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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: missile.c,v 1.3 2004-05-25 18:24:59 giacomo Exp $ */

/*

 * Copyright (C) 2000 Fabio Calabrese <fabiocalabrese77@yahoo.it>

 *

 * 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

 *

 */

//**************************

//* file:        missile.c *

//* included by: bca.c     *

//**************************

PID crea_hard_missile(int index);

PID crea_soft_missile(int index);

PID crea_soft_esplo(int index);

TASK missile(void *arg)

{

  PID        esplo_pid;

  int        img;

  int        i, index;    // indice nella cannone_table

  int        distx, disty;

  int        xx0,yy0,xx1,yy1;

  double     vel, acc;

  double     a;

  double     y;

  double     x;

  double     old_x;    // [pixel]: conserva valore x prima di aggiornare

  double     old_y;

  double     dx;       // [pixel/us]: spostamento periodico

  double     dy;

  int        first_time;

  int killing;

  index = (int)arg;

  img=0;

  y = MISSILE_Y_MAX;

  x = cannone_table[index].x;

  a = FAB_rad(270);

  vel = MISSILE_V_MIN;

  acc = MISSILE_ACC_MIN;

  dx = 0;

  dy = 0;

  first_time = 1;

  killing = 0;

  while(1){

   old_x = x;

   old_y = y;

   if (vel<MISSILE_V_MAX) {

      vel += acc*MISSILE_PERIOD/(60*60*1000000.0);

      if (vel>MISSILE_V_MAX) vel = MISSILE_V_MAX;

      }

   if (acc<MISSILE_ACC_MAX) {

      acc += MISSILE_ACC_MIN;

      if (acc>MISSILE_ACC_MAX) acc = MISSILE_ACC_MAX;

      }

   cannone_table[index].missile_vel=vel;

   dx = cos(a)*vel * (X1-X0) / (double)BASE_L

        * (MISSILE_PERIOD / (60*60*1000000.0));

   dy = sin(a)*vel * (Y1-Y0) / ((double)BASE_H/1000)

        * (MISSILE_PERIOD / (60*60*1000000.0));

   x += dx;

   y += dy;

   xx0 = old_x - MISSILE_LX/2;

   yy0 = old_y - MISSILE_LY/2;

   xx1 = xx0   + MISSILE_LX-1;

   yy1 = yy0   + MISSILE_LY-1;

   if (x<MISSILE_X_MIN || x>MISSILE_X_MAX

     || y<MISSILE_Y_MIN || y>MISSILE_Y_MAX) {

      killing = 1;

      }

   if (killing) {

      if (!first_time) {

          mutex_lock(&grx_mutex);

          FAB_image_put_within(image_bca,X0,Y0,xx0,yy0,xx1,yy1);

          mutex_unlock(&grx_mutex);

          }

      cannone_table[index].fire = 0;

      //il task cannone si accorge che il suo missile ha finito

      // quindi ne ricreer… uno nuovo in caso di bersaglio!!!

      return NULL;

      }

   if ( (int)x != (int)old_x

      ||(int)y != (int)old_y ) {//...se c'Š lo spostamento reale

                                //        di almeno un pixel...

     mutex_lock(&grx_mutex);   //...aggiorna disegno...

     if (first_time) {

         first_time=0;

         }

     else {

         if (yy1<Y1-CANNONE_LY) FAB_image_put_within(image_bca,X0,Y0,xx0,yy0,xx1,yy1);

         else                   FAB_image_put_within(image_bca,X0,Y0,xx0,yy0,xx1,Y1-CANNONE_LY);

         }

     FAB_image_put_within(image_missile[img++], x - MISSILE_LX/2, y - MISSILE_LY/2,

                                              X0, Y0,

                                              X1, Y1-CANNONE_LY);

     mutex_unlock(&grx_mutex);

     if (img==2) img = 0;

     }

   //Ha colpito un aereo?

   for (i=0; i<AEREO_N_MAX; i++)

       if (aereo_table[i].status){

          distx = aereo_table[i].x-x;

          disty = aereo_table[i].y-y;

          if (distx<0) distx *= -1;

          if (disty<0) disty *= -1;

          if ( distx<(AEREO_LX+MISSILE_LX)/2-1

             &&disty<(AEREO_LY+MISSILE_LY)/2-1 ) { // BERSAGLIO COLPITO!

               esplo_pid = crea_soft_esplo(i);

               task_activate(esplo_pid);

               killing=1;

               aereo_table[i].killing=1;

               break;

               }

          }

   task_endcycle();

 }

return NULL;

}

PID crea_hard_missile(int index)

{

  HARD_TASK_MODEL m;

  PID pid;

  hard_task_default_model(m);

  hard_task_def_level(m,1);

  hard_task_def_arg(m,(void*)index);

  hard_task_def_periodic(m);

  hard_task_def_wcet(m, MISSILE_WCET);

  hard_task_def_mit(m,MISSILE_PERIOD);

  pid = task_create("hard_missile", missile, &m, NULL);

  return pid;

}

PID crea_soft_missile(int index)

{

  SOFT_TASK_MODEL m;

  PID pid;

  soft_task_default_model(m);

  soft_task_def_level(m,2);

  soft_task_def_arg(m,(void*)index);

  soft_task_def_periodic(m);

  soft_task_def_period(m,MISSILE_PERIOD);

  soft_task_def_wcet(m, MISSILE_WCET);

  soft_task_def_met(m,MISSILE_MET);

  pid = task_create("soft_missile", missile, &m, NULL);

  return pid;

}