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| Rev | Author | Line No. | Line |
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| 1162 | tavani | 1 | /* |
| 1349 | giacomo | 2 | * Project: S.Ha.R.K. |
| 1162 | tavani | 3 | * |
| 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://hartik.sssup.it |
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| 11 | */ |
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| 12 | |||
| 13 | #include "asteroid.h" |
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| 14 | |||
| 15 | PID pid_RC; |
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| 16 | int nrock; |
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| 17 | int kill_rock; |
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| 18 | rock_pos rocks[ROCK_NMAX]; |
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| 19 | |||
| 20 | void draw_rock(int x, int y, int r, int c) |
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| 21 | { |
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| 22 | sem_wait(&mx_grf); |
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| 23 | grx_disc(x, y, r, c); |
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| 24 | sem_post(&mx_grf); |
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| 25 | } |
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| 26 | |||
| 27 | TASK rock(rock_ini* ri) |
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| 28 | { |
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| 29 | int x, y, r; /* rock graphic position */ |
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| 30 | int ox, oy; /* rock old position */ |
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| 31 | int x0, y0; /* rock initial position */ |
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| 32 | float vx, vy; /* rock speed */ |
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| 33 | float vxo, vyo; /* rock initial speed */ |
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| 34 | float ty, tx; |
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| 35 | float dt; |
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| 36 | float rand_ang; |
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| 37 | int rand_side; |
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| 38 | int ab, ax, ay, i, l; |
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| 39 | |||
| 40 | x = y = x0 = y0 = ox = oy = vx = vy = ab = 0; |
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| 41 | |||
| 42 | i = ri->i; |
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| 43 | r = ri->r; |
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| 44 | |||
| 45 | rand_ang = ((rand()%120) - 60) * PI / 180.; |
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| 46 | |||
| 47 | sem_wait(&mx_st_scr); |
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| 48 | l = score / 50; |
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| 49 | sem_post(&mx_st_scr); |
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| 50 | |||
| 51 | sem_wait(&mx_mat); |
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| 52 | vxo = - (ROCK_VEL + l) * sin(rand_ang); |
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| 53 | vyo = - (ROCK_VEL + l) * cos(rand_ang); |
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| 54 | sem_post(&mx_mat); |
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| 55 | |||
| 56 | #ifdef ASTRO_MOVE |
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| 57 | rand_side = rand()%4; |
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| 58 | #else |
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| 59 | rand_side = 1; |
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| 60 | #endif |
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| 61 | |||
| 62 | if (rand_side == 0) { // Bottom |
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| 63 | vx = vxo; |
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| 64 | vy = vyo; |
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| 65 | } |
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| 66 | if (rand_side == 1) { // Top |
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| 67 | vx = -vxo; |
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| 68 | vy = -vyo; |
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| 69 | } |
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| 70 | if (rand_side == 2) { // Right |
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| 71 | vx = vyo; |
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| 72 | vy = -vxo; |
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| 73 | } |
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| 74 | if (rand_side == 3) { // Left |
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| 75 | vx = -vyo; |
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| 76 | vy = vxo; |
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| 77 | } |
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| 78 | |||
| 79 | if ( (ri->x == 0) && (ri->y == 0) ) { |
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| 80 | if (rand_side < 2) { // Bottom or Top |
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| 81 | x = ox = x0 = GB_XMIN + (GB_XMAX-GB_XMIN)/4 + (rand()%((GB_XMAX-GB_XMIN)/2)); |
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| 82 | if (rand_side == 0) { // Bottom |
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| 83 | y = oy = y0 = GB_YMAX - (r+1); |
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| 84 | } |
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| 85 | if (rand_side == 1) { // Top |
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| 86 | y = oy = y0 = GB_YMIN + (r+1); |
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| 87 | } |
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| 88 | } else { |
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| 89 | y = oy = y0 = GB_YMIN + (GB_YMAX-GB_YMIN)/4 + (rand()%((GB_YMAX-GB_YMIN)/2)); |
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| 90 | if (rand_side == 2) { // Right |
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| 91 | x = ox = x0 = GB_XMAX - (r+1); |
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| 92 | } |
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| 93 | if (rand_side == 3) { // Left |
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| 94 | x = ox = x0 = GB_XMIN + (r+1); |
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| 95 | } |
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| 96 | } |
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| 97 | } else { |
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| 98 | x = ox = x0 = ri->x; |
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| 99 | y = oy = y0 = ri->y; |
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| 100 | } |
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| 101 | |||
| 102 | sem_wait(&mx_rk); |
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| 103 | rocks[i].x = x; |
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| 104 | rocks[i].y = y; |
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| 105 | rocks[i].r = r; |
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| 106 | sem_post(&mx_rk); |
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| 107 | |||
| 108 | tx = 0; |
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| 109 | ty = 0; |
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| 110 | dt = ((float)ROCK_PERIOD)/100000; |
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| 111 | |||
| 112 | while (1) { |
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| 113 | y = y0 + vy * ty; |
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| 114 | x = x0 + vx * tx; |
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| 115 | |||
| 116 | sem_wait(&mx_rk); |
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| 117 | rocks[i].x = x; |
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| 118 | rocks[i].y = y; |
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| 119 | r = rocks[i].r; |
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| 120 | sem_post(&mx_rk); |
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| 121 | |||
| 122 | draw_rock(ox, oy, r, RGB_BLACK); |
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| 123 | |||
| 124 | if ((kill_rock) || (crash)){ |
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| 125 | nrock--; |
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| 126 | sem_wait(&mx_rk); |
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| 127 | rocks[i].pid = NIL; |
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| 128 | sem_post(&mx_rk); |
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| 129 | return 0; |
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| 130 | } |
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| 131 | |||
| 132 | ox = x; |
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| 133 | oy = y; |
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| 134 | |||
| 135 | sem_wait(&mx_xy); |
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| 136 | ax = astro_x; |
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| 137 | ay = astro_y; |
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| 138 | sem_post(&mx_xy); |
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| 139 | |||
| 140 | if (dist_xy(x, y, ax, ay) < (ASTRO_RADIUS/2+r)) { |
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| 141 | if (!ab) { |
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| 142 | sem_wait(&mx_st_nrg); |
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| 143 | energy -= ENERGY_GOT; |
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| 144 | sem_post(&mx_st_nrg); |
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| 145 | ab = 1; |
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| 146 | } |
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| 147 | } else |
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| 148 | ab = 0; |
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| 149 | |||
| 150 | sem_wait(&mx_xy); |
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| 151 | if (dist_xy(x, y, astro_x, astro_y) < (ASTRO_RADIUS+r)/2) crash = 1; |
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| 152 | sem_post(&mx_xy); |
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| 153 | |||
| 154 | #ifdef ASTRO_MOVE |
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| 155 | if (x <= GB_XMIN + r) { |
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| 156 | x0 = x = GB_XMAX - (r+1); |
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| 157 | y0 = y; |
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| 158 | tx = ty = 0; |
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| 159 | } |
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| 160 | if (x >= GB_XMAX - r) { |
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| 161 | x0 = x = GB_XMIN + (r+1); |
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| 162 | y0 = y; |
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| 163 | tx = ty = 0; |
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| 164 | } |
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| 165 | if (y <= GB_YMIN + r) { |
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| 166 | x0 = x; |
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| 167 | y0 = y = GB_YMAX - (r+1); |
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| 168 | tx = ty = 0; |
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| 169 | } |
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| 170 | if (y >= GB_YMAX - r) { |
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| 171 | x0 = x; |
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| 172 | y0 = y = GB_YMIN + (r+1); |
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| 173 | tx = ty = 0; |
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| 174 | } |
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| 175 | #else |
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| 176 | if ( (x <= GB_XMIN + r) || (x >= GB_XMAX - r) || (y >= GB_YMAX - 2*r) ) { |
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| 177 | if (y >= GB_YMAX - 2*r) { |
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| 178 | sem_wait(&mx_st_nrg); |
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| 179 | energy -= ENERGY_GOT; |
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| 180 | sem_post(&mx_st_nrg); |
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| 181 | } |
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| 182 | nrock--; |
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| 183 | sem_wait(&mx_rk); |
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| 184 | rocks[i].pid = NIL; |
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| 185 | sem_post(&mx_rk); |
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| 186 | return 0; |
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| 187 | } |
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| 188 | #endif |
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| 189 | draw_rock(ox, oy, r, RGB_YELLOW); |
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| 190 | |||
| 191 | ty += dt; |
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| 192 | tx += dt; |
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| 193 | |||
| 194 | task_endcycle(); |
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| 195 | } |
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| 196 | } |
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| 197 | |||
| 198 | void rock_create(rock_ini* ri) |
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| 199 | { |
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| 200 | SOFT_TASK_MODEL mp; |
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| 201 | PID pid; |
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| 202 | int i; |
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| 203 | |||
| 204 | soft_task_default_model(mp); |
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| 205 | soft_task_def_ctrl_jet(mp); |
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| 206 | soft_task_def_group(mp, ROCK_GROUP); |
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| 207 | soft_task_def_met(mp, ROCK_WCET); |
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| 208 | soft_task_def_period(mp,ROCK_PERIOD); |
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| 209 | soft_task_def_usemath(mp); |
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| 210 | i = -1; |
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| 211 | do { |
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| 212 | i++; |
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| 213 | sem_wait(&mx_rk); |
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| 214 | pid = rocks[i].pid; |
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| 215 | sem_post(&mx_rk); |
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| 216 | } while (pid != NIL); |
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| 217 | ri->i = i; |
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| 218 | soft_task_def_arg(mp, (void *)ri); |
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| 219 | pid = task_create("Rock", rock, &mp, NULL); |
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| 220 | |||
| 221 | if (pid != NIL) { |
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| 222 | sem_wait(&mx_rk); |
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| 223 | rocks[i].pid = pid; |
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| 224 | sem_post(&mx_rk); |
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| 225 | task_activate(pid); |
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| 226 | nrock++; |
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| 227 | } |
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| 228 | } |
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| 229 | |||
| 230 | TASK rock_creator() |
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| 231 | { |
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| 232 | while (1) { |
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| 233 | sem_wait(&mx_rn); |
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| 234 | if (rock_new.i == 0) { |
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| 235 | rock_create(&rock_new); |
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| 236 | rock_new.i = -1; |
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| 237 | } |
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| 238 | sem_post(&mx_rn); |
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| 239 | |||
| 240 | if ((nrock < ROCK_NMAX/2) && (!kill_rock) && (!crash)) { |
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| 241 | if ((rand()%ROCK_NMAX) > nrock) { |
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| 242 | rock_new.r = ROCK_RADIUS_I; |
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| 243 | rock_new.x = rock_new.y = 0; |
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| 244 | rock_create(&rock_new); |
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| 245 | } |
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| 246 | } |
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| 247 | task_endcycle(); |
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| 248 | } |
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| 249 | } |
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| 250 | |||
| 251 | void reset_rock() |
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| 252 | { |
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| 253 | kill_rock = 1; |
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| 254 | } |
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| 255 | |||
| 256 | void start_rock() |
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| 257 | { |
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| 258 | kill_rock = 0; |
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| 259 | } |
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| 260 | |||
| 261 | void create_rock_task() |
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| 262 | { |
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| 263 | SOFT_TASK_MODEL ms; |
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| 264 | |||
| 265 | soft_task_default_model(ms); |
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| 266 | soft_task_def_ctrl_jet(ms); |
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| 267 | soft_task_def_met(ms, ROCK_WCET); |
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| 268 | soft_task_def_period(ms,ROCK_PERIOD*10); |
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| 269 | soft_task_def_usemath(ms); |
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| 270 | pid_RC = task_create("RockCreator", rock_creator, &ms, NULL); |
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| 271 | if (pid_RC == NIL) { |
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| 1349 | giacomo | 272 | FB26_close(FRAME_BUFFER_DEVICE); |
| 1162 | tavani | 273 | perror("Could not create task <RockCreator>"); |
| 274 | sys_end(); |
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| 275 | } else |
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| 276 | task_activate(pid_RC); |
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| 277 | } |
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| 278 | |||
| 279 | void init_rock() |
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| 280 | { |
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| 281 | int i; |
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| 282 | |||
| 283 | nrock = 0; |
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| 284 | kill_rock = 1; |
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| 285 | for ( i=0; i<ROCK_NMAX; i++ ) rocks[i].pid = NIL; |
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| 286 | |||
| 287 | create_rock_task(); |
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| 288 | } |
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| 289 |