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1090 | pj | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: |
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5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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6 | * Paolo Gai <pj@gandalf.sssup.it> |
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7 | * |
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8 | * Authors : |
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9 | * Paolo Gai <pj@gandalf.sssup.it> |
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10 | * Massimiliano Giorgi <massy@gandalf.sssup.it> |
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11 | * Luca Abeni <luca@gandalf.sssup.it> |
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12 | * (see the web pages for full authors list) |
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13 | * |
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14 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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15 | * |
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16 | * http://www.sssup.it |
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17 | * http://retis.sssup.it |
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18 | * http://shark.sssup.it |
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19 | */ |
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20 | |||
21 | /* CVS : $Id: missile.c,v 1.1 2002-10-01 10:25:01 pj Exp $ */ |
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22 | |||
23 | /* |
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24 | * Copyright (C) 2000 Fabio Calabrese <fabiocalabrese77@yahoo.it> |
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25 | * |
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26 | * This program is free software; you can redistribute it and/or modify |
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27 | * it under the terms of the GNU General Public License as published by |
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28 | * the Free Software Foundation; either version 2 of the License, or |
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29 | * (at your option) any later version. |
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30 | * |
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31 | * This program is distributed in the hope that it will be useful, |
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32 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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33 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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34 | * GNU General Public License for more details. |
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35 | * |
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36 | * You should have received a copy of the GNU General Public License |
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37 | * along with this program; if not, write to the Free Software |
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38 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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39 | * |
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40 | */ |
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41 | |||
42 | //************************** |
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43 | //* file: missile.c * |
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44 | //* included by: bca.c * |
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45 | //************************** |
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46 | |||
47 | TASK missile(void *arg) |
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48 | { |
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49 | PID esplo_pid; |
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50 | int img; |
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51 | int i, index; // indice nella cannone_table |
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52 | int distx, disty; |
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53 | int xx0,yy0,xx1,yy1; |
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54 | double vel, acc; |
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55 | double a; |
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56 | double y; |
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57 | double x; |
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58 | double old_x; // [pixel]: conserva valore x prima di aggiornare |
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59 | double old_y; |
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60 | double dx; // [pixel/us]: spostamento periodico |
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61 | double dy; |
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62 | int first_time; |
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63 | int killing; |
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64 | |||
65 | index = (int)arg; |
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66 | img=0; |
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67 | y = MISSILE_Y_MAX; |
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68 | x = cannone_table[index].x; |
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69 | a = FAB_rad(270); |
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70 | vel = MISSILE_V_MIN; |
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71 | acc = MISSILE_ACC_MIN; |
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72 | dx = 0; |
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73 | dy = 0; |
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74 | |||
75 | first_time = 1; |
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76 | killing = 0; |
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77 | |||
78 | while(1){ |
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79 | |||
80 | old_x = x; |
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81 | old_y = y; |
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82 | |||
83 | if (vel<MISSILE_V_MAX) { |
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84 | vel += acc*MISSILE_PERIOD/(60*60*1000000.0); |
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85 | if (vel>MISSILE_V_MAX) vel = MISSILE_V_MAX; |
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86 | } |
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87 | if (acc<MISSILE_ACC_MAX) { |
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88 | acc += MISSILE_ACC_MIN; |
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89 | if (acc>MISSILE_ACC_MAX) acc = MISSILE_ACC_MAX; |
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90 | } |
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91 | |||
92 | cannone_table[index].missile_vel=vel; |
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93 | |||
94 | dx = cos(a)*vel * (X1-X0) / (double)BASE_L |
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95 | * (MISSILE_PERIOD / (60*60*1000000.0)); |
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96 | dy = sin(a)*vel * (Y1-Y0) / ((double)BASE_H/1000) |
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97 | * (MISSILE_PERIOD / (60*60*1000000.0)); |
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98 | |||
99 | x += dx; |
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100 | y += dy; |
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101 | |||
102 | xx0 = old_x - MISSILE_LX/2; |
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103 | yy0 = old_y - MISSILE_LY/2; |
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104 | xx1 = xx0 + MISSILE_LX-1; |
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105 | yy1 = yy0 + MISSILE_LY-1; |
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106 | |||
107 | if (x<MISSILE_X_MIN || x>MISSILE_X_MAX |
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108 | || y<MISSILE_Y_MIN || y>MISSILE_Y_MAX) { |
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109 | killing = 1; |
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110 | } |
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111 | |||
112 | if (killing) { |
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113 | if (!first_time) { |
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114 | mutex_lock(&grx_mutex); |
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115 | FAB_image_put_within(image_bca,X0,Y0,xx0,yy0,xx1,yy1); |
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116 | mutex_unlock(&grx_mutex); |
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117 | } |
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118 | cannone_table[index].fire = 0; |
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119 | //il task cannone si accorge che il suo missile ha finito |
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120 | // quindi ne ricreer… uno nuovo in caso di bersaglio!!! |
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121 | return NULL; |
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122 | } |
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123 | |||
124 | if ( (int)x != (int)old_x |
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125 | ||(int)y != (int)old_y ) {//...se c'Š lo spostamento reale |
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126 | // di almeno un pixel... |
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127 | mutex_lock(&grx_mutex); //...aggiorna disegno... |
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128 | if (first_time) { |
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129 | first_time=0; |
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130 | } |
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131 | else { |
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132 | if (yy1<Y1-CANNONE_LY) FAB_image_put_within(image_bca,X0,Y0,xx0,yy0,xx1,yy1); |
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133 | else FAB_image_put_within(image_bca,X0,Y0,xx0,yy0,xx1,Y1-CANNONE_LY); |
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134 | } |
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135 | |||
136 | FAB_image_put_within(image_missile[img++], x - MISSILE_LX/2, y - MISSILE_LY/2, |
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137 | X0, Y0, |
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138 | X1, Y1-CANNONE_LY); |
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139 | mutex_unlock(&grx_mutex); |
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140 | if (img==2) img = 0; |
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141 | } |
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142 | |||
143 | //Ha colpito un aereo? |
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144 | for (i=0; i<AEREO_N_MAX; i++) |
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145 | if (aereo_table[i].status){ |
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146 | distx = aereo_table[i].x-x; |
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147 | disty = aereo_table[i].y-y; |
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148 | if (distx<0) distx *= -1; |
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149 | if (disty<0) disty *= -1; |
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150 | if ( distx<(AEREO_LX+MISSILE_LX)/2-1 |
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151 | &&disty<(AEREO_LY+MISSILE_LY)/2-1 ) { // BERSAGLIO COLPITO! |
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152 | esplo_pid = crea_soft_esplo(i); |
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153 | task_activate(esplo_pid); |
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154 | killing=1; |
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155 | aereo_table[i].killing=1; |
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156 | break; |
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157 | } |
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158 | } |
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159 | |||
160 | task_endcycle(); |
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161 | } |
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162 | |||
163 | return NULL; |
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164 | } |
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165 | |||
166 | |||
167 | PID crea_hard_missile(int index) |
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168 | { |
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169 | HARD_TASK_MODEL m; |
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170 | PID pid; |
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171 | |||
172 | hard_task_default_model(m); |
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173 | hard_task_def_level(m,0); |
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174 | hard_task_def_arg(m,(void*)index); |
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175 | hard_task_def_periodic(m); |
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176 | hard_task_def_wcet(m, MISSILE_WCET); |
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177 | hard_task_def_mit(m,MISSILE_PERIOD); |
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178 | |||
179 | pid = task_create("hard_missile", missile, &m, NULL); |
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180 | return pid; |
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181 | } |
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182 | |||
183 | PID crea_soft_missile(int index) |
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184 | { |
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185 | SOFT_TASK_MODEL m; |
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186 | PID pid; |
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187 | |||
188 | soft_task_default_model(m); |
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189 | soft_task_def_level(m,0); |
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190 | soft_task_def_arg(m,(void*)index); |
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191 | soft_task_def_periodic(m); |
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192 | soft_task_def_period(m,MISSILE_PERIOD); |
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193 | soft_task_def_wcet(m, MISSILE_WCET); |
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194 | soft_task_def_met(m,MISSILE_MET); |
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195 | |||
196 | pid = task_create("soft_missile", missile, &m, NULL); |
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197 | return pid; |
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198 | } |