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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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1456 | giacomo | 21 | CVS : $Id: orbit.c,v 1.8 2004-05-23 19:30:33 giacomo Exp $ |
1085 | pj | 22 | |
23 | File: $File$ |
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1456 | giacomo | 24 | Revision: $Revision: 1.8 $ |
25 | Last update: $Date: 2004-05-23 19:30:33 $ |
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1085 | pj | 26 | ------------ |
27 | */ |
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28 | |||
29 | /* |
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30 | * Copyright (C) 2000 Giorgio Buttazzo and 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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49 | /* SIMULAZIONE DI MASSE CHE ORBITANO */ |
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50 | /****************************************************************/ |
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51 | |||
52 | #include <kernel/kern.h> |
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53 | #include <semaphore.h> |
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54 | #include <stdlib.h> |
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55 | #include <math.h> |
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1453 | giacomo | 56 | #include <string.h> |
1085 | pj | 57 | |
1453 | giacomo | 58 | #include <drivers/shark_fb26.h> |
59 | #include <drivers/shark_keyb26.h> |
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60 | |||
1456 | giacomo | 61 | #define MAX 11 /* numero massimo pianeti */ |
1085 | pj | 62 | #define XMAX 639 /* valore massimo coordinata X */ |
63 | #define YMAX 479 /* valore massimo coordinata Y */ |
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64 | |||
1453 | giacomo | 65 | extern int vga16color[16]; |
66 | |||
1085 | pj | 67 | struct coord { |
68 | double x; |
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69 | double y; |
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70 | }; |
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71 | |||
72 | int flen; // file length |
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73 | |||
1456 | giacomo | 74 | double mass[MAX]; /* vettore masse pianeti */ |
1085 | pj | 75 | struct coord pos[MAX]; /* vettore posizioni attuali */ |
76 | struct coord vel[MAX]; /* vettore velocita' iniziali */ |
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77 | |||
78 | int XGS, YGS; /* Coordinate centro spazio */ |
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79 | int RP, RT; /* raggio pianeta, raggio Terra */ |
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80 | int np; /* numero attuale di pianeti */ |
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1456 | giacomo | 81 | double G; /* Gravitazione Universale */ |
82 | double tick; /* tick di sistema */ |
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83 | double delta; /* incremento temporale */ |
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84 | double scala; /* fattore grafico di scala */ |
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1085 | pj | 85 | |
1453 | giacomo | 86 | char fbuf[1000] ="\ |
87 | ----------------------------------------------------\n\ |
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1456 | giacomo | 88 | period: 10000 wcet: 500\n\ |
1453 | giacomo | 89 | delta: 1. scala: 150.\n\ |
90 | G: 6.6e-15\n\ |
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91 | r_pianeta: 4 r_Terra: 8\n\ |
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92 | X_centro: 320 Y_centro: 240\n\ |
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93 | ------------------- pianeti ------------------------\n\ |
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94 | massa pos.x pos.y vel.x vel.y\n\ |
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1456 | giacomo | 95 | 0: \t 6.0e21 \t 0. \t 0. \t 0. \t 0. \n\ |
96 | 1: \t 1.0e21 \t 10000. \t 8000. \t -60. \t 0. \n\ |
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97 | 2: \t 1.0e8 \t 5000. \t 0. \t 0. \t 80. \n\ |
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98 | 3: \t 5.0e18 \t 10000. \t 8000. \t -50. \t 0. \n\ |
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99 | 4: \t 1.0e9 \t 10000. \t 8000. \t -40. \t 20. \n\ |
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100 | 5: \t 1.0e15 \t 1000. \t 5000. \t -80. \t 0. \n\ |
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101 | 6: \t 1.0e5 \t 1000. \t 5000. \t -80. \t 0. \n\ |
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102 | 7: \t 1.0e17 \t 1000. \t 5000. \t -80. \t 0. \n\ |
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103 | 8: \t 1.0e5 \t 1000. \t 5000. \t -80. \t 0. \n\ |
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104 | 9: \t 1.0e5 \t 1000. \t 5000. \t -80. \t 0. \n\ |
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105 | 10: \t 1.0e5 \t 1000. \t 5000. \t -80. \t 0. \n\ |
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1453 | giacomo | 106 | ----------------------------------------------------\n"; |
107 | |||
1085 | pj | 108 | // ------------------------------------------------------- |
109 | // NOTA: %f o %lf significa double e %nf significa float |
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110 | // ------------------------------------------------------- |
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111 | |||
112 | PID pid; |
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113 | int period; /* task period */ |
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114 | int wcet; /* task wcet */ |
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115 | sem_t mutex; /* semaforo di mutua esclusione */ |
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116 | |||
117 | |||
118 | void get_par(void); |
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119 | |||
120 | /*--------------------------------------------------------------*/ |
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121 | |||
122 | int inside(int x, int y) |
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123 | { |
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124 | return ((x > RP) && (x < XMAX-RP) && |
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125 | (y > RP) && (y < YMAX-RP)); |
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126 | } |
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127 | |||
128 | /*--------------------------------------------------------------*/ |
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129 | |||
130 | TASK massa(void *xxx) |
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131 | { |
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132 | int i = (int)xxx; /* parametro del task */ |
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133 | int gx, gy; /* coordinate grafiche pallina */ |
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134 | int ox, oy; /* vecchia posizione pallina */ |
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135 | int j; |
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136 | int r, col; /* raggio e colore pianeta */ |
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137 | double dt; /* incremento temporale */ |
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138 | double dist=0.0, dx, dy; /* distanze pianeta-pianeta */ |
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139 | double dist0=0.0; /* distanze pianeta-Terra */ |
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140 | double x, y; /* posizione del pianeta */ |
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141 | double vx, vy; /* velocita' del pianeta */ |
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142 | double ax, ay; /* accelerazione del pianeta */ |
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143 | double k; /* variabile ausiliaria */ |
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144 | double arg; /* variabile di appoggio */ |
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145 | |||
146 | x = pos[i].x; y = pos[i].y; |
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147 | vx = vel[i].x; vy = vel[i].y; |
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148 | ox = XGS + x / scala; |
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149 | oy = YGS + y / scala; |
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150 | dt = delta; |
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151 | |||
152 | do { |
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153 | x = pos[i].x; |
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154 | y = pos[i].y; |
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155 | ax = ay = 0.0; |
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156 | for (j=0; j<np; j++) { |
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157 | if (j != i) { |
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158 | dx = pos[j].x - x; |
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159 | dy = pos[j].y - y; |
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160 | arg = dx*dx + dy*dy; |
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161 | dist = sqrt(arg); |
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162 | if (dist < RP*scala) dist = RP*scala; |
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163 | k = G * mass[j] / (dist*dist*dist); |
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164 | ax += k * dx; |
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165 | ay += k * dy; |
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166 | } |
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167 | if (j == 0) dist0 = dist - (RP+RT)*scala; |
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168 | } |
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169 | x += vx*dt + 0.5*ax*dt*dt; |
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170 | y += vy*dt + 0.5*ay*dt*dt; |
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171 | vx += ax * dt; |
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172 | vy += ay * dt; |
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173 | |||
174 | gx = XGS + x / scala; |
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175 | gy = YGS + y / scala; |
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176 | |||
177 | r = RP; |
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178 | col = i + 1; |
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179 | |||
180 | sem_wait(&mutex); |
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1453 | giacomo | 181 | grx_disc(ox,oy,r,vga16color[0]); |
182 | grx_disc(gx,gy,r,vga16color[col]); |
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1085 | pj | 183 | sem_post(&mutex); |
184 | |||
185 | pos[i].x = x; pos[i].y = y; |
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186 | ox = gx; oy = gy; |
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187 | |||
188 | task_endcycle(); |
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189 | |||
190 | } while ((dist0 > 0) && inside(gx,gy)); |
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191 | |||
192 | sem_wait(&mutex); |
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1453 | giacomo | 193 | grx_disc(ox,oy,r,vga16color[0]); |
194 | grx_disc(XGS,YGS,RT,vga16color[12]); |
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195 | grx_circle(XGS,YGS,RT,vga16color[14]); |
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1085 | pj | 196 | sem_post(&mutex); |
197 | |||
198 | return NULL; |
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199 | } |
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200 | |||
201 | /*--------------------------------------------------------------*/ |
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202 | /* MAIN */ |
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203 | /*--------------------------------------------------------------*/ |
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204 | |||
1111 | pj | 205 | int main() |
1085 | pj | 206 | { |
207 | HARD_TASK_MODEL m; |
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208 | char c; /* carattere letto da tastiera */ |
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209 | |||
210 | sem_init(&mutex,0,1); |
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211 | |||
212 | get_par(); |
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213 | |||
1453 | giacomo | 214 | grx_disc(XGS,YGS,RT,vga16color[12]); |
215 | grx_circle(XGS,YGS,RT,vga16color[14]); |
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1085 | pj | 216 | |
217 | np = 0; |
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218 | |||
219 | do { |
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220 | if (np < MAX-1) { |
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221 | np++; |
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222 | hard_task_default_model(m); |
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223 | hard_task_def_arg (m, (void *)np); |
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224 | hard_task_def_wcet (m, wcet); |
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225 | hard_task_def_mit (m, period); |
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226 | hard_task_def_usemath (m); |
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227 | pid = task_create("massa", massa, &m, NULL); |
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228 | if (pid == NIL) { |
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1159 | pj | 229 | sys_shutdown_message("Could not create task"); |
230 | sys_end(); |
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1085 | pj | 231 | } |
232 | task_activate(pid); |
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233 | } |
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234 | c = keyb_getch(BLOCK); |
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235 | |||
236 | } while (c != ESC); |
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237 | |||
238 | sys_end(); |
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239 | |||
240 | return 0; |
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241 | } |
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242 | |||
243 | /*------------------------------------------------------*/ |
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244 | /* file reading */ |
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245 | /*------------------------------------------------------*/ |
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246 | |||
247 | void read_file(void) |
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248 | { |
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249 | int err; |
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250 | DOS_FILE *fp; |
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251 | |||
252 | fp = DOS_fopen("orbit.dat","r"); |
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253 | |||
254 | if (!fp) { |
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255 | err = DOS_error(); |
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256 | cprintf("Error %d opening myfile.txt...\n", err); |
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257 | flen = 0; |
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258 | return; |
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259 | } |
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260 | |||
261 | flen = DOS_fread(&fbuf, 1, 1000, fp); |
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262 | cprintf("Read %d bytes from orbit.dat\n", flen); |
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263 | |||
264 | DOS_fclose(fp); |
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265 | } |
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266 | |||
267 | /*------------------------------------------------------*/ |
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268 | /* get data from buffer */ |
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269 | /*------------------------------------------------------*/ |
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270 | |||
271 | void get_par(void) |
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272 | { |
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273 | int x = 0; |
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274 | int i; |
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1456 | giacomo | 275 | double vx, vy, px, py; |
1454 | giacomo | 276 | |
1453 | giacomo | 277 | flen = strlen(fbuf); |
1085 | pj | 278 | |
279 | while ((fbuf[x] != ':') && (x < flen)) x++; |
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280 | x++; |
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281 | sscanf(&fbuf[x], "%d", &period); |
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282 | |||
283 | while ((fbuf[x] != ':') && (x < flen)) x++; |
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284 | x++; |
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285 | sscanf(&fbuf[x], "%d", &wcet); |
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286 | |||
287 | while ((fbuf[x] != ':') && (x < flen)) x++; |
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288 | x++; |
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1456 | giacomo | 289 | sscanf(&fbuf[x], "%lf", &delta); |
1085 | pj | 290 | |
291 | while ((fbuf[x] != ':') && (x < flen)) x++; |
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292 | x++; |
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1456 | giacomo | 293 | sscanf(&fbuf[x], "%lf", &scala); |
1085 | pj | 294 | |
295 | while ((fbuf[x] != ':') && (x < flen)) x++; |
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296 | x++; |
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1456 | giacomo | 297 | sscanf(&fbuf[x], "%lf", &G); |
1085 | pj | 298 | |
299 | while ((fbuf[x] != ':') && (x < flen)) x++; |
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300 | x++; |
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301 | sscanf(&fbuf[x], "%d", &RP); |
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302 | |||
303 | while ((fbuf[x] != ':') && (x < flen)) x++; |
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304 | x++; |
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305 | sscanf(&fbuf[x], "%d", &RT); |
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306 | |||
307 | while ((fbuf[x] != ':') && (x < flen)) x++; |
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308 | x++; |
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309 | sscanf(&fbuf[x], "%d", &XGS); |
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310 | |||
311 | while ((fbuf[x] != ':') && (x < flen)) x++; |
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312 | x++; |
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313 | sscanf(&fbuf[x], "%d", &YGS); |
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314 | |||
315 | for (i=0; i<MAX; i++) { |
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1455 | giacomo | 316 | |
317 | mass[i] = 0.; |
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318 | px = 0.; |
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319 | py = 0.; |
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320 | vx = 0.; |
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321 | vy = 0.; |
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322 | |||
1454 | giacomo | 323 | while ((fbuf[x] != '\t') && (x < flen)) x++; |
324 | x++; |
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1456 | giacomo | 325 | sscanf(&fbuf[x], "%lf", &mass[i]); |
1085 | pj | 326 | |
327 | while ((fbuf[x] != '\t') && (x < flen)) x++; |
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328 | x++; |
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1456 | giacomo | 329 | sscanf(&fbuf[x], "%lf", &px); |
1085 | pj | 330 | |
331 | while ((fbuf[x] != '\t') && (x < flen)) x++; |
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332 | x++; |
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1456 | giacomo | 333 | sscanf(&fbuf[x], "%lf", &py); |
1085 | pj | 334 | |
335 | while ((fbuf[x] != '\t') && (x < flen)) x++; |
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336 | x++; |
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1456 | giacomo | 337 | sscanf(&fbuf[x], "%lf", &vx); |
1085 | pj | 338 | |
339 | while ((fbuf[x] != '\t') && (x < flen)) x++; |
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340 | x++; |
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1456 | giacomo | 341 | sscanf(&fbuf[x], "%lf", &vy); |
1454 | giacomo | 342 | |
343 | pos[i].x = px; pos[i].y = py; |
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344 | |||
1085 | pj | 345 | vel[i].x = vx; vel[i].y = vy; |
1454 | giacomo | 346 | |
1085 | pj | 347 | } |
348 | } |
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349 | |||
350 | /*--------------------------------------------------------------*/ |
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351 |