WebSVN - shark - Blame - Rev 1567 - /demos/trunk/astro/rock.c

Rev	Author	Line No.	Line
1162	tavani	1	/*
1349	giacomo	2	* Project: S.Ha.R.K.
1162	tavani	3	*
		4	* Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
		5	*
		6	* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
		7	*
		8	* http://www.sssup.it
		9	* http://retis.sssup.it
		10	* http://hartik.sssup.it
		11	*/
		12
		13	#include "asteroid.h"
		14
		15	PID pid_RC;
		16	int nrock;
		17	int kill_rock;
		18	rock_pos rocks[ROCK_NMAX];
		19
1567	mauro	20	void draw_rock(int x, int y, int r, int c, int m)
1162	tavani	21	{
		22	sem_wait(&mx_grf);
1567	mauro	23	if (m==0)
		24	grx_disc(x, y, r, c);
		25	else
		26	grx_circle(x, y, r, c);
1162	tavani	27	sem_post(&mx_grf);
		28	}
		29
		30	TASK rock(rock_ini* ri)
		31	{
		32	int x, y, r; /* rock graphic position */
		33	int ox, oy; /* rock old position */
		34	int x0, y0; /* rock initial position */
		35	float vx, vy; /* rock speed */
		36	float vxo, vyo; /* rock initial speed */
		37	float ty, tx;
		38	float dt;
		39	float rand_ang;
		40	int rand_side;
		41	int ab, ax, ay, i, l;
		42
		43	x = y = x0 = y0 = ox = oy = vx = vy = ab = 0;
		44
		45	i = ri->i;
		46	r = ri->r;
		47
		48	rand_ang = ((rand()%120) - 60) * PI / 180.;
		49
		50	sem_wait(&mx_st_scr);
		51	l = score / 50;
		52	sem_post(&mx_st_scr);
		53
		54	sem_wait(&mx_mat);
		55	vxo = - (ROCK_VEL + l) * sin(rand_ang);
		56	vyo = - (ROCK_VEL + l) * cos(rand_ang);
		57	sem_post(&mx_mat);
		58
		59	#ifdef ASTRO_MOVE
		60	rand_side = rand()%4;
		61	#else
		62	rand_side = 1;
		63	#endif
		64
		65	if (rand_side == 0) { // Bottom
		66	vx = vxo;
		67	vy = vyo;
		68	}
		69	if (rand_side == 1) { // Top
		70	vx = -vxo;
		71	vy = -vyo;
		72	}
		73	if (rand_side == 2) { // Right
		74	vx = vyo;
		75	vy = -vxo;
		76	}
		77	if (rand_side == 3) { // Left
		78	vx = -vyo;
		79	vy = vxo;
		80	}
		81
		82	if ( (ri->x == 0) && (ri->y == 0) ) {
		83	if (rand_side < 2) { // Bottom or Top
		84	x = ox = x0 = GB_XMIN + (GB_XMAX-GB_XMIN)/4 + (rand()%((GB_XMAX-GB_XMIN)/2));
		85	if (rand_side == 0) { // Bottom
		86	y = oy = y0 = GB_YMAX - (r+1);
		87	}
		88	if (rand_side == 1) { // Top
		89	y = oy = y0 = GB_YMIN + (r+1);
		90	}
		91	} else {
		92	y = oy = y0 = GB_YMIN + (GB_YMAX-GB_YMIN)/4 + (rand()%((GB_YMAX-GB_YMIN)/2));
		93	if (rand_side == 2) { // Right
		94	x = ox = x0 = GB_XMAX - (r+1);
		95	}
		96	if (rand_side == 3) { // Left
		97	x = ox = x0 = GB_XMIN + (r+1);
		98	}
		99	}
		100	} else {
		101	x = ox = x0 = ri->x;
		102	y = oy = y0 = ri->y;
		103	}
		104
		105	sem_wait(&mx_rk);
		106	rocks[i].x = x;
		107	rocks[i].y = y;
		108	rocks[i].r = r;
		109	sem_post(&mx_rk);
		110
		111	tx = 0;
		112	ty = 0;
		113	dt = ((float)ROCK_PERIOD)/100000;
		114
		115	while (1) {
		116	y = y0 + vy * ty;
		117	x = x0 + vx * tx;
		118
		119	sem_wait(&mx_rk);
		120	rocks[i].x = x;
		121	rocks[i].y = y;
		122	r = rocks[i].r;
		123	sem_post(&mx_rk);
		124
1567	mauro	125	draw_rock(ox, oy, r, RGB_BLACK, 0);
1162	tavani	126
		127	if ((kill_rock) \|\| (crash)){
		128	nrock--;
		129	sem_wait(&mx_rk);
		130	rocks[i].pid = NIL;
		131	sem_post(&mx_rk);
		132	return 0;
		133	}
		134
		135	ox = x;
		136	oy = y;
		137
		138	sem_wait(&mx_xy);
		139	ax = astro_x;
		140	ay = astro_y;
		141	sem_post(&mx_xy);
		142
		143	if (dist_xy(x, y, ax, ay) < (ASTRO_RADIUS/2+r)) {
		144	if (!ab) {
		145	sem_wait(&mx_st_nrg);
		146	energy -= ENERGY_GOT;
		147	sem_post(&mx_st_nrg);
		148	ab = 1;
		149	}
		150	} else
		151	ab = 0;
		152
		153	sem_wait(&mx_xy);
		154	if (dist_xy(x, y, astro_x, astro_y) < (ASTRO_RADIUS+r)/2) crash = 1;
		155	sem_post(&mx_xy);
		156
		157	#ifdef ASTRO_MOVE
		158	if (x <= GB_XMIN + r) {
		159	x0 = x = GB_XMAX - (r+1);
		160	y0 = y;
		161	tx = ty = 0;
		162	}
		163	if (x >= GB_XMAX - r) {
		164	x0 = x = GB_XMIN + (r+1);
		165	y0 = y;
		166	tx = ty = 0;
		167	}
		168	if (y <= GB_YMIN + r) {
		169	x0 = x;
		170	y0 = y = GB_YMAX - (r+1);
		171	tx = ty = 0;
		172	}
		173	if (y >= GB_YMAX - r) {
		174	x0 = x;
		175	y0 = y = GB_YMIN + (r+1);
		176	tx = ty = 0;
		177	}
		178	#else
		179	if ( (x <= GB_XMIN + r) \|\| (x >= GB_XMAX - r) \|\| (y >= GB_YMAX - 2*r) ) {
		180	if (y >= GB_YMAX - 2*r) {
		181	sem_wait(&mx_st_nrg);
		182	energy -= ENERGY_GOT;
		183	sem_post(&mx_st_nrg);
		184	}
		185	nrock--;
		186	sem_wait(&mx_rk);
		187	rocks[i].pid = NIL;
		188	sem_post(&mx_rk);
		189	return 0;
		190	}
		191	#endif
1567	mauro	192	draw_rock(ox, oy, r, RGB_YELLOW, 1);
1162	tavani	193
		194	ty += dt;
		195	tx += dt;
		196
		197	task_endcycle();
		198	}
		199	}
		200
		201	void rock_create(rock_ini* ri)
		202	{
		203	SOFT_TASK_MODEL mp;
		204	PID pid;
		205	int i;
		206
		207	soft_task_default_model(mp);
		208	soft_task_def_ctrl_jet(mp);
		209	soft_task_def_group(mp, ROCK_GROUP);
		210	soft_task_def_met(mp, ROCK_WCET);
		211	soft_task_def_period(mp,ROCK_PERIOD);
		212	soft_task_def_usemath(mp);
		213	i = -1;
		214	do {
		215	i++;
		216	sem_wait(&mx_rk);
		217	pid = rocks[i].pid;
		218	sem_post(&mx_rk);
		219	} while (pid != NIL);
		220	ri->i = i;
		221	soft_task_def_arg(mp, (void *)ri);
		222	pid = task_create("Rock", rock, &mp, NULL);
		223
		224	if (pid != NIL) {
		225	sem_wait(&mx_rk);
		226	rocks[i].pid = pid;
		227	sem_post(&mx_rk);
		228	task_activate(pid);
		229	nrock++;
		230	}
		231	}
		232
		233	TASK rock_creator()
		234	{
		235	while (1) {
		236	sem_wait(&mx_rn);
		237	if (rock_new.i == 0) {
		238	rock_create(&rock_new);
		239	rock_new.i = -1;
		240	}
		241	sem_post(&mx_rn);
		242
		243	if ((nrock < ROCK_NMAX/2) && (!kill_rock) && (!crash)) {
		244	if ((rand()%ROCK_NMAX) > nrock) {
		245	rock_new.r = ROCK_RADIUS_I;
		246	rock_new.x = rock_new.y = 0;
		247	rock_create(&rock_new);
		248	}
		249	}
		250	task_endcycle();
		251	}
		252	}
		253
		254	void reset_rock()
		255	{
		256	kill_rock = 1;
		257	}
		258
		259	void start_rock()
		260	{
		261	kill_rock = 0;
		262	}
		263
		264	void create_rock_task()
		265	{
		266	SOFT_TASK_MODEL ms;
		267
		268	soft_task_default_model(ms);
		269	soft_task_def_ctrl_jet(ms);
		270	soft_task_def_met(ms, ROCK_WCET);
		271	soft_task_def_period(ms,ROCK_PERIOD*10);
		272	soft_task_def_usemath(ms);
		273	pid_RC = task_create("RockCreator", rock_creator, &ms, NULL);
		274	if (pid_RC == NIL) {
1376	giacomo	275	sys_shutdown_message("Could not create task <RockCreator>\n");
1550	pj	276	exit(1);
1162	tavani	277	} else
		278	task_activate(pid_RC);
		279	}
		280
		281	void init_rock()
		282	{
		283	int i;
		284
		285	nrock = 0;
		286	kill_rock = 1;
		287	for ( i=0; i<ROCK_NMAX; i++ ) rocks[i].pid = NIL;
		288
		289	create_rock_task();
		290	}
		291

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