WebSVN - shark - Blame - Rev 1386 - /demos/trunk/base/fly.c

Rev	Author	Line No.	Line
1085	pj	1	/*
		2	* Project: S.Ha.R.K.
		3	*
		4	* Coordinators:
		5	* Giorgio Buttazzo <giorgio@sssup.it>
		6	* Paolo Gai <pj@gandalf.sssup.it>
		7	*
		8	* Authors :
		9	* Paolo Gai <pj@gandalf.sssup.it>
		10	* (see the web pages for full authors list)
		11	*
		12	* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
		13	*
		14	* http://www.sssup.it
		15	* http://retis.sssup.it
		16	* http://shark.sssup.it
		17	*/
		18
		19	/**
		20	------------
1386	giacomo	21	CVS : $Id: fly.c,v 1.7 2004-04-19 14:11:07 giacomo Exp $
1085	pj	22
		23	File: $File$
1386	giacomo	24	Revision: $Revision: 1.7 $
		25	Last update: $Date: 2004-04-19 14:11:07 $
1085	pj	26	------------
		27	**/
		28
		29	/*
		30	* Copyright (C) 2000 Paolo Gai and Giorgio Buttazzo
		31	*
		32	* This program is free software; you can redistribute it and/or modify
		33	* it under the terms of the GNU General Public License as published by
		34	* the Free Software Foundation; either version 2 of the License, or
		35	* (at your option) any later version.
		36	*
		37	* This program is distributed in the hope that it will be useful,
		38	* but WITHOUT ANY WARRANTY; without even the implied warranty of
		39	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		40	* GNU General Public License for more details.
		41	*
		42	* You should have received a copy of the GNU General Public License
		43	* along with this program; if not, write to the Free Software
		44	* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
		45	*
		46	*/
		47
		48	/--------------------------------------------------------------/
		49	/* SIMULATION OF RANDOM FLIES */
		50	/--------------------------------------------------------------/
		51
		52	#include <kernel/kern.h>
		53	#include <stdlib.h>
		54	#include <math.h>
		55
1382	giacomo	56	#include <drivers/shark_keyb26.h>
1377	giacomo	57	#include <drivers/shark_fb26.h>
		58
1085	pj	59	#define YMENU 10 /* menu level */
		60	#define XMIN 50
		61	#define XMAX 600
		62	#define YMIN 100
		63	#define YMAX 450
		64	#define VEL 5 /* linear velocity (def. = 5) */
		65	#define ANG 30 /* angolo massimo sterzata (30) */
		66	#define D 3 /* raggio mosca */
1377	giacomo	67	#undef ESC
1085	pj	68	#define ESC 27 /* ASCII code of ESCAPE key */
		69	#define MAX_P 35 /* max number of flies */
		70	#define FLYGROUP 1
		71
		72	double tick = 1.0; /* system tick = 1 ms */
		73	int fly_period = 40000; /* task period */
		74	int fly_wcet = 1000; /* task wcet */
		75	PID pid;
		76
		77	/--------------------------------------------------------------/
		78
		79	void draw_fly(int x, int y, int c)
		80	{
		81	grx_disc(x, y, D, c);
		82	}
		83
		84	/******************************************************************/
		85
		86	TASK fly(void *arg)
		87	{
		88	int x, y;
		89	int ox, oy;
		90	int dx, dy, da;
1386	giacomo	91	int teta, col,red;
1085	pj	92	int outx, outy;
		93	double r;
		94	int i = (int)arg;
		95
		96	x = ox = (XMIN+XMAX)/2;
		97	y = oy = (YMIN+YMAX)/2;
		98	teta = 0;
1386	giacomo	99	red = 50+10*i;
		100	col = rgb16(red,0,50); /* colore fly */
1085	pj	101
		102	while (1) {
		103
		104	da = rand()%(2ANG) - ANG; / da = [-ANG,ANG] */
		105	teta += da;
		106
		107	if (teta > 360) teta -= 360;
		108	if (teta < 0) teta += 360;
		109	r = (double)teta * PI / 180.;
		110
		111	dx = (float)(VEL * cos(r));
		112	dy = (float)(VEL * sin(r));
		113	x += dx;
		114	y += dy;
		115
		116	outx = (x >= XMAX) \|\| (x <= XMIN);
		117	outy = (y >= YMAX) \|\| (y <= YMIN);
		118
		119	if (outx \|\| outy) {
		120	x = x - dx;
		121	y = y - dy;
		122	if (outx) teta = 180 - teta;
		123	if (outy) teta = -teta;
		124	if (teta > 360) teta -= 360;
		125	if (teta < 0) teta += 360;
		126	r = (double)teta * PI / 180.;
		127
		128	dx = (float)(VEL * cos(r));
		129	dy = (float)(VEL * sin(r));
		130
		131	x += dx;
		132	y += dy;
		133	}
		134
		135	draw_fly(ox, oy, 0);
		136	draw_fly(x, y, col);
		137	ox = x; oy = y;
		138
		139	task_endcycle();
		140	}
		141	}
		142
		143	/**************************** MAIN ****************************/
		144
		145	int main(int argc, char **argv)
		146	{
		147	HARD_TASK_MODEL m;
		148
		149	char c; /* character from keyboard */
		150	int i = 0; /* number of tasks created */
		151	TIME seme; /* used to init the random seed */
		152
		153	/* The scenario */
1386	giacomo	154	grx_rect(XMIN-D-1, YMIN-D-1, XMAX+D+1, YMAX+D+1, rgb16(255,255,255));
		155	grx_text("Simulation of Random Flies", XMIN, YMENU+10, rgb16(255,255,255), 0);
		156	grx_text("SPACE create a fly" , XMIN, YMENU+20, rgb16(255,255,255), 0);
		157	grx_text("ESC exit to DOS" , XMIN, YMENU+30, rgb16(255,255,255), 0);
1085	pj	158
		159	/* The program waits a space to create a fly */
		160	c = keyb_getch(BLOCK);
		161
		162	/* randomize!!!! */
		163	seme = sys_gettime(NULL);
		164	srand(seme);
		165
		166	do {
		167	if ((c == ' ') && (i < MAX_P)) {
		168	hard_task_default_model(m);
		169	hard_task_def_ctrl_jet (m);
		170	hard_task_def_arg (m, (void *)i);
		171	hard_task_def_wcet (m, fly_wcet);
		172	hard_task_def_mit (m, fly_period);
		173	hard_task_def_group (m, FLYGROUP);
		174	hard_task_def_usemath (m);
		175	pid = task_create("fly", fly, &m, NULL);
		176	if (pid == NIL) {
1377	giacomo	177	sys_shutdown_message("Could not create task <fly>");
1382	giacomo	178	sys_end();
1377	giacomo	179	return 0;
1085	pj	180	}
		181	task_activate(pid);
		182	i++;
		183	}
		184	c = keyb_getch(BLOCK);
		185
		186	} while (c != ESC);
		187
1382	giacomo	188	sys_end();
1085	pj	189
		190	return 0;
1377	giacomo	191
1085	pj	192	}
		193
		194	/--------------------------------------------------------------/

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