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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>

 *   (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: orbit.c,v 1.3 2003-01-07 17:10:17 pj Exp $

 File:        $File$

 Revision:    $Revision: 1.3 $

 Last update: $Date: 2003-01-07 17:10:17 $

 ------------

*/

/*

 * Copyright (C) 2000 Giorgio Buttazzo and Paolo Gai

 *

 * 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

 *

 */

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

/*              SIMULAZIONE DI MASSE CHE ORBITANO               */

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

#include <kernel/kern.h>

#include <drivers/glib.h>

#include <drivers/keyb.h>

#include <semaphore.h>

#include <stdlib.h>

#include <math.h>

#define MAX     11              /* numero massimo pianeti       */

#define ESC     27              /* codice ASCII tasto ESCAPE    */

#define XMAX    639             /* valore massimo coordinata X  */

#define YMAX    479             /* valore massimo coordinata Y  */

struct  coord {

  double        x;

  double        y;

};

char    fbuf[1000];             // buffer for reading a file

int     flen;                   // file length

double  mass[MAX];              /* vettore masse pianeti        */

struct  coord pos[MAX];         /* vettore posizioni attuali    */

struct  coord vel[MAX];         /* vettore velocita' iniziali   */

int     XGS, YGS;               /* Coordinate centro spazio     */

int     RP, RT;                 /* raggio pianeta, raggio Terra */

int     np;                     /* numero attuale di pianeti    */

double  G;                      /* Gravitazione Universale      */

double  tick;                   /* tick di sistema              */

double  delta;                  /* incremento temporale         */

double  scala;                  /* fattore grafico di scala     */

// -------------------------------------------------------

// NOTA: %f o %lf significa double e %nf significa float

// -------------------------------------------------------

PID     pid;

int     period;                 /* task period                  */

int     wcet;                   /* task wcet                    */

sem_t   mutex;                  /* semaforo di mutua esclusione */

void    get_par(void);

/*--------------------------------------------------------------*/

void    my_fine(void *arg)

{

  grx_close();

}

/*--------------------------------------------------------------*/

int     inside(int x, int y)

{

  return ((x > RP) && (x < XMAX-RP) &&

          (y > RP) && (y < YMAX-RP));

}

/*--------------------------------------------------------------*/

TASK    massa(void *xxx)

{

  int   i = (int)xxx;           /* parametro del task */

  int   gx, gy;                 /* coordinate grafiche pallina  */

  int   ox, oy;                 /* vecchia posizione pallina    */

  int   j;

  int   r, col;                 /* raggio e colore pianeta      */

  double        dt;                     /* incremento temporale         */

  double        dist=0.0, dx, dy;       /* distanze pianeta-pianeta     */

  double        dist0=0.0;              /* distanze pianeta-Terra       */

  double        x, y;                   /* posizione del pianeta        */

  double        vx, vy;                 /* velocita' del pianeta        */

  double        ax, ay;                 /* accelerazione del pianeta    */

  double        k;                      /* variabile ausiliaria         */

  double        arg;                    /* variabile di appoggio        */

  x = pos[i].x; y = pos[i].y;

  vx = vel[i].x;        vy = vel[i].y;

  ox = XGS + x / scala;

  oy = YGS + y / scala;

  dt = delta;

  do {

    x = pos[i].x;

    y = pos[i].y;

    ax = ay = 0.0;

    for (j=0; j<np; j++) {

      if (j != i) {

        dx = pos[j].x - x;

        dy = pos[j].y - y;

        arg = dx*dx + dy*dy;

        dist = sqrt(arg);

        if (dist < RP*scala) dist = RP*scala;

        k = G * mass[j] / (dist*dist*dist);

        ax += k * dx;

        ay += k * dy;

      }

      if (j == 0) dist0 = dist - (RP+RT)*scala;

    }

    x += vx*dt + 0.5*ax*dt*dt;

    y += vy*dt + 0.5*ay*dt*dt;

    vx += ax * dt;

    vy += ay * dt;

    gx = XGS + x / scala;

    gy = YGS + y / scala;

    r = RP;

    col = i + 1;

    sem_wait(&mutex);

    grx_disc(ox,oy,r,0);

    grx_disc(gx,gy,r,col);

    sem_post(&mutex);

    pos[i].x = x;       pos[i].y = y;

    ox = gx;    oy = gy;

    task_endcycle();

  } while ((dist0 > 0) && inside(gx,gy));

  sem_wait(&mutex);

  grx_disc(ox,oy,r,0);

  grx_disc(XGS,YGS,RT,12);

  grx_circle(XGS,YGS,RT,14);

  sem_post(&mutex);

  return NULL;

}

/*--------------------------------------------------------------*/

/*                      MAIN                                    */

/*--------------------------------------------------------------*/

int main()

{

  HARD_TASK_MODEL m;

  char  c;                      /* carattere letto da tastiera  */

  sys_atrunlevel(my_fine, NULL, RUNLEVEL_BEFORE_EXIT);

  sem_init(&mutex,0,1);

  get_par();

  keyb_getch(BLOCK);

  grx_init();

  grx_open(640, 480, 8);

  grx_disc(XGS,YGS,RT,12);

  grx_circle(XGS,YGS,RT,14);

  np = 0;

  do {

    if (np < MAX-1) {

      np++;

      hard_task_default_model(m);

      hard_task_def_arg      (m, (void *)np);

      hard_task_def_wcet     (m, wcet);

      hard_task_def_mit      (m, period);

      hard_task_def_usemath  (m);

      pid = task_create("massa", massa, &m, NULL);

      if (pid == NIL) {

        grx_close();

        perror("Could not create task");

        c = keyb_getch(BLOCK);

        sys_abort(1);

      }

      task_activate(pid);

    }

    c = keyb_getch(BLOCK);

  } while (c != ESC);

  sys_end();

  return 0;

}

/*------------------------------------------------------*/

/*              file reading                            */

/*------------------------------------------------------*/

void    read_file(void)

{

  int   err;

  DOS_FILE *fp;

  fp = DOS_fopen("orbit.dat","r");

  if (!fp) {

    err = DOS_error();

    cprintf("Error %d opening myfile.txt...\n", err);

    flen = 0;

    return;

  }

  flen = DOS_fread(&fbuf, 1, 1000, fp);

  cprintf("Read %d bytes from orbit.dat\n", flen);

  DOS_fclose(fp);

}

/*------------------------------------------------------*/

/*              get data from buffer                    */

/*------------------------------------------------------*/

void    get_par(void)

{

  int   x = 0;

  int   i;

  double        vx, vy;

  while ((fbuf[x] != ':') && (x < flen)) x++;

  x++;

  sscanf(&fbuf[x], "%d", &period);

  cprintf("period = %d\n", period);

  while ((fbuf[x] != ':') && (x < flen)) x++;

  x++;

  sscanf(&fbuf[x], "%d", &wcet);

  cprintf("wcet = %d\n", wcet);

  while ((fbuf[x] != ':') && (x < flen)) x++;

  x++;

  sscanf(&fbuf[x], "%f", &delta);

  cprintf("delta = %f\n", delta);

  while ((fbuf[x] != ':') && (x < flen)) x++;

  x++;

  sscanf(&fbuf[x], "%f", &scala);

  cprintf("scala = %f\n", scala);

  while ((fbuf[x] != ':') && (x < flen)) x++;

  x++;

  sscanf(&fbuf[x], "%f", &G);

  cprintf("G = %20.15f\n", G);

  while ((fbuf[x] != ':') && (x < flen)) x++;

  x++;

  sscanf(&fbuf[x], "%d", &RP);

  cprintf("RP = %d\n", RP);

  while ((fbuf[x] != ':') && (x < flen)) x++;

  x++;

  sscanf(&fbuf[x], "%d", &RT);

  cprintf("RT = %d\n", RT);

  while ((fbuf[x] != ':') && (x < flen)) x++;

  x++;

  sscanf(&fbuf[x], "%d", &XGS);

  cprintf("XGS = %d\n", XGS);

  while ((fbuf[x] != ':') && (x < flen)) x++;

  x++;

  sscanf(&fbuf[x], "%d", &YGS);

  cprintf("YGS = %d\n", YGS);

  for (i=0; i<MAX; i++) {

    while ((fbuf[x] != ':') && (x < flen)) x++;

    x++; x++;

    sscanf(&fbuf[x], "%f", &mass[i]);

    while ((fbuf[x] != '\t') && (x < flen)) x++;

    x++;

    sscanf(&fbuf[x], "%f", &vx);

    while ((fbuf[x] != '\t') && (x < flen)) x++;

    x++;

    sscanf(&fbuf[x], "%f", &vy);

    pos[i].x = vx; pos[i].y = vy;

    while ((fbuf[x] != '\t') && (x < flen)) x++;

    x++;

    sscanf(&fbuf[x], "%f", &vx);

    while ((fbuf[x] != '\t') && (x < flen)) x++;

    x++;

    sscanf(&fbuf[x], "%f", &vy);

    vel[i].x = vx; vel[i].y = vy;

    cprintf("mass[%d] = %f\t", i, mass[i]);

    cprintf("pos: %f, %f\t", pos[i].x, pos[i].y);

    cprintf("vel: %f, %f\n", vel[i].x, vel[i].y);

  }

}

/*--------------------------------------------------------------*/