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/*
2
 * Project: S.Ha.R.K.
3
 *
4
 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
5
 *
6
 * Authors     : Paolo Gai <pj@hartik.sssup.it>
7
 * (see authors.txt for full list of hartik's authors)
8
 *
9
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
10
 *
11
 * http://www.sssup.it
12
 * http://retis.sssup.it
13
 * http://shark.sssup.it
14
 */
15
 
16
/*
17
 * Copyright (C) 2000 Paolo Gai
18
 *
19
 * This program is free software; you can redistribute it and/or modify
20
 * it under the terms of the GNU General Public License as published by
21
 * the Free Software Foundation; either version 2 of the License, or
22
 * (at your option) any later version.
23
 *
24
 * This program is distributed in the hope that it will be useful,
25
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
26
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
27
 * GNU General Public License for more details.
28
 *
29
 * You should have received a copy of the GNU General Public License
30
 * along with this program; if not, write to the Free Software
31
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
32
 *
33
 */
34
 
35
#include "asteroid.h"
36
 
37
int nshot;             /* number of shot active */
38
int astro_x, astro_y;  /* astro position */
39
int astro_grad;        /* astro angolar position */
40
PID pid_TR, pid_TL;    /* pid of turn tasks */
41
int astro_vel;         /* astro speed */
42
PID pid_SU, pid_SD;    /* pid of acc tasks */
43
PID pid_SZ, pid_FL;    /* pid of acc tasks */
44
int freez_astro;       /* turn of pad*/
45
int kill_shot;
46
 
47
rock_ini rock_new;
48
 
49
TASK shot(int i)
50
{
51
	int   x, y;   /* shot graphic position	*/
52
	int   ox, oy; /* shot old position	*/
53
	int   x0, y0; /* shot initial position	*/
54
	float vx, vy; /* shot speed	*/
55
	float ty, tx;
56
	float dt;
57
	float a_rad;
58
	int   a_vel;
59
 
60
	int      rx,  ry,  rr;
61
	PID      rp;
62
 
63
	sem_wait(&mx_xy);
64
	y = oy = y0 = astro_y;
65
	x = ox = x0 = astro_x;
66
	sem_post(&mx_xy);
67
 
68
	sem_wait(&mx_pos);
69
	a_rad = astro_grad * PI / 180.;
70
	sem_post(&mx_pos);
71
	sem_wait(&mx_vel);
72
	a_vel = astro_vel;
73
	sem_post(&mx_vel);
74
	sem_wait(&mx_mat);
75
	vx = - (SHOT_VEL + a_vel) * sin(a_rad);
76
	vy = - (SHOT_VEL + a_vel) * cos(a_rad);
77
	sem_post(&mx_mat);
78
	tx = 0;
79
	ty = 0;
80
	dt = ((float)SHOT_PERIOD)/100000;
81
 
82
	while (1) {
83
		y = y0 + vy * ty;
84
		x = x0 + vx * tx;
85
 
86
		sem_wait(&mx_grf);
87
		grx_disc(ox, oy, SHOT_RADIUS, RGB_BLACK);
88
		sem_post(&mx_grf);
89
		ox = x;
90
		oy = y;
91
 
92
		if ((kill_shot)||(crash)||(y < GB_YMIN+SHOT_RADIUS)||(x < GB_XMIN+SHOT_RADIUS)||(x > GB_XMAX-SHOT_RADIUS)||(y > GB_YMAX-SHOT_RADIUS)){
93
			nshot--;
94
			return 0;
95
		}
96
 
97
		for ( i=0; i<ROCK_NMAX; i++ ) {
98
			sem_wait(&mx_rk);
99
			rp = rocks[i].pid;
100
			rx = rocks[i].x;
101
			ry = rocks[i].y;
102
			rr = rocks[i].r;
103
			sem_post(&mx_rk);
104
 
105
			if ((rp!=NIL) && (dist_xy(x, y, rx, ry) < (SHOT_RADIUS+rr))) {
106
				draw_rock(rx, ry, rr, RGB_BLACK);
107
				if (rr == ROCK_RADIUS_I) {
108
					sem_wait(&mx_rk);
109
					rocks[i].r = ROCK_RADIUS_S;
110
					sem_post(&mx_rk);
111
					sem_wait(&mx_rn);
112
					rock_new.r = ROCK_RADIUS_S;
113
					rock_new.x = rx;
114
					rock_new.y = ry;
115
					rock_new.i = 0;
116
					sem_post(&mx_rn);
117
					sem_wait(&mx_st_scr);
118
					score += SCORE_GOT;
119
					sem_post(&mx_st_scr);
120
				} else {
121
					task_kill(rp);
122
					sem_wait(&mx_rk);
123
					rocks[i].pid = NIL;
124
					sem_post(&mx_rk);
125
					nrock--;
126
					sem_wait(&mx_st_scr);
127
					score += 2*SCORE_GOT;
128
					sem_post(&mx_st_scr);
129
				}
130
				sem_wait(&mx_st_nrg);
131
				energy += ENERGY_GOT;
132
				sem_post(&mx_st_nrg);
133
				sem_wait(&mx_st_kil);
134
				enemy++;
135
				sem_post(&mx_st_kil);
136
				nshot--;
137
				return 0;
138
			}
139
		}
140
 
141
		sem_wait(&mx_grf);
142
		grx_disc(ox, oy, SHOT_RADIUS, RGB_RED);
143
		sem_post(&mx_grf);
144
 
145
		ty += dt;
146
		tx += dt;
147
 
148
		task_endcycle();
149
	}
150
}
151
 
152
TASK astro()
153
{
154
	float astro_rad;
155
	int ox, oy;
156
	float s, c;
157
 
158
	//leggo posizione
159
	sem_wait(&mx_pos);
160
	astro_rad = astro_grad * PI / 180.;
161
	sem_post(&mx_pos);
162
	sem_wait(&mx_mat);
163
	s = -sin(astro_rad);
164
	c = -cos(astro_rad);
165
	sem_post(&mx_mat);
166
	sem_wait(&mx_xy);
167
	ox = astro_x;
168
	oy = astro_y;
169
	sem_post(&mx_xy);
170
 
171
	while (1) {
172
 
173
		sem_wait(&mx_grf);
174
		//DRAW SHADOW ASTRO
175
		grx_line(ox + 15.*s       , oy + 15.*c       , ox -  5.*c -  9.*s, oy +  5.*s -  9.*c, RGB_BLACK);
176
		grx_line(ox + 15.*s       , oy + 15.*c       , ox +  5.*c -  9.*s, oy -  5.*s -  9.*c, RGB_BLACK);
177
		grx_line(ox               , oy               , ox - 12.*c -  9.*s, oy + 12.*s -  9.*c, RGB_BLACK);
178
		grx_line(ox               , oy               , ox + 12.*c -  9.*s, oy - 12.*s -  9.*c, RGB_BLACK);
179
		grx_line(ox - 12.*c - 9.*s, oy + 12.*s - 9.*c, ox + 12.*c -  9.*s, oy - 12.*s -  9.*c, RGB_BLACK);
180
		sem_post(&mx_grf);
181
 
182
		sem_wait(&mx_pos);
183
		astro_rad = astro_grad * PI / 180.;
184
		sem_post(&mx_pos);
185
		sem_wait(&mx_mat);
186
		s = -sin(astro_rad);
187
		c = -cos(astro_rad);
188
		sem_post(&mx_mat);
189
		sem_wait(&mx_xy);
190
		ox = astro_x;
191
		oy = astro_y;
192
		sem_post(&mx_xy);
193
 
194
		sem_wait(&mx_grf);
195
		//DRAW ASTRO
196
		grx_line(ox + 15.*s       , oy + 15.*c       , ox -  5.*c -  9.*s, oy +  5.*s -  9.*c, RGB_WHITE);
197
		grx_line(ox + 15.*s       , oy + 15.*c       , ox +  5.*c -  9.*s, oy -  5.*s -  9.*c, RGB_WHITE);
198
		grx_line(ox               , oy               , ox - 12.*c -  9.*s, oy + 12.*s -  9.*c, RGB_WHITE);
199
		grx_line(ox               , oy               , ox + 12.*c -  9.*s, oy - 12.*s -  9.*c, RGB_WHITE);
200
		grx_line(ox - 12.*c - 9.*s, oy + 12.*s - 9.*c, ox + 12.*c -  9.*s, oy - 12.*s -  9.*c, RGB_WHITE);
201
		sem_post(&mx_grf);
202
 
203
/*		{
204
			int xxx;
205
			for (xxx=0; xxx<10000; xxx++);
206
		}*/
207
 
208
		task_endcycle();
209
	}
210
}
211
 
212
TASK look()
213
{
214
	while (1) {
215
		if (crash) {
216
			reset_rock();
217
			reset_astro();
218
			if (nrock==0) {
219
				reset_game();
220
				crash = 0;
221
			}
222
		}
223
		task_endcycle();
224
	}
225
}
226
 
227
TASK turn(int i)
228
{
229
 
230
	while (1) {
231
 
232
		sem_wait(&mx_pos);
233
		if (i==0)
234
			astro_grad += 180;
235
		else {
236
			astro_grad += i;
237
		}
238
		if (astro_grad < -180) astro_grad += 360;
239
		if (astro_grad >  180) astro_grad -= 360;
240
		if (astro_grad < -ASTRO_MAX_GRAD) astro_grad = -ASTRO_MAX_GRAD;
241
		if (astro_grad >  ASTRO_MAX_GRAD) astro_grad =  ASTRO_MAX_GRAD;
242
		sem_post(&mx_pos);
243
 
244
		task_endcycle();
245
	}
246
}
247
 
248
TASK speed(int i)
249
{
250
 
251
	while (1) {
252
 
253
		sem_wait(&mx_vel);
254
		if (i==0)
255
			astro_vel = 0;
256
		else {
257
			astro_vel += i;
258
			if (astro_vel < -ASTRO_MAX_VEL) astro_vel = -ASTRO_MAX_VEL;
259
			if (astro_vel >  ASTRO_MAX_VEL) astro_vel =  ASTRO_MAX_VEL;
260
		}
261
		sem_post(&mx_vel);
262
 
263
		task_endcycle();
264
	}
265
}
266
 
267
TASK move()
268
{
269
	int dv, x, y;
270
	float drad;
271
 
272
	drad = x = y = 0;
273
 
274
	while (1) {
275
 
276
#ifdef ASTRO_MOVE
277
		sem_wait(&mx_pos);
278
		drad = astro_grad * PI / 180.;
279
		sem_post(&mx_pos);
280
#endif
281
		sem_wait(&mx_vel);
282
		dv = astro_vel;
283
		sem_post(&mx_vel);
284
		sem_wait(&mx_xy);
285
		x = astro_x;
286
		y = astro_y;
287
		sem_post(&mx_xy);
288
#ifdef ASTRO_MOVE
289
		x -= dv * sin(drad);
290
		y -= dv * cos(drad);
291
		if (x < GB_XMIN + ASTRO_RADIUS) x = GB_XMAX - ASTRO_RADIUS;
292
		if (x > GB_XMAX - ASTRO_RADIUS) x = GB_XMIN + ASTRO_RADIUS;
293
		if (y < GB_YMIN + ASTRO_RADIUS) y = GB_YMAX - ASTRO_RADIUS;
294
		if (y > GB_YMAX - ASTRO_RADIUS) y = GB_YMIN + ASTRO_RADIUS;
295
#else
296
		x += dv;
297
		if (x < GB_XMIN + 2*ASTRO_RADIUS) {
298
			x = GB_XMIN + 2*ASTRO_RADIUS;
299
			sem_wait(&mx_vel);
300
			astro_vel = - astro_vel - ASTRO_VEL_INC;
301
			sem_post(&mx_vel);
302
		}
303
		if (x > GB_XMAX - 2*ASTRO_RADIUS) {
304
			x = GB_XMAX - 2*ASTRO_RADIUS;
305
			sem_wait(&mx_vel);
306
			astro_vel = - astro_vel + ASTRO_VEL_INC;
307
			sem_post(&mx_vel);
308
		}
309
#endif
310
		sem_wait(&mx_xy);
311
		astro_x = x;
312
		astro_y = y;
313
		sem_post(&mx_xy);
314
 
315
		task_endcycle();
316
	}
317
}
318
 
319
void pad(KEY_EVT *k)
320
{
321
	if (freez_astro) return;
322
	if (k->scan == KEY_O) task_activate(pid_TL);
323
	if (k->scan == KEY_P) task_activate(pid_TR);
324
	if (k->scan == KEY_S) task_activate(pid_SZ);
325
	if (k->scan == KEY_Z) task_activate(pid_SD);
326
#ifdef ASTRO_MOVE
327
	if (k->scan == KEY_A) task_activate(pid_SU);
328
	if (k->scan == KEY_F) task_activate(pid_FL);
329
#else
330
	if (k->scan == KEY_X) task_activate(pid_SU);
331
#endif
332
}
333
 
334
void new_shot(KEY_EVT *k)
335
{
336
	SOFT_TASK_MODEL mp;
337
	PID pid;
338
 
339
	if ((nshot >= SHOT_NMAX)||(freez_astro)||(kill_shot)||(crash)) return;
340
 
341
	soft_task_default_model(mp);
342
	soft_task_def_level(mp,1);
343
	soft_task_def_ctrl_jet(mp);
344
	soft_task_def_arg(mp, (void *)nshot);
345
	soft_task_def_group(mp, SHOT_GROUP);
346
	soft_task_def_met(mp, SHOT_WCET);
347
	soft_task_def_period(mp,SHOT_PERIOD);
348
	soft_task_def_usemath(mp);
349
	pid = task_create("Shot", shot, &mp, NULL);
350
 
351
	if (pid != NIL) {
352
		task_activate(pid);
353
		nshot++;
354
		sem_wait(&mx_st_nrg);
355
		energy -= ENERGY_SHOT;
356
		sem_post(&mx_st_nrg);
357
	}
358
}
359
 
360
void start_astro()
361
{
362
	freez_astro = 0;
363
	kill_shot = 0;
364
}
365
 
366
void reset_astro()
367
{
368
	freez_astro = 1;
369
	sem_wait(&mx_xy);
370
	astro_x = ASTRO_X;
371
	astro_y = ASTRO_Y;
372
	sem_post(&mx_xy);
373
	sem_wait(&mx_pos);
374
	astro_grad = 0;
375
	sem_post(&mx_pos);
376
	sem_wait(&mx_vel);
377
	astro_vel = 0;
378
	sem_post(&mx_vel);
379
	kill_shot = 1;
380
}
381
 
382
void create_astro_task()
383
{
384
	HARD_TASK_MODEL mp;
385
	SOFT_TASK_MODEL ms;
386
	PID pid;
387
	int incr;
388
 
389
	soft_task_default_model(ms);
390
	soft_task_def_level(ms,1);
391
	soft_task_def_ctrl_jet(ms);
392
	soft_task_def_arg(ms, (void *)nshot);
393
	soft_task_def_met(ms, ASTRO_WCET);
394
	soft_task_def_period(ms,ASTRO_PERIOD);
395
	soft_task_def_usemath(ms);
396
	pid = task_create("Astro", astro, &ms, NULL);
397
	if (pid == NIL) {
398
		grx_close();
399
		perror("Could not create task <astro>");
400
		sys_end();
401
	} else
402
		task_activate(pid);
403
 
404
	hard_task_default_model(mp);
405
	hard_task_def_ctrl_jet(mp);
406
	hard_task_def_wcet(mp,LOOK_WCET);
407
	hard_task_def_mit(mp, LOOK_PERIOD);
408
	hard_task_def_usemath(mp);
409
	pid = task_create("Taken", look, &mp, NULL);
410
	if (pid == NIL) {
411
		grx_close();
412
		perror("Could not create task <Taken>");
413
		sys_end();
414
	} else
415
		task_activate(pid);
416
 
417
	incr = ASTRO_GRAD_INC;
418
	hard_task_default_model(mp);
419
	hard_task_def_ctrl_jet(mp);
420
	hard_task_def_arg(mp, (void *)incr);
421
	hard_task_def_wcet(mp,ASTRO_WCET);
422
	hard_task_def_mit(mp, ASTRO_MOVE_PERIOD);
423
	hard_task_def_aperiodic(mp);
424
	hard_task_def_usemath(mp);
425
	pid_TL = task_create("TurnLeft", turn, &mp, NULL);
426
	if (pid_TL == NIL) {
427
		grx_close();
428
		perror("Could not create task <Turn L>");
429
		sys_end();
430
	}
431
 
432
	incr = - ASTRO_GRAD_INC;
433
	hard_task_default_model(mp);
434
	hard_task_def_ctrl_jet(mp);
435
	hard_task_def_arg(mp, (void *)incr);
436
	hard_task_def_wcet(mp,ASTRO_WCET);
437
	hard_task_def_mit(mp, ASTRO_MOVE_PERIOD);
438
	hard_task_def_aperiodic(mp);
439
	hard_task_def_usemath(mp);
440
	pid_TR = task_create("TurnRight", turn, &mp, NULL);
441
	if (pid_TR == NIL) {
442
		grx_close();
443
		perror("Could not create task <Turn R>");
444
		sys_end();
445
	}
446
 
447
	incr = ASTRO_VEL_INC;
448
	hard_task_default_model(mp);
449
	hard_task_def_ctrl_jet(mp);
450
	hard_task_def_arg(mp, (void *)incr);
451
	hard_task_def_wcet(mp,ASTRO_WCET);
452
	hard_task_def_mit(mp, ASTRO_PERIOD);
453
	hard_task_def_aperiodic(mp);
454
	hard_task_def_usemath(mp);
455
	pid_SU = task_create("SpeedUP", speed, &mp, NULL);
456
	if (pid_SU == NIL) {
457
		grx_close();
458
		perror("Could not create task <Speed UP>");
459
		sys_end();
460
	}
461
 
462
	incr = - ASTRO_VEL_INC;
463
	hard_task_default_model(mp);
464
	hard_task_def_ctrl_jet(mp);
465
	hard_task_def_arg(mp, (void *)incr);
466
	hard_task_def_wcet(mp,ASTRO_WCET);
467
	hard_task_def_mit(mp, ASTRO_PERIOD);
468
	hard_task_def_aperiodic(mp);
469
	hard_task_def_usemath(mp);
470
	pid_SD = task_create("SpeedDOWN", speed, &mp, NULL);
471
	if (pid_SD == NIL) {
472
		grx_close();
473
		perror("Could not create task <Speed DOWN>");
474
		sys_end();
475
	}
476
 
477
	incr = 0;
478
	hard_task_default_model(mp);
479
	hard_task_def_ctrl_jet(mp);
480
	hard_task_def_arg(mp, (void *)incr);
481
	hard_task_def_wcet(mp,ASTRO_WCET);
482
	hard_task_def_mit(mp, ASTRO_PERIOD);
483
	hard_task_def_aperiodic(mp);
484
	hard_task_def_usemath(mp);
485
	pid_SZ = task_create("SpeedZERO", speed, &mp, NULL);
486
	if (pid_SZ == NIL) {
487
		grx_close();
488
		perror("Could not create task <Speed ZERO>");
489
		sys_end();
490
	}
491
 
492
	hard_task_default_model(mp);
493
	hard_task_def_ctrl_jet(mp);
494
	hard_task_def_wcet(mp,ASTRO_WCET);
495
	hard_task_def_mit(mp, 6*ASTRO_PERIOD);
496
	hard_task_def_usemath(mp);
497
	pid = task_create("MoveAstro", move, &mp, NULL);
498
	if (pid == NIL) {
499
		grx_close();
500
		perror("Could not create task <MoveAstro>");
501
		sys_end();
502
	} else
503
		task_activate(pid);
504
 
505
#ifdef ASTRO_MOVE
506
	incr = 0;
507
	hard_task_default_model(mp);
508
	hard_task_def_ctrl_jet(mp);
509
	hard_task_def_arg(mp, (void *)incr);
510
	hard_task_def_wcet(mp,ASTRO_WCET);
511
	hard_task_def_mit(mp, ASTRO_PERIOD);
512
	hard_task_def_aperiodic(mp);
513
	hard_task_def_usemath(mp);
514
	pid_FL = task_create("FlipAstro", turn, &mp, NULL);
515
	if (pid_FL == NIL) {
516
		grx_close();
517
		perror("Could not create task <Flip Astro>");
518
		sys_end();
519
	}
520
#endif
521
}
522
 
523
void frame_astro()
524
{
525
	grx_text("Game", 10, 45, RGB_BLUE, RGB_BLACK);
526
	grx_line(GB_XMIN-2,55,GB_XMAX+2,55,RGB_RED);
527
 
528
	grx_rect(GB_XMIN-3, GB_YMIN-3, GB_XMAX+3, GB_YMAX+3, RGB_GREEN);
529
 
530
#ifndef ASTRO_MOVE
531
	grx_rect(GB_XMIN-1, GB_YMAX-1, GB_XMAX+1, GB_YMAX+1, RGB_CYAN);
532
#endif
533
}
534
 
535
void init_astro()
536
{
537
	KEY_EVT k;
538
 
539
	crash = 0;
540
	freez_astro = 1;
541
	kill_shot = 1;
542
	astro_vel  = 0;
543
	astro_grad = 0;
544
	astro_x = ASTRO_X;
545
	astro_y = ASTRO_Y;
546
 
547
	create_astro_task();
548
 
549
	k.flag = 0;
550
	k.scan = KEY_SPC;
551
	k.ascii = ' ';
552
	keyb_hook(k,new_shot);
553
 
554
	k.flag = 0;
555
	k.scan = KEY_O;
556
	k.ascii = 'o';
557
	keyb_hook(k,pad);
558
 
559
	k.flag = 0;
560
	k.scan = KEY_P;
561
	k.ascii = 'p';
562
	keyb_hook(k,pad);
563
 
564
	k.flag = 0;
565
	k.scan = KEY_S;
566
	k.ascii = 's';
567
	keyb_hook(k,pad);
568
 
569
	k.flag = 0;
570
	k.scan = KEY_Z;
571
	k.ascii = 'z';
572
	keyb_hook(k,pad);
573
 
574
#ifdef ASTRO_MOVE
575
	k.flag = 0;
576
	k.scan = KEY_A;
577
	k.ascii = 'a';
578
	keyb_hook(k,pad);
579
 
580
	k.flag = 0;
581
	k.scan = KEY_F;
582
	k.ascii = 'f';
583
	keyb_hook(k,pad);
584
#else
585
	k.flag = 0;
586
	k.scan = KEY_X;
587
	k.ascii = 'x';
588
	keyb_hook(k,pad);
589
 
590
#endif
591
}