WebSVN - shark - Blame - Rev 1376 - /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
1373	giacomo	20	extern volatile int shark_running;
		21
1162	tavani	22	void draw_rock(int x, int y, int r, int c)
		23	{
		24	sem_wait(&mx_grf);
		25	grx_disc(x, y, r, c);
		26	sem_post(&mx_grf);
		27	}
		28
		29	TASK rock(rock_ini* ri)
		30	{
		31	int x, y, r; /* rock graphic position */
		32	int ox, oy; /* rock old position */
		33	int x0, y0; /* rock initial position */
		34	float vx, vy; /* rock speed */
		35	float vxo, vyo; /* rock initial speed */
		36	float ty, tx;
		37	float dt;
		38	float rand_ang;
		39	int rand_side;
		40	int ab, ax, ay, i, l;
		41
		42	x = y = x0 = y0 = ox = oy = vx = vy = ab = 0;
		43
		44	i = ri->i;
		45	r = ri->r;
		46
		47	rand_ang = ((rand()%120) - 60) * PI / 180.;
		48
		49	sem_wait(&mx_st_scr);
		50	l = score / 50;
		51	sem_post(&mx_st_scr);
		52
		53	sem_wait(&mx_mat);
		54	vxo = - (ROCK_VEL + l) * sin(rand_ang);
		55	vyo = - (ROCK_VEL + l) * cos(rand_ang);
		56	sem_post(&mx_mat);
		57
		58	#ifdef ASTRO_MOVE
		59	rand_side = rand()%4;
		60	#else
		61	rand_side = 1;
		62	#endif
		63
		64	if (rand_side == 0) { // Bottom
		65	vx = vxo;
		66	vy = vyo;
		67	}
		68	if (rand_side == 1) { // Top
		69	vx = -vxo;
		70	vy = -vyo;
		71	}
		72	if (rand_side == 2) { // Right
		73	vx = vyo;
		74	vy = -vxo;
		75	}
		76	if (rand_side == 3) { // Left
		77	vx = -vyo;
		78	vy = vxo;
		79	}
		80
		81	if ( (ri->x == 0) && (ri->y == 0) ) {
		82	if (rand_side < 2) { // Bottom or Top
		83	x = ox = x0 = GB_XMIN + (GB_XMAX-GB_XMIN)/4 + (rand()%((GB_XMAX-GB_XMIN)/2));
		84	if (rand_side == 0) { // Bottom
		85	y = oy = y0 = GB_YMAX - (r+1);
		86	}
		87	if (rand_side == 1) { // Top
		88	y = oy = y0 = GB_YMIN + (r+1);
		89	}
		90	} else {
		91	y = oy = y0 = GB_YMIN + (GB_YMAX-GB_YMIN)/4 + (rand()%((GB_YMAX-GB_YMIN)/2));
		92	if (rand_side == 2) { // Right
		93	x = ox = x0 = GB_XMAX - (r+1);
		94	}
		95	if (rand_side == 3) { // Left
		96	x = ox = x0 = GB_XMIN + (r+1);
		97	}
		98	}
		99	} else {
		100	x = ox = x0 = ri->x;
		101	y = oy = y0 = ri->y;
		102	}
		103
		104	sem_wait(&mx_rk);
		105	rocks[i].x = x;
		106	rocks[i].y = y;
		107	rocks[i].r = r;
		108	sem_post(&mx_rk);
		109
		110	tx = 0;
		111	ty = 0;
		112	dt = ((float)ROCK_PERIOD)/100000;
		113
		114	while (1) {
		115	y = y0 + vy * ty;
		116	x = x0 + vx * tx;
		117
		118	sem_wait(&mx_rk);
		119	rocks[i].x = x;
		120	rocks[i].y = y;
		121	r = rocks[i].r;
		122	sem_post(&mx_rk);
		123
		124	draw_rock(ox, oy, r, RGB_BLACK);
		125
		126	if ((kill_rock) \|\| (crash)){
		127	nrock--;
		128	sem_wait(&mx_rk);
		129	rocks[i].pid = NIL;
		130	sem_post(&mx_rk);
		131	return 0;
		132	}
		133
		134	ox = x;
		135	oy = y;
		136
		137	sem_wait(&mx_xy);
		138	ax = astro_x;
		139	ay = astro_y;
		140	sem_post(&mx_xy);
		141
		142	if (dist_xy(x, y, ax, ay) < (ASTRO_RADIUS/2+r)) {
		143	if (!ab) {
		144	sem_wait(&mx_st_nrg);
		145	energy -= ENERGY_GOT;
		146	sem_post(&mx_st_nrg);
		147	ab = 1;
		148	}
		149	} else
		150	ab = 0;
		151
		152	sem_wait(&mx_xy);
		153	if (dist_xy(x, y, astro_x, astro_y) < (ASTRO_RADIUS+r)/2) crash = 1;
		154	sem_post(&mx_xy);
		155
		156	#ifdef ASTRO_MOVE
		157	if (x <= GB_XMIN + r) {
		158	x0 = x = GB_XMAX - (r+1);
		159	y0 = y;
		160	tx = ty = 0;
		161	}
		162	if (x >= GB_XMAX - r) {
		163	x0 = x = GB_XMIN + (r+1);
		164	y0 = y;
		165	tx = ty = 0;
		166	}
		167	if (y <= GB_YMIN + r) {
		168	x0 = x;
		169	y0 = y = GB_YMAX - (r+1);
		170	tx = ty = 0;
		171	}
		172	if (y >= GB_YMAX - r) {
		173	x0 = x;
		174	y0 = y = GB_YMIN + (r+1);
		175	tx = ty = 0;
		176	}
		177	#else
		178	if ( (x <= GB_XMIN + r) \|\| (x >= GB_XMAX - r) \|\| (y >= GB_YMAX - 2*r) ) {
		179	if (y >= GB_YMAX - 2*r) {
		180	sem_wait(&mx_st_nrg);
		181	energy -= ENERGY_GOT;
		182	sem_post(&mx_st_nrg);
		183	}
		184	nrock--;
		185	sem_wait(&mx_rk);
		186	rocks[i].pid = NIL;
		187	sem_post(&mx_rk);
		188	return 0;
		189	}
		190	#endif
		191	draw_rock(ox, oy, r, RGB_YELLOW);
		192
		193	ty += dt;
		194	tx += dt;
		195
		196	task_endcycle();
		197	}
		198	}
		199
		200	void rock_create(rock_ini* ri)
		201	{
		202	SOFT_TASK_MODEL mp;
		203	PID pid;
		204	int i;
		205
		206	soft_task_default_model(mp);
		207	soft_task_def_ctrl_jet(mp);
		208	soft_task_def_group(mp, ROCK_GROUP);
		209	soft_task_def_met(mp, ROCK_WCET);
		210	soft_task_def_period(mp,ROCK_PERIOD);
		211	soft_task_def_usemath(mp);
		212	i = -1;
		213	do {
		214	i++;
		215	sem_wait(&mx_rk);
		216	pid = rocks[i].pid;
		217	sem_post(&mx_rk);
		218	} while (pid != NIL);
		219	ri->i = i;
		220	soft_task_def_arg(mp, (void *)ri);
		221	pid = task_create("Rock", rock, &mp, NULL);
		222
		223	if (pid != NIL) {
		224	sem_wait(&mx_rk);
		225	rocks[i].pid = pid;
		226	sem_post(&mx_rk);
		227	task_activate(pid);
		228	nrock++;
		229	}
		230	}
		231
		232	TASK rock_creator()
		233	{
		234	while (1) {
		235	sem_wait(&mx_rn);
		236	if (rock_new.i == 0) {
		237	rock_create(&rock_new);
		238	rock_new.i = -1;
		239	}
		240	sem_post(&mx_rn);
		241
		242	if ((nrock < ROCK_NMAX/2) && (!kill_rock) && (!crash)) {
		243	if ((rand()%ROCK_NMAX) > nrock) {
		244	rock_new.r = ROCK_RADIUS_I;
		245	rock_new.x = rock_new.y = 0;
		246	rock_create(&rock_new);
		247	}
		248	}
		249	task_endcycle();
		250	}
		251	}
		252
		253	void reset_rock()
		254	{
		255	kill_rock = 1;
		256	}
		257
		258	void start_rock()
		259	{
		260	kill_rock = 0;
		261	}
		262
		263	void create_rock_task()
		264	{
		265	SOFT_TASK_MODEL ms;
		266
		267	soft_task_default_model(ms);
		268	soft_task_def_ctrl_jet(ms);
		269	soft_task_def_met(ms, ROCK_WCET);
		270	soft_task_def_period(ms,ROCK_PERIOD*10);
		271	soft_task_def_usemath(ms);
		272	pid_RC = task_create("RockCreator", rock_creator, &ms, NULL);
		273	if (pid_RC == NIL) {
1376	giacomo	274	sys_shutdown_message("Could not create task <RockCreator>\n");
1373	giacomo	275	shark_running = 0;
1376	giacomo	276	return;
1162	tavani	277	} else
		278	task_activate(pid_RC);
		279	}
		280
		281	void init_rock()
		282	{
		283	int i;
		284
		285	nrock = 0;
		286	kill_rock = 1;
		287	for ( i=0; i<ROCK_NMAX; i++ ) rocks[i].pid = NIL;
		288
		289	create_rock_task();
		290	}
		291

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(root)/demos/trunk/astro/rock.c @ 1550 - Rev 1376