Subversion Repositories shark

/*

 * Project: S.Ha.R.K.

 *

 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>

 *

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

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://shark.sssup.it

 */

#include "asteroid.h"

int nshot;             /* number of shot active */

int astro_x, astro_y;  /* astro position */

int astro_grad;        /* astro angolar position */

PID pid_TR, pid_TL;    /* pid of turn tasks */

int astro_vel;         /* astro speed */

PID pid_SU, pid_SD;    /* pid of acc tasks */

PID pid_SZ, pid_FL;    /* pid of acc tasks */

int freez_astro;       /* turn of pad*/

int kill_shot;

rock_ini rock_new;

extern volatile int shark_running;

TASK shot(int i)

{

	int   x, y;   /* shot graphic position	*/

	int   ox, oy; /* shot old position	*/

	int   x0, y0; /* shot initial position	*/

	float vx, vy; /* shot speed	*/

	float ty, tx;

	float dt;

	float a_rad;

	int   a_vel;

	int      rx,  ry,  rr;

	PID      rp;

	sem_wait(&mx_xy);

	y = oy = y0 = astro_y;

	x = ox = x0 = astro_x;

	sem_post(&mx_xy);

	sem_wait(&mx_pos);

	a_rad = astro_grad * PI / 180.;

	sem_post(&mx_pos);

	sem_wait(&mx_vel);

	a_vel = astro_vel;

	sem_post(&mx_vel);

	sem_wait(&mx_mat);

	vx = - (SHOT_VEL + a_vel) * sin(a_rad);

	vy = - (SHOT_VEL + a_vel) * cos(a_rad);

	sem_post(&mx_mat);

	tx = 0;

	ty = 0;

	dt = ((float)SHOT_PERIOD)/100000;

	while (1) {

		y = y0 + vy * ty;

		x = x0 + vx * tx;

		sem_wait(&mx_grf);

		grx_disc(ox, oy, SHOT_RADIUS, RGB_BLACK);

		sem_post(&mx_grf);

		ox = x;

		oy = y;

		if ((kill_shot)||(crash)||(y < GB_YMIN+SHOT_RADIUS)||(x < GB_XMIN+SHOT_RADIUS)||(x > GB_XMAX-SHOT_RADIUS)||(y > GB_YMAX-SHOT_RADIUS)){

			nshot--;

			return 0;

		}

		for ( i=0; i<ROCK_NMAX; i++ ) {

			sem_wait(&mx_rk);

			rp = rocks[i].pid;

			rx = rocks[i].x;

			ry = rocks[i].y;

			rr = rocks[i].r;

			sem_post(&mx_rk);

			if ((rp!=NIL) && (dist_xy(x, y, rx, ry) < (SHOT_RADIUS+rr))) {

				draw_rock(rx, ry, rr, RGB_BLACK);

				if (rr == ROCK_RADIUS_I) {

					sem_wait(&mx_rk);

					rocks[i].r = ROCK_RADIUS_S;

					sem_post(&mx_rk);

					sem_wait(&mx_rn);

					rock_new.r = ROCK_RADIUS_S;

					rock_new.x = rx;

					rock_new.y = ry;

					rock_new.i = 0;

					sem_post(&mx_rn);

					sem_wait(&mx_st_scr);

					score += SCORE_GOT;

					sem_post(&mx_st_scr);

				} else {

					task_kill(rp);

					sem_wait(&mx_rk);

					rocks[i].pid = NIL;

					sem_post(&mx_rk);

					nrock--;

					sem_wait(&mx_st_scr);

					score += 2*SCORE_GOT;

					sem_post(&mx_st_scr);

				}

				sem_wait(&mx_st_nrg);

				energy += ENERGY_GOT;

				sem_post(&mx_st_nrg);

				sem_wait(&mx_st_kil);

				enemy++;

				sem_post(&mx_st_kil);

				nshot--;

				return 0;

			}

		}

		sem_wait(&mx_grf);

		grx_disc(ox, oy, SHOT_RADIUS, RGB_RED);

		sem_post(&mx_grf);

		ty += dt;

		tx += dt;

		task_endcycle();

	}

}

TASK astro()

{

	float astro_rad;

	int ox, oy;

	float s, c;

	//leggo posizione

	sem_wait(&mx_pos);

	astro_rad = astro_grad * PI / 180.;

	sem_post(&mx_pos);

	sem_wait(&mx_mat);

	s = -sin(astro_rad);

	c = -cos(astro_rad);

	sem_post(&mx_mat);

	sem_wait(&mx_xy);

	ox = astro_x;

	oy = astro_y;

	sem_post(&mx_xy);

	while (1) {

		sem_wait(&mx_grf);

		//DRAW SHADOW ASTRO

		grx_line(ox + 15.*s       , oy + 15.*c       , ox -  5.*c -  9.*s, oy +  5.*s -  9.*c, RGB_BLACK);

		grx_line(ox + 15.*s       , oy + 15.*c       , ox +  5.*c -  9.*s, oy -  5.*s -  9.*c, RGB_BLACK);

		grx_line(ox               , oy               , ox - 12.*c -  9.*s, oy + 12.*s -  9.*c, RGB_BLACK);

		grx_line(ox               , oy               , ox + 12.*c -  9.*s, oy - 12.*s -  9.*c, RGB_BLACK);

		grx_line(ox - 12.*c - 9.*s, oy + 12.*s - 9.*c, ox + 12.*c -  9.*s, oy - 12.*s -  9.*c, RGB_BLACK);

		sem_post(&mx_grf);

		sem_wait(&mx_pos);

		astro_rad = astro_grad * PI / 180.;

		sem_post(&mx_pos);

		sem_wait(&mx_mat);

		s = -sin(astro_rad);

		c = -cos(astro_rad);

		sem_post(&mx_mat);

		sem_wait(&mx_xy);

		ox = astro_x;

		oy = astro_y;

		sem_post(&mx_xy);

		sem_wait(&mx_grf);

		//DRAW ASTRO

		grx_line(ox + 15.*s       , oy + 15.*c       , ox -  5.*c -  9.*s, oy +  5.*s -  9.*c, RGB_WHITE);

		grx_line(ox + 15.*s       , oy + 15.*c       , ox +  5.*c -  9.*s, oy -  5.*s -  9.*c, RGB_WHITE);

		grx_line(ox               , oy               , ox - 12.*c -  9.*s, oy + 12.*s -  9.*c, RGB_WHITE);

		grx_line(ox               , oy               , ox + 12.*c -  9.*s, oy - 12.*s -  9.*c, RGB_WHITE);

		grx_line(ox - 12.*c - 9.*s, oy + 12.*s - 9.*c, ox + 12.*c -  9.*s, oy - 12.*s -  9.*c, RGB_WHITE);

		sem_post(&mx_grf);

/*		{

			int xxx;

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

		}*/

		task_endcycle();

	}

}

TASK look()

{

	while (1) {

		if (crash) {

			reset_rock();

			reset_astro();

			if (nrock==0) {

				reset_game();

				crash = 0;

			}

		}

		task_endcycle();

	}

}

TASK turn(int i)

{

	while (1) {

		sem_wait(&mx_pos);

		if (i==0)

			astro_grad += 180;

		else {

			astro_grad += i;

		}

		if (astro_grad < -180) astro_grad += 360;

		if (astro_grad >  180) astro_grad -= 360;

		if (astro_grad < -ASTRO_MAX_GRAD) astro_grad = -ASTRO_MAX_GRAD;

		if (astro_grad >  ASTRO_MAX_GRAD) astro_grad =  ASTRO_MAX_GRAD;

		sem_post(&mx_pos);

		task_endcycle();

	}

}

TASK speed(int i)

{

	while (1) {

		sem_wait(&mx_vel);

		if (i==0)

			astro_vel = 0;

		else {

			astro_vel += i;

			if (astro_vel < -ASTRO_MAX_VEL) astro_vel = -ASTRO_MAX_VEL;

			if (astro_vel >  ASTRO_MAX_VEL) astro_vel =  ASTRO_MAX_VEL;

		}

		sem_post(&mx_vel);

		task_endcycle();

	}

}

TASK move()

{

	int dv, x, y;

	float drad;

	drad = x = y = 0;

	while (1) {

#ifdef ASTRO_MOVE

		sem_wait(&mx_pos);

		drad = astro_grad * PI / 180.;

		sem_post(&mx_pos);

#endif

		sem_wait(&mx_vel);

		dv = astro_vel;

		sem_post(&mx_vel);

		sem_wait(&mx_xy);

		x = astro_x;

		y = astro_y;

		sem_post(&mx_xy);

#ifdef ASTRO_MOVE

		x -= dv * sin(drad);

		y -= dv * cos(drad);

		if (x < GB_XMIN + ASTRO_RADIUS) x = GB_XMAX - ASTRO_RADIUS;

		if (x > GB_XMAX - ASTRO_RADIUS) x = GB_XMIN + ASTRO_RADIUS;

		if (y < GB_YMIN + ASTRO_RADIUS) y = GB_YMAX - ASTRO_RADIUS;

		if (y > GB_YMAX - ASTRO_RADIUS) y = GB_YMIN + ASTRO_RADIUS;

#else

		x += dv;

		if (x < GB_XMIN + 2*ASTRO_RADIUS) {

			x = GB_XMIN + 2*ASTRO_RADIUS;

			sem_wait(&mx_vel);

			astro_vel = - astro_vel - ASTRO_VEL_INC;

			sem_post(&mx_vel);

		}

		if (x > GB_XMAX - 2*ASTRO_RADIUS) {

			x = GB_XMAX - 2*ASTRO_RADIUS;

			sem_wait(&mx_vel);

			astro_vel = - astro_vel + ASTRO_VEL_INC;

			sem_post(&mx_vel);

		}

#endif

		sem_wait(&mx_xy);

		astro_x = x;

		astro_y = y;

		sem_post(&mx_xy);

		task_endcycle();

	}

}

void pad(KEY_EVT *k)

{

	if (freez_astro) return;

	if (k->scan == KEY_O) task_activate(pid_TL);

	if (k->scan == KEY_P) task_activate(pid_TR);

	if (k->scan == KEY_S) task_activate(pid_SZ);

	if (k->scan == KEY_Z) task_activate(pid_SD);

#ifdef ASTRO_MOVE

	if (k->scan == KEY_A) task_activate(pid_SU);

	if (k->scan == KEY_F) task_activate(pid_FL);

#else

	if (k->scan == KEY_X) task_activate(pid_SU);

#endif

}

void new_shot(KEY_EVT *k)

{

	SOFT_TASK_MODEL mp;

	PID pid;

	if ((nshot >= SHOT_NMAX)||(freez_astro)||(kill_shot)||(crash)) return;

	soft_task_default_model(mp);

	soft_task_def_ctrl_jet(mp);

	soft_task_def_arg(mp, (void *)nshot);

	soft_task_def_group(mp, SHOT_GROUP);

	soft_task_def_met(mp, SHOT_WCET);

	soft_task_def_period(mp,SHOT_PERIOD);

	soft_task_def_usemath(mp);

	pid = task_create("Shot", shot, &mp, NULL);

	if (pid != NIL) {

		task_activate(pid);

		nshot++;

		sem_wait(&mx_st_nrg);

		energy -= ENERGY_SHOT;

		sem_post(&mx_st_nrg);

	}

}

void start_astro()

{

	freez_astro = 0;

	kill_shot = 0;

}

void reset_astro()

{

	freez_astro = 1;

	sem_wait(&mx_xy);

	astro_x = ASTRO_X;

	astro_y = ASTRO_Y;

	sem_post(&mx_xy);

	sem_wait(&mx_pos);

	astro_grad = 0;

	sem_post(&mx_pos);

	sem_wait(&mx_vel);

	astro_vel = 0;

	sem_post(&mx_vel);

	kill_shot = 1;

}

void create_astro_task()

{

	HARD_TASK_MODEL mp;

	SOFT_TASK_MODEL ms;

	PID pid;

	int incr;

	soft_task_default_model(ms);

	soft_task_def_ctrl_jet(ms);

	soft_task_def_arg(ms, (void *)nshot);

	soft_task_def_met(ms, ASTRO_WCET);

	soft_task_def_period(ms,ASTRO_PERIOD);

	soft_task_def_usemath(ms);

	pid = task_create("Astro", astro, &ms, NULL);

	if (pid == NIL) {

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

		shark_running = 0;

	} else

		task_activate(pid);

	hard_task_default_model(mp);

	hard_task_def_ctrl_jet(mp);

	hard_task_def_wcet(mp,LOOK_WCET);

	hard_task_def_mit(mp, LOOK_PERIOD);

	hard_task_def_usemath(mp);

	pid = task_create("Taken", look, &mp, NULL);

	if (pid == NIL) {

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

		shark_running = 0;

	} else

		task_activate(pid);

	incr = ASTRO_GRAD_INC;

	hard_task_default_model(mp);

	hard_task_def_ctrl_jet(mp);

	hard_task_def_arg(mp, (void *)incr);

	hard_task_def_wcet(mp,ASTRO_WCET);

	hard_task_def_mit(mp, ASTRO_MOVE_PERIOD);

	hard_task_def_aperiodic(mp);

	hard_task_def_usemath(mp);

	pid_TL = task_create("TurnLeft", turn, &mp, NULL);

	if (pid_TL == NIL) {

		perror("Could not create task <Turn L>");

		shark_running = 0;

	}

	incr = - ASTRO_GRAD_INC;

	hard_task_default_model(mp);

	hard_task_def_ctrl_jet(mp);

	hard_task_def_arg(mp, (void *)incr);

	hard_task_def_wcet(mp,ASTRO_WCET);

	hard_task_def_mit(mp, ASTRO_MOVE_PERIOD);

	hard_task_def_aperiodic(mp);

	hard_task_def_usemath(mp);

	pid_TR = task_create("TurnRight", turn, &mp, NULL);

	if (pid_TR == NIL) {

		perror("Could not create task <Turn R>");

		shark_running = 0;

	}

	incr = ASTRO_VEL_INC;

	hard_task_default_model(mp);

	hard_task_def_ctrl_jet(mp);

	hard_task_def_arg(mp, (void *)incr);

	hard_task_def_wcet(mp,ASTRO_WCET);

	hard_task_def_mit(mp, ASTRO_PERIOD);

	hard_task_def_aperiodic(mp);

	hard_task_def_usemath(mp);

	pid_SU = task_create("SpeedUP", speed, &mp, NULL);

	if (pid_SU == NIL) {

		perror("Could not create task <Speed UP>");

		shark_running = 0;

	}

	incr = - ASTRO_VEL_INC;

	hard_task_default_model(mp);

	hard_task_def_ctrl_jet(mp);

	hard_task_def_arg(mp, (void *)incr);

	hard_task_def_wcet(mp,ASTRO_WCET);

	hard_task_def_mit(mp, ASTRO_PERIOD);

	hard_task_def_aperiodic(mp);

	hard_task_def_usemath(mp);

	pid_SD = task_create("SpeedDOWN", speed, &mp, NULL);

	if (pid_SD == NIL) {

		perror("Could not create task <Speed DOWN>");

		shark_running = 0;

	}

	incr = 0;

	hard_task_default_model(mp);

	hard_task_def_ctrl_jet(mp);

	hard_task_def_arg(mp, (void *)incr);

	hard_task_def_wcet(mp,ASTRO_WCET);

	hard_task_def_mit(mp, ASTRO_PERIOD);

	hard_task_def_aperiodic(mp);

	hard_task_def_usemath(mp);

	pid_SZ = task_create("SpeedZERO", speed, &mp, NULL);

	if (pid_SZ == NIL) {

		perror("Could not create task <Speed ZERO>");

		shark_running = 0;

	}

	hard_task_default_model(mp);

	hard_task_def_ctrl_jet(mp);

	hard_task_def_wcet(mp,ASTRO_WCET);

	hard_task_def_mit(mp, 6*ASTRO_PERIOD);

	hard_task_def_usemath(mp);

	pid = task_create("MoveAstro", move, &mp, NULL);

	if (pid == NIL) {

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

		shark_running = 0;

	} else

		task_activate(pid);

#ifdef ASTRO_MOVE

	incr = 0;

	hard_task_default_model(mp);

	hard_task_def_ctrl_jet(mp);

	hard_task_def_arg(mp, (void *)incr);

	hard_task_def_wcet(mp,ASTRO_WCET);

	hard_task_def_mit(mp, ASTRO_PERIOD);

	hard_task_def_aperiodic(mp);

	hard_task_def_usemath(mp);

	pid_FL = task_create("FlipAstro", turn, &mp, NULL);

	if (pid_FL == NIL) {

		perror("Could not create task <Flip Astro>");

		shark_running = 0;

	}

#endif

}

void frame_astro()

{

	grx_text("Game", 10, 45, RGB_BLUE, RGB_BLACK);

	grx_line(GB_XMIN-2,55,GB_XMAX+2,55,RGB_RED);

	grx_rect(GB_XMIN-3, GB_YMIN-3, GB_XMAX+3, GB_YMAX+3, RGB_GREEN);

#ifndef ASTRO_MOVE

	grx_rect(GB_XMIN-1, GB_YMAX-1, GB_XMAX+1, GB_YMAX+1, RGB_CYAN);

#endif

}

void init_astro()

{

	KEY_EVT k;

	crash = 0;

	freez_astro = 1;

	kill_shot = 1;

	astro_vel  = 0;

	astro_grad = 0;

	astro_x = ASTRO_X;

	astro_y = ASTRO_Y;

	create_astro_task();

	k.flag = 0;

	k.scan = KEY_SPC;

	k.ascii = ' ';

	k.status = KEY_PRESSED;

	keyb_hook(k,new_shot,FALSE);

	k.flag = 0;

	k.scan = KEY_O;

	k.ascii = 'o';

	k.status = KEY_PRESSED;

	keyb_hook(k,pad,FALSE);

	k.flag = 0;

	k.scan = KEY_P;

	k.ascii = 'p';

	k.status = KEY_PRESSED;

	keyb_hook(k,pad,FALSE);

	k.flag = 0;

	k.scan = KEY_S;

	k.ascii = 's';

	k.status = KEY_PRESSED;

	keyb_hook(k,pad,FALSE);

	k.flag = 0;

	k.scan = KEY_Z;

	k.ascii = 'z';

	k.status = KEY_PRESSED;

	keyb_hook(k,pad,FALSE);

#ifdef ASTRO_MOVE

	k.flag = 0;

	k.scan = KEY_A;

	k.ascii = 'a';

	k.status = KEY_PRESSED;

	keyb_hook(k,pad,FALSE);

	k.flag = 0;

	k.scan = KEY_F;

	k.ascii = 'f';

	k.status = KEY_PRESSED;

	keyb_hook(k,pad,FALSE);

#else

	k.flag = 0;

	k.scan = KEY_X;

	k.ascii = 'x';

	k.status = KEY_PRESSED;

	keyb_hook(k,pad,FALSE);

#endif

}