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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1664 | pj | 1 | #ifndef _PLANE_HEADER_ |
| 2 | #include "plane.h" |
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| 3 | #endif |
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| 4 | |||
| 5 | #include <modules/cabs.h> |
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| 6 | |||
| 7 | #define PLANEINFODIST 200 |
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| 8 | #define MAXPLANEINFO 5 |
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| 9 | |||
| 10 | sem_t mutex_i; /* mutex to protect i */ |
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| 11 | int i = 0; /* number of tasks created */ |
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| 12 | int reg_tasks[MAX_PLANES]; |
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| 13 | int num=0; |
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| 14 | |||
| 15 | void draw_plane(int x, int y, int c, int id, int p_size) |
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| 16 | { |
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| 17 | char temp[3]; |
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| 18 | sprintf(temp,"%d",id); |
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| 19 | sem_wait(&graphics_mutex); |
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| 20 | grx_circle(x, y, p_size,c); |
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| 21 | grx_text(temp,x-p_size/2, y-p_size/2,black,c); |
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| 22 | sem_post(&graphics_mutex); |
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| 23 | } |
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| 24 | |||
| 25 | void i_plus_1(void) |
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| 26 | { |
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| 27 | sem_wait(&mutex_i); |
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| 28 | i++; |
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| 29 | sem_post(&mutex_i); |
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| 30 | } |
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| 31 | |||
| 32 | int get_i(void) |
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| 33 | { |
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| 34 | int j; |
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| 35 | |||
| 36 | sem_wait(&mutex_i); |
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| 37 | j = i; |
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| 38 | sem_post(&mutex_i); |
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| 39 | |||
| 40 | return j; |
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| 41 | } |
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| 42 | |||
| 43 | TASK plane(void *arg) |
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| 44 | { |
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| 45 | int ox, oy, fx,fy,dx,dy; |
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| 46 | int stepx, stepy; |
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| 47 | int planeid = (int)(arg); |
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| 48 | int plane_size; |
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| 49 | int SCALING_FACTOR; |
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| 50 | // char temp1[3]; |
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| 51 | // char *tempcabptr; |
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| 52 | |||
| 53 | int initx,inity; |
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| 54 | int fdestx,fdesty; |
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| 55 | int reached=0; |
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| 56 | |||
| 57 | char *cab_ptr; |
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| 58 | //char *atc_cab_ptr; |
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| 59 | |||
| 60 | ox = airports[aeroplanes[planeid].src_airport_id].x; |
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| 61 | oy = airports[aeroplanes[planeid].src_airport_id].y; |
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| 62 | fx = airports[aeroplanes[planeid].dest_airport_id].x; |
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| 63 | fy = airports[aeroplanes[planeid].dest_airport_id].y; |
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| 64 | |||
| 65 | plane_size = planeinfo[aeroplanes[planeid].model_id].planesize; |
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| 66 | |||
| 67 | atcplanecabmsg[planeid].written='N'; |
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| 68 | atcplanecabmsg[planeid].xtemp=fx; |
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| 69 | atcplanecabmsg[planeid].ytemp=fy; |
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| 70 | |||
| 71 | //tempcabptr=cab_reserve(atc_plane_cab_id[planeid]); |
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| 72 | //memcpy(tempcabptr,&atcplanecabmsg[planeid],sizeof(atcplanecab)); |
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| 73 | //cab_putmes(atc_plane_cab_id[planeid],tempcabptr); |
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| 74 | |||
| 75 | initx=ox; |
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| 76 | inity=oy; |
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| 77 | fdestx=fx; |
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| 78 | fdesty=fy; |
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| 79 | |||
| 80 | draw_plane(ox, oy, red,planeid,plane_size); |
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| 81 | draw_plane(fx, fy, blue,planeid,plane_size); |
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| 82 | int fraction; |
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| 83 | |||
| 84 | //SCALING_FACTOR = (int)(aeroplanes[planeid].curr_speed/SCALE_DIST); |
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| 85 | SCALING_FACTOR=1; |
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| 86 | |||
| 87 | while(1) |
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| 88 | { |
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| 89 | dy = fy - oy; |
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| 90 | dx = fx - ox; |
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| 91 | |||
| 92 | if (dy < 0) { dy = -dy; stepy = -1*SCALING_FACTOR;} else { stepy = 1*SCALING_FACTOR;} |
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| 93 | if (dx < 0) { dx = -dx; stepx = -1*SCALING_FACTOR;} else { stepx = 1*SCALING_FACTOR;} |
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| 94 | dy <<= 1; // dy is now 2*dy |
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| 95 | dx <<= 1; // dx is now 2*dx |
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| 96 | |||
| 97 | if (dx > dy) |
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| 98 | { |
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| 99 | fraction = dy - (dx >> 1); // same as 2*dy - dx |
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| 100 | while (ox != fx) |
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| 101 | { |
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| 102 | if (fdestx-ox<PLANE_AIRPORT_DIST) |
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| 103 | { |
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| 104 | aeroplanes[planeid].curr_speed=aeroplanes[planeid].curr_speed-aeroplanes[planeid].curr_speed/6; //to reduce the speed of the aeroplane while landing |
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| 105 | if (abs(stepy)>1) |
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| 106 | stepy=stepy/SCALING_FACTOR; |
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| 107 | if (abs(stepx)>1) |
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| 108 | stepx=stepx/SCALING_FACTOR; |
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| 109 | } |
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| 110 | else if(abs(fx-ox)<10) |
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| 111 | { |
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| 112 | if (abs(stepy)>1) |
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| 113 | stepy=stepy/SCALING_FACTOR; |
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| 114 | if (abs(stepx)>1) |
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| 115 | stepx=stepx/SCALING_FACTOR; |
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| 116 | } |
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| 117 | /* |
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| 118 | atc_cab_ptr=cab_getmes(atc_plane_cab_id[planeid]); |
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| 119 | memcpy(&atcplanecabmsg[planeid],atc_cab_ptr,sizeof(atcplanecab)); |
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| 120 | cab_unget(atc_plane_cab_id[planeid],atc_cab_ptr); |
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| 121 | |||
| 122 | sprintf(temp1,"Written:%c Xtemp:%d YTemp:%d",atcplanecabmsg[planeid].written,atcplanecabmsg[planeid].xtemp,atcplanecabmsg[planeid].ytemp); |
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| 123 | |||
| 124 | grx_text(temp1,100,120,white,black); |
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| 125 | if (atcplanecabmsg[planeid].written == 'Y') |
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| 126 | { |
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| 127 | aeroplanes[planeid].xtemp=atcplanecabmsg[planeid].xtemp; |
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| 128 | aeroplanes[planeid].ytemp=atcplanecabmsg[planeid].ytemp; |
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| 129 | } |
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| 130 | |||
| 131 | */ |
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| 132 | |||
| 133 | if (aeroplanes[planeid].xtemp!=fdestx || aeroplanes[planeid].ytemp!=fdesty) //read from CAB on which ATC writes |
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| 134 | { |
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| 135 | fx = aeroplanes[planeid].xtemp; //read from CAB |
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| 136 | fy = aeroplanes[planeid].ytemp; //read from CAB on which ATC writes |
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| 137 | aeroplanes[planeid].xtemp=fdestx; |
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| 138 | aeroplanes[planeid].ytemp=fdesty; |
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| 139 | break; |
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| 140 | } |
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| 141 | |||
| 142 | draw_plane(ox, oy, black,planeid,plane_size); //to redraw the area on which the plane flew |
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| 143 | |||
| 144 | if (fraction >= 0) |
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| 145 | { |
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| 146 | oy += stepy; |
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| 147 | fraction -= dx; // same as fraction -= 2*dx |
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| 148 | } |
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| 149 | ox += stepx; |
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| 150 | fraction += dy; // same as fraction -= 2*dy |
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| 151 | |||
| 152 | draw_plane(ox, oy, red,planeid,plane_size); //to draw the new plane |
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| 153 | |||
| 154 | aeroplanes[planeid].currx = ox; //write this data to the CAB for ATC to read |
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| 155 | aeroplanes[planeid].curry = oy; //write this data to the CAB for ATC to read |
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| 156 | |||
| 157 | cab_ptr=cab_reserve(plane_atc_cab_id[planeid]); |
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| 158 | memcpy(cab_ptr,&aeroplanes[planeid],sizeof(aeroplane)); |
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| 159 | cab_putmes(plane_atc_cab_id[planeid],cab_ptr); |
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| 160 | |||
| 161 | task_endcycle(); |
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| 162 | } |
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| 163 | if (ox==fx) |
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| 164 | { |
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| 165 | if (fx==fdestx && fy==fdesty) |
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| 166 | reached=1; |
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| 167 | else |
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| 168 | { |
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| 169 | reached=0; |
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| 170 | fx=fdestx; |
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| 171 | fy=fdesty; |
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| 172 | } |
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| 173 | } |
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| 174 | |||
| 175 | } |
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| 176 | else |
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| 177 | { |
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| 178 | int fraction = dx - (dy >> 1); |
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| 179 | while (oy != fy) |
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| 180 | { |
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| 181 | if (fdestx-ox<PLANE_AIRPORT_DIST) |
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| 182 | { |
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| 183 | aeroplanes[planeid].curr_speed=aeroplanes[planeid].curr_speed-aeroplanes[planeid].curr_speed/6; //write on CAB for ATC to read |
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| 184 | if (abs(stepy)>1) |
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| 185 | stepy=stepy/SCALING_FACTOR; |
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| 186 | if (abs(stepx)>1) |
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| 187 | stepx=stepx/SCALING_FACTOR; |
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| 188 | } |
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| 189 | else if (abs(fx-ox)<10) |
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| 190 | { |
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| 191 | if (abs(stepy)>1) |
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| 192 | stepy=stepy/SCALING_FACTOR; |
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| 193 | if (abs(stepx)>1) |
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| 194 | stepx=stepx/SCALING_FACTOR; |
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| 195 | } |
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| 196 | /* |
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| 197 | atc_cab_ptr=cab_getmes(atc_plane_cab_id[planeid]); |
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| 198 | memcpy(&atcplanecabmsg[planeid],atc_cab_ptr,sizeof(atcplanecab)); |
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| 199 | cab_unget(atc_plane_cab_id[planeid],atc_cab_ptr); |
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| 200 | |||
| 201 | sprintf(temp1,"Written:%c Xtemp:%d YTemp:%d",atcplanecabmsg[planeid].written,atcplanecabmsg[planeid].xtemp,atcplanecabmsg[planeid].ytemp); |
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| 202 | grx_text(temp1,100,130,white,black); |
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| 203 | |||
| 204 | if (atcplanecabmsg[planeid].written == 'Y') |
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| 205 | { |
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| 206 | aeroplanes[planeid].xtemp=atcplanecabmsg[planeid].xtemp; |
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| 207 | aeroplanes[planeid].ytemp=atcplanecabmsg[planeid].ytemp; |
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| 208 | } |
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| 209 | */ |
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| 210 | //take mutex to access this structure |
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| 211 | if (aeroplanes[planeid].xtemp!=fdestx || aeroplanes[planeid].ytemp!=fdesty) //read from CAB on which ATC writes |
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| 212 | { |
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| 213 | fx = aeroplanes[planeid].xtemp; //read from CAB on which ATC writes |
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| 214 | fy = aeroplanes[planeid].ytemp; //read from CAB on which ATC writes |
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| 215 | aeroplanes[planeid].xtemp=fdestx; |
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| 216 | aeroplanes[planeid].ytemp=fdesty; |
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| 217 | break; |
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| 218 | } |
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| 219 | |||
| 220 | draw_plane(ox, oy, black,planeid,plane_size); |
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| 221 | |||
| 222 | if (fraction >= 0) |
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| 223 | { |
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| 224 | ox += stepx; |
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| 225 | fraction -= dy; |
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| 226 | } |
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| 227 | |||
| 228 | oy += stepy; |
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| 229 | fraction += dx; |
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| 230 | draw_plane(ox, oy, red,planeid,plane_size); |
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| 231 | |||
| 232 | aeroplanes[planeid].currx = ox; //write on CAB fo ATC to read |
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| 233 | aeroplanes[planeid].curry = oy; //write on CAB fo ATC to read |
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| 234 | |||
| 235 | cab_ptr=cab_reserve(plane_atc_cab_id[planeid]); |
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| 236 | memcpy(cab_ptr,&aeroplanes[planeid],sizeof(aeroplane)); |
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| 237 | cab_putmes(plane_atc_cab_id[planeid],cab_ptr); |
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| 238 | |||
| 239 | task_endcycle(); |
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| 240 | } |
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| 241 | if (oy==fy) |
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| 242 | { |
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| 243 | if (fx==fdestx && fy==fdesty) |
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| 244 | reached=1; |
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| 245 | else |
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| 246 | { |
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| 247 | reached=0; |
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| 248 | fx=fdestx; |
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| 249 | fy=fdesty; |
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| 250 | } |
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| 251 | } |
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| 252 | } |
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| 253 | if (reached==1) |
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| 254 | break; |
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| 255 | } |
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| 256 | |||
| 257 | aeroplanes[planeid].is_flying=0; //write this, currx and curry on CAb for ATC to read to |
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| 258 | |||
| 259 | cab_ptr=cab_reserve(plane_atc_cab_id[planeid]); |
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| 260 | memcpy(cab_ptr,&aeroplanes[planeid],sizeof(aeroplane)); |
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| 261 | cab_putmes(plane_atc_cab_id[planeid],cab_ptr); |
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| 262 | |||
| 263 | mutex_lock(&mut_number_of_planes); |
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| 264 | number_of_planes--; |
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| 265 | if (number_of_planes==0) |
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| 266 | { |
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| 267 | mutex_unlock(&mut_number_of_planes); |
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| 268 | mutex_lock(&mut_STARTSIM); |
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| 269 | if (STARTSIM == 1) |
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| 270 | STARTSIM = 0; |
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| 271 | mutex_unlock(&mut_STARTSIM); |
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| 272 | } |
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| 273 | else |
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| 274 | { |
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| 275 | mutex_unlock(&mut_number_of_planes); |
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| 276 | } |
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| 277 | } |
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| 278 | |||
| 279 | TASK register_with_ATC(void *arg) |
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| 280 | { |
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| 281 | int myid=(int)(arg); |
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| 282 | |||
| 283 | while(1) |
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| 284 | { |
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| 285 | if (aeroplanes[myid].is_flying==0) |
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| 286 | { |
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| 287 | break; |
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| 288 | } |
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| 289 | aeroplanes[myid].zone_id=floor((aeroplanes[myid].currx-XMIN) / GRID_SIZE) + 4 * floor((aeroplanes[myid].curry-YMIN) / GRID_SIZE); |
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| 290 | task_endcycle(); |
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| 291 | } |
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| 292 | } |
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| 293 | |||
| 294 | TASK display_plane_info(void *arg) |
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| 295 | { |
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| 296 | int tempid; |
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| 297 | int tempi; |
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| 298 | char displayinf[25]; |
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| 299 | char display[MAX_PLANES]; |
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| 300 | grx_text("AEROPLANE INFORMATION",XMIN,YMAX+2, white, black); |
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| 301 | grx_line(XMIN, YMAX+12, XMAX, YMAX+12, blue); |
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| 302 | |||
| 303 | aeroplane temp_aeroplanes[MAX_PLANES]; |
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| 304 | char *plane_cab_ptr[MAX_PLANES]; |
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| 305 | |||
| 306 | for(tempid=0;tempid<MAX_PLANES;tempid++) |
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| 307 | { |
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| 308 | display[tempid]='T'; |
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| 309 | } |
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| 310 | |||
| 311 | while(1) |
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| 312 | { |
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| 313 | tempi=get_i(); |
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| 314 | sem_wait(&graphics_mutex); |
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| 315 | for(tempid=0;tempid<tempi;tempid++) |
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| 316 | { |
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| 317 | plane_cab_ptr[tempid]=cab_getmes(plane_atc_cab_id[tempid]); |
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| 318 | memcpy(&temp_aeroplanes[tempid],plane_cab_ptr[tempid],sizeof(aeroplane)); |
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| 319 | cab_unget(plane_atc_cab_id[tempid],plane_cab_ptr[tempid]); |
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| 320 | |||
| 321 | if (temp_aeroplanes[tempid].is_flying==1 && display[tempid] =='T') |
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| 322 | { |
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| 323 | sprintf(displayinf,"Plane Id : %d ",temp_aeroplanes[tempid].id); |
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| 324 | grx_text(displayinf,((tempid%MAXPLANEINFO)*PLANEINFODIST)+XMIN,YMAX+20, white, black); |
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| 325 | |||
| 326 | sprintf(displayinf,"Model : %s ",planeinfo[temp_aeroplanes[tempid].model_id].model); |
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| 327 | grx_text(displayinf,((tempid%MAXPLANEINFO)*PLANEINFODIST)+XMIN,YMAX+30, white, black); |
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| 328 | |||
| 329 | sprintf(displayinf,"Src Airport: %s ",airports[temp_aeroplanes[tempid].src_airport_id].airportname); |
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| 330 | grx_text(displayinf,((tempid%MAXPLANEINFO)*PLANEINFODIST)+XMIN,YMAX+40, white, black); |
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| 331 | |||
| 332 | sprintf(displayinf,"Dst Airport: %s ",airports[temp_aeroplanes[tempid].dest_airport_id].airportname); |
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| 333 | grx_text(displayinf,((tempid%MAXPLANEINFO)*PLANEINFODIST)+XMIN,YMAX+50, white, black); |
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| 334 | |||
| 335 | sprintf(displayinf,"Dept Time : %d ",temp_aeroplanes[tempid].dept_time); |
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| 336 | grx_text(displayinf,((tempid%MAXPLANEINFO)*PLANEINFODIST)+XMIN,YMAX+60, white, black); |
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| 337 | |||
| 338 | sprintf(displayinf,"Arr Time : %d ",temp_aeroplanes[tempid].arr_time); |
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| 339 | grx_text(displayinf,((tempid%MAXPLANEINFO)*PLANEINFODIST)+XMIN,YMAX+70, white, black); |
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| 340 | |||
| 341 | sprintf(displayinf,"Curr Speed : %d ",temp_aeroplanes[tempid].curr_speed); |
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| 342 | grx_text(displayinf,((tempid%MAXPLANEINFO)*PLANEINFODIST)+XMIN,YMAX+80, white, black); |
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| 343 | |||
| 344 | sprintf(displayinf,"Curr X : %d ",temp_aeroplanes[tempid].currx); |
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| 345 | grx_text(displayinf,((tempid%MAXPLANEINFO)*PLANEINFODIST)+XMIN,YMAX+90, white, black); |
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| 346 | |||
| 347 | sprintf(displayinf,"Curr Y : %d ",temp_aeroplanes[tempid].curry); |
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| 348 | grx_text(displayinf,((tempid%MAXPLANEINFO)*PLANEINFODIST)+XMIN,YMAX+100, white, black); |
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| 349 | |||
| 350 | sprintf(displayinf,"Is Flying : %d ",temp_aeroplanes[tempid].is_flying); |
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| 351 | grx_text(displayinf,((tempid%MAXPLANEINFO)*PLANEINFODIST)+XMIN,YMAX+110, white, black); |
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| 352 | } |
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| 353 | else if (temp_aeroplanes[tempid].is_flying==0 && display[tempid] =='T' ) |
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| 354 | { |
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| 355 | grx_box(((tempid%MAXPLANEINFO)*PLANEINFODIST)+XMIN,YMAX+20,((tempid%MAXPLANEINFO)*PLANEINFODIST)+XMIN+PLANEINFODIST,YMAX+120,black); |
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| 356 | display[tempid]='F'; |
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| 357 | } |
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| 358 | } |
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| 359 | sem_post(&graphics_mutex); |
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| 360 | task_endcycle(); |
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| 361 | } |
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| 362 | } |
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| 363 | |||
| 364 | void init_planes() |
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| 365 | { |
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| 366 | char c; /* character from keyboard */ |
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| 367 | number_of_planes= 0; /* number of tasks created */ |
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| 368 | |||
| 369 | TIME temptime,temptime2; |
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| 370 | struct timespec planetime; |
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| 371 | int src,dest; |
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| 372 | int ox,oy,fx,fy; |
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| 373 | int planeid; |
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| 374 | |||
| 375 | SOFT_TASK_MODEL m; //model for the TASK to plane to move |
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| 376 | SOFT_TASK_MODEL reg_msg; //model for the TASK to register with ATC |
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| 377 | SOFT_TASK_MODEL disp_info; //model for the TASK to display the information of the planes |
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| 378 | |||
| 379 | int local_i=0; /* local copy of i */ |
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| 380 | sem_init(&mutex_i,0,1); |
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| 381 | int local_no_of_planes=0; |
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| 382 | |||
| 383 | |||
| 384 | /* The program waits a space to create a plane */ |
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| 385 | c = keyb_getch(BLOCK); |
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| 386 | |||
| 387 | //activate the display plane info TASK |
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| 388 | soft_task_default_model(disp_info); |
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| 389 | soft_task_def_level(disp_info,1); |
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| 390 | soft_task_def_ctrl_jet (disp_info); |
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| 391 | //soft_task_def_arg (disp_info, (void *)local_i); |
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| 392 | soft_task_def_met (disp_info, DISPPLANEINFOWCET); |
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| 393 | soft_task_def_group (disp_info, PLANEGROUP); //modify this later |
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| 394 | soft_task_def_period (disp_info, DISPPLANEINFOPERIOD); |
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| 395 | soft_task_def_usemath (disp_info); |
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| 396 | disp = task_create("DspPlane", display_plane_info, &disp_info, NULL); |
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| 397 | if (disp == NIL) |
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| 398 | { |
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| 399 | grx_close(); |
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| 400 | perror("Could not create task <RegWithATC>"); |
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| 401 | sys_abort(1); |
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| 402 | } |
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| 403 | task_activate(disp); |
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| 404 | |||
| 405 | do { |
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| 406 | planeid = local_i = get_i(); |
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| 407 | |||
| 408 | mutex_lock(&mut_number_of_planes); |
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| 409 | local_no_of_planes=number_of_planes; |
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| 410 | mutex_unlock(&mut_number_of_planes); |
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| 411 | |||
| 412 | if ((c == ' ') && (local_i < MAX_PLANES) && (local_no_of_planes<MAX_SIMUL_PLANES)) |
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| 413 | { |
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| 414 | |||
| 415 | srand(sys_gettime(NULL)); |
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| 416 | src = (int)rand()%(NUM_OF_AIRPORTS); // generate random source and destination airports |
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| 417 | //check that the previous 2 aeroplanes have not started from the same airport |
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| 418 | dest = (int)rand()%(NUM_OF_AIRPORTS); |
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| 419 | if (dest==src) |
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| 420 | { |
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| 421 | if (dest==0) |
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| 422 | dest=NUM_OF_AIRPORTS-1; |
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| 423 | else |
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| 424 | dest=(dest+src)%NUM_OF_AIRPORTS; |
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| 425 | } |
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| 426 | |||
| 427 | ox = airports[src].x; |
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| 428 | oy = airports[src].y; |
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| 429 | fx = airports[dest].x; |
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| 430 | fy = airports[dest].y; |
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| 431 | |||
| 432 | temptime = sys_gettime(&planetime); |
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| 433 | temptime = ((planetime.tv_sec / TIME_SPEED) % 24) * 100 ; |
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| 434 | |||
| 435 | //populate the aeroplane structure with data |
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| 436 | aeroplanes[planeid].id = planeid; |
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| 437 | aeroplanes[planeid].model_id = planeid%NUM_OF_AEROPLANE_MODELS; |
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| 438 | aeroplanes[planeid].src_airport_id = airports[src].id; |
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| 439 | aeroplanes[planeid].dest_airport_id = airports[dest].id; |
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| 440 | aeroplanes[planeid].xtemp=fx; |
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| 441 | aeroplanes[planeid].ytemp=fy; |
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| 442 | aeroplanes[planeid].curr_speed=planeinfo[aeroplanes[planeid].model_id].max_speed; |
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| 443 | temptime2 = temptime + ((sqrt((fy-oy)*(fy-oy)+(fx-ox)*(fx-ox))*SCALE_DIST) / aeroplanes[planeid].curr_speed); |
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| 444 | aeroplanes[planeid].curr_altitude=(int)((rand()%1)*planeinfo[aeroplanes[planeid].model_id].max_altitude); |
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| 445 | aeroplanes[planeid].dept_time = temptime; |
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| 446 | aeroplanes[planeid].arr_time = temptime2; |
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| 447 | aeroplanes[planeid].is_flying=1; |
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| 448 | |||
| 449 | //create the CABS |
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| 450 | plane_atc_cab_id[planeid]= cab_create(plane_atc[planeid],sizeof(aeroplane),2); //this cab will be used by the plane task to write in. The ATC will read from this task |
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| 451 | // atc_plane_cab_id[planeid]= cab_create(atc_plane[planeid],sizeof(atcplanecab),2); |
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| 452 | //this cab will be used by the ATC to write new coordinates to the plane |
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| 453 | soft_task_default_model(m); |
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| 454 | soft_task_def_level(m,1); |
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| 455 | soft_task_def_ctrl_jet (m); |
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| 456 | soft_task_def_arg (m, (void *)local_i); |
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| 457 | soft_task_def_met (m, PLANEWCET); |
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| 458 | soft_task_def_period (m, PLANEPERIOD); |
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| 459 | soft_task_def_group (m, PLANEGROUP); |
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| 460 | soft_task_def_usemath (m); |
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| 461 | pid[local_i] = task_create("Plane", plane, &m, NULL); |
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| 462 | if (pid[local_i] == NIL) |
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| 463 | { |
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| 464 | grx_close(); |
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| 465 | perror("Could not create task <plane>"); |
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| 466 | sys_abort(1); |
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| 467 | } |
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| 468 | |||
| 469 | task_activate(pid[local_i]); |
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| 470 | |||
| 471 | //activate the register message TASK |
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| 472 | soft_task_default_model(reg_msg); |
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| 473 | soft_task_def_level(reg_msg,1); |
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| 474 | soft_task_def_ctrl_jet (reg_msg); |
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| 475 | soft_task_def_arg (reg_msg, (void *)local_i); |
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| 476 | soft_task_def_met (reg_msg, REGWITHATCWCET); |
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| 477 | soft_task_def_group (reg_msg, PLANEGROUP); //modify this later |
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| 478 | soft_task_def_period (reg_msg, REGWITHATCPERIOD); |
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| 479 | soft_task_def_usemath (reg_msg); |
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| 480 | pid2 = task_create("RegToATC", register_with_ATC, ®_msg, NULL); |
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| 481 | if (pid2 == NIL) |
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| 482 | { |
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| 483 | grx_close(); |
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| 484 | perror("Could not create task <RegToATC>"); |
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| 485 | sys_abort(1); |
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| 486 | } |
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| 487 | task_activate(pid2); |
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| 488 | i_plus_1(); |
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| 489 | |||
| 490 | mutex_lock(&mut_number_of_planes); |
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| 491 | ++number_of_planes; |
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| 492 | mutex_unlock(&mut_number_of_planes); |
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| 493 | |||
| 494 | if (local_i+1>0) |
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| 495 | { |
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| 496 | mutex_lock(&mut_STARTSIM); |
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| 497 | STARTSIM = 1; |
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| 498 | mutex_unlock(&mut_STARTSIM); |
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| 499 | } |
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| 500 | |||
| 501 | } |
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| 502 | c = keyb_getch(BLOCK); |
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| 503 | } while (c != ESC); |
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| 504 | sys_end(); |
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| 505 | } |