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1085 pj 1
/*
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 * Project: S.Ha.R.K.
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 *
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 * Coordinators:
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 *   Giorgio Buttazzo    <giorgio@sssup.it>
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *
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 * Authors     :
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *   (see the web pages for full authors list)
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 *
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 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
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 *
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 * http://www.sssup.it
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 * http://retis.sssup.it
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 * http://shark.sssup.it
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 */
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/**
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 ------------
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 CVS :        $Id: fly.c,v 1.10 2005-01-08 14:31:38 pj Exp $
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 File:        $File$
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 Revision:    $Revision: 1.10 $
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 Last update: $Date: 2005-01-08 14:31:38 $
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 ------------
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**/
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/*
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 * Copyright (C) 2000 Paolo Gai and Giorgio Buttazzo
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 *
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 * This program is free software; you can redistribute it and/or modify
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 * it under the terms of the GNU General Public License as published by
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 * the Free Software Foundation; either version 2 of the License, or
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 * (at your option) any later version.
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 *
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 * This program is distributed in the hope that it will be useful,
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 * GNU General Public License for more details.
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 *
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 * You should have received a copy of the GNU General Public License
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 * along with this program; if not, write to the Free Software
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 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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 *
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 */
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/*--------------------------------------------------------------*/
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/*              SIMULATION OF RANDOM FLIES                      */
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/*--------------------------------------------------------------*/
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#include <kernel/kern.h>
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#include <modules/sem.h>
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#include <stdlib.h>
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#include <math.h>
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#include <drivers/shark_keyb26.h>
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#include <drivers/shark_fb26.h>
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#define YMENU    10             /* menu level                   */
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#define XMIN     50
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#define XMAX     600
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#define YMIN     100
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#define YMAX     450
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#define VEL      5              /* linear velocity (def. = 5)   */
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#define ANG      30             /* angolo massimo sterzata (30) */
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#define D        3              /* raggio mosca                 */
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#undef ESC
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#define ESC      27             /* ASCII code of ESCAPE key     */
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#define MAX_P    35             /* max number of flies          */
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#define FLYGROUP 1
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double  tick = 1.0;             /* system tick = 1 ms           */
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int     fly_period = 40000;     /* task period                  */
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int     fly_wcet = 1000;        /* task wcet                    */
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PID     pid;
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sem_t   grx_mutex;
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/*--------------------------------------------------------------*/
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void    draw_fly(int x, int y, int c)
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{
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        grx_disc(x, y, D, c);
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}
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/******************************************************************/
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TASK    fly(void *arg)
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{
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int     x, y;
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int     ox, oy;
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int     dx, dy, da;
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int     teta, col,red;
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int     outx, outy;
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double  r;
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int     i = (int)arg;
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        x = ox = (XMIN+XMAX)/2;
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        y = oy = (YMIN+YMAX)/2;
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        teta = 0;
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        red = 100+10*i;
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        if (red > 255) red = 255;
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        col = rgb16(red,0,50); /* colore fly           */
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        while (1) {
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                da = rand()%(2*ANG) - ANG;      /*  da = [-ANG,ANG] */
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                teta += da;
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                if (teta > 360) teta -= 360;
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                if (teta < 0) teta += 360;
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                r = (double)teta * PI / 180.;
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                dx = (float)(VEL * cos(r));
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                dy = (float)(VEL * sin(r));
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                x += dx;
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                y += dy;
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                outx = (x >= XMAX) || (x <= XMIN);
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                outy = (y >= YMAX) || (y <= YMIN);
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                if (outx || outy) {
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                        x = x - dx;
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                        y = y - dy;
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                        if (outx) teta = 180 - teta;
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                        if (outy) teta = -teta;
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                        if (teta > 360) teta -= 360;
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                        if (teta < 0) teta += 360;
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                        r = (double)teta * PI / 180.;
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                        dx = (float)(VEL * cos(r));
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                        dy = (float)(VEL * sin(r));
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                        x += dx;
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                        y += dy;
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                }
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                sem_wait(&grx_mutex);
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                  draw_fly(ox, oy, 0);
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                  draw_fly(x, y, col);
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                  ox = x; oy = y;
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                sem_post(&grx_mutex);
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                task_endcycle();
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        }
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}
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/****************************** MAIN ******************************/
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int main(int argc, char **argv)
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{
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    HARD_TASK_MODEL m;
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    char c;             /* character from keyboard      */
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    int  i = 0;         /* number of tasks created      */
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    TIME seme;          /* used to init the random seed */
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    /* Init the mutex */
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    sem_init(&grx_mutex,0,1);
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    /* The scenario */
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    grx_rect(XMIN-D-1, YMIN-D-1, XMAX+D+1, YMAX+D+1, rgb16(255,255,255));
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    grx_text("Simulation of Random Flies", XMIN, YMENU+10, rgb16(255,255,255), 0);
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    grx_text("SPACE create a fly"        , XMIN, YMENU+20, rgb16(255,255,255), 0);
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    grx_text("ESC   exit to DOS"         , XMIN, YMENU+30, rgb16(255,255,255), 0);
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    /* The program waits a space to create a fly */
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    c = keyb_getch(BLOCK);
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    /* randomize!!!! */
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    seme = sys_gettime(NULL);
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    srand(seme);
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    do {
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        if ((c == ' ') && (i < MAX_P)) {
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            hard_task_default_model(m);
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            hard_task_def_ctrl_jet (m);
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            hard_task_def_arg      (m, (void *)i);
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            hard_task_def_wcet     (m, fly_wcet);
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            hard_task_def_mit      (m, fly_period);
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            hard_task_def_group    (m, FLYGROUP);
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            hard_task_def_usemath  (m);
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            pid = task_create("fly", fly, &m, NULL);
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            if (pid == NIL) {
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              sys_shutdown_message("Could not create task <fly>");
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              exit(1);
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            }
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            task_activate(pid);
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            i++;
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        }
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        c = keyb_getch(BLOCK);
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    } while (c != ESC);
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    exit(0);
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    return 0;
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}
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/*--------------------------------------------------------------*/