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1085 | 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 | * (see the web pages for full authors list) |
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11 | * |
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12 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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13 | * |
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14 | * http://www.sssup.it |
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15 | * http://retis.sssup.it |
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16 | * http://shark.sssup.it |
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17 | */ |
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18 | |||
19 | /** |
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20 | ------------ |
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1160 | pj | 21 | CVS : $Id: ball.c,v 1.3 2003-05-05 09:21:55 pj Exp $ |
1085 | pj | 22 | |
23 | File: $File$ |
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1160 | pj | 24 | Revision: $Revision: 1.3 $ |
25 | Last update: $Date: 2003-05-05 09:21:55 $ |
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1085 | pj | 26 | ------------ |
27 | **/ |
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28 | |||
29 | /* |
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30 | * Copyright (C) 2000 Paolo Gai |
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31 | * |
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32 | * This program is free software; you can redistribute it and/or modify |
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33 | * it under the terms of the GNU General Public License as published by |
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34 | * the Free Software Foundation; either version 2 of the License, or |
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35 | * (at your option) any later version. |
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36 | * |
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37 | * This program is distributed in the hope that it will be useful, |
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38 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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39 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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40 | * GNU General Public License for more details. |
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41 | * |
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42 | * You should have received a copy of the GNU General Public License |
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43 | * along with this program; if not, write to the Free Software |
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44 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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45 | * |
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46 | */ |
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47 | |||
48 | /*--------------------------------------------------------------*/ |
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1160 | pj | 49 | /* SIMULATION OF JUMPING BALLS */ |
1085 | pj | 50 | /*--------------------------------------------------------------*/ |
51 | |||
52 | #include "demo.h" |
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53 | #include <kernel/func.h> |
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54 | #include <stdlib.h> |
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55 | |||
1160 | pj | 56 | #define R 8 /* dimension of a ball */ |
57 | #define G 9.8 /* acceleration of gravity */ |
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1085 | pj | 58 | |
59 | static int ballexit = 0; |
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1160 | pj | 60 | static int npc = 0; /* number of tasks created */ |
1085 | pj | 61 | |
62 | /*--------------------------------------------------------------*/ |
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1160 | pj | 63 | /* Delay function for jumping balls */ |
1085 | pj | 64 | /*--------------------------------------------------------------*/ |
65 | |||
1160 | pj | 66 | void my_delay(void) |
1085 | pj | 67 | { |
1160 | pj | 68 | int xxx; |
69 | for (xxx=0; xxx<BALL_DELAY; xxx++); |
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70 | } |
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71 | |||
72 | /*--------------------------------------------------------------*/ |
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73 | /* Periodic task for ball simulation */ |
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74 | /*--------------------------------------------------------------*/ |
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75 | |||
76 | TASK palla(int i) |
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77 | { |
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78 | int x, y; /* coordinate grafiche pallina */ |
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79 | int ox, oy; /* vecchia posizione pallina */ |
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80 | int x0, y0; /* posizione iniziale X pallina */ |
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81 | float vx, vy; /* velocit… della pallina */ |
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1085 | pj | 82 | float vy0; /* velocita' pallina al primo rimbalzo */ |
1160 | pj | 83 | float ty, tx; /* variabile temporale */ |
84 | float dt; /* incremento temporale */ |
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1085 | pj | 85 | |
86 | y = oy = y0 = BALL_HEIGHT; |
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87 | x = ox = x0 = BALL_XMIN; |
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88 | |||
89 | vy0= sqrt(2. * G * (float)BALL_HEIGHT); |
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90 | vy = 0; |
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91 | vx = BALL_VELX + myrand(9); |
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92 | tx = 0; |
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93 | ty = 0; |
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94 | dt = ((float)PERIOD_BALL)/100000; |
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95 | |||
96 | while (1) { |
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97 | y = y0 + vy*ty - .5*G*ty*ty; |
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98 | x = x0 + vx * tx; |
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99 | |||
100 | if (y < 0) { |
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1160 | pj | 101 | y = 0; |
1085 | pj | 102 | |
1160 | pj | 103 | if (vy == 0.0) |
104 | vy = vy0; |
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105 | else if (vy < BALL_VYMIN) |
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106 | vy = vy0 * (1.0 - myrand(50)/100.0); |
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107 | else |
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108 | vy = 0.9 * vy; |
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1085 | pj | 109 | |
110 | ty = 0.0; |
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1160 | pj | 111 | y0 = 0; |
1085 | pj | 112 | } |
113 | |||
114 | if (x > BALL_XMAX) { |
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115 | tx = 0.0; |
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116 | x0 = BALL_XMAX; |
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117 | vx = -vx; |
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118 | x = x0 + vx * tx; |
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119 | } |
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120 | |||
121 | if (x < BALL_XMIN) { |
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122 | tx = 0.0; |
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123 | x0 = BALL_XMIN; |
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124 | vx = -vx; |
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125 | x = x0 + vx * tx; |
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126 | } |
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127 | |||
128 | mutex_lock(&mutex); |
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129 | grx_disc(ox, oy, R, 0); |
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1160 | pj | 130 | ox = x; |
131 | oy = BALL_Y - y; |
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1085 | pj | 132 | mutex_unlock(&mutex); |
133 | |||
1160 | pj | 134 | if (ballexit && i!=0xFFFF) { |
135 | npc--; |
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136 | return 0; |
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137 | } |
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1085 | pj | 138 | |
139 | mutex_lock(&mutex); |
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140 | grx_disc(ox, oy, R, i); |
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141 | mutex_unlock(&mutex); |
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142 | |||
1160 | pj | 143 | my_delay(); |
144 | |||
1085 | pj | 145 | ty += dt; |
146 | tx += dt; |
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147 | task_endcycle(); |
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148 | } |
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149 | } |
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150 | |||
151 | void killball(KEY_EVT *k) |
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152 | { |
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153 | ballexit = 1; |
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154 | } |
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155 | |||
156 | void ballfun(KEY_EVT *k) |
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157 | { |
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158 | SOFT_TASK_MODEL mp; |
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159 | int r,g,b; |
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160 | PID pid; |
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161 | char palla_str[]="palla "; |
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162 | |||
163 | if (npc == BALL_MAX_P) return; |
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164 | |||
165 | ballexit = 0; |
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166 | |||
167 | r = 64 + myrand(190); |
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168 | g = 64 + myrand(190); |
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169 | b = 64 + myrand(190); |
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170 | |||
171 | itoa(npc,palla_str+5); |
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172 | |||
173 | soft_task_default_model(mp); |
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174 | soft_task_def_level(mp,1); |
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175 | soft_task_def_ctrl_jet(mp); |
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176 | soft_task_def_arg(mp, (void *)rgb16(r,g,b)); |
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177 | soft_task_def_group(mp, BALL_GROUP); |
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178 | soft_task_def_met(mp, WCET_BALL); |
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179 | soft_task_def_period(mp,PERIOD_BALL); |
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180 | soft_task_def_usemath(mp); |
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181 | pid = task_create(palla_str, palla, &mp, NULL); |
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182 | |||
183 | if (pid != NIL) { |
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184 | task_activate(pid); |
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185 | npc++; |
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186 | } |
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187 | } |
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188 | |||
189 | void hardball() |
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190 | { |
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191 | HARD_TASK_MODEL mp; |
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192 | int r,g,b; |
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193 | PID pid; |
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194 | |||
195 | r = 255; |
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196 | g = 255; |
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197 | b = 255; |
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198 | |||
199 | hard_task_default_model(mp); |
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200 | hard_task_def_ctrl_jet(mp); |
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201 | hard_task_def_arg(mp, (void *)rgb16(r,g,b)); |
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1158 | pj | 202 | hard_task_def_wcet(mp, WCET_HARD_BALL); |
1085 | pj | 203 | hard_task_def_mit(mp,PERIOD_BALL); |
204 | hard_task_def_usemath(mp); |
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205 | pid = task_create("pallaEDF", palla, &mp, NULL); |
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206 | if (pid == NIL) { |
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1158 | pj | 207 | sys_shutdown_message("Could not create task <pallaEDF>"); |
1085 | pj | 208 | sys_end(); |
209 | } |
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210 | else |
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211 | task_activate(pid); |
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212 | } |
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213 | |||
214 | |||
215 | /*--------------------------------------------------------------*/ |
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1160 | pj | 216 | /* MAIN process */ |
1085 | pj | 217 | /*--------------------------------------------------------------*/ |
218 | |||
219 | void scenario_ball() |
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220 | { |
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221 | grx_text("Noise", 0, 45 /*BALL_Y-BALL_HEIGHT-15*/, rgb16(0,0,255), black); |
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222 | grx_line(0,55,383,55,red); |
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223 | //grx_line(0,BALL_Y-BALL_HEIGHT-6,383,BALL_Y-BALL_HEIGHT-6,red); |
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224 | |||
225 | grx_rect(BALL_XMIN-R-1, BALL_Y-BALL_HEIGHT-R-1, |
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1160 | pj | 226 | BALL_XMAX+R+1, BALL_Y+R+1, rgb16(0,200,0)); |
1085 | pj | 227 | } |
228 | |||
229 | void init_ball(void) |
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230 | { |
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231 | KEY_EVT k; |
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232 | |||
233 | hardball(); |
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234 | |||
235 | k.flag = 0; |
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236 | k.scan = KEY_SPC; |
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237 | k.ascii = ' '; |
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238 | keyb_hook(k,ballfun); |
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239 | |||
240 | k.flag = 0; |
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241 | k.scan = KEY_BKS; |
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242 | k.ascii = ' '; |
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243 | keyb_hook(k,killball); |
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244 | } |
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245 | |||
246 | /*--------------------------------------------------------------*/ |