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Rev | Author | Line No. | Line |
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1162 | tavani | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
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5 | * |
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6 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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7 | * |
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8 | * http://www.sssup.it |
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9 | * http://retis.sssup.it |
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10 | * http://shark.sssup.it |
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11 | */ |
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12 | |||
13 | #include "asteroid.h" |
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14 | |||
15 | int nshot; /* number of shot active */ |
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16 | int astro_x, astro_y; /* astro position */ |
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17 | int astro_grad; /* astro angolar position */ |
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18 | PID pid_TR, pid_TL; /* pid of turn tasks */ |
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19 | int astro_vel; /* astro speed */ |
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20 | PID pid_SU, pid_SD; /* pid of acc tasks */ |
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21 | PID pid_SZ, pid_FL; /* pid of acc tasks */ |
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22 | int freez_astro; /* turn of pad*/ |
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23 | int kill_shot; |
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24 | |||
25 | rock_ini rock_new; |
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26 | |||
1373 | giacomo | 27 | extern volatile int shark_running; |
28 | |||
1162 | tavani | 29 | TASK shot(int i) |
30 | { |
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31 | int x, y; /* shot graphic position */ |
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32 | int ox, oy; /* shot old position */ |
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33 | int x0, y0; /* shot initial position */ |
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34 | float vx, vy; /* shot speed */ |
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35 | float ty, tx; |
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36 | float dt; |
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37 | float a_rad; |
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38 | int a_vel; |
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39 | |||
40 | int rx, ry, rr; |
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41 | PID rp; |
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42 | |||
43 | sem_wait(&mx_xy); |
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44 | y = oy = y0 = astro_y; |
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45 | x = ox = x0 = astro_x; |
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46 | sem_post(&mx_xy); |
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47 | |||
48 | sem_wait(&mx_pos); |
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49 | a_rad = astro_grad * PI / 180.; |
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50 | sem_post(&mx_pos); |
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51 | sem_wait(&mx_vel); |
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52 | a_vel = astro_vel; |
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53 | sem_post(&mx_vel); |
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54 | sem_wait(&mx_mat); |
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55 | vx = - (SHOT_VEL + a_vel) * sin(a_rad); |
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56 | vy = - (SHOT_VEL + a_vel) * cos(a_rad); |
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57 | sem_post(&mx_mat); |
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58 | tx = 0; |
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59 | ty = 0; |
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60 | dt = ((float)SHOT_PERIOD)/100000; |
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61 | |||
62 | while (1) { |
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63 | y = y0 + vy * ty; |
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64 | x = x0 + vx * tx; |
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65 | |||
66 | sem_wait(&mx_grf); |
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67 | grx_disc(ox, oy, SHOT_RADIUS, RGB_BLACK); |
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68 | sem_post(&mx_grf); |
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69 | ox = x; |
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70 | oy = y; |
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71 | |||
72 | if ((kill_shot)||(crash)||(y < GB_YMIN+SHOT_RADIUS)||(x < GB_XMIN+SHOT_RADIUS)||(x > GB_XMAX-SHOT_RADIUS)||(y > GB_YMAX-SHOT_RADIUS)){ |
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73 | nshot--; |
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74 | return 0; |
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75 | } |
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76 | |||
77 | for ( i=0; i<ROCK_NMAX; i++ ) { |
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78 | sem_wait(&mx_rk); |
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79 | rp = rocks[i].pid; |
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80 | rx = rocks[i].x; |
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81 | ry = rocks[i].y; |
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82 | rr = rocks[i].r; |
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83 | sem_post(&mx_rk); |
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84 | |||
85 | if ((rp!=NIL) && (dist_xy(x, y, rx, ry) < (SHOT_RADIUS+rr))) { |
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86 | draw_rock(rx, ry, rr, RGB_BLACK); |
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87 | if (rr == ROCK_RADIUS_I) { |
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88 | sem_wait(&mx_rk); |
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89 | rocks[i].r = ROCK_RADIUS_S; |
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90 | sem_post(&mx_rk); |
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91 | sem_wait(&mx_rn); |
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92 | rock_new.r = ROCK_RADIUS_S; |
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93 | rock_new.x = rx; |
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94 | rock_new.y = ry; |
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95 | rock_new.i = 0; |
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96 | sem_post(&mx_rn); |
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97 | sem_wait(&mx_st_scr); |
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98 | score += SCORE_GOT; |
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99 | sem_post(&mx_st_scr); |
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100 | } else { |
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101 | task_kill(rp); |
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102 | sem_wait(&mx_rk); |
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103 | rocks[i].pid = NIL; |
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104 | sem_post(&mx_rk); |
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105 | nrock--; |
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106 | sem_wait(&mx_st_scr); |
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107 | score += 2*SCORE_GOT; |
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108 | sem_post(&mx_st_scr); |
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109 | } |
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110 | sem_wait(&mx_st_nrg); |
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111 | energy += ENERGY_GOT; |
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112 | sem_post(&mx_st_nrg); |
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113 | sem_wait(&mx_st_kil); |
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114 | enemy++; |
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115 | sem_post(&mx_st_kil); |
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116 | nshot--; |
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117 | return 0; |
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118 | } |
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119 | } |
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120 | |||
121 | sem_wait(&mx_grf); |
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122 | grx_disc(ox, oy, SHOT_RADIUS, RGB_RED); |
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123 | sem_post(&mx_grf); |
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124 | |||
125 | ty += dt; |
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126 | tx += dt; |
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127 | |||
128 | task_endcycle(); |
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129 | } |
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130 | } |
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131 | |||
132 | TASK astro() |
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133 | { |
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134 | float astro_rad; |
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135 | int ox, oy; |
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136 | float s, c; |
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137 | |||
138 | //leggo posizione |
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139 | sem_wait(&mx_pos); |
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140 | astro_rad = astro_grad * PI / 180.; |
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141 | sem_post(&mx_pos); |
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142 | sem_wait(&mx_mat); |
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143 | s = -sin(astro_rad); |
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144 | c = -cos(astro_rad); |
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145 | sem_post(&mx_mat); |
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146 | sem_wait(&mx_xy); |
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147 | ox = astro_x; |
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148 | oy = astro_y; |
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149 | sem_post(&mx_xy); |
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150 | |||
151 | while (1) { |
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152 | |||
153 | sem_wait(&mx_grf); |
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154 | //DRAW SHADOW ASTRO |
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155 | grx_line(ox + 15.*s , oy + 15.*c , ox - 5.*c - 9.*s, oy + 5.*s - 9.*c, RGB_BLACK); |
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156 | grx_line(ox + 15.*s , oy + 15.*c , ox + 5.*c - 9.*s, oy - 5.*s - 9.*c, RGB_BLACK); |
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157 | grx_line(ox , oy , ox - 12.*c - 9.*s, oy + 12.*s - 9.*c, RGB_BLACK); |
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158 | grx_line(ox , oy , ox + 12.*c - 9.*s, oy - 12.*s - 9.*c, RGB_BLACK); |
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159 | grx_line(ox - 12.*c - 9.*s, oy + 12.*s - 9.*c, ox + 12.*c - 9.*s, oy - 12.*s - 9.*c, RGB_BLACK); |
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160 | sem_post(&mx_grf); |
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161 | |||
162 | sem_wait(&mx_pos); |
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163 | astro_rad = astro_grad * PI / 180.; |
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164 | sem_post(&mx_pos); |
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165 | sem_wait(&mx_mat); |
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166 | s = -sin(astro_rad); |
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167 | c = -cos(astro_rad); |
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168 | sem_post(&mx_mat); |
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169 | sem_wait(&mx_xy); |
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170 | ox = astro_x; |
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171 | oy = astro_y; |
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172 | sem_post(&mx_xy); |
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173 | |||
174 | sem_wait(&mx_grf); |
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175 | //DRAW ASTRO |
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176 | grx_line(ox + 15.*s , oy + 15.*c , ox - 5.*c - 9.*s, oy + 5.*s - 9.*c, RGB_WHITE); |
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177 | grx_line(ox + 15.*s , oy + 15.*c , ox + 5.*c - 9.*s, oy - 5.*s - 9.*c, RGB_WHITE); |
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178 | grx_line(ox , oy , ox - 12.*c - 9.*s, oy + 12.*s - 9.*c, RGB_WHITE); |
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179 | grx_line(ox , oy , ox + 12.*c - 9.*s, oy - 12.*s - 9.*c, RGB_WHITE); |
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180 | grx_line(ox - 12.*c - 9.*s, oy + 12.*s - 9.*c, ox + 12.*c - 9.*s, oy - 12.*s - 9.*c, RGB_WHITE); |
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181 | sem_post(&mx_grf); |
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182 | |||
183 | /* { |
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184 | int xxx; |
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185 | for (xxx=0; xxx<10000; xxx++); |
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186 | }*/ |
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187 | |||
188 | task_endcycle(); |
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189 | } |
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190 | } |
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191 | |||
192 | TASK look() |
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193 | { |
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194 | while (1) { |
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195 | if (crash) { |
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196 | reset_rock(); |
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197 | reset_astro(); |
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198 | if (nrock==0) { |
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199 | reset_game(); |
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200 | crash = 0; |
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201 | } |
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202 | } |
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203 | task_endcycle(); |
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204 | } |
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205 | } |
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206 | |||
207 | TASK turn(int i) |
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208 | { |
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209 | |||
210 | while (1) { |
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211 | |||
212 | sem_wait(&mx_pos); |
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213 | if (i==0) |
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214 | astro_grad += 180; |
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215 | else { |
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216 | astro_grad += i; |
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217 | } |
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218 | if (astro_grad < -180) astro_grad += 360; |
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219 | if (astro_grad > 180) astro_grad -= 360; |
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220 | if (astro_grad < -ASTRO_MAX_GRAD) astro_grad = -ASTRO_MAX_GRAD; |
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221 | if (astro_grad > ASTRO_MAX_GRAD) astro_grad = ASTRO_MAX_GRAD; |
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222 | sem_post(&mx_pos); |
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223 | |||
224 | task_endcycle(); |
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225 | } |
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226 | } |
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227 | |||
228 | TASK speed(int i) |
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229 | { |
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230 | |||
231 | while (1) { |
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232 | |||
233 | sem_wait(&mx_vel); |
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234 | if (i==0) |
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235 | astro_vel = 0; |
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236 | else { |
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237 | astro_vel += i; |
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238 | if (astro_vel < -ASTRO_MAX_VEL) astro_vel = -ASTRO_MAX_VEL; |
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239 | if (astro_vel > ASTRO_MAX_VEL) astro_vel = ASTRO_MAX_VEL; |
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240 | } |
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241 | sem_post(&mx_vel); |
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242 | |||
243 | task_endcycle(); |
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244 | } |
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245 | } |
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246 | |||
247 | TASK move() |
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248 | { |
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249 | int dv, x, y; |
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250 | float drad; |
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251 | |||
252 | drad = x = y = 0; |
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253 | |||
254 | while (1) { |
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255 | |||
256 | #ifdef ASTRO_MOVE |
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257 | sem_wait(&mx_pos); |
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258 | drad = astro_grad * PI / 180.; |
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259 | sem_post(&mx_pos); |
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260 | #endif |
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261 | sem_wait(&mx_vel); |
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262 | dv = astro_vel; |
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263 | sem_post(&mx_vel); |
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264 | sem_wait(&mx_xy); |
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265 | x = astro_x; |
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266 | y = astro_y; |
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267 | sem_post(&mx_xy); |
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268 | #ifdef ASTRO_MOVE |
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269 | x -= dv * sin(drad); |
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270 | y -= dv * cos(drad); |
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271 | if (x < GB_XMIN + ASTRO_RADIUS) x = GB_XMAX - ASTRO_RADIUS; |
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272 | if (x > GB_XMAX - ASTRO_RADIUS) x = GB_XMIN + ASTRO_RADIUS; |
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273 | if (y < GB_YMIN + ASTRO_RADIUS) y = GB_YMAX - ASTRO_RADIUS; |
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274 | if (y > GB_YMAX - ASTRO_RADIUS) y = GB_YMIN + ASTRO_RADIUS; |
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275 | #else |
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276 | x += dv; |
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277 | if (x < GB_XMIN + 2*ASTRO_RADIUS) { |
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278 | x = GB_XMIN + 2*ASTRO_RADIUS; |
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279 | sem_wait(&mx_vel); |
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280 | astro_vel = - astro_vel - ASTRO_VEL_INC; |
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281 | sem_post(&mx_vel); |
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282 | } |
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283 | if (x > GB_XMAX - 2*ASTRO_RADIUS) { |
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284 | x = GB_XMAX - 2*ASTRO_RADIUS; |
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285 | sem_wait(&mx_vel); |
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286 | astro_vel = - astro_vel + ASTRO_VEL_INC; |
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287 | sem_post(&mx_vel); |
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288 | } |
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289 | #endif |
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290 | sem_wait(&mx_xy); |
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291 | astro_x = x; |
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292 | astro_y = y; |
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293 | sem_post(&mx_xy); |
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294 | |||
295 | task_endcycle(); |
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296 | } |
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297 | } |
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298 | |||
299 | void pad(KEY_EVT *k) |
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300 | { |
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301 | if (freez_astro) return; |
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302 | if (k->scan == KEY_O) task_activate(pid_TL); |
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303 | if (k->scan == KEY_P) task_activate(pid_TR); |
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304 | if (k->scan == KEY_S) task_activate(pid_SZ); |
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305 | if (k->scan == KEY_Z) task_activate(pid_SD); |
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306 | #ifdef ASTRO_MOVE |
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307 | if (k->scan == KEY_A) task_activate(pid_SU); |
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308 | if (k->scan == KEY_F) task_activate(pid_FL); |
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309 | #else |
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310 | if (k->scan == KEY_X) task_activate(pid_SU); |
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311 | #endif |
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312 | } |
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313 | |||
314 | void new_shot(KEY_EVT *k) |
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315 | { |
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316 | SOFT_TASK_MODEL mp; |
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317 | PID pid; |
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318 | |||
319 | if ((nshot >= SHOT_NMAX)||(freez_astro)||(kill_shot)||(crash)) return; |
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320 | |||
321 | soft_task_default_model(mp); |
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322 | soft_task_def_ctrl_jet(mp); |
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323 | soft_task_def_arg(mp, (void *)nshot); |
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324 | soft_task_def_group(mp, SHOT_GROUP); |
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325 | soft_task_def_met(mp, SHOT_WCET); |
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326 | soft_task_def_period(mp,SHOT_PERIOD); |
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327 | soft_task_def_usemath(mp); |
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328 | pid = task_create("Shot", shot, &mp, NULL); |
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329 | |||
330 | if (pid != NIL) { |
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331 | task_activate(pid); |
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332 | nshot++; |
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333 | sem_wait(&mx_st_nrg); |
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334 | energy -= ENERGY_SHOT; |
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335 | sem_post(&mx_st_nrg); |
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336 | } |
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337 | } |
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338 | |||
339 | void start_astro() |
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340 | { |
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341 | freez_astro = 0; |
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342 | kill_shot = 0; |
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343 | } |
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344 | |||
345 | void reset_astro() |
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346 | { |
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347 | freez_astro = 1; |
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348 | sem_wait(&mx_xy); |
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349 | astro_x = ASTRO_X; |
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350 | astro_y = ASTRO_Y; |
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351 | sem_post(&mx_xy); |
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352 | sem_wait(&mx_pos); |
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353 | astro_grad = 0; |
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354 | sem_post(&mx_pos); |
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355 | sem_wait(&mx_vel); |
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356 | astro_vel = 0; |
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357 | sem_post(&mx_vel); |
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358 | kill_shot = 1; |
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359 | } |
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360 | |||
361 | void create_astro_task() |
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362 | { |
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363 | HARD_TASK_MODEL mp; |
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364 | SOFT_TASK_MODEL ms; |
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365 | PID pid; |
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366 | int incr; |
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367 | |||
368 | soft_task_default_model(ms); |
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369 | soft_task_def_ctrl_jet(ms); |
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370 | soft_task_def_arg(ms, (void *)nshot); |
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371 | soft_task_def_met(ms, ASTRO_WCET); |
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372 | soft_task_def_period(ms,ASTRO_PERIOD); |
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373 | soft_task_def_usemath(ms); |
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374 | pid = task_create("Astro", astro, &ms, NULL); |
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375 | if (pid == NIL) { |
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376 | perror("Could not create task <astro>"); |
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1373 | giacomo | 377 | shark_running = 0; |
1162 | tavani | 378 | } else |
379 | task_activate(pid); |
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380 | |||
381 | hard_task_default_model(mp); |
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382 | hard_task_def_ctrl_jet(mp); |
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383 | hard_task_def_wcet(mp,LOOK_WCET); |
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384 | hard_task_def_mit(mp, LOOK_PERIOD); |
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385 | hard_task_def_usemath(mp); |
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386 | pid = task_create("Taken", look, &mp, NULL); |
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387 | if (pid == NIL) { |
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388 | perror("Could not create task <Taken>"); |
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1373 | giacomo | 389 | shark_running = 0; |
1162 | tavani | 390 | } else |
391 | task_activate(pid); |
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392 | |||
393 | incr = ASTRO_GRAD_INC; |
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394 | hard_task_default_model(mp); |
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395 | hard_task_def_ctrl_jet(mp); |
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396 | hard_task_def_arg(mp, (void *)incr); |
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397 | hard_task_def_wcet(mp,ASTRO_WCET); |
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398 | hard_task_def_mit(mp, ASTRO_MOVE_PERIOD); |
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399 | hard_task_def_aperiodic(mp); |
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400 | hard_task_def_usemath(mp); |
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401 | pid_TL = task_create("TurnLeft", turn, &mp, NULL); |
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402 | if (pid_TL == NIL) { |
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403 | perror("Could not create task <Turn L>"); |
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1373 | giacomo | 404 | shark_running = 0; |
1162 | tavani | 405 | } |
406 | |||
407 | incr = - ASTRO_GRAD_INC; |
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408 | hard_task_default_model(mp); |
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409 | hard_task_def_ctrl_jet(mp); |
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410 | hard_task_def_arg(mp, (void *)incr); |
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411 | hard_task_def_wcet(mp,ASTRO_WCET); |
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412 | hard_task_def_mit(mp, ASTRO_MOVE_PERIOD); |
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413 | hard_task_def_aperiodic(mp); |
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414 | hard_task_def_usemath(mp); |
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415 | pid_TR = task_create("TurnRight", turn, &mp, NULL); |
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416 | if (pid_TR == NIL) { |
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417 | perror("Could not create task <Turn R>"); |
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1373 | giacomo | 418 | shark_running = 0; |
1162 | tavani | 419 | } |
420 | |||
421 | incr = ASTRO_VEL_INC; |
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422 | hard_task_default_model(mp); |
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423 | hard_task_def_ctrl_jet(mp); |
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424 | hard_task_def_arg(mp, (void *)incr); |
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425 | hard_task_def_wcet(mp,ASTRO_WCET); |
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426 | hard_task_def_mit(mp, ASTRO_PERIOD); |
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427 | hard_task_def_aperiodic(mp); |
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428 | hard_task_def_usemath(mp); |
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429 | pid_SU = task_create("SpeedUP", speed, &mp, NULL); |
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430 | if (pid_SU == NIL) { |
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431 | perror("Could not create task <Speed UP>"); |
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1373 | giacomo | 432 | shark_running = 0; |
1162 | tavani | 433 | } |
434 | |||
435 | incr = - ASTRO_VEL_INC; |
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436 | hard_task_default_model(mp); |
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437 | hard_task_def_ctrl_jet(mp); |
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438 | hard_task_def_arg(mp, (void *)incr); |
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439 | hard_task_def_wcet(mp,ASTRO_WCET); |
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440 | hard_task_def_mit(mp, ASTRO_PERIOD); |
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441 | hard_task_def_aperiodic(mp); |
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442 | hard_task_def_usemath(mp); |
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443 | pid_SD = task_create("SpeedDOWN", speed, &mp, NULL); |
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444 | if (pid_SD == NIL) { |
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445 | perror("Could not create task <Speed DOWN>"); |
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1373 | giacomo | 446 | shark_running = 0; |
1162 | tavani | 447 | } |
448 | |||
449 | incr = 0; |
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450 | hard_task_default_model(mp); |
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451 | hard_task_def_ctrl_jet(mp); |
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452 | hard_task_def_arg(mp, (void *)incr); |
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453 | hard_task_def_wcet(mp,ASTRO_WCET); |
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454 | hard_task_def_mit(mp, ASTRO_PERIOD); |
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455 | hard_task_def_aperiodic(mp); |
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456 | hard_task_def_usemath(mp); |
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457 | pid_SZ = task_create("SpeedZERO", speed, &mp, NULL); |
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458 | if (pid_SZ == NIL) { |
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459 | perror("Could not create task <Speed ZERO>"); |
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1373 | giacomo | 460 | shark_running = 0; |
1162 | tavani | 461 | } |
462 | |||
463 | hard_task_default_model(mp); |
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464 | hard_task_def_ctrl_jet(mp); |
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465 | hard_task_def_wcet(mp,ASTRO_WCET); |
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466 | hard_task_def_mit(mp, 6*ASTRO_PERIOD); |
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467 | hard_task_def_usemath(mp); |
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468 | pid = task_create("MoveAstro", move, &mp, NULL); |
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469 | if (pid == NIL) { |
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470 | perror("Could not create task <MoveAstro>"); |
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1373 | giacomo | 471 | shark_running = 0; |
1162 | tavani | 472 | } else |
473 | task_activate(pid); |
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474 | |||
475 | #ifdef ASTRO_MOVE |
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476 | incr = 0; |
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477 | hard_task_default_model(mp); |
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478 | hard_task_def_ctrl_jet(mp); |
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479 | hard_task_def_arg(mp, (void *)incr); |
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480 | hard_task_def_wcet(mp,ASTRO_WCET); |
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481 | hard_task_def_mit(mp, ASTRO_PERIOD); |
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482 | hard_task_def_aperiodic(mp); |
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483 | hard_task_def_usemath(mp); |
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484 | pid_FL = task_create("FlipAstro", turn, &mp, NULL); |
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485 | if (pid_FL == NIL) { |
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486 | perror("Could not create task <Flip Astro>"); |
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1373 | giacomo | 487 | shark_running = 0; |
1162 | tavani | 488 | } |
489 | #endif |
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490 | } |
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491 | |||
492 | void frame_astro() |
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493 | { |
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494 | grx_text("Game", 10, 45, RGB_BLUE, RGB_BLACK); |
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495 | grx_line(GB_XMIN-2,55,GB_XMAX+2,55,RGB_RED); |
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496 | |||
497 | grx_rect(GB_XMIN-3, GB_YMIN-3, GB_XMAX+3, GB_YMAX+3, RGB_GREEN); |
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498 | |||
499 | #ifndef ASTRO_MOVE |
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500 | grx_rect(GB_XMIN-1, GB_YMAX-1, GB_XMAX+1, GB_YMAX+1, RGB_CYAN); |
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501 | #endif |
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502 | } |
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503 | |||
504 | void init_astro() |
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505 | { |
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506 | KEY_EVT k; |
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507 | |||
508 | crash = 0; |
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509 | freez_astro = 1; |
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510 | kill_shot = 1; |
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511 | astro_vel = 0; |
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512 | astro_grad = 0; |
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513 | astro_x = ASTRO_X; |
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514 | astro_y = ASTRO_Y; |
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515 | |||
516 | create_astro_task(); |
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517 | |||
518 | k.flag = 0; |
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519 | k.scan = KEY_SPC; |
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520 | k.ascii = ' '; |
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1349 | giacomo | 521 | k.status = KEY_PRESSED; |
522 | keyb_hook(k,new_shot,FALSE); |
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1162 | tavani | 523 | |
524 | k.flag = 0; |
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525 | k.scan = KEY_O; |
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526 | k.ascii = 'o'; |
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1349 | giacomo | 527 | k.status = KEY_PRESSED; |
528 | keyb_hook(k,pad,FALSE); |
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1162 | tavani | 529 | |
530 | k.flag = 0; |
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531 | k.scan = KEY_P; |
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532 | k.ascii = 'p'; |
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1349 | giacomo | 533 | k.status = KEY_PRESSED; |
534 | keyb_hook(k,pad,FALSE); |
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1162 | tavani | 535 | |
536 | k.flag = 0; |
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537 | k.scan = KEY_S; |
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538 | k.ascii = 's'; |
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1349 | giacomo | 539 | k.status = KEY_PRESSED; |
540 | keyb_hook(k,pad,FALSE); |
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1162 | tavani | 541 | |
542 | k.flag = 0; |
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543 | k.scan = KEY_Z; |
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544 | k.ascii = 'z'; |
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1349 | giacomo | 545 | k.status = KEY_PRESSED; |
546 | keyb_hook(k,pad,FALSE); |
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1162 | tavani | 547 | |
548 | #ifdef ASTRO_MOVE |
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549 | k.flag = 0; |
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550 | k.scan = KEY_A; |
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551 | k.ascii = 'a'; |
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1349 | giacomo | 552 | k.status = KEY_PRESSED; |
553 | keyb_hook(k,pad,FALSE); |
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1162 | tavani | 554 | |
555 | k.flag = 0; |
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556 | k.scan = KEY_F; |
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557 | k.ascii = 'f'; |
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1349 | giacomo | 558 | k.status = KEY_PRESSED; |
559 | keyb_hook(k,pad,FALSE); |
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1162 | tavani | 560 | #else |
561 | k.flag = 0; |
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562 | k.scan = KEY_X; |
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563 | k.ascii = 'x'; |
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1349 | giacomo | 564 | k.status = KEY_PRESSED; |
565 | keyb_hook(k,pad,FALSE); |
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1162 | tavani | 566 | |
567 | #endif |
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568 | } |