WebSVN - shark - Blame - Rev 1398 - /demos/trunk/base/fly.c

Rev	Author	Line No.	Line
1085	pj	1	/*
		2	* Project: S.Ha.R.K.
		3	*
		4	* Coordinators:
		5	* Giorgio Buttazzo <giorgio@sssup.it>
		6	* Paolo Gai <pj@gandalf.sssup.it>
		7	*
		8	* Authors :
		9	* Paolo Gai <pj@gandalf.sssup.it>
		10	* (see the web pages for full authors list)
		11	*
		12	* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
		13	*
		14	* http://www.sssup.it
		15	* http://retis.sssup.it
		16	* http://shark.sssup.it
		17	*/
		18
		19	/**
		20	------------
1398	giacomo	21	CVS : $Id: fly.c,v 1.8 2004-04-23 07:57:33 giacomo Exp $
1085	pj	22
		23	File: $File$
1398	giacomo	24	Revision: $Revision: 1.8 $
		25	Last update: $Date: 2004-04-23 07:57:33 $
1085	pj	26	------------
		27	**/
		28
		29	/*
		30	* Copyright (C) 2000 Paolo Gai and Giorgio Buttazzo
		31	*
		32	* This program is free software; you can redistribute it and/or modify
		33	* it under the terms of the GNU General Public License as published by
		34	* the Free Software Foundation; either version 2 of the License, or
		35	* (at your option) any later version.
		36	*
		37	* This program is distributed in the hope that it will be useful,
		38	* but WITHOUT ANY WARRANTY; without even the implied warranty of
		39	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		40	* GNU General Public License for more details.
		41	*
		42	* You should have received a copy of the GNU General Public License
		43	* along with this program; if not, write to the Free Software
		44	* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
		45	*
		46	*/
		47
		48	/--------------------------------------------------------------/
		49	/* SIMULATION OF RANDOM FLIES */
		50	/--------------------------------------------------------------/
		51
		52	#include <kernel/kern.h>
		53	#include <stdlib.h>
		54	#include <math.h>
		55
1382	giacomo	56	#include <drivers/shark_keyb26.h>
1377	giacomo	57	#include <drivers/shark_fb26.h>
		58
1085	pj	59	#define YMENU 10 /* menu level */
		60	#define XMIN 50
		61	#define XMAX 600
		62	#define YMIN 100
		63	#define YMAX 450
		64	#define VEL 5 /* linear velocity (def. = 5) */
		65	#define ANG 30 /* angolo massimo sterzata (30) */
		66	#define D 3 /* raggio mosca */
1377	giacomo	67	#undef ESC
1085	pj	68	#define ESC 27 /* ASCII code of ESCAPE key */
		69	#define MAX_P 35 /* max number of flies */
		70	#define FLYGROUP 1
		71
		72	double tick = 1.0; /* system tick = 1 ms */
		73	int fly_period = 40000; /* task period */
		74	int fly_wcet = 1000; /* task wcet */
		75	PID pid;
		76
		77	/--------------------------------------------------------------/
		78
		79	void draw_fly(int x, int y, int c)
		80	{
		81	grx_disc(x, y, D, c);
		82	}
		83
		84	/******************************************************************/
		85
		86	TASK fly(void *arg)
		87	{
		88	int x, y;
		89	int ox, oy;
		90	int dx, dy, da;
1386	giacomo	91	int teta, col,red;
1085	pj	92	int outx, outy;
		93	double r;
		94	int i = (int)arg;
		95
		96	x = ox = (XMIN+XMAX)/2;
		97	y = oy = (YMIN+YMAX)/2;
		98	teta = 0;
1398	giacomo	99	red = 100+10*i;
		100	if (red > 255) red = 255;
1386	giacomo	101	col = rgb16(red,0,50); /* colore fly */
1085	pj	102
		103	while (1) {
		104
		105	da = rand()%(2ANG) - ANG; / da = [-ANG,ANG] */
		106	teta += da;
		107
		108	if (teta > 360) teta -= 360;
		109	if (teta < 0) teta += 360;
		110	r = (double)teta * PI / 180.;
		111
		112	dx = (float)(VEL * cos(r));
		113	dy = (float)(VEL * sin(r));
		114	x += dx;
		115	y += dy;
		116
		117	outx = (x >= XMAX) \|\| (x <= XMIN);
		118	outy = (y >= YMAX) \|\| (y <= YMIN);
		119
		120	if (outx \|\| outy) {
		121	x = x - dx;
		122	y = y - dy;
		123	if (outx) teta = 180 - teta;
		124	if (outy) teta = -teta;
		125	if (teta > 360) teta -= 360;
		126	if (teta < 0) teta += 360;
		127	r = (double)teta * PI / 180.;
		128
		129	dx = (float)(VEL * cos(r));
		130	dy = (float)(VEL * sin(r));
		131
		132	x += dx;
		133	y += dy;
		134	}
		135
		136	draw_fly(ox, oy, 0);
		137	draw_fly(x, y, col);
		138	ox = x; oy = y;
		139
		140	task_endcycle();
		141	}
		142	}
		143
		144	/**************************** MAIN ****************************/
		145
		146	int main(int argc, char **argv)
		147	{
		148	HARD_TASK_MODEL m;
		149
		150	char c; /* character from keyboard */
		151	int i = 0; /* number of tasks created */
		152	TIME seme; /* used to init the random seed */
		153
		154	/* The scenario */
1386	giacomo	155	grx_rect(XMIN-D-1, YMIN-D-1, XMAX+D+1, YMAX+D+1, rgb16(255,255,255));
		156	grx_text("Simulation of Random Flies", XMIN, YMENU+10, rgb16(255,255,255), 0);
		157	grx_text("SPACE create a fly" , XMIN, YMENU+20, rgb16(255,255,255), 0);
		158	grx_text("ESC exit to DOS" , XMIN, YMENU+30, rgb16(255,255,255), 0);
1085	pj	159
		160	/* The program waits a space to create a fly */
		161	c = keyb_getch(BLOCK);
		162
		163	/* randomize!!!! */
		164	seme = sys_gettime(NULL);
		165	srand(seme);
		166
		167	do {
		168	if ((c == ' ') && (i < MAX_P)) {
		169	hard_task_default_model(m);
		170	hard_task_def_ctrl_jet (m);
		171	hard_task_def_arg (m, (void *)i);
		172	hard_task_def_wcet (m, fly_wcet);
		173	hard_task_def_mit (m, fly_period);
		174	hard_task_def_group (m, FLYGROUP);
		175	hard_task_def_usemath (m);
		176	pid = task_create("fly", fly, &m, NULL);
		177	if (pid == NIL) {
1377	giacomo	178	sys_shutdown_message("Could not create task <fly>");
1382	giacomo	179	sys_end();
1377	giacomo	180	return 0;
1085	pj	181	}
		182	task_activate(pid);
		183	i++;
		184	}
		185	c = keyb_getch(BLOCK);
		186
		187	} while (c != ESC);
		188
1382	giacomo	189	sys_end();
1085	pj	190
		191	return 0;
1377	giacomo	192
1085	pj	193	}
		194
		195	/--------------------------------------------------------------/

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