0,0 → 1,279 |
/* |
* Project: S.Ha.R.K. |
* |
* Coordinators: |
* Giorgio Buttazzo <giorgio@sssup.it> |
* Paolo Gai <pj@gandalf.sssup.it> |
* |
* Authors : |
* Paolo Gai <pj@gandalf.sssup.it> |
* (see the web pages for full authors list) |
* |
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
* |
* http://www.sssup.it |
* http://retis.sssup.it |
* http://shark.sssup.it |
*/ |
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/** |
------------ |
CVS : $Id: fly2.c,v 1.1 2004-03-30 06:46:08 pj Exp $ |
|
File: $File$ |
Revision: $Revision: 1.1 $ |
Last update: $Date: 2004-03-30 06:46:08 $ |
------------ |
**/ |
|
/* |
* Copyright (C) 2000 Paolo Gai and Giorgio Buttazzo |
* |
* This program is free software; you can redistribute it and/or modify |
* it under the terms of the GNU General Public License as published by |
* the Free Software Foundation; either version 2 of the License, or |
* (at your option) any later version. |
* |
* This program is distributed in the hope that it will be useful, |
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
* GNU General Public License for more details. |
* |
* You should have received a copy of the GNU General Public License |
* along with this program; if not, write to the Free Software |
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
* |
*/ |
|
/*--------------------------------------------------------------*/ |
/* SIMULATION OF RANDOM FLIES (with death of flies) */ |
/*--------------------------------------------------------------*/ |
|
#include <kernel/kern.h> |
#include <drivers/glib.h> |
#include <drivers/keyb.h> |
#include <semaphore.h> |
#include <stdlib.h> |
#include <math.h> |
|
#define YMENU 10 /* menu level */ |
#define XMIN 50 |
#define XMAX 600 |
#define YMIN 100 |
#define YMAX 450 |
#define VEL 5 /* linear velocity (def. = 5) */ |
#define ANG 30 /* angolo massimo sterzata (30) */ |
#define D 3 /* raggio mosca */ |
#define ESC 27 /* ASCII code of ESCAPE key */ |
#define MAX_P 35 /* max number of flies */ |
#define FLYGROUP 1 |
|
double tick = 1.0; /* system tick = 1 ms */ |
int fly_period = 40000; /* task period */ |
int fly_wcet = 1000; /* task wcet */ |
PID pid; |
sem_t mutex; |
|
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sem_t mutex_i; /* mutex to protect i */ |
int i = 0; /* number of tasks created */ |
|
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/*--------------------------------------------------------------*/ |
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void draw_fly(int x, int y, int c) |
{ |
sem_wait(&mutex); |
grx_disc(x, y, D, c); |
sem_post(&mutex); |
} |
|
void draw_i(void) |
{ |
char s[50]; |
|
sem_wait(&mutex_i); |
sprintf(s,"i=%d ",i); |
sem_post(&mutex_i); |
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sem_wait(&mutex); |
grx_text(s, XMIN+200, YMENU+30, 12, 0); |
sem_post(&mutex); |
} |
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int get_i(void) |
{ |
int j; |
|
sem_wait(&mutex_i); |
j = i; |
sem_post(&mutex_i); |
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return j; |
} |
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void i_minus_1(void) |
{ |
sem_wait(&mutex_i); |
i--; |
sem_post(&mutex_i); |
} |
|
void i_plus_1(void) |
{ |
sem_wait(&mutex_i); |
i++; |
sem_post(&mutex_i); |
} |
|
|
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/******************************************************************/ |
|
TASK fly(void *arg) |
{ |
int x, y; |
int ox, oy; |
int dx, dy, da; |
int teta, col; |
int outx, outy; |
double r; |
int local_i = (int)arg; |
int number_of_iterations; |
|
x = ox = (XMIN+XMAX)/2; |
y = oy = (YMIN+YMAX)/2; |
teta = 0; |
col = 2 + local_i; /* colore fly */ |
number_of_iterations = 200; |
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while (number_of_iterations) { |
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da = rand()%(2*ANG) - ANG; /* da = [-ANG,ANG] */ |
teta += da; |
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if (teta > 360) teta -= 360; |
if (teta < 0) teta += 360; |
r = (double)teta * PI / 180.; |
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dx = (float)(VEL * cos(r)); |
dy = (float)(VEL * sin(r)); |
x += dx; |
y += dy; |
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outx = (x >= XMAX) || (x <= XMIN); |
outy = (y >= YMAX) || (y <= YMIN); |
|
if (outx || outy) { |
x = x - dx; |
y = y - dy; |
if (outx) teta = 180 - teta; |
if (outy) teta = -teta; |
if (teta > 360) teta -= 360; |
if (teta < 0) teta += 360; |
r = (double)teta * PI / 180.; |
|
dx = (float)(VEL * cos(r)); |
dy = (float)(VEL * sin(r)); |
|
x += dx; |
y += dy; |
} |
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draw_fly(ox, oy, 0); |
draw_fly(x, y, col); |
ox = x; oy = y; |
|
number_of_iterations--; |
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task_endcycle(); |
} |
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draw_fly(x, y, 0); |
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i_minus_1(); |
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draw_i(); |
return 0; |
} |
|
/****************************************************************/ |
|
/* This function is called when the system exits */ |
void byebye(void *arg) |
{ |
grx_close(); |
cprintf("Bye Bye!\n"); |
} |
|
/****************************** MAIN ******************************/ |
|
int main(int argc, char **argv) |
{ |
HARD_TASK_MODEL m; |
|
char c; /* character from keyboard */ |
TIME seme; /* used to init the random seed */ |
int local_i; /* local copy of i */ |
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/* Set the closing function */ |
sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT); |
|
sem_init(&mutex,0,1); |
sem_init(&mutex_i,0,1); |
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/* graphic card Initialization */ |
if (grx_init() < 1) { |
sys_abort(1); |
} |
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if (grx_open(640, 480, 8) < 0) { |
cprintf("GRX Err\n"); |
sys_abort(1); |
} |
|
/* The scenario */ |
grx_rect(XMIN-D-1, YMIN-D-1, XMAX+D+1, YMAX+D+1, 14); |
grx_text("Simulation of Random Flies", XMIN, YMENU+10, 13, 0); |
grx_text("SPACE create a fly" , XMIN, YMENU+20, 12, 0); |
grx_text("ESC exit to DOS" , XMIN, YMENU+30, 12, 0); |
draw_i(); |
|
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/* The program waits a space to create a fly */ |
c = keyb_getch(BLOCK); |
|
/* randomize!!!! */ |
seme = sys_gettime(NULL); |
srand(seme); |
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do { |
local_i = get_i(); |
if ((c == ' ') && (local_i < MAX_P)) { |
hard_task_default_model(m); |
hard_task_def_ctrl_jet (m); |
hard_task_def_arg (m, (void *)local_i); |
hard_task_def_wcet (m, fly_wcet); |
hard_task_def_mit (m, fly_period); |
hard_task_def_group (m, FLYGROUP); |
hard_task_def_usemath (m); |
pid = task_create("fly", fly, &m, NULL); |
if (pid == NIL) { |
grx_close(); |
perror("Could not create task <fly>"); |
sys_abort(1); |
} |
task_activate(pid); |
i_plus_1(); |
draw_i(); |
} |
c = keyb_getch(BLOCK); |
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} while (c != ESC); |
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sys_end(); |
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return 0; |
} |
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/*--------------------------------------------------------------*/ |