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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1085 | pj | 1 | #include <drivers/glib.h> |
| 2 | #include <math.h> |
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| 3 | #include <stdlib.h> |
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| 4 | #include <string.h> |
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| 5 | #include "include/simcity.h" |
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| 6 | #include "include/misc.h" |
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| 7 | #include "include/proc.h" |
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| 8 | |||
| 9 | int add() { |
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| 10 | if(maxc>0 && maxc<MAX_CAR-1) { |
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| 11 | busy_n->next=free_o; |
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| 12 | busy_n=free_o; |
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| 13 | free_o=free_o->next; |
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| 14 | busy_n->next=NULL; |
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| 15 | } |
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| 16 | if(maxc==0) { |
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| 17 | busy_n=busy_o=free_o; |
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| 18 | free_o=free_o->next; |
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| 19 | busy_n->next=NULL; |
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| 20 | } |
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| 21 | if(maxc==MAX_CAR-1) { |
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| 22 | busy_n->next=free_o; |
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| 23 | busy_n=free_o; |
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| 24 | free_o=free_n=NULL; |
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| 25 | busy_n->next=NULL; |
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| 26 | } |
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| 27 | if(maxc<MAX_CAR) { |
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| 28 | maxc++; |
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| 29 | return(busy_n->number); |
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| 30 | } else |
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| 31 | return(-1); |
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| 32 | } |
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| 33 | |||
| 34 | void del(int num) { |
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| 35 | car_data *d,*db; |
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| 36 | |||
| 37 | db=d=busy_o; |
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| 38 | if(maxc>1) { |
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| 39 | while((d->number)!=num) { |
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| 40 | db=d; |
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| 41 | d=d->next; |
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| 42 | } |
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| 43 | if(d==busy_n) { |
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| 44 | db->next=NULL; |
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| 45 | busy_n=db; |
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| 46 | } else if(d==busy_o) { |
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| 47 | busy_o=busy_o->next; |
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| 48 | } else { |
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| 49 | db->next=d->next; |
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| 50 | } |
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| 51 | if(maxc!=MAX_CAR) { |
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| 52 | free_n->next=d; |
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| 53 | free_n=d; |
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| 54 | free_n->next=NULL; |
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| 55 | } |
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| 56 | else { |
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| 57 | free_n=free_o=d; |
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| 58 | } |
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| 59 | } |
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| 60 | else { |
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| 61 | free_n->next=d; |
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| 62 | free_n=d; |
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| 63 | free_n->next=NULL; |
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| 64 | busy_n=busy_o=NULL; |
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| 65 | } |
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| 66 | maxc--; |
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| 67 | } |
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| 68 | |||
| 69 | void init_struct() { |
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| 70 | int i; |
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| 71 | |||
| 72 | free_o=&(car_data_array[0]); |
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| 73 | free_n=&(car_data_array[MAX_CAR-1]); |
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| 74 | busy_n=busy_o=NULL; |
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| 75 | for(i=0;i<MAX_CAR;i++) |
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| 76 | car_data_array[i].number=i; |
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| 77 | for(i=0;i<MAX_CAR;i++) { |
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| 78 | if(i<MAX_CAR-1) |
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| 79 | car_data_array[i].next=&(car_data_array[i+1]); |
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| 80 | else |
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| 81 | car_data_array[i].next=NULL; |
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| 82 | } |
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| 83 | maxc=0; |
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| 84 | } |
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| 85 | |||
| 86 | int del_o() { |
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| 87 | |||
| 88 | if(maxc<MAX_CAR && maxc>1) { |
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| 89 | free_n->next=busy_o; |
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| 90 | free_n=busy_o; |
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| 91 | busy_o=busy_o->next; |
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| 92 | free_n->next=NULL; |
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| 93 | } else |
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| 94 | if(maxc==MAX_CAR) { |
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| 95 | free_n=free_o=busy_o; |
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| 96 | busy_o=busy_o->next; |
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| 97 | free_n->next=NULL; |
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| 98 | } else |
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| 99 | if(maxc==1) { |
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| 100 | free_n->next=busy_o; |
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| 101 | free_n=busy_o; |
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| 102 | free_n->next=NULL; |
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| 103 | busy_o=busy_n=NULL; |
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| 104 | } |
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| 105 | if(maxc>0) { |
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| 106 | maxc--; |
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| 107 | return(free_n->number); |
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| 108 | } else |
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| 109 | return -1; |
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| 110 | } |
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| 111 | |||
| 112 | void gauge_create(char *name,int num) { |
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| 113 | void *par; |
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| 114 | PID pid; |
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| 115 | SOFT_TASK_MODEL stm; |
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| 116 | |||
| 117 | soft_task_default_model(stm); |
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| 118 | soft_task_def_level(stm,1); |
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| 119 | soft_task_def_ctrl_jet(stm); |
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| 120 | par=(void *) num; |
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| 121 | soft_task_def_arg(stm,par); |
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| 122 | soft_task_def_met(stm,GAUGE_WCET); |
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| 123 | soft_task_def_period(stm,PERIOD_CAR); |
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| 124 | soft_task_def_usemath(stm); |
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| 125 | pid = task_create(name, gauge_c, &stm, NULL); |
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| 126 | if (pid == NIL) { |
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| 127 | grx_close(); |
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| 128 | perror("stl_create():Could not create task <Gauge_c>"); |
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| 129 | sys_abort(1); |
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| 130 | } |
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| 131 | g_table[num]=pid; |
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| 132 | task_activate(pid); |
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| 133 | } |
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| 134 | |||
| 135 | |||
| 136 | void arrow_create(char *name,int num) { |
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| 137 | void *par; |
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| 138 | PID pid; |
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| 139 | SOFT_TASK_MODEL stm; |
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| 140 | |||
| 141 | soft_task_default_model(stm); |
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| 142 | soft_task_def_level(stm,1); |
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| 143 | soft_task_def_ctrl_jet(stm); |
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| 144 | par=(void *) num; |
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| 145 | soft_task_def_arg(stm,par); |
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| 146 | soft_task_def_met(stm,ARROW_WCET); |
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| 147 | soft_task_def_period(stm,PERIOD_CAR*4); |
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| 148 | pid = task_create(name,blink_arrow, &stm, NULL); |
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| 149 | if (pid == NULL) { |
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| 150 | grx_close(); |
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| 151 | perror("stl_create():Could not create task <arrow>"); |
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| 152 | sys_abort(1); |
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| 153 | } |
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| 154 | a_table[num]=pid; |
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| 155 | task_activate(pid); |
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| 156 | } |
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| 157 | |||
| 158 | void killer_create() { |
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| 159 | void *par; |
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| 160 | PID pid; |
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| 161 | SOFT_TASK_MODEL stm; |
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| 162 | |||
| 163 | soft_task_default_model(stm); |
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| 164 | soft_task_def_level(stm,1); |
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| 165 | soft_task_def_ctrl_jet(stm); |
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| 166 | par=(void *) 0; |
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| 167 | soft_task_def_arg(stm,par); |
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| 168 | soft_task_def_met(stm,1000); |
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| 169 | soft_task_def_period(stm,5*SECOND); |
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| 170 | pid = task_create("killer", killer, &stm, NULL); |
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| 171 | if (pid == NULL) { |
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| 172 | grx_close(); |
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| 173 | perror("ref_create():Could not create task <killer>"); |
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| 174 | sys_abort(1); |
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| 175 | } |
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| 176 | task_activate(pid); |
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| 177 | } |
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| 178 | |||
| 179 | |||
| 180 | void ref_create() { |
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| 181 | void *par; |
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| 182 | PID pid; |
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| 183 | SOFT_TASK_MODEL stm; |
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| 184 | |||
| 185 | soft_task_default_model(stm); |
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| 186 | soft_task_def_level(stm,1); |
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| 187 | soft_task_def_ctrl_jet(stm); |
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| 188 | par=(void *) 0; |
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| 189 | soft_task_def_arg(stm,par); |
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| 190 | soft_task_def_met(stm,3000); |
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| 191 | soft_task_def_period(stm,4*SECOND); |
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| 192 | pid = task_create("Refresher", refresher, &stm, NULL); |
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| 193 | if (pid == NULL) { |
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| 194 | grx_close(); |
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| 195 | perror("ref_create():Could not create task <refresher>"); |
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| 196 | sys_abort(1); |
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| 197 | } |
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| 198 | task_activate(pid); |
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| 199 | } |
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| 200 | |||
| 201 | void cam_create(char *name,int num) { |
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| 202 | void *par; |
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| 203 | PID pid; |
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| 204 | SOFT_TASK_MODEL stm; |
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| 205 | |||
| 206 | soft_task_default_model(stm); |
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| 207 | soft_task_def_level(stm,1); |
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| 208 | soft_task_def_ctrl_jet(stm); |
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| 209 | par=(void *) num; |
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| 210 | soft_task_def_arg(stm,par); |
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| 211 | soft_task_def_met(stm,CAM_WCET); |
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| 212 | soft_task_def_period(stm,PERIOD_CAR); |
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| 213 | pid = task_create(name, camera, &stm, NULL); |
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| 214 | if (pid == NULL) { |
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| 215 | grx_close(); |
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| 216 | perror("stl_create():Could not create task <Camera>"); |
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| 217 | sys_abort(1); |
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| 218 | } |
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| 219 | c_table[num]=pid; |
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| 220 | task_activate(pid); |
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| 221 | } |
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| 222 | |||
| 223 | void stl_create(char *name,int num) { |
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| 224 | void *par; |
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| 225 | PID pid; |
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| 226 | SOFT_TASK_MODEL stm; |
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| 227 | |||
| 228 | soft_task_default_model(stm); |
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| 229 | soft_task_def_level(stm,1); |
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| 230 | soft_task_def_ctrl_jet(stm); |
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| 231 | strcpy(tl_data_array[num].tl_name,name); |
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| 232 | par=(void *) &(tl_data_array[num]); |
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| 233 | soft_task_def_arg(stm,par); |
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| 234 | soft_task_def_met(stm,TL_WCET); |
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| 235 | soft_task_def_period(stm,tl_data_array[num].period); |
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| 236 | pid = task_create(name, traffic_light, &stm, NULL); |
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| 237 | if (pid == NULL) { |
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| 238 | grx_close(); |
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| 239 | perror("stl_create():Could not create task <Traffic Light>"); |
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| 240 | sys_abort(1); |
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| 241 | } |
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| 242 | tl_data_array[num].pid=pid; |
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| 243 | task_activate(pid); |
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| 244 | } |
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| 245 | |||
| 246 | void h_create(char *name,int num) { |
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| 247 | void *par; |
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| 248 | PID pid; |
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| 249 | int start_point=0; |
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| 250 | short flag=0; |
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| 251 | HARD_TASK_MODEL htm; |
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| 252 | car_data cd,*d; |
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| 253 | |||
| 254 | #ifdef POS_RAND |
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| 255 | start_point=rand()%S_POINT; |
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| 256 | if(busy_o!=NULL) |
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| 257 | do { |
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| 258 | flag=0; |
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| 259 | d=busy_o; |
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| 260 | do { |
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| 261 | if(d->number!=num) |
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| 262 | if(module(starting_set_array[start_point].xpos,d->xp,starting_set_array[start_point].ypos,d->yp)<256) { |
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| 263 | start_point=(start_point+1)%S_POINT; |
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| 264 | flag=1; |
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| 265 | break; |
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| 266 | } |
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| 267 | d=d->next; |
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| 268 | } while(d!=NULL); |
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| 269 | } while(flag); |
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| 270 | #endif |
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| 271 | #ifndef POS_RAND |
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| 272 | start_point=OBL_START; |
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| 273 | #endif |
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| 274 | |||
| 275 | cd.number=num; |
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| 276 | cd.xpos=cd.xp=starting_set_array[start_point].xpos; |
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| 277 | cd.ypos=cd.yp=starting_set_array[start_point].ypos; |
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| 278 | cd.angle=starting_set_array[start_point].angles; |
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| 279 | cd.speed=MIN_SPEED; |
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| 280 | cd.dist_obs=MAX_DIST; |
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| 281 | cd.collision=cd.boom=cd.correggi=cd.somma=0; |
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| 282 | cd.dir=STRAIGHT; |
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| 283 | car_data_array[num]=cd; |
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| 284 | hard_task_default_model(htm); |
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| 285 | hard_task_def_ctrl_jet(htm); |
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| 286 | par=(void *) &(car_data_array[num]); |
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| 287 | hard_task_def_arg(htm,par); |
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| 288 | hard_task_def_wcet(htm, CAR_WCET); |
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| 289 | hard_task_def_mit(htm,PERIOD_CAR); |
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| 290 | hard_task_def_usemath(htm); |
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| 291 | pid = task_create(name, car, &htm, NULL); |
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| 292 | if (pid == NULL) { |
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| 293 | grx_close(); |
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| 294 | perror("h_create():Could not create task <hard car>"); |
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| 295 | sys_abort(1); |
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| 296 | } |
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| 297 | else { |
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| 298 | p_table[num]=pid; |
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| 299 | sem_wait(&(kill_mutex[num])); |
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| 300 | kill_flag[num]=0; |
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| 301 | car_data_array[num].running=1; |
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| 302 | sem_post(&(kill_mutex[num])); |
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| 303 | task_activate(pid); |
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| 304 | } |
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| 305 | } |
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| 306 | |||
| 307 | void s_create(char *name,int num) { |
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| 308 | void *par; |
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| 309 | PID pid; |
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| 310 | int start_point=0; |
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| 311 | SOFT_TASK_MODEL stm; |
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| 312 | car_data cd,*d; |
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| 313 | short flag=0; |
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| 314 | |||
| 315 | #ifdef POS_RAND |
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| 316 | start_point=rand()%S_POINT; |
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| 317 | if(busy_o!=NULL) |
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| 318 | do { |
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| 319 | flag=0; |
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| 320 | d=busy_o; |
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| 321 | do { |
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| 322 | if(d->number!=num) |
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| 323 | if(module(starting_set_array[start_point].xpos,d->xp,starting_set_array[start_point].ypos,d->yp)<256) { |
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| 324 | start_point=(start_point+1)%S_POINT; |
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| 325 | flag=1; |
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| 326 | break; |
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| 327 | } |
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| 328 | d=d->next; |
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| 329 | } while(d!=NULL); |
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| 330 | } while(flag); |
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| 331 | #endif |
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| 332 | #ifndef POS_RAND |
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| 333 | start_point=OBL_START; |
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| 334 | #endif |
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| 335 | |||
| 336 | cd.number=num; |
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| 337 | cd.xpos=cd.xp=starting_set_array[start_point].xpos; |
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| 338 | cd.ypos=cd.yp=starting_set_array[start_point].ypos; |
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| 339 | cd.angle=starting_set_array[start_point].angles; |
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| 340 | cd.speed=MIN_SPEED; |
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| 341 | cd.dist_obs=MAX_DIST; |
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| 342 | cd.collision=cd.boom=cd.correggi=cd.somma=0; |
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| 343 | cd.dir=STRAIGHT; |
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| 344 | car_data_array[num]=cd; |
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| 345 | soft_task_default_model(stm); |
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| 346 | soft_task_def_level(stm,1); |
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| 347 | soft_task_def_ctrl_jet(stm); |
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| 348 | par=(void *) &(car_data_array[num]);; |
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| 349 | soft_task_def_arg(stm,par); |
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| 350 | soft_task_def_met(stm,SCAR_WCET); |
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| 351 | soft_task_def_period(stm,SPERIOD_CAR); |
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| 352 | soft_task_def_usemath(stm); |
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| 353 | pid = task_create(name, car, &stm, NULL); |
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| 354 | if (pid == NULL) { |
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| 355 | grx_close(); |
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| 356 | perror("h_create():Could not create task <soft car>"); |
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| 357 | sys_abort(1); |
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| 358 | } |
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| 359 | else { |
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| 360 | p_table[num]=pid; |
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| 361 | sem_wait(&(kill_mutex[num])); |
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| 362 | kill_flag[num]=0; |
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| 363 | car_data_array[num].running=1; |
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| 364 | sem_post(&(kill_mutex[num])); |
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| 365 | task_activate(pid); |
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| 366 | } |
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| 367 | } |
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| 368 | |||
| 369 | void killing(int num) { |
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| 370 | PID car_to_kill,cam_to_kill,gauge_to_kill,a_to_kill; |
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| 371 | int c; |
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| 372 | |||
| 373 | c=car_data_array[num].number*46; |
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| 374 | car_to_kill=p_table[num]; |
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| 375 | cam_to_kill=c_table[num]; |
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| 376 | gauge_to_kill=g_table[num]; |
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| 377 | a_to_kill=a_table[num]; |
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| 378 | sem_wait(&(kill_mutex[num])); |
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| 379 | kill_flag[num]=1; |
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| 380 | car_data_array[num].running=0; |
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| 381 | sem_post(&(kill_mutex[num])); |
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| 382 | task_kill(car_to_kill); |
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| 383 | task_kill(cam_to_kill); |
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| 384 | task_kill(gauge_to_kill); |
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| 385 | task_kill(a_to_kill); |
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| 386 | sem_wait(&mutex); |
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| 387 | grx_putimage(car_data_array[num].xp-15,car_data_array[num].yp-15,car_data_array[num].xp+14,car_data_array[num].yp+14,vbuf[car_data_array[num].number]); |
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| 388 | grx_putimage(CAMX-1,CAMY-1+c,CAMX+30,CAMY+30+c,clrcam); |
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| 389 | grx_putimage(CAMX+40-1,CAMY-1+c,CAMX+40+30,CAMY+c+30,clrcam); |
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| 390 | grx_putimage(CAMX+80-1,CAMY-1+c,CAMX+80+30,CAMY+c+30,clrcam); |
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| 391 | grx_text(" ",CAMX,CAMY+c+30,black,black); |
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| 392 | sem_post(&mutex); |
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| 393 | } |