Rev 1590 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
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| 1090 | pj | 1 | /* |
| 2 | * Project: S.Ha.R.K. |
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| 3 | * |
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| 4 | * Coordinators: |
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| 5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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| 6 | * Paolo Gai <pj@gandalf.sssup.it> |
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| 7 | * |
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| 8 | * Authors : |
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| 9 | * Paolo Gai <pj@gandalf.sssup.it> |
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| 10 | * Massimiliano Giorgi <massy@gandalf.sssup.it> |
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| 11 | * Luca Abeni <luca@gandalf.sssup.it> |
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| 12 | * (see the web pages for full authors list) |
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| 13 | * |
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| 14 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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| 15 | * |
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| 16 | * http://www.sssup.it |
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| 17 | * http://retis.sssup.it |
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| 18 | * http://shark.sssup.it |
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| 19 | */ |
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| 20 | |||
| 1590 | tullio | 21 | /* CVS : $Id: dummy.c,v 1.2 2006-07-03 15:10:15 tullio Exp $ */ |
| 1090 | pj | 22 | |
| 23 | /* |
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| 24 | * Copyright (C) 2000 Fabio Calabrese <fabiocalabrese77@yahoo.it> |
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| 25 | * |
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| 26 | * This program is free software; you can redistribute it and/or modify |
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| 27 | * it under the terms of the GNU General Public License as published by |
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| 28 | * the Free Software Foundation; either version 2 of the License, or |
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| 29 | * (at your option) any later version. |
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| 30 | * |
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| 31 | * This program is distributed in the hope that it will be useful, |
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| 32 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 33 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 34 | * GNU General Public License for more details. |
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| 35 | * |
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| 36 | * You should have received a copy of the GNU General Public License |
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| 37 | * along with this program; if not, write to the Free Software |
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| 38 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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| 39 | * |
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| 40 | */ |
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| 41 | |||
| 1590 | tullio | 42 | #include "bca.h" |
| 1090 | pj | 43 | |
| 44 | PID crea_soft_dummy_radar() |
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| 45 | { |
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| 46 | SOFT_TASK_MODEL m; |
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| 47 | PID pid; |
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| 48 | |||
| 49 | soft_task_default_model(m); |
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| 50 | soft_task_def_level(m,0); |
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| 51 | soft_task_def_periodic(m); |
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| 52 | soft_task_def_period(m,DUMMY_RADAR_PERIOD); |
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| 53 | soft_task_def_wcet(m,DUMMY_RADAR_WCET); |
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| 54 | soft_task_def_met(m,DUMMY_RADAR_MET); |
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| 55 | |||
| 56 | pid = task_create("dummy_radar", dummy_radar, &m, NULL); |
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| 57 | return pid; |
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| 58 | } |
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| 59 | |||
| 60 | TASK dummy_radar(void *argv) |
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| 61 | { |
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| 62 | WORD i,r,r_max,pos; |
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| 63 | BYTE red[3]={250, 150,50}; |
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| 64 | int d[3]= {+10,+10,+10}; |
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| 65 | |||
| 66 | r = 0; |
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| 67 | r_max = ballframe_radar->r+1; |
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| 68 | |||
| 69 | while(1){ |
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| 70 | for(i=0; i<3; i++) { |
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| 71 | if (red[i]<50) d[i]=+10; |
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| 72 | if (red[i]>250) d[i]=-50; |
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| 73 | red[i] += d[i]; |
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| 74 | grx_disc(ballframe_lucerossa[i]->cx, |
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| 75 | ballframe_lucerossa[i]->cy, |
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| 76 | ballframe_lucerossa[i]->r, |
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| 77 | FAB_rgb(red[i],50,50)); |
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| 78 | } |
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| 79 | grx_disc(ballframe_radar->cx, |
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| 80 | ballframe_radar->cy, |
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| 81 | r_max, FAB_blue); |
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| 82 | grx_circle(ballframe_radar->cx, |
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| 83 | ballframe_radar->cy, |
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| 84 | (r+9)%r_max, FAB_white); |
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| 85 | grx_circle(ballframe_radar->cx, |
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| 86 | ballframe_radar->cy, |
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| 87 | (r+5)%r_max, FAB_rgb(200,200,255)); |
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| 88 | grx_circle(ballframe_radar->cx, |
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| 89 | ballframe_radar->cy, |
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| 90 | r%r_max, FAB_rgb(100,100,255)); |
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| 91 | for (i=0; i<AEREO_N_MAX; i++) { |
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| 92 | if (aereo_table[i].status |
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| 93 | &&aereo_table[i].x>X0 |
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| 94 | &&aereo_table[i].y>Y0) { |
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| 95 | pos = ballframe_radar->cx - ballframe_radar->r |
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| 96 | + (aereo_table[i].x-X0)*2*ballframe_radar->r/500; |
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| 97 | grx_plot(pos,ballframe_radar->cy,FAB_yellow); |
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| 98 | } |
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| 99 | } |
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| 100 | r++; |
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| 101 | |||
| 102 | task_endcycle(); |
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| 103 | } |
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| 104 | } |