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1085 pj 1
#include <drivers/glib.h>
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#include <stdlib.h>
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#include <math.h>
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#include "include/simcity.h"
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#include "include/misc.h"
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#include "include/car.h"
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#include "include/draw.h"
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char collision_sensor(car_data *cd) {
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  float i,dx,dx1,dy,dy1,deltax,deltay;
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  int colore,colore1;
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  int speed_done=0;
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  char col=FREE;
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  dx=cd->xpos+2.0*cosine[normalize(cd->angle+90)];
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  dy=cd->ypos-2.0*sine[normalize(cd->angle+90)];
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  dx1=cd->xpos-8.0*cosine[normalize(cd->angle+90)];
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  dy1=cd->ypos+8.0*sine[normalize(cd->angle+90)];
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  for (i=0.0;i<MAX_LOOK;i+=0.1) {
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    deltax=i*cosine[normalize(cd->angle)];
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    deltay=i*sine[normalize(cd->angle)];
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    sem_wait(&mutex);
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    colore=grx_getpixel(my_rint(dx+deltax),my_rint(dy-deltay));
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    colore1=grx_getpixel(my_rint(dx1+deltax),my_rint(dy1-deltay));
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    sem_post(&mutex);
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    if (((colore==white)||(colore1==white) || ((colore==red)||(colore1==red)))) {
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      if((colore==white)||(colore1==white))
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        col=STOP;
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      else
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        col=CAR;
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      cd->dist_obs=i;
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      cd->collision=1;
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      speed_done=1;
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    }
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    if (!speed_done) {
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      if (sens) {
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        sem_wait(&mutex);
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        grx_plot(my_rint(dx+deltax),my_rint(dy-deltay),gray);
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        grx_plot(my_rint(dx1+deltax),my_rint(dy1-deltay),gray);
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        sem_post(&mutex);
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      }
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    }
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        }
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        if (!speed_done) {
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    cd->collision=0;
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    cd->dist_obs=MAX_LOOK;
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        }
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  return col;
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}
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int sensore(car_data *cd) {
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        int col_front,col_rear,col_middle;
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        int done_front=0,done_rear=0,done_middle=0;
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  float front,rear,middle,store_middle;
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        int angolo;
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        float i;
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        float x1,y1,x05,y05;
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        float xs,ys,xs1,ys1;
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        float coordx,coordy,distx,disty;
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  cd->front=cd->rear=cd->middle=front=rear=middle=store_middle=NORM_DIST;
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  x1=cd->xpos-10.0*cosine[normalize(cd->angle)];  // coordinata sensore dietro
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  y1=cd->ypos+10.0*sine[normalize(cd->angle)];
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  x05=cd->xpos-5.0*cosine[normalize(cd->angle)];  // coordinata sensore mezzo
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  y05=cd->ypos+5.0*sine[normalize(cd->angle)];
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  for (i=0.0;i<MAX_DIST;i+=0.1) {
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    coordx=i*cosine[normalize(cd->angle-LOOK_ANGLE)];
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    coordy=i*sine[normalize(cd->angle-LOOK_ANGLE)];
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    distx=i*cosine[normalize(cd->angle-DIST_ANGLE)];
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    disty=i*sine[normalize(cd->angle-DIST_ANGLE)];
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    col_front=grx_getpixel(my_rint(cd->xpos+coordx),my_rint(cd->ypos-coordy));
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    col_rear=grx_getpixel(my_rint(x1+coordx),my_rint(y1-coordy));
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    col_middle=grx_getpixel(my_rint(x05+distx),my_rint(y05-disty));
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    if ((col_front==border) && !done_front) {
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      done_front=1;
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      cd->front=front=i;
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                }
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    if ((col_middle==border) && !done_middle) {
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                  done_middle=1;
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      middle=cd->middle=i;
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                }
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    if ((col_rear==border) && !done_rear) {
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      done_rear=1;
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      cd->rear=rear=i;
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                }
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    if (sens) {
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      sem_wait(&mutex);
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      if (!done_front) {
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        grx_plot(my_rint(cd->xpos+coordx),my_rint(cd->ypos-coordy),gray);
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      }
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      if (!done_rear) {
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        grx_plot(my_rint(x1+coordx),my_rint(y1-coordy),blue);
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      }
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      if (!done_middle) {
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        grx_plot(my_rint(x05+distx),my_rint(y05-disty),green);
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      }
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      sem_post(&mutex);
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    }
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        }
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        if (!done_front) {
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    front=cd->front=MAX_DIST;
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        }
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        if (!done_rear) {
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    rear=cd->rear=MAX_DIST;
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        }
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        if (!done_middle) {
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    cd->middle=middle=MAX_DIST;
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        }
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  xs=cd->xpos+front*cosine[normalize(cd->angle-LOOK_ANGLE)];
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  xs1=x1+rear*cosine[normalize(cd->angle-LOOK_ANGLE)];
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  ys=cd->ypos-front*sine[normalize(cd->angle-LOOK_ANGLE)];
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  ys1=y1-rear*sine[normalize(cd->angle-LOOK_ANGLE)];
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        if (xs==xs1) {
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          angolo=90;
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        } else {
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                angolo=my_rint(RAD_TO_DEG(atan((-ys1+ys)/(xs1-xs))));
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        }
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        if (angolo<0) angolo+=360;
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        if (angolo>=360) angolo-=360;
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        if ((ys-ys1<0) && (xs1-xs>0)) {
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                angolo-=180;
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        }
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        if ((ys-ys1>=0) && (xs1-xs>0)) {
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                angolo+=180;
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        }
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        if ((xs1-xs==0) && (ys-ys1>0)) {
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                angolo=270;
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        }
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  if (abs(middle-NORM_DIST)>FRANTIC) {
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    cd->correggi=1;
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        } else {
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    cd->somma=0;
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    cd->correggi=0;
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        }
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  if (cd->correggi) {
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          if (middle>NORM_DIST) {
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      cd->somma-=CORR_FACT;
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                }
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                if (middle<NORM_DIST) {
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      cd->somma+=CORR_FACT;
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                }
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        }
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  angolo+=cd->somma;
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        return angolo;
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}
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void ch_spd(car_data *cd,char ob_type) {
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  float set_spd=0.0;
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  float bf;
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160
  if(cd->collision) {
161
    if(ob_type==STOP)
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      bf=0.001;
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    else
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      bf=0.7;
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    set_spd=cd->speed-(MAX_LOOK-cd->dist_obs)*bf;
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    if(set_spd<0)
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      set_spd=0;
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  }
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  else {
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    set_spd=cd->speed+0.4;
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    if(set_spd>MAX_SPEED)
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      set_spd=MAX_SPEED;
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  }
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  cd->speed=set_spd;
1109 pj 175
}