Rev 1655 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1655 | giacomo | 1 | //*******************************tasks.c************************************ |
| 2 | // task bodies |
||
| 3 | #include <drivers/glib.h> |
||
| 4 | #include <stdlib.h> |
||
| 5 | #include <string.h> |
||
| 6 | #include <kernel/func.h> |
||
| 7 | #include <drivers/glib.h> |
||
| 8 | #include <semaphore.h> |
||
| 9 | #include <math.h> |
||
| 10 | #include "include/simcity.h" |
||
| 11 | #include "include/states.h" |
||
| 12 | #include "include/draw.h" |
||
| 13 | #include "include/misc.h" |
||
| 14 | #include "include/car.h" |
||
| 15 | #include "include/proc.h" |
||
| 16 | #define rgb rgb16 |
||
| 17 | |||
| 18 | /*extern starting_set starting_set_array[S_POINT]; |
||
| 19 | extern short maxc; */ |
||
| 20 | |||
| 21 | TASK killer(void *arg) { |
||
| 22 | short i,j=0; |
||
| 23 | DWORD col[3]; |
||
| 24 | char flag=0; |
||
| 25 | |||
| 26 | col[0]=red; |
||
| 27 | col[1]=green; |
||
| 28 | col[2]=white; |
||
| 29 | |||
| 30 | while(1) { |
||
| 31 | if(maxc>0) { |
||
| 32 | for(i=0;i<MAX_CAR;i++) { |
||
| 33 | sem_wait(&(kill_mutex[i])); |
||
| 34 | if(car_data_array[i].boom && car_data_array[i].running) flag=1; |
||
| 35 | else flag=0; |
||
| 36 | sem_post(&(kill_mutex[i])); |
||
| 37 | if(flag) { |
||
| 38 | del(i); |
||
| 39 | killing(i); |
||
| 40 | } |
||
| 41 | } |
||
| 42 | } |
||
| 43 | j=(j+1)%3; |
||
| 44 | sem_wait(&mutex); |
||
| 45 | grx_text("Killer active!",CAMX,CAMY+MAX_CAR*46,col[j],black); |
||
| 46 | sem_post(&mutex); |
||
| 47 | task_endcycle(); |
||
| 48 | } |
||
| 49 | } |
||
| 50 | |||
| 51 | |||
| 52 | TASK refresher(void *arg) { |
||
| 53 | int i; |
||
| 54 | tl_data *d; |
||
| 55 | |||
| 56 | while(1) { |
||
| 57 | sem_wait(&mutex); |
||
| 58 | grx_putimage(MAPX,MAPY,MAPX+W-1,MAPY+H-1,street); |
||
| 59 | for(i=0;i<MAX_TL;i++) { |
||
| 60 | d=&(tl_data_array[i]); |
||
| 61 | if((d->vpos=='g')) { |
||
| 62 | draw_tl(d->u.x,d->u.y,g_sem[U]); |
||
| 63 | draw_tl(d->d.x,d->d.y,g_sem[D]); |
||
| 64 | draw_tl(d->l.x,d->l.y,r_sem[L]); |
||
| 65 | draw_tl(d->r.x,d->r.y,r_sem[R]); |
||
| 66 | } else if(d->vpos=='y') { |
||
| 67 | draw_tl(d->u.x,d->u.y,y_sem[U]); |
||
| 68 | draw_tl(d->d.x,d->d.y,y_sem[D]); |
||
| 69 | draw_tl(d->l.x,d->l.y,r_sem[L]); |
||
| 70 | draw_tl(d->r.x,d->r.y,r_sem[R]); |
||
| 71 | } else if(d->hpos=='g') { |
||
| 72 | draw_tl(d->u.x,d->u.y,r_sem[U]); |
||
| 73 | draw_tl(d->d.x,d->d.y,r_sem[D]); |
||
| 74 | draw_tl(d->l.x,d->l.y,g_sem[L]); |
||
| 75 | draw_tl(d->r.x,d->r.y,g_sem[R]); |
||
| 76 | } else if(d->hpos=='y') { |
||
| 77 | draw_tl(d->u.x,d->u.y,r_sem[U]); |
||
| 78 | draw_tl(d->d.x,d->d.y,r_sem[D]); |
||
| 79 | draw_tl(d->l.x,d->l.y,y_sem[L]); |
||
| 80 | draw_tl(d->r.x,d->r.y,y_sem[R]); |
||
| 81 | } |
||
| 82 | } |
||
| 83 | sem_post(&mutex); |
||
| 84 | task_endcycle(); |
||
| 85 | } |
||
| 86 | } |
||
| 87 | |||
| 88 | TASK blink_arrow(int number) { |
||
| 89 | char ld=0,prev=0,dir=0; |
||
| 90 | short c; |
||
| 91 | BYTE *arrow_img; |
||
| 92 | |||
| 93 | c=number*46; |
||
| 94 | while(1) { |
||
| 95 | if(kill_flag[number]) { |
||
| 96 | return 0; |
||
| 97 | } |
||
| 98 | if(!car_data_array[number].boom) { |
||
| 99 | dir=car_data_array[number].dir+1; |
||
| 100 | if(dir==prev) { |
||
| 101 | ld=(ld+1)%2; |
||
| 102 | if(ld==1) |
||
| 103 | arrow_img=arrow[(int)dir]; |
||
| 104 | else |
||
| 105 | arrow_img=arrow[1]; |
||
| 106 | |||
| 107 | sem_wait(&mutex); |
||
| 108 | grx_putimage(CAMX+80,CAMY-1+c,CAMX+80+29,CAMY-1+c+29,arrow_img); |
||
| 109 | sem_post(&mutex); |
||
| 110 | } else { |
||
| 111 | prev=dir; |
||
| 112 | ld=0; |
||
| 113 | sem_wait(&mutex); |
||
| 114 | grx_putimage(CAMX+80,CAMY-1+c,CAMX+80+29,CAMY-1+c+29,arrow[(int)dir]); |
||
| 115 | sem_post(&mutex); |
||
| 116 | } |
||
| 117 | } |
||
| 118 | task_endcycle(); |
||
| 119 | } |
||
| 120 | } |
||
| 121 | |||
| 122 | |||
| 123 | TASK gauge_c(int number) { |
||
| 124 | int c; |
||
| 125 | float angle,ro; |
||
| 126 | int x,y; |
||
| 127 | char vel[5]; |
||
| 128 | |||
| 129 | c=number*46; |
||
| 130 | while(1) { |
||
| 131 | if(kill_flag[number]) { |
||
| 132 | return 0; |
||
| 133 | } |
||
| 134 | if(!car_data_array[number].boom) { |
||
| 135 | angle=180.0*car_data_array[number].speed/MAX_SPEED; |
||
| 136 | sprintf(vel,"%.1f",car_data_array[number].speed); |
||
| 137 | ro=9.0; |
||
| 138 | y=my_rint(ro*sine[my_rint(angle)]); |
||
| 139 | x=my_rint(ro*cosine[my_rint(angle)]); |
||
| 140 | sem_wait(&mutex); |
||
| 141 | grx_putimage(CAMX,CAMY+c,CAMX+29,CAMY+29+c,gauge_img); |
||
| 142 | grx_line(CAMX+14,CAMY-1+c+25,CAMX+14-x,CAMY-1+c+25-y,blue); |
||
| 143 | grx_text(vel,CAMX,CAMY+c+30,white,black); |
||
| 144 | sem_post(&mutex); |
||
| 145 | } else { |
||
| 146 | sem_wait(&mutex); |
||
| 147 | grx_putimage(CAMX,CAMY+c,CAMX+29,CAMY+29+c,brk_gauge); |
||
| 148 | sem_post(&mutex); |
||
| 149 | } |
||
| 150 | task_endcycle(); |
||
| 151 | } |
||
| 152 | } |
||
| 153 | |||
| 154 | TASK camera(int number) { |
||
| 155 | int c; |
||
| 156 | |||
| 157 | c=number*46; |
||
| 158 | grx_rect(CAMX+40-1,CAMY-1+c,CAMX+40+30,CAMY+30+c,green); |
||
| 159 | while(1) { |
||
| 160 | if(kill_flag[number]) { |
||
| 161 | return 0; |
||
| 162 | } |
||
| 163 | sem_wait(&mutex); |
||
| 164 | grx_putimage(CAMX+40,CAMY+c,CAMX+40+29,CAMY+c+29,vbuf[number]); |
||
| 165 | sem_post(&mutex); |
||
| 166 | task_endcycle(); |
||
| 167 | } |
||
| 168 | } |
||
| 169 | |||
| 170 | TASK traffic_light(tl_data *d) { |
||
| 171 | char hpos,vpos,flag; |
||
| 172 | |||
| 173 | flag=0; |
||
| 174 | vpos=d->vpos; |
||
| 175 | if(vpos=='g') { |
||
| 176 | hpos='r'; |
||
| 177 | #ifdef GRAPH |
||
| 178 | sem_wait(&mutex); |
||
| 179 | draw_tl(d->l.x,d->l.y,r_sem[L]); |
||
| 180 | draw_tl(d->r.x,d->r.y,r_sem[R]); |
||
| 181 | draw_tl(d->u.x,d->u.y,g_sem[U]); |
||
| 182 | draw_tl(d->d.x,d->d.y,g_sem[D]); |
||
| 183 | sem_post(&mutex); |
||
| 184 | #endif |
||
| 185 | } else { |
||
| 186 | vpos='r'; |
||
| 187 | hpos='g'; |
||
| 188 | #ifdef GRAPH |
||
| 189 | sem_wait(&mutex); |
||
| 190 | draw_tl(d->l.x,d->l.y,g_sem[L]); |
||
| 191 | draw_tl(d->r.x,d->r.y,g_sem[R]); |
||
| 192 | draw_tl(d->u.x,d->u.y,r_sem[U]); |
||
| 193 | draw_tl(d->d.x,d->d.y,r_sem[D]); |
||
| 194 | sem_post(&mutex); |
||
| 195 | #endif |
||
| 196 | } |
||
| 197 | task_endcycle(); |
||
| 198 | while(1) { |
||
| 199 | if(vpos=='g') { |
||
| 200 | vpos='y'; |
||
| 201 | flag=1; |
||
| 202 | #ifdef GRAPH |
||
| 203 | sem_wait(&mutex); |
||
| 204 | draw_tl(d->u.x,d->u.y,y_sem[U]); |
||
| 205 | draw_tl(d->d.x,d->d.y,y_sem[D]); |
||
| 206 | sem_post(&mutex); |
||
| 207 | #endif |
||
| 208 | } |
||
| 209 | if((vpos=='y')&&(!flag)) { |
||
| 210 | vpos='r'; |
||
| 211 | hpos='g'; |
||
| 212 | flag=1; |
||
| 213 | #ifdef GRAPH |
||
| 214 | sem_wait(&mutex); |
||
| 215 | draw_tl(d->u.x,d->u.y,r_sem[U]); |
||
| 216 | draw_tl(d->d.x,d->d.y,r_sem[D]); |
||
| 217 | draw_tl(d->l.x,d->l.y,g_sem[L]); |
||
| 218 | draw_tl(d->r.x,d->r.y,g_sem[R]); |
||
| 219 | sem_post(&mutex); |
||
| 220 | #endif |
||
| 221 | } |
||
| 222 | if((vpos=='r')&&(!flag)) { |
||
| 223 | if(hpos=='g') { |
||
| 224 | hpos='y'; |
||
| 225 | flag=1; |
||
| 226 | #ifdef GRAPH |
||
| 227 | sem_wait(&mutex); |
||
| 228 | draw_tl(d->l.x,d->l.y,y_sem[L]); |
||
| 229 | draw_tl(d->r.x,d->r.y,y_sem[R]); |
||
| 230 | sem_post(&mutex); |
||
| 231 | #endif |
||
| 232 | } |
||
| 233 | if((hpos=='y')&&(!flag)) { |
||
| 234 | hpos='r'; |
||
| 235 | vpos='g'; |
||
| 236 | #ifdef GRAPH |
||
| 237 | sem_wait(&mutex); |
||
| 238 | draw_tl(d->l.x,d->l.y,r_sem[L]); |
||
| 239 | draw_tl(d->r.x,d->r.y,r_sem[R]); |
||
| 240 | draw_tl(d->u.x,d->u.y,g_sem[U]); |
||
| 241 | draw_tl(d->d.x,d->d.y,g_sem[D]); |
||
| 242 | sem_post(&mutex); |
||
| 243 | #endif |
||
| 244 | } |
||
| 245 | } |
||
| 246 | flag=0; |
||
| 247 | d->vpos=vpos; |
||
| 248 | d->hpos=hpos; |
||
| 249 | #ifndef GRAPH |
||
| 250 | sem_wait(&mutex); |
||
| 251 | cprintf("semaforo %s: verticale:%c orizz.:%c\n",d->tl_name,vpos,hpos); |
||
| 252 | sem_post(&mutex); |
||
| 253 | #endif |
||
| 254 | task_endcycle(); |
||
| 255 | } |
||
| 256 | } |
||
| 257 | |||
| 258 | TASK car(car_data *cd) { |
||
| 259 | char ob_type=FREE; |
||
| 260 | int start_point,sat_angle=0; |
||
| 261 | int tl=0; |
||
| 262 | short stato=NORM,dir_flag=0; |
||
| 263 | |||
| 264 | sem_wait(&(kill_mutex[cd->number])); |
||
| 265 | while(kill_flag[cd->number]){ |
||
| 266 | cd->running=0; |
||
| 267 | sem_post(&(kill_mutex[cd->number])); |
||
| 268 | return 0; |
||
| 269 | } |
||
| 270 | sem_post(&(kill_mutex[cd->number])); |
||
| 271 | while(1) { |
||
| 272 | sem_wait(&(kill_mutex[cd->number])); |
||
| 273 | while(kill_flag[cd->number]){ |
||
| 274 | cd->running=0; |
||
| 275 | sem_post(&(kill_mutex[cd->number])); |
||
| 276 | return 0; |
||
| 277 | } |
||
| 278 | sem_post(&(kill_mutex[cd->number])); |
||
| 279 | if(cd->xp>630||cd->yp>590||cd->xp<18||cd->yp<MAPY+3) { |
||
| 280 | start_point=rand()%S_POINT; |
||
| 281 | if(start_point==2) |
||
| 282 | start_point++; |
||
| 283 | cd->xpos=cd->xp=starting_set_array[start_point].xpos; |
||
| 284 | cd->ypos=cd->yp=starting_set_array[start_point].ypos; |
||
| 285 | cd->angle=starting_set_array[start_point].angles; |
||
| 286 | } |
||
| 287 | if (!cd->boom) { |
||
| 288 | // Control State Machine |
||
| 289 | if(stato==NORM) { |
||
| 290 | cd->dir=STRAIGHT; |
||
| 291 | ob_type=collision_sensor(cd); |
||
| 292 | ch_spd(cd,ob_type); |
||
| 293 | if(cd->dist_obs<30 && ob_type==STOP) { |
||
| 294 | stato=INC1; |
||
| 295 | } |
||
| 296 | if(ob_type==FREE || cd->dist_obs>=27 || cd->speed>=2.0) { |
||
| 297 | cd->angle=sensore(cd); |
||
| 298 | cd->angle=normalize(cd->angle); |
||
| 299 | } |
||
| 300 | } |
||
| 301 | if(stato==INC1) { |
||
| 302 | tl=find_tl(cd->angle,cd->xp,cd->yp); |
||
| 303 | if(!dir_flag) |
||
| 304 | cd->dir=rand()%3-1; |
||
| 305 | if(find_col(cd->angle,tl)=='g') { |
||
| 306 | switch(cd->dir) { |
||
| 307 | case STEER_RIGHT: |
||
| 308 | stato=DX1; |
||
| 309 | break; |
||
| 310 | case STRAIGHT: |
||
| 311 | case STEER_LEFT: |
||
| 312 | stato=STR1; |
||
| 313 | break; |
||
| 314 | default: |
||
| 315 | stato=DX1; |
||
| 316 | } |
||
| 317 | } else { |
||
| 318 | cd->speed=0.0; |
||
| 319 | dir_flag=1; |
||
| 320 | } |
||
| 321 | } |
||
| 322 | if(stato==DX1) { |
||
| 323 | dir_flag=0; |
||
| 324 | cd->speed=4.0; |
||
| 325 | cd->angle=sensore(cd); |
||
| 326 | if(ob_type!=STOP) |
||
| 327 | stato=NORM; |
||
| 328 | else { |
||
| 329 | ob_type=collision_sensor(cd); |
||
| 330 | if(ob_type==CAR) |
||
| 331 | ch_spd(cd,ob_type); |
||
| 332 | } |
||
| 333 | } |
||
| 334 | if(stato==STR1) { |
||
| 335 | dir_flag=0; |
||
| 336 | cd->angle=allinea(cd->angle); |
||
| 337 | sensore(cd); |
||
| 338 | cd->speed=4.0; |
||
| 339 | ob_type=collision_sensor(cd); |
||
| 340 | if(ob_type==CAR) |
||
| 341 | ch_spd(cd,ob_type); |
||
| 342 | if(cd->middle==MAX_DIST) { |
||
| 343 | if(cd->dir==STRAIGHT) |
||
| 344 | stato=STR2; |
||
| 345 | else { |
||
| 346 | sat_angle=cd->angle+90; |
||
| 347 | stato=SX1; |
||
| 348 | } |
||
| 349 | } |
||
| 350 | } |
||
| 351 | if(stato==STR2) { |
||
| 352 | cd->speed=4.0; |
||
| 353 | sensore(cd); |
||
| 354 | ob_type=collision_sensor(cd); |
||
| 355 | if(ob_type==CAR) |
||
| 356 | ch_spd(cd,ob_type); |
||
| 357 | if(abs(cd->front-cd->rear)<0.1 && ((cd->middle-NORM_DIST)<7.0)) |
||
| 358 | stato=NORM; |
||
| 359 | } |
||
| 360 | if(stato==SX1) { |
||
| 361 | cd->speed=4.0; |
||
| 362 | sensore(cd); |
||
| 363 | ob_type=collision_sensor(cd); |
||
| 364 | if(ob_type==CAR) |
||
| 365 | ch_spd(cd,ob_type); |
||
| 366 | else { |
||
| 367 | cd->angle+=7; |
||
| 368 | if(cd->angle>=sat_angle) { |
||
| 369 | cd->angle=sat_angle; |
||
| 370 | } |
||
| 371 | } |
||
| 372 | if(abs(cd->front-cd->rear)<0.1 && ((cd->middle-NORM_DIST)<7.0)) |
||
| 373 | stato=NORM; |
||
| 374 | } |
||
| 375 | } |
||
| 376 | if (cd->dist_obs<COLL_DIST && ob_type==CAR) { |
||
| 377 | cd->boom=1; |
||
| 378 | cd->speed=0.0; |
||
| 379 | } |
||
| 380 | sem_wait(&mutex); |
||
| 381 | grx_getimage(cd->xp-15,cd->yp-15,cd->xp+14,cd->yp+14,vbuf[cd->number]); |
||
| 382 | if (cd->boom==0) { |
||
| 383 | drawCar(cd->xp,cd->yp,cd->angle,DRAW); |
||
| 384 | } |
||
| 385 | if (cd->boom==1) { |
||
| 386 | drawSprites(cd->xp,cd->yp,0,DRAW); |
||
| 387 | } |
||
| 388 | sem_post(&mutex); |
||
| 389 | task_endcycle(); |
||
| 390 | sem_wait(&mutex); |
||
| 391 | if (cd->boom==0) { |
||
| 392 | grx_putimage(cd->xp-15,cd->yp-15,cd->xp+14,cd->yp+14,vbuf[cd->number]); |
||
| 393 | } else { |
||
| 394 | drawSprites(cd->xp,cd->yp,0,CANCEL); |
||
| 395 | } |
||
| 396 | sem_post(&mutex); |
||
| 397 | sem_wait(&(kill_mutex[cd->number])); |
||
| 398 | while(kill_flag[cd->number]){ |
||
| 399 | cd->running=0; |
||
| 400 | sem_post(&(kill_mutex[cd->number])); |
||
| 401 | return 0; |
||
| 402 | } |
||
| 403 | sem_post(&(kill_mutex[cd->number])); |
||
| 404 | cd->xpos+=cd->speed*cos(DEG_TO_RAD(cd->angle)); |
||
| 405 | cd->ypos-=cd->speed*sin(DEG_TO_RAD(cd->angle)); |
||
| 406 | cd->xp=my_rint(cd->xpos); |
||
| 407 | cd->yp=my_rint(cd->ypos); |
||
| 408 | } |
||
| 409 | } |