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1090 pj 1
/*
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 * Project: S.Ha.R.K.
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 *
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 * Coordinators:
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 *   Giorgio Buttazzo    <giorgio@sssup.it>
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *
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 * Authors     :
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *   Massimiliano Giorgi <massy@gandalf.sssup.it>
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 *   Luca Abeni          <luca@gandalf.sssup.it>
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 *   (see the web pages for full authors list)
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 *
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 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
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 *
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 * http://www.sssup.it
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 * http://retis.sssup.it
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 * http://shark.sssup.it
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 */
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1590 tullio 21
/* CVS :        $Id: missile.c,v 1.4 2006-07-03 15:10:15 tullio Exp $ */
1090 pj 22
 
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/*
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 * Copyright (C) 2000 Fabio Calabrese <fabiocalabrese77@yahoo.it>
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 *
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 * This program is free software; you can redistribute it and/or modify
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 * it under the terms of the GNU General Public License as published by
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 * the Free Software Foundation; either version 2 of the License, or
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 * (at your option) any later version.
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 *
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 * This program is distributed in the hope that it will be useful,
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 * GNU General Public License for more details.
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 *
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 * You should have received a copy of the GNU General Public License
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 * along with this program; if not, write to the Free Software
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 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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 *
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 */
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1590 tullio 42
#include "bca.h"
1090 pj 43
 
1448 giacomo 44
PID crea_hard_missile(int index);
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PID crea_soft_missile(int index);
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PID crea_soft_esplo(int index);
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1090 pj 48
TASK missile(void *arg)
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{
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  PID        esplo_pid;
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  int        img;
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  int        i, index;    // indice nella cannone_table
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  int        distx, disty;
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  int        xx0,yy0,xx1,yy1;
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  double     vel, acc;
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  double     a;
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  double     y;
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  double     x;
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  double     old_x;    // [pixel]: conserva valore x prima di aggiornare
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  double     old_y;
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  double     dx;       // [pixel/us]: spostamento periodico
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  double     dy;
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  int        first_time;
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  int killing;
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  index = (int)arg;
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  img=0;
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  y = MISSILE_Y_MAX;
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  x = cannone_table[index].x;
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  a = FAB_rad(270);
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  vel = MISSILE_V_MIN;
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  acc = MISSILE_ACC_MIN;
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  dx = 0;
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  dy = 0;
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  first_time = 1;
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  killing = 0;
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  while(1){
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   old_x = x;
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   old_y = y;
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   if (vel<MISSILE_V_MAX) {
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      vel += acc*MISSILE_PERIOD/(60*60*1000000.0);
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      if (vel>MISSILE_V_MAX) vel = MISSILE_V_MAX;
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      }
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   if (acc<MISSILE_ACC_MAX) {
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      acc += MISSILE_ACC_MIN;
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      if (acc>MISSILE_ACC_MAX) acc = MISSILE_ACC_MAX;
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      }
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   cannone_table[index].missile_vel=vel;
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   dx = cos(a)*vel * (X1-X0) / (double)BASE_L
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        * (MISSILE_PERIOD / (60*60*1000000.0));
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   dy = sin(a)*vel * (Y1-Y0) / ((double)BASE_H/1000)
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        * (MISSILE_PERIOD / (60*60*1000000.0));
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   x += dx;
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   y += dy;
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   xx0 = old_x - MISSILE_LX/2;
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   yy0 = old_y - MISSILE_LY/2;
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   xx1 = xx0   + MISSILE_LX-1;
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   yy1 = yy0   + MISSILE_LY-1;
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   if (x<MISSILE_X_MIN || x>MISSILE_X_MAX
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     || y<MISSILE_Y_MIN || y>MISSILE_Y_MAX) {
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      killing = 1;
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      }
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   if (killing) {
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      if (!first_time) {
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          mutex_lock(&grx_mutex);
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          FAB_image_put_within(image_bca,X0,Y0,xx0,yy0,xx1,yy1);
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          mutex_unlock(&grx_mutex);
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          }
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      cannone_table[index].fire = 0;
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      //il task cannone si accorge che il suo missile ha finito
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      // quindi ne ricreer… uno nuovo in caso di bersaglio!!!
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      return NULL;
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      }
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   if ( (int)x != (int)old_x
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      ||(int)y != (int)old_y ) {//...se c'Š lo spostamento reale
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                                //        di almeno un pixel...
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     mutex_lock(&grx_mutex);   //...aggiorna disegno...
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     if (first_time) {
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         first_time=0;
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         }
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     else {
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         if (yy1<Y1-CANNONE_LY) FAB_image_put_within(image_bca,X0,Y0,xx0,yy0,xx1,yy1);
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         else                   FAB_image_put_within(image_bca,X0,Y0,xx0,yy0,xx1,Y1-CANNONE_LY);
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         }
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     FAB_image_put_within(image_missile[img++], x - MISSILE_LX/2, y - MISSILE_LY/2,
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                                              X0, Y0,
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                                              X1, Y1-CANNONE_LY);
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     mutex_unlock(&grx_mutex);
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     if (img==2) img = 0;
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     }
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   //Ha colpito un aereo?
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   for (i=0; i<AEREO_N_MAX; i++)
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       if (aereo_table[i].status){
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          distx = aereo_table[i].x-x;
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          disty = aereo_table[i].y-y;
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          if (distx<0) distx *= -1;
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          if (disty<0) disty *= -1;
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          if ( distx<(AEREO_LX+MISSILE_LX)/2-1
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             &&disty<(AEREO_LY+MISSILE_LY)/2-1 ) { // BERSAGLIO COLPITO!
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               esplo_pid = crea_soft_esplo(i);
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               task_activate(esplo_pid);
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               killing=1;
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               aereo_table[i].killing=1;
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               break;
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               }
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          }
160
 
161
   task_endcycle();
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 }
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164
return NULL;
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}
166
 
167
 
168
PID crea_hard_missile(int index)
169
{
170
  HARD_TASK_MODEL m;
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  PID pid;
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173
  hard_task_default_model(m);
1468 giacomo 174
  hard_task_def_level(m,1);
1090 pj 175
  hard_task_def_arg(m,(void*)index);
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  hard_task_def_periodic(m);
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  hard_task_def_wcet(m, MISSILE_WCET);
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  hard_task_def_mit(m,MISSILE_PERIOD);
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180
  pid = task_create("hard_missile", missile, &m, NULL);
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  return pid;
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}
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PID crea_soft_missile(int index)
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{
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  SOFT_TASK_MODEL m;
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  PID pid;
188
 
189
  soft_task_default_model(m);
1468 giacomo 190
  soft_task_def_level(m,2);
1090 pj 191
  soft_task_def_arg(m,(void*)index);
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  soft_task_def_periodic(m);
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  soft_task_def_period(m,MISSILE_PERIOD);
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  soft_task_def_wcet(m, MISSILE_WCET);
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  soft_task_def_met(m,MISSILE_MET);
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197
  pid = task_create("soft_missile", missile, &m, NULL);
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  return pid;
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}