Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1357 | 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 | ------------ |
||
21 | CVS : $Id: fly2.c,v 1.1 2004-03-30 06:46:08 pj Exp $ |
||
22 | |||
23 | File: $File$ |
||
24 | Revision: $Revision: 1.1 $ |
||
25 | Last update: $Date: 2004-03-30 06:46:08 $ |
||
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 (with death of flies) */ |
||
50 | /*--------------------------------------------------------------*/ |
||
51 | |||
52 | #include <kernel/kern.h> |
||
53 | #include <drivers/glib.h> |
||
54 | #include <drivers/keyb.h> |
||
55 | #include <semaphore.h> |
||
56 | #include <stdlib.h> |
||
57 | #include <math.h> |
||
58 | |||
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 */ |
||
67 | #define ESC 27 /* ASCII code of ESCAPE key */ |
||
68 | #define MAX_P 35 /* max number of flies */ |
||
69 | #define FLYGROUP 1 |
||
70 | |||
71 | double tick = 1.0; /* system tick = 1 ms */ |
||
72 | int fly_period = 40000; /* task period */ |
||
73 | int fly_wcet = 1000; /* task wcet */ |
||
74 | PID pid; |
||
75 | sem_t mutex; |
||
76 | |||
77 | |||
78 | sem_t mutex_i; /* mutex to protect i */ |
||
79 | int i = 0; /* number of tasks created */ |
||
80 | |||
81 | |||
82 | /*--------------------------------------------------------------*/ |
||
83 | |||
84 | void draw_fly(int x, int y, int c) |
||
85 | { |
||
86 | sem_wait(&mutex); |
||
87 | grx_disc(x, y, D, c); |
||
88 | sem_post(&mutex); |
||
89 | } |
||
90 | |||
91 | void draw_i(void) |
||
92 | { |
||
93 | char s[50]; |
||
94 | |||
95 | sem_wait(&mutex_i); |
||
96 | sprintf(s,"i=%d ",i); |
||
97 | sem_post(&mutex_i); |
||
98 | |||
99 | sem_wait(&mutex); |
||
100 | grx_text(s, XMIN+200, YMENU+30, 12, 0); |
||
101 | sem_post(&mutex); |
||
102 | } |
||
103 | |||
104 | int get_i(void) |
||
105 | { |
||
106 | int j; |
||
107 | |||
108 | sem_wait(&mutex_i); |
||
109 | j = i; |
||
110 | sem_post(&mutex_i); |
||
111 | |||
112 | return j; |
||
113 | } |
||
114 | |||
115 | void i_minus_1(void) |
||
116 | { |
||
117 | sem_wait(&mutex_i); |
||
118 | i--; |
||
119 | sem_post(&mutex_i); |
||
120 | } |
||
121 | |||
122 | void i_plus_1(void) |
||
123 | { |
||
124 | sem_wait(&mutex_i); |
||
125 | i++; |
||
126 | sem_post(&mutex_i); |
||
127 | } |
||
128 | |||
129 | |||
130 | |||
131 | /******************************************************************/ |
||
132 | |||
133 | TASK fly(void *arg) |
||
134 | { |
||
135 | int x, y; |
||
136 | int ox, oy; |
||
137 | int dx, dy, da; |
||
138 | int teta, col; |
||
139 | int outx, outy; |
||
140 | double r; |
||
141 | int local_i = (int)arg; |
||
142 | int number_of_iterations; |
||
143 | |||
144 | x = ox = (XMIN+XMAX)/2; |
||
145 | y = oy = (YMIN+YMAX)/2; |
||
146 | teta = 0; |
||
147 | col = 2 + local_i; /* colore fly */ |
||
148 | number_of_iterations = 200; |
||
149 | |||
150 | while (number_of_iterations) { |
||
151 | |||
152 | da = rand()%(2*ANG) - ANG; /* da = [-ANG,ANG] */ |
||
153 | teta += da; |
||
154 | |||
155 | if (teta > 360) teta -= 360; |
||
156 | if (teta < 0) teta += 360; |
||
157 | r = (double)teta * PI / 180.; |
||
158 | |||
159 | dx = (float)(VEL * cos(r)); |
||
160 | dy = (float)(VEL * sin(r)); |
||
161 | x += dx; |
||
162 | y += dy; |
||
163 | |||
164 | outx = (x >= XMAX) || (x <= XMIN); |
||
165 | outy = (y >= YMAX) || (y <= YMIN); |
||
166 | |||
167 | if (outx || outy) { |
||
168 | x = x - dx; |
||
169 | y = y - dy; |
||
170 | if (outx) teta = 180 - teta; |
||
171 | if (outy) teta = -teta; |
||
172 | if (teta > 360) teta -= 360; |
||
173 | if (teta < 0) teta += 360; |
||
174 | r = (double)teta * PI / 180.; |
||
175 | |||
176 | dx = (float)(VEL * cos(r)); |
||
177 | dy = (float)(VEL * sin(r)); |
||
178 | |||
179 | x += dx; |
||
180 | y += dy; |
||
181 | } |
||
182 | |||
183 | draw_fly(ox, oy, 0); |
||
184 | draw_fly(x, y, col); |
||
185 | ox = x; oy = y; |
||
186 | |||
187 | number_of_iterations--; |
||
188 | |||
189 | task_endcycle(); |
||
190 | } |
||
191 | |||
192 | draw_fly(x, y, 0); |
||
193 | |||
194 | i_minus_1(); |
||
195 | |||
196 | draw_i(); |
||
197 | return 0; |
||
198 | } |
||
199 | |||
200 | /****************************************************************/ |
||
201 | |||
202 | /* This function is called when the system exits */ |
||
203 | void byebye(void *arg) |
||
204 | { |
||
205 | grx_close(); |
||
206 | cprintf("Bye Bye!\n"); |
||
207 | } |
||
208 | |||
209 | /****************************** MAIN ******************************/ |
||
210 | |||
211 | int main(int argc, char **argv) |
||
212 | { |
||
213 | HARD_TASK_MODEL m; |
||
214 | |||
215 | char c; /* character from keyboard */ |
||
216 | TIME seme; /* used to init the random seed */ |
||
217 | int local_i; /* local copy of i */ |
||
218 | |||
219 | /* Set the closing function */ |
||
220 | sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT); |
||
221 | |||
222 | sem_init(&mutex,0,1); |
||
223 | sem_init(&mutex_i,0,1); |
||
224 | |||
225 | /* graphic card Initialization */ |
||
226 | if (grx_init() < 1) { |
||
227 | sys_abort(1); |
||
228 | } |
||
229 | |||
230 | if (grx_open(640, 480, 8) < 0) { |
||
231 | cprintf("GRX Err\n"); |
||
232 | sys_abort(1); |
||
233 | } |
||
234 | |||
235 | /* The scenario */ |
||
236 | grx_rect(XMIN-D-1, YMIN-D-1, XMAX+D+1, YMAX+D+1, 14); |
||
237 | grx_text("Simulation of Random Flies", XMIN, YMENU+10, 13, 0); |
||
238 | grx_text("SPACE create a fly" , XMIN, YMENU+20, 12, 0); |
||
239 | grx_text("ESC exit to DOS" , XMIN, YMENU+30, 12, 0); |
||
240 | draw_i(); |
||
241 | |||
242 | |||
243 | /* The program waits a space to create a fly */ |
||
244 | c = keyb_getch(BLOCK); |
||
245 | |||
246 | /* randomize!!!! */ |
||
247 | seme = sys_gettime(NULL); |
||
248 | srand(seme); |
||
249 | |||
250 | do { |
||
251 | local_i = get_i(); |
||
252 | if ((c == ' ') && (local_i < MAX_P)) { |
||
253 | hard_task_default_model(m); |
||
254 | hard_task_def_ctrl_jet (m); |
||
255 | hard_task_def_arg (m, (void *)local_i); |
||
256 | hard_task_def_wcet (m, fly_wcet); |
||
257 | hard_task_def_mit (m, fly_period); |
||
258 | hard_task_def_group (m, FLYGROUP); |
||
259 | hard_task_def_usemath (m); |
||
260 | pid = task_create("fly", fly, &m, NULL); |
||
261 | if (pid == NIL) { |
||
262 | grx_close(); |
||
263 | perror("Could not create task <fly>"); |
||
264 | sys_abort(1); |
||
265 | } |
||
266 | task_activate(pid); |
||
267 | i_plus_1(); |
||
268 | draw_i(); |
||
269 | } |
||
270 | c = keyb_getch(BLOCK); |
||
271 | |||
272 | } while (c != ESC); |
||
273 | |||
274 | sys_end(); |
||
275 | |||
276 | return 0; |
||
277 | } |
||
278 | |||
279 | /*--------------------------------------------------------------*/ |