Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1664 | pj | 1 | #include "include/auto.h" |
| 2 | #include "include/const.h" |
||
| 3 | |||
| 4 | |||
| 5 | PID pid1,pid2,pid3,pid4; |
||
| 6 | SOFT_TASK_MODEL mp; |
||
| 7 | |||
| 8 | |||
| 9 | /* Semaphores */ |
||
| 10 | sem_t grx_mutex; |
||
| 11 | |||
| 12 | /* Useful colors */ |
||
| 13 | int black1 = rgb16( 0, 0, 0); |
||
| 14 | int red = rgb16(255, 0, 0); |
||
| 15 | int green = rgb16( 0,255, 0); |
||
| 16 | int blue = rgb16( 0, 0,255); |
||
| 17 | int lightgray = rgb16(192,192,192); |
||
| 18 | int car_colour = rgb16( 40, 80,125); |
||
| 19 | int track_colour = rgb16( 15, 70,175); |
||
| 20 | int track_direction; |
||
| 21 | |||
| 22 | void drive_car(); |
||
| 23 | /* -------------------------------------------------------*/ |
||
| 24 | |||
| 25 | /* Closing function */ |
||
| 26 | void byebye() |
||
| 27 | { |
||
| 28 | grx_close(); |
||
| 29 | |||
| 30 | // we need clear to reposition the cursor in the right place after |
||
| 31 | // going back from the graphical mode. |
||
| 32 | clear(); |
||
| 33 | |||
| 34 | kern_printf("ROAD CROSS GAME IS OVER, WERE U HURT!\n"); |
||
| 35 | } |
||
| 36 | |||
| 37 | /* -------------------------------------------------------*/ |
||
| 38 | |||
| 39 | |||
| 40 | void draw_highway() |
||
| 41 | { |
||
| 42 | /* Track drawing */ |
||
| 43 | sem_wait(&grx_mutex); |
||
| 44 | grx_box(0,HIGHWAY_Y_MIN,800,HIGHWAY_Y_MAX,track_colour); |
||
| 45 | grx_line(0,HIGHWAY_Y_MIN ,800,HIGHWAY_Y_MIN ,115); |
||
| 46 | grx_line(0,HIGHWAY_Y_MIN+75,800,HIGHWAY_Y_MIN+75,115); |
||
| 47 | grx_line(0,HIGHWAY_Y_MIN+150,800,HIGHWAY_Y_MIN+150,115); |
||
| 48 | grx_line(0,HIGHWAY_Y_MIN+225,800,HIGHWAY_Y_MIN+225,115); |
||
| 49 | grx_line(0,HIGHWAY_Y_MAX,800,HIGHWAY_Y_MAX,115); |
||
| 50 | grx_line(390,450,390,0,25); |
||
| 51 | grx_line(410,450,410,0,25); |
||
| 52 | sem_post(&grx_mutex); |
||
| 53 | |||
| 54 | } |
||
| 55 | |||
| 56 | //task for car on each |
||
| 57 | TASK drive_car1(void *arg) |
||
| 58 | { |
||
| 59 | while (1) |
||
| 60 | { |
||
| 61 | drive_car(1); |
||
| 62 | task_endcycle(); |
||
| 63 | } |
||
| 64 | } |
||
| 65 | |||
| 66 | TASK drive_car2(void *arg) |
||
| 67 | { |
||
| 68 | while (1) |
||
| 69 | { |
||
| 70 | drive_car(2); |
||
| 71 | task_endcycle(); |
||
| 72 | } |
||
| 73 | } |
||
| 74 | |||
| 75 | TASK drive_car3(void *arg) |
||
| 76 | { |
||
| 77 | while (1) |
||
| 78 | { |
||
| 79 | drive_car(3); |
||
| 80 | task_endcycle(); |
||
| 81 | } |
||
| 82 | } |
||
| 83 | |||
| 84 | TASK drive_car4(void *arg) |
||
| 85 | { |
||
| 86 | while (1) |
||
| 87 | { |
||
| 88 | drive_car(4); |
||
| 89 | task_endcycle(); |
||
| 90 | } |
||
| 91 | } |
||
| 92 | |||
| 93 | |||
| 94 | void drive_car(int track) |
||
| 95 | { |
||
| 96 | int x1=0; |
||
| 97 | int x2=0; |
||
| 98 | int y1=0; |
||
| 99 | int y2=0; |
||
| 100 | int x1o=0; |
||
| 101 | int x2o=0; |
||
| 102 | int x_size=50; |
||
| 103 | int y_size=35; |
||
| 104 | |||
| 105 | switch(track) |
||
| 106 | { |
||
| 107 | case 1: |
||
| 108 | x1=0; |
||
| 109 | y1=110; |
||
| 110 | track_direction = FORWARD; |
||
| 111 | break; |
||
| 112 | |||
| 113 | case 2: |
||
| 114 | x1=0; |
||
| 115 | y1=185 ; |
||
| 116 | track_direction = FORWARD; |
||
| 117 | break; |
||
| 118 | |||
| 119 | case 3: |
||
| 120 | x1=800-x_size; |
||
| 121 | y1=260; |
||
| 122 | track_direction =BACKWARD; |
||
| 123 | break; |
||
| 124 | case 4: |
||
| 125 | |||
| 126 | x1=800-x_size; |
||
| 127 | y1=335; |
||
| 128 | track_direction =BACKWARD; |
||
| 129 | break; |
||
| 130 | |||
| 131 | }//end of switch |
||
| 132 | |||
| 133 | x2=x1+x_size; |
||
| 134 | y2=y1+y_size; |
||
| 135 | |||
| 136 | if(track_direction == FORWARD) |
||
| 137 | { |
||
| 138 | do |
||
| 139 | { |
||
| 140 | x1o=x1; |
||
| 141 | x2o=x2; |
||
| 142 | x1 =x1o+5*track; |
||
| 143 | x2 =x1+x_size; |
||
| 144 | task_delay(60000); |
||
| 145 | grx_box(x1o,y1,x2o,y2,track_colour) ; |
||
| 146 | grx_box(x1,y1,x2,y2,car_colour); |
||
| 147 | } while(x1<800); |
||
| 148 | }//end of true condition of if |
||
| 149 | else |
||
| 150 | {//TRACK == BACKWARD |
||
| 151 | do |
||
| 152 | { |
||
| 153 | x1o=x1; |
||
| 154 | x2o=x2; |
||
| 155 | x1 =x1o-(5*track); |
||
| 156 | x2 =x1+x_size; |
||
| 157 | task_delay(70000); |
||
| 158 | |||
| 159 | grx_box(x1o,y1,x2o,y2,track_colour) ; |
||
| 160 | grx_box(x1,y1,x2,y2,car_colour); |
||
| 161 | if(track==3) |
||
| 162 | grx_box(0,260,x_size,265+y_size,track_colour) ; |
||
| 163 | // if(track==4) |
||
| 164 | grx_box(700,405,800,500,black1) ; |
||
| 165 | } while(x1>0); |
||
| 166 | }//end of else |
||
| 167 | } //end of the method drive_car |
||
| 168 | |||
| 169 | |||
| 170 | |||
| 171 | |||
| 172 | |||
| 173 | /* -------------------------------------------------------*/ |
||
| 174 | void initiate_task(){ |
||
| 175 | |||
| 176 | soft_task_default_model(mp); |
||
| 177 | soft_task_def_level(mp,1); |
||
| 178 | soft_task_def_ctrl_jet(mp); |
||
| 179 | soft_task_def_arg(mp,NULL); |
||
| 180 | soft_task_def_group(mp, 1); |
||
| 181 | soft_task_def_met(mp,100); |
||
| 182 | soft_task_def_period(mp,700); |
||
| 183 | soft_task_def_usemath(mp); |
||
| 184 | pid1 = task_create("track1", drive_car1, &mp, NULL); |
||
| 185 | pid2 = task_create("track2", drive_car2, &mp, NULL); |
||
| 186 | pid3 = task_create("track3", drive_car3, &mp, NULL); |
||
| 187 | pid4 = task_create("track4", drive_car4, &mp, NULL); |
||
| 188 | task_activate(pid1); |
||
| 189 | task_activate(pid2); |
||
| 190 | task_activate(pid3); |
||
| 191 | task_activate(pid4); |
||
| 192 | create_man(); |
||
| 193 | |||
| 194 | while(1) |
||
| 195 | { |
||
| 196 | grx_line(390,450,390,0,25); |
||
| 197 | grx_line(410,450,410,0,25); |
||
| 198 | task_endcycle(); |
||
| 199 | } |
||
| 200 | } |
||
| 201 | |||
| 202 | |||
| 203 | /* ------------------- */ |
||
| 204 | /* The main function */ |
||
| 205 | /* ------------------- */ |
||
| 206 | |||
| 207 | int main(int argc, char **argv) { |
||
| 208 | |||
| 209 | HARD_TASK_MODEL m; |
||
| 210 | PID main_pid; |
||
| 211 | |||
| 212 | /* Set the exception handler */ |
||
| 213 | set_exchandler_grx(); |
||
| 214 | |||
| 215 | /* Set the closing function */ |
||
| 216 | sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT); |
||
| 217 | |||
| 218 | /* Keyboard handling */ |
||
| 219 | keyb_handler(); |
||
| 220 | kern_printf("KEYBOARD initialized...\n"); |
||
| 221 | |||
| 222 | /* Graphics mutex */ |
||
| 223 | sem_init(&grx_mutex, 0, 1); |
||
| 224 | |||
| 225 | /* Graphics init */ |
||
| 226 | grx_init(); |
||
| 227 | grx_open(SCREEN_WIDTH, SCREEN_HEIGHT, SCREEN_BIT_COLORS); |
||
| 228 | |||
| 229 | draw_highway(); |
||
| 230 | sem_post(&grx_mutex); |
||
| 231 | |||
| 232 | /* Command and info display */ |
||
| 233 | cmd_display(); |
||
| 234 | |||
| 235 | /* ------------ */ |
||
| 236 | /* Task Calls */ |
||
| 237 | /* ------------ */ |
||
| 238 | |||
| 239 | hard_task_default_model(m); |
||
| 240 | hard_task_def_arg(m,NULL); |
||
| 241 | hard_task_def_wcet(m, CONTROL_WCET); |
||
| 242 | hard_task_def_mit(m, CONTROL_PERIOD); |
||
| 243 | hard_task_def_usemath(m); |
||
| 244 | main_pid = task_create("controller",initiate_task, &m, NULL); |
||
| 245 | if(main_pid == -1) |
||
| 246 | sys_end(); |
||
| 247 | task_activate(main_pid); |
||
| 248 | return 0; |
||
| 249 | } |
||
| 250 | |||
| 251 | /* -------------------------------------------------------*/ |
||
| 252 |