[D]); |
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| 64 | draw_tl(d->l.x,d->l.y,r_sem[L]); |
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| 65 | draw_tl(d->r.x,d->r.y,r_sem[R]); |
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| 66 | } else if(d->vpos=='y') { |
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| 67 | draw_tl(d->u.x,d->u.y,y_sem[U]); |
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| 68 | draw_tl(d->d.x,d->d.y,y_sem[D]); |
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| 69 | draw_tl(d->l.x,d->l.y,r_sem[L]); |
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| 70 | draw_tl(d->r.x,d->r.y,r_sem[R]); |
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| 71 | } else if(d->hpos=='g') { |
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| 72 | draw_tl(d->u.x,d->u.y,r_sem[U]); |
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| 73 | draw_tl(d->d.x,d->d.y,r_sem[D]); |
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| 74 | draw_tl(d->l.x,d->l.y,g_sem[L]); |
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| 75 | draw_tl(d->r.x,d->r.y,g_sem[R]); |
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| 76 | } else if(d->hpos=='y') { |
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| 77 | draw_tl(d->u.x,d->u.y,r_sem[U]); |
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| 78 | draw_tl(d->d.x,d->d.y,r_sem[D]); |
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| 79 | draw_tl(d->l.x,d->l.y,y_sem[L]); |
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| 80 | draw_tl(d->r.x,d->r.y,y_sem[R]); |
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| 81 | } |
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| 82 | } |
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| 83 | sem_post(&mutex); |
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| 84 | task_endcycle(); |
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| 85 | } |
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| 86 | } |
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| 87 | |||
| 88 | TASK blink_arrow(int number) { |
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| 89 | char ld=0,prev=0,dir=0; |
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| 90 | short c; |
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| 91 | BYTE *arrow_img; |
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| 92 | |||
| 93 | c=number*46; |
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| 94 | while(1) { |
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| 95 | if(kill_flag[number]) { |
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| 96 | return 0; |
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| 97 | } |
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| 98 | if(!car_data_array[number].boom) { |
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| 99 | dir=car_data_array[number].dir+1; |
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| 100 | if(dir==prev) { |
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| 101 | ld=(ld+1)%2; |
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| 102 | if(ld==1) |
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| 103 | arrow_img=arrow[(int)dir]; |
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| 104 | else |
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| 105 | arrow_img=arrow[1]; |
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| 106 | |||
| 107 | sem_wait(&mutex); |
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| 108 | grx_putimage(CAMX+80,CAMY-1+c,CAMX+80+29,CAMY-1+c+29,arrow_img); |
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| 109 | sem_post(&mutex); |
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| 110 | } else { |
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| 111 | prev=dir; |
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| 112 | ld=0; |
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| 113 | sem_wait(&mutex); |
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| 114 | grx_putimage(CAMX+80,CAMY-1+c,CAMX+80+29,CAMY-1+c+29,arrow[(int)dir]); |
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| 115 | sem_post(&mutex); |
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| 116 | } |
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| 117 | } |
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| 118 | task_endcycle(); |
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| 119 | } |
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| 120 | } |
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| 121 | |||
| 122 | |||
| 123 | TASK gauge_c(int number) { |
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| 124 | int c; |
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| 125 | float angle,ro; |
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| 126 | int x,y; |
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| 127 | char vel[5]; |
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| 128 | |||
| 129 | c=number*46; |
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| 130 | while(1) { |
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| 131 | if(kill_flag[number]) { |
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| 132 | return 0; |
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| 133 | } |
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| 134 | if(!car_data_array[number].boom) { |
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| 135 | angle=180.0*car_data_array[number].speed/MAX_SPEED; |
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| 136 | sprintf(vel,"%.1f",car_data_array[number].speed); |
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| 137 | ro=9.0; |
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| 138 | y=my_rint(ro*sine[my_rint(angle)]); |
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| 139 | x=my_rint(ro*cosine[my_rint(angle)]); |
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| 140 | sem_wait(&mutex); |
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| 141 | grx_putimage(CAMX,CAMY+c,CAMX+29,CAMY+29+c,gauge_img); |
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| 142 | grx_line(CAMX+14,CAMY-1+c+25,CAMX+14-x,CAMY-1+c+25-y,blue); |
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| 143 | grx_text(vel,CAMX,CAMY+c+30,white,black); |
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| 144 | sem_post(&mutex); |
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| 145 | } else { |
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| 146 | sem_wait(&mutex); |
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| 147 | grx_putimage(CAMX,CAMY+c,CAMX+29,CAMY+29+c,brk_gauge); |
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| 148 | sem_post(&mutex); |
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| 149 | } |
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| 150 | task_endcycle(); |
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| 151 | } |
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| 152 | } |
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| 153 | |||
| 154 | TASK camera(int number) { |
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| 155 | int c; |
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| 156 | |||
| 157 | c=number*46; |
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| 158 | grx_rect(CAMX+40-1,CAMY-1+c,CAMX+40+30,CAMY+30+c,green); |
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| 159 | while(1) { |
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| 160 | if(kill_flag[number]) { |
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| 161 | return 0; |
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| 162 | } |
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| 163 | sem_wait(&mutex); |
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| 164 | grx_putimage(CAMX+40,CAMY+c,CAMX+40+29,CAMY+c+29,vbuf[number]); |
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| 165 | sem_post(&mutex); |
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| 166 | task_endcycle(); |
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| 167 | } |
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| 168 | } |
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| 169 | |||
| 170 | TASK traffic_light(tl_data *d) { |
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| 171 | char hpos,vpos,flag; |
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| 172 | |||
| 173 | flag=0; |
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| 174 | vpos=d->vpos; |
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| 175 | if(vpos=='g') { |
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| 176 | hpos='r'; |
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| 177 | #ifdef GRAPH |
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| 178 | sem_wait(&mutex); |
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| 179 | draw_tl(d->l.x,d->l.y,r_sem[L]); |
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| 180 | draw_tl(d->r.x,d->r.y,r_sem[R]); |
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| 181 | draw_tl(d->u.x,d->u.y,g_sem[U]); |
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| 182 | draw_tl(d->d.x,d->d.y,g_sem[D]); |
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| 183 | sem_post(&mutex); |
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| 184 | #endif |
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| 185 | } else { |
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| 186 | vpos='r'; |
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| 187 | hpos='g'; |
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| 188 | #ifdef GRAPH |
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| 189 | sem_wait(&mutex); |
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| 190 | draw_tl(d->l.x,d->l.y,g_sem[L]); |
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| 191 | draw_tl(d->r.x,d->r.y,g_sem[R]); |
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| 192 | draw_tl(d->u.x,d->u.y,r_sem[U]); |
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| 193 | draw_tl(d->d.x,d->d.y,r_sem[D]); |
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| 194 | sem_post(&mutex); |
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| 195 | #endif |
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| 196 | } |
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| 197 | task_endcycle(); |
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| 198 | while(1) { |
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| 199 | if(vpos=='g') { |
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| 200 | vpos='y'; |
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| 201 | flag=1; |
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| 202 | #ifdef GRAPH |
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| 203 | sem_wait(&mutex); |
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| 204 | draw_tl(d->u.x,d->u.y,y_sem[U]); |
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| 205 | draw_tl(d->d.x,d->d.y,y_sem[D]); |
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| 206 | sem_post(&mutex); |
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| 207 | #endif |
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| 208 | } |
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| 209 | if((vpos=='y')&&(!flag)) { |
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| 210 | vpos='r'; |
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| 211 | hpos='g'; |
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| 212 | flag=1; |
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| 213 | #ifdef GRAPH |
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| 214 | sem_wait(&mutex); |
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| 215 | draw_tl(d->u.x,d->u.y,r_sem[U]); |
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| 216 | draw_tl(d->d.x,d->d.y,r_sem[D]); |
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| 217 | draw_tl(d->l.x,d->l.y,g_sem[L]); |
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| 218 | draw_tl(d->r.x,d->r.y,g_sem[R]); |
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| 219 | sem_post(&mutex); |
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| 220 | #endif |
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| 221 | } |
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| 222 | if((vpos=='r')&&(!flag)) { |
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| 223 | if(hpos=='g') { |
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| 224 | hpos='y'; |
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| 225 | flag=1; |
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| 226 | #ifdef GRAPH |
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| 227 | sem_wait(&mutex); |
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| 228 | draw_tl(d->l.x,d->l.y,y_sem[L]); |
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| 229 | draw_tl(d->r.x,d->r.y,y_sem[R]); |
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| 230 | sem_post(&mutex); |
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| 231 | #endif |
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| 232 | } |
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| 233 | if((hpos=='y')&&(!flag)) { |
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| 234 | hpos='r'; |
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| 235 | vpos='g'; |
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| 236 | #ifdef GRAPH |
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| 237 | sem_wait(&mutex); |
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| 238 | draw_tl(d->l.x,d->l.y,r_sem[L]); |
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| 239 | draw_tl(d->r.x,d->r.y,r_sem[R]); |
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| 240 | draw_tl(d->u.x,d->u.y,g_sem[U]); |
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| 241 | draw_tl(d->d.x,d->d.y,g_sem[D]); |
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| 242 | sem_post(&mutex); |
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| 243 | #endif |
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| 244 | } |
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| 245 | } |
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| 246 | flag=0; |
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| 247 | d->vpos=vpos; |
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| 248 | d->hpos=hpos; |
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| 249 | #ifndef GRAPH |
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| 250 | sem_wait(&mutex); |
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| 251 | cprintf("semaforo %s: verticale:%c orizz.:%c\n",d->tl_name,vpos,hpos); |
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| 252 | sem_post(&mutex); |
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| 253 | #endif |
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| 254 | task_endcycle(); |
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| 255 | } |
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| 256 | } |
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| 257 | |||
| 258 | TASK car(car_data *cd) { |
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| 259 | char ob_type=FREE; |
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| 260 | int start_point,sat_angle=0; |
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| 261 | int tl=0; |
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| 262 | short stato=NORM,dir_flag=0; |
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| 263 | |||
| 264 | sem_wait(&(kill_mutex[cd->number])); |
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| 265 | while(kill_flag[cd->number]){ |
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| 266 | cd->running=0; |
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| 267 | sem_post(&(kill_mutex[cd->number])); |
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| 268 | return 0; |
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| 269 | } |
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| 270 | sem_post(&(kill_mutex[cd->number])); |
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| 271 | while(1) { |
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| 272 | sem_wait(&(kill_mutex[cd->number])); |
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| 273 | while(kill_flag[cd->number]){ |
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| 274 | cd->running=0; |
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| 275 | sem_post(&(kill_mutex[cd->number])); |
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| 276 | return 0; |
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| 277 | } |
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| 278 | sem_post(&(kill_mutex[cd->number])); |
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| 279 | if(cd->xp>630||cd->yp>590||cd->xp<18||cd->yp<MAPY+3) { |
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| 280 | start_point=rand()%S_POINT; |
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| 281 | if(start_point==2) |
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| 282 | start_point++; |
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| 283 | cd->xpos=cd->xp=starting_set_array[start_point].xpos; |
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| 284 | cd->ypos=cd->yp=starting_set_array[start_point].ypos; |
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| 285 | cd->angle=starting_set_array[start_point].angles; |
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| 286 | } |
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| 287 | if (!cd->boom) { |
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| 288 | // Control State Machine |
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| 289 | if(stato==NORM) { |
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| 290 | cd->dir=STRAIGHT; |
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| 291 | ob_type=collision_sensor(cd); |
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| 292 | ch_spd(cd,ob_type); |
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| 293 | if(cd->dist_obs<30 && ob_type==STOP) { |
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| 294 | stato=INC1; |
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| 295 | } |
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| 296 | if(ob_type==FREE || cd->dist_obs>=27 || cd->speed>=2.0) { |
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| 297 | cd->angle=sensore(cd); |
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| 298 | cd->angle=normalize(cd->angle); |
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| 299 | } |
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| 300 | } |
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| 301 | if(stato==INC1) { |
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| 302 | tl=find_tl(cd->angle,cd->xp,cd->yp); |
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| 303 | if(!dir_flag) |
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| 304 | cd->dir=rand()%3-1; |
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| 305 | if(find_col(cd->angle,tl)=='g') { |
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| 306 | switch(cd->dir) { |
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| 307 | case STEER_RIGHT: |
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| 308 | stato=DX1; |
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| 309 | break; |
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| 310 | case STRAIGHT: |
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| 311 | case STEER_LEFT: |
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| 312 | stato=STR1; |
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| 313 | break; |
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| 314 | default: |
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| 315 | stato=DX1; |
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| 316 | } |
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| 317 | } else { |
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| 318 | cd->speed=0.0; |
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| 319 | dir_flag=1; |
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| 320 | } |
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| 321 | } |
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| 322 | if(stato==DX1) { |
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| 323 | dir_flag=0; |
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| 324 | cd->speed=4.0; |
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| 325 | cd->angle=sensore(cd); |
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| 326 | if(ob_type!=STOP) |
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| 327 | stato=NORM; |
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| 328 | else { |
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| 329 | ob_type=collision_sensor(cd); |
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| 330 | if(ob_type==CAR) |
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| 331 | ch_spd(cd,ob_type); |
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| 332 | } |
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| 333 | } |
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| 334 | if(stato==STR1) { |
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| 335 | dir_flag=0; |
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| 336 | cd->angle=allinea(cd->angle); |
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| 337 | sensore(cd); |
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| 338 | cd->speed=4.0; |
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| 339 | ob_type=collision_sensor(cd); |
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| 340 | if(ob_type==CAR) |
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| 341 | ch_spd(cd,ob_type); |
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| 342 | if(cd->middle==MAX_DIST) { |
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| 343 | if(cd->dir==STRAIGHT) |
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| 344 | stato=STR2; |
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| 345 | else { |
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| 346 | sat_angle=cd->angle+90; |
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| 347 | stato=SX1; |
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| 348 | } |
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| 349 | } |
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| 350 | } |
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| 351 | if(stato==STR2) { |
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| 352 | cd->speed=4.0; |
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| 353 | sensore(cd); |
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| 354 | ob_type=collision_sensor(cd); |
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| 355 | if(ob_type==CAR) |
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| 356 | ch_spd(cd,ob_type); |
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| 357 | if(abs(cd->front-cd->rear)<0.1 && ((cd->middle-NORM_DIST)<7.0)) |
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| 358 | stato=NORM; |
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| 359 | } |
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| 360 | if(stato==SX1) { |
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| 361 | cd->speed=4.0; |
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| 362 | sensore(cd); |
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| 363 | ob_type=collision_sensor(cd); |
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| 364 | if(ob_type==CAR) |
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| 365 | ch_spd(cd,ob_type); |
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| 366 | else { |
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| 367 | cd->angle+=7; |
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| 368 | if(cd->angle>=sat_angle) { |
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| 369 | cd->angle=sat_angle; |
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| 370 | } |
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| 371 | } |
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| 372 | if(abs(cd->front-cd->rear)<0.1 && ((cd->middle-NORM_DIST)<7.0)) |
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| 373 | stato=NORM; |
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| 374 | } |
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| 375 | } |
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| 376 | if (cd->dist_obs<COLL_DIST && ob_type==CAR) { |
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| 377 | cd->boom=1; |
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| 378 | cd->speed=0.0; |
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| 379 | } |
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| 380 | sem_wait(&mutex); |
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| 381 | grx_getimage(cd->xp-15,cd->yp-15,cd->xp+14,cd->yp+14,vbuf[cd->number]); |
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| 382 | if (cd->boom==0) { |
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| 383 | drawCar(cd->xp,cd->yp,cd->angle,DRAW); |
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| 384 | } |
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| 385 | if (cd->boom==1) { |
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| 386 | drawSprites(cd->xp,cd->yp,0,DRAW); |
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| 387 | } |
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| 388 | sem_post(&mutex); |
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| 389 | task_endcycle(); |
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| 390 | sem_wait(&mutex); |
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| 391 | if (cd->boom==0) { |
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| 392 | grx_putimage(cd->xp-15,cd->yp-15,cd->xp+14,cd->yp+14,vbuf[cd->number]); |
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| 393 | } else { |
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| 394 | drawSprites(cd->xp,cd->yp,0,CANCEL); |
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| 395 | } |
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| 396 | sem_post(&mutex); |
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| 397 | sem_wait(&(kill_mutex[cd->number])); |
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| 398 | while(kill_flag[cd->number]){ |
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| 399 | cd->running=0; |
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| 400 | sem_post(&(kill_mutex[cd->number])); |
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| 401 | return 0; |
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| 402 | } |
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| 403 | sem_post(&(kill_mutex[cd->number])); |
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| 404 | cd->xpos+=cd->speed*cos(DEG_TO_RAD(cd->angle)); |
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| 405 | cd->ypos-=cd->speed*sin(DEG_TO_RAD(cd->angle)); |
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| 406 | cd->xp=my_rint(cd->xpos); |
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| 407 | cd->yp=my_rint(cd->ypos); |
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| 408 | } |
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| 409 | } |