WebSVN - shark - Blame - Rev 1351 - /demos/trunk/astro/rock.c

Rev	Author	Line No.	Line
1162	tavani	1	/*
1349	giacomo	2	* Project: S.Ha.R.K.
1162	tavani	3	*
		4	* Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
		5	*
		6	* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
		7	*
		8	* http://www.sssup.it
		9	* http://retis.sssup.it
		10	* http://hartik.sssup.it
		11	*/
		12
		13	#include "asteroid.h"
		14
		15	PID pid_RC;
		16	int nrock;
		17	int kill_rock;
		18	rock_pos rocks[ROCK_NMAX];
		19
		20	void draw_rock(int x, int y, int r, int c)
		21	{
		22	sem_wait(&mx_grf);
		23	grx_disc(x, y, r, c);
		24	sem_post(&mx_grf);
		25	}
		26
		27	TASK rock(rock_ini* ri)
		28	{
		29	int x, y, r; /* rock graphic position */
		30	int ox, oy; /* rock old position */
		31	int x0, y0; /* rock initial position */
		32	float vx, vy; /* rock speed */
		33	float vxo, vyo; /* rock initial speed */
		34	float ty, tx;
		35	float dt;
		36	float rand_ang;
		37	int rand_side;
		38	int ab, ax, ay, i, l;
		39
		40	x = y = x0 = y0 = ox = oy = vx = vy = ab = 0;
		41
		42	i = ri->i;
		43	r = ri->r;
		44
		45	rand_ang = ((rand()%120) - 60) * PI / 180.;
		46
		47	sem_wait(&mx_st_scr);
		48	l = score / 50;
		49	sem_post(&mx_st_scr);
		50
		51	sem_wait(&mx_mat);
		52	vxo = - (ROCK_VEL + l) * sin(rand_ang);
		53	vyo = - (ROCK_VEL + l) * cos(rand_ang);
		54	sem_post(&mx_mat);
		55
		56	#ifdef ASTRO_MOVE
		57	rand_side = rand()%4;
		58	#else
		59	rand_side = 1;
		60	#endif
		61
		62	if (rand_side == 0) { // Bottom
		63	vx = vxo;
		64	vy = vyo;
		65	}
		66	if (rand_side == 1) { // Top
		67	vx = -vxo;
		68	vy = -vyo;
		69	}
		70	if (rand_side == 2) { // Right
		71	vx = vyo;
		72	vy = -vxo;
		73	}
		74	if (rand_side == 3) { // Left
		75	vx = -vyo;
		76	vy = vxo;
		77	}
		78
		79	if ( (ri->x == 0) && (ri->y == 0) ) {
		80	if (rand_side < 2) { // Bottom or Top
		81	x = ox = x0 = GB_XMIN + (GB_XMAX-GB_XMIN)/4 + (rand()%((GB_XMAX-GB_XMIN)/2));
		82	if (rand_side == 0) { // Bottom
		83	y = oy = y0 = GB_YMAX - (r+1);
		84	}
		85	if (rand_side == 1) { // Top
		86	y = oy = y0 = GB_YMIN + (r+1);
		87	}
		88	} else {
		89	y = oy = y0 = GB_YMIN + (GB_YMAX-GB_YMIN)/4 + (rand()%((GB_YMAX-GB_YMIN)/2));
		90	if (rand_side == 2) { // Right
		91	x = ox = x0 = GB_XMAX - (r+1);
		92	}
		93	if (rand_side == 3) { // Left
		94	x = ox = x0 = GB_XMIN + (r+1);
		95	}
		96	}
		97	} else {
		98	x = ox = x0 = ri->x;
		99	y = oy = y0 = ri->y;
		100	}
		101
		102	sem_wait(&mx_rk);
		103	rocks[i].x = x;
		104	rocks[i].y = y;
		105	rocks[i].r = r;
		106	sem_post(&mx_rk);
		107
		108	tx = 0;
		109	ty = 0;
		110	dt = ((float)ROCK_PERIOD)/100000;
		111
		112	while (1) {
		113	y = y0 + vy * ty;
		114	x = x0 + vx * tx;
		115
		116	sem_wait(&mx_rk);
		117	rocks[i].x = x;
		118	rocks[i].y = y;
		119	r = rocks[i].r;
		120	sem_post(&mx_rk);
		121
		122	draw_rock(ox, oy, r, RGB_BLACK);
		123
		124	if ((kill_rock) \|\| (crash)){
		125	nrock--;
		126	sem_wait(&mx_rk);
		127	rocks[i].pid = NIL;
		128	sem_post(&mx_rk);
		129	return 0;
		130	}
		131
		132	ox = x;
		133	oy = y;
		134
		135	sem_wait(&mx_xy);
		136	ax = astro_x;
		137	ay = astro_y;
		138	sem_post(&mx_xy);
		139
		140	if (dist_xy(x, y, ax, ay) < (ASTRO_RADIUS/2+r)) {
		141	if (!ab) {
		142	sem_wait(&mx_st_nrg);
		143	energy -= ENERGY_GOT;
		144	sem_post(&mx_st_nrg);
		145	ab = 1;
		146	}
		147	} else
		148	ab = 0;
		149
		150	sem_wait(&mx_xy);
		151	if (dist_xy(x, y, astro_x, astro_y) < (ASTRO_RADIUS+r)/2) crash = 1;
		152	sem_post(&mx_xy);
		153
		154	#ifdef ASTRO_MOVE
		155	if (x <= GB_XMIN + r) {
		156	x0 = x = GB_XMAX - (r+1);
		157	y0 = y;
		158	tx = ty = 0;
		159	}
		160	if (x >= GB_XMAX - r) {
		161	x0 = x = GB_XMIN + (r+1);
		162	y0 = y;
		163	tx = ty = 0;
		164	}
		165	if (y <= GB_YMIN + r) {
		166	x0 = x;
		167	y0 = y = GB_YMAX - (r+1);
		168	tx = ty = 0;
		169	}
		170	if (y >= GB_YMAX - r) {
		171	x0 = x;
		172	y0 = y = GB_YMIN + (r+1);
		173	tx = ty = 0;
		174	}
		175	#else
		176	if ( (x <= GB_XMIN + r) \|\| (x >= GB_XMAX - r) \|\| (y >= GB_YMAX - 2*r) ) {
		177	if (y >= GB_YMAX - 2*r) {
		178	sem_wait(&mx_st_nrg);
		179	energy -= ENERGY_GOT;
		180	sem_post(&mx_st_nrg);
		181	}
		182	nrock--;
		183	sem_wait(&mx_rk);
		184	rocks[i].pid = NIL;
		185	sem_post(&mx_rk);
		186	return 0;
		187	}
		188	#endif
		189	draw_rock(ox, oy, r, RGB_YELLOW);
		190
		191	ty += dt;
		192	tx += dt;
		193
		194	task_endcycle();
		195	}
		196	}
		197
		198	void rock_create(rock_ini* ri)
		199	{
		200	SOFT_TASK_MODEL mp;
		201	PID pid;
		202	int i;
		203
		204	soft_task_default_model(mp);
		205	soft_task_def_ctrl_jet(mp);
		206	soft_task_def_group(mp, ROCK_GROUP);
		207	soft_task_def_met(mp, ROCK_WCET);
		208	soft_task_def_period(mp,ROCK_PERIOD);
		209	soft_task_def_usemath(mp);
		210	i = -1;
		211	do {
		212	i++;
		213	sem_wait(&mx_rk);
		214	pid = rocks[i].pid;
		215	sem_post(&mx_rk);
		216	} while (pid != NIL);
		217	ri->i = i;
		218	soft_task_def_arg(mp, (void *)ri);
		219	pid = task_create("Rock", rock, &mp, NULL);
		220
		221	if (pid != NIL) {
		222	sem_wait(&mx_rk);
		223	rocks[i].pid = pid;
		224	sem_post(&mx_rk);
		225	task_activate(pid);
		226	nrock++;
		227	}
		228	}
		229
		230	TASK rock_creator()
		231	{
		232	while (1) {
		233	sem_wait(&mx_rn);
		234	if (rock_new.i == 0) {
		235	rock_create(&rock_new);
		236	rock_new.i = -1;
		237	}
		238	sem_post(&mx_rn);
		239
		240	if ((nrock < ROCK_NMAX/2) && (!kill_rock) && (!crash)) {
		241	if ((rand()%ROCK_NMAX) > nrock) {
		242	rock_new.r = ROCK_RADIUS_I;
		243	rock_new.x = rock_new.y = 0;
		244	rock_create(&rock_new);
		245	}
		246	}
		247	task_endcycle();
		248	}
		249	}
		250
		251	void reset_rock()
		252	{
		253	kill_rock = 1;
		254	}
		255
		256	void start_rock()
		257	{
		258	kill_rock = 0;
		259	}
		260
		261	void create_rock_task()
		262	{
		263	SOFT_TASK_MODEL ms;
		264
		265	soft_task_default_model(ms);
		266	soft_task_def_ctrl_jet(ms);
		267	soft_task_def_met(ms, ROCK_WCET);
		268	soft_task_def_period(ms,ROCK_PERIOD*10);
		269	soft_task_def_usemath(ms);
		270	pid_RC = task_create("RockCreator", rock_creator, &ms, NULL);
		271	if (pid_RC == NIL) {
1349	giacomo	272	FB26_close(FRAME_BUFFER_DEVICE);
1162	tavani	273	perror("Could not create task <RockCreator>");
		274	sys_end();
		275	} else
		276	task_activate(pid_RC);
		277	}
		278
		279	void init_rock()
		280	{
		281	int i;
		282
		283	nrock = 0;
		284	kill_rock = 1;
		285	for ( i=0; i<ROCK_NMAX; i++ ) rocks[i].pid = NIL;
		286
		287	create_rock_task();
		288	}
		289

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