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/*

 * Project: S.Ha.R.K.

 *

 * Coordinators:

 *   Giorgio Buttazzo    <giorgio@sssup.it>

 *   Paolo Gai           <pj@gandalf.sssup.it>

 *

 * Authors     :

 *   Paolo Gai           <pj@gandalf.sssup.it>

 *   Massimiliano Giorgi <massy@gandalf.sssup.it>

 *   Luca Abeni          <luca@gandalf.sssup.it>

 *   (see the web pages for full authors list)

 *

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

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://shark.sssup.it

 */

/**

 ------------

 CVS :        $Id: auto.c,v 1.2 2003-01-07 17:10:15 pj Exp $

 File:        $File$

 Revision:    $Revision: 1.2 $

 Last update: $Date: 2003-01-07 17:10:15 $

 ------------

**/

/*

 * Copyright (C) 2000 Marco Dallera and Marco Fiocca

 *

 * This program is free software; you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation; either version 2 of the License, or

 * (at your option) any later version.

 *

 * This program is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with this program; if not, write to the Free Software

 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

 *

 */

/*

 *              AUTO

 *

 * Another Unuseful Track simulatOr

 *

 * Authors: Marco Dallera

 *          Marco Fiocca

 *

 */

#include "include/auto.h"

#include "include/const.h"

#include "include/utils.h"

int car_number;

car_params cars[MAX_CAR_NUMBER];

char drivers[DRIVERS_NUMBER][MAX_DRIVER_NAME_LENGTH] = {

  "M.Schumacher",

  "D.Coulthard",

  "R.Schumacher",

  "M.Hakkinen",

  "R.Barrichello",

  "J.P.Montoya",

  "E.Irvine",

  "J.Trulli",

  "H.Frentzen",

  "J.Villeneuve",

  "J.Alesi",

  "G.Fisichella",

  "O.Panis",

  "O.Wurz",

  "J.Button",

  "P.P.Diniz",

  "P.De La Rosa",

  "T.Marques",

  "R.Zonta",

  "G.Mazzacane"

};

extern char sprite[18][CAR_WIDTH*CAR_HEIGHT];

/* Semaphores */

sem_t grx_mutex;

/* Useful colors */

int red       = rgb16(255,   0,   0);

int green     = rgb16(  0, 255,   0);

int blue      = rgb16(  0,   0, 255);

int lightgray = rgb16(192, 192, 192);

/* JetCTRL Initialization */

void init_jetcontrol(void);

/* -------------------------------------------------------*/

/* --------------------- */

/*  Handling car status  */

/* --------------------- */

int set_car_status(car_status cs, CAB cab_id) {

  char *msg;

  msg = cab_reserve(cab_id);

  memcpy(msg, &cs, CAR_MSG_DIM);

  return(cab_putmes(cab_id, msg));

}

car_status get_car_status(CAB cab_id) {

  char *msg;

  car_status status;

  msg = cab_getmes(cab_id);

  memcpy(&status, msg, CAR_MSG_DIM);

  cab_unget(cab_id, msg);

  return (status);

}

/* ---------------------------- */

/*  Handling road informations  */

/* ---------------------------- */

int set_road_info(road_info info, CAB road_status_cab) {

  char *msg;

  msg = cab_reserve(road_status_cab);

  memcpy(msg, &info, ROAD_MSG_DIM);

  return(cab_putmes(road_status_cab, msg));

}

road_info get_road_info(CAB road_status_cab) {

  char *msg;

  road_info info;

  msg = cab_getmes(road_status_cab);

  memcpy(&info, msg, ROAD_MSG_DIM);

  cab_unget(road_status_cab, msg);

  return (info);

}

/* -------------------------------------------------------*/

/* Closing function */

void byebye()

{

  grx_close();

  // we need clear to reposition the cursor in the right place after

  // going back from the graphical mode.

  clear();

  kern_printf("Race is over!\n");

}

/* -------------------------------------------------------*/

/* ------------------- */

/*  Hard car creation  */

/* ------------------- */

void hard_car_create() {

  car_params cp;

  HARD_TASK_MODEL sensor_m, control_m;

  PID sensor_pid, control_pid;

  TIME seed;          /* used to init the random seed */

  int drv_ind;

  if (car_number >= MAX_CAR_NUMBER)     return;

  /* Randomize!!!! */

  seed = sys_gettime(NULL);

  srand(seed);

  /* CAB creation */

  cp.road_status_cab = cab_create("road_cab", ROAD_MSG_DIM, ROAD_MSG_READER);

  cp.car_status_cab = cab_create("car_cab", CAR_MSG_DIM, CAR_MSG_READER);

  /* Car parameters initialization */

  cp.max_speed = rand_01();

  cp.min_acc = cp.max_speed;

  cp.max_acc = cp.max_speed;

  cp.rage = cp.max_speed;

  cp.color = 3+car_number;

  cp.number = car_number;

  drv_ind = DRIVERS_NUMBER-1 - (int)(((cp.rage-0.8+0.005) * (float)DRIVERS_NUMBER) / 0.2);

  /* Sets driver's name without duplications */

  strcpy(cp.driver, drivers[drv_ind]);

  while (!strcmp(cp.driver,"***"))

    strcpy(cp.driver, drivers[++drv_ind%DRIVERS_NUMBER]);

  strcpy(drivers[drv_ind],"***");

  cars[car_number] = cp;

  /* ------------ */

  /*  Task Calls  */

  /* ------------ */

  /* sensor task creation */

  hard_task_default_model(sensor_m);

  hard_task_def_arg(sensor_m, (void *)car_number);

  hard_task_def_wcet(sensor_m, SENSOR_WCET);

  hard_task_def_mit(sensor_m, SENSOR_PERIOD);

  hard_task_def_usemath(sensor_m);

  sensor_pid = task_create("camera", sensor, &sensor_m, NULL);

  if(sensor_pid == -1)

    sys_end();

  /* control task creation */

  hard_task_default_model(control_m);

  hard_task_def_arg(control_m, (void *)car_number);

  hard_task_def_wcet(control_m, CONTROL_WCET);

  hard_task_def_mit(control_m, CONTROL_PERIOD);

  hard_task_def_usemath(control_m);

  control_pid = task_create("controller", control, &control_m, NULL);

  if(control_pid == -1)

    sys_end();

  cars[car_number].sensor_pid = sensor_pid;

  cars[car_number].control_pid = control_pid;

  car_number++; // increases cars number

  task_activate(sensor_pid);

  task_activate(control_pid);

}

/* -------------------------------------------------------*/

/* ------------------- */

/*  Soft car creation  */

/* ------------------- */

void soft_car_create() {

  car_params cp;

  SOFT_TASK_MODEL sensor_m, control_m;

  PID sensor_pid, control_pid;

  TIME seed;          /* used to init the random seed */

  int drv_ind;

  if (car_number >= MAX_CAR_NUMBER)     return;

  /* Randomize!!!! */

  seed = sys_gettime(NULL);

  srand(seed);

  /* CAB creation */

  cp.road_status_cab = cab_create("road_cab", ROAD_MSG_DIM, ROAD_MSG_READER);

  cp.car_status_cab = cab_create("car_cab", CAR_MSG_DIM, CAR_MSG_READER);

  /* Car parameters initialization */

  cp.max_speed = rand_01();

  cp.min_acc = cp.max_speed;

  cp.max_acc = cp.max_speed;

  cp.rage = cp.max_speed;

  cp.color = 8+car_number;

  cp.number = car_number;

  drv_ind = DRIVERS_NUMBER-1 - (int)(((cp.rage-0.8+0.005) * (float)DRIVERS_NUMBER) / 0.2);

  /* Sets driver's name without duplications */

  strcpy(cp.driver, drivers[drv_ind]);

  while (!strcmp(cp.driver,"***"))

    strcpy(cp.driver, drivers[++drv_ind%DRIVERS_NUMBER]);

  strcpy(drivers[drv_ind],"***");

  cars[car_number] = cp;

  /* ------------ */

  /*  Task Calls  */

  /* ------------ */

  /* sensor task creation */

  soft_task_default_model(sensor_m);

  soft_task_def_arg(sensor_m, (void *)car_number);

  soft_task_def_met(sensor_m, SENSOR_WCET);

  soft_task_def_period(sensor_m, SENSOR_PERIOD);

  soft_task_def_usemath(sensor_m);

  sensor_pid = task_create("camera", sensor, &sensor_m, NULL);

  if(sensor_pid == -1)

    sys_end();

  /* control task creation */

  soft_task_default_model(control_m);

  soft_task_def_arg(control_m, (void *)car_number);

  soft_task_def_met(control_m, CONTROL_WCET);

  soft_task_def_period(control_m, CONTROL_PERIOD);

  soft_task_def_usemath(control_m);

  control_pid = task_create("controller", control, &control_m, NULL);

  if(control_pid == -1)

    sys_end();

  cars[car_number].sensor_pid = sensor_pid;

  cars[car_number].control_pid = control_pid;

  car_number++; // increases cars number

  task_activate(sensor_pid);

  task_activate(control_pid);

}

/* -------------------------------------------------------*/

/* ------------------- */

/*  The main function  */

/* ------------------- */

int main(int argc, char **argv) {

  TIME seed;          /* used to init the random seed */

  if (MAX_CAB < 30) {

    cprintf("The application needs at least 30 CABS.\n"

            "Please set the MAX_CAB #define to 30 or more...\n"

            "...(see include/modules/cabs.h)\n");

    sys_end();

  }

  /* Set the closing function */

  sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT);

  /* Keyboard handling */

  keyb_handler();

  kern_printf("KEYBOARD initialized...\n");

  /* Graphics mutex */

  sem_init(&grx_mutex, 0, 1);

  /* Graphics init */

  grx_init();

  grx_open(SCREEN_WIDTH, SCREEN_HEIGHT, SCREEN_BIT_COLORS);

  /* Track drawing */

  sem_wait(&grx_mutex);

  grx_setcolor(46,0,0,0);

  grx_setcolor(43,255,255,255);

  grx_setcolor(26,255,74,33);

  grx_setcolor(27,255,255,255);

  grx_setcolor(1,8,8,8);

  grx_setcolor(3,255,0,0);

  grx_setcolor(28,255,50,0);

  grx_setcolor(29,255,90,0);

  grx_setcolor(30,255,130,0);

  grx_setcolor(31,255,170,0);

  grx_setcolor(32,255,210,0);

  grx_setcolor(33,48,48,48);

  grx_putimage(TRACK_X1, TRACK_Y1, TRACK_X2, TRACK_Y2, track_img);

  sem_post(&grx_mutex);

  /* Command and info display */

  cmd_display();

  /* JetCTRL Initialization */

  init_jetcontrol();

  /* Randomize!!!! */

  seed = sys_gettime(NULL);

  srand(seed);

  car_number = 0;

  /* ------------ */

  /*  Task Calls  */

  /* ------------ */

  hard_car_create();

  return 0;

}

/* -------------------------------------------------------*/

void read_track(int i)

{

  DOS_FILE *f;  // DOS file descriptor

  int file_length;

  int index;

  char filename[100];

  int err;      // Error code

  /* Init track_list */

  track_init();

  /* Set the selected track from track_list */

  if (i < TRACK_NUMBER)

    index = i;

  else

    index = 0;

  cprintf("Selected index = %d\n", index);

  strcpy(filename, strcat("tracks/", track_list[index].name));

  cprintf("File to open = %s\n", filename);

  track_list[index].selected = 1;

  /* open the DOS file for reading      (you can specify only "r" or "w") */

  f = DOS_fopen(filename,"r");

  /* check for open errors */

  if (!f) {

    err = DOS_error();  // error!!

    /* note that if you call DOS_error() here, it return 0!!! */

    cprintf("Error %d opening %s...\n", err, filename);

    file_length = 0;

    byebye();

    return;

  }

  /* read track file */

  file_length = DOS_fread(&track_img, 1, TRACK_WIDTH*TRACK_HEIGHT, f);

  /* check for errors */

  err = DOS_error();

  cprintf("Read %d bytes from %s...\n", file_length, filename);

  if (err) {

    cprintf("Error %d reading %s...\n", err, filename);

    file_length = 0;

    /* there is not return because I want to close the file! */

  }

  /* Close the file */

  cprintf("Closing file %s...\n", filename);

  DOS_fclose(f);

  cprintf("File %s closed successfully!\n", filename);

}

/* -------------------------------------------------------*/

void read_sprites()

{

  /* DOS file descriptor */

  DOS_FILE *f;

  int myfilebuf_length,i;

  char filename[100];

        /* Error code */

  int err;

  i=0;

  for ( i=0; i < 16; i++) {

    sprintf(filename,"cars/car%d.raw",i);

    f = DOS_fopen(filename,"r");

    // check for open errors

    if (!f) {

      // error!!

      err = DOS_error();

      // note that if you call DOS_error() here, it return 0!!!

      cprintf("Error %d opening %s...\n", err, filename);

      myfilebuf_length = 0;

      return;

    }

    // read from file

    myfilebuf_length = DOS_fread(&sprite[i][0],1,CAR_WIDTH*CAR_HEIGHT,f);

    // check for errors

    err = DOS_error();

    cprintf("Read %d bytes from %s...\n", myfilebuf_length, filename);

    if (err) {

      cprintf("Error %d reading %s...\n", err, filename);

      myfilebuf_length = 0;

      // there is not return because I want to close the file!

    }

    // Close the file

    DOS_fclose(f);

  }

  f = DOS_fopen("cars/boom.raw","r");

  if (!f) {

    err = DOS_error();

    cprintf("Error %d opening boom.raw...\n", err);

    myfilebuf_length = 0;

    return;

  }

  myfilebuf_length = DOS_fread(&sprite[16][0],1,CAR_WIDTH*CAR_HEIGHT,f);

  err = DOS_error();

  cprintf("Read %d bytes from boom.raw...\n", myfilebuf_length);

  if (err) {

    cprintf("Error %d reading boom.raw...\n", err);

    myfilebuf_length = 0;

  }

  DOS_fclose(f);

  f = DOS_fopen("cars/fumo.raw","r");

  if (!f) {

    err = DOS_error();

    cprintf("Error %d opening fumo.raw...\n", err);

    myfilebuf_length = 0;

    return;

  }

  myfilebuf_length = DOS_fread(&sprite[17][0],1,CAR_WIDTH*CAR_HEIGHT,f);

  err = DOS_error();

  cprintf("Read %d bytes from fumo.raw...\n", myfilebuf_length);

  if (err) {

    cprintf("Error %d reading fumo.raw...\n", err);

    myfilebuf_length = 0;

  }

  DOS_fclose(f);

}