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/demos/tags/rel_1_2/orbit/initfile.c
0,0 → 1,124
/*
* 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
*/
 
/*
------------
CVS : $Id: initfile.c,v 1.1.1.1 2002-09-02 09:37:45 pj Exp $
 
File: $File$
Revision: $Revision: 1.1.1.1 $
Last update: $Date: 2002-09-02 09:37:45 $
------------
 
System initialization file
 
This file contains the 2 functions needed to initialize the system.
 
These functions register the following levels:
 
an EDF (Earliest Deadline First) level
a RR (Round Robin) level
a CBS (Costant Bandwidth Server) level
a Dummy level
 
It can accept these task models:
 
HARD_TASK_MODEL (wcet+mit) at level 0
SOFT_TASK_MODEL (met, period) at level 1
NRT_TASK_MODEL at level 2
 
This file is similar to the configuration of kernel/init/hartik3.c
 
TICK is set to 0 (one-shot timer is used)
*/
 
/*
* Copyright (C) 2000 Paolo Gai
*
* 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
*
*/
 
#include "kernel/kern.h"
#include "modules/edf.h"
#include "modules/cbs.h"
#include "modules/rr.h"
#include "modules/dummy.h"
 
#include "modules/sem.h"
#include "modules/hartport.h"
#include "modules/cabs.h"
 
#include "drivers/keyb.h"
 
 
/*+ sysyem tick in us +*/
#define TICK 0
 
/*+ RR tick in us +*/
#define RRTICK 10000
 
void read_file();
 
TIME __kernel_register_levels__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
 
EDF_register_level(0);
CBS_register_level(0, 0);
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
 
SEM_register_module();
 
CABS_register_module();
 
read_file();
 
return TICK;
}
 
TASK __init__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
 
KEYB_PARMS kparms = BASE_KEYB;
 
HARTPORT_init();
 
keyb_def_ctrlC(kparms, NULL);
keyb_def_map(kparms,itaMap);
KEYB_init(&kparms);
 
__call_main__(mb);
 
return (void *)0;
}
 
/demos/tags/rel_1_2/orbit/orbit.dat
0,0 → 1,21
----------------------------------------------------
period: 10000 wcet: 100
delta: 1. scala: 150.
G: 6.6e-15
r_pianeta: 4 r_Terra: 8
X_centro: 320 Y_centro: 240
 
------------------- pianeti ------------------------
massa pos.x pos.y vel.x vel.y
0: 6.0e21 0. 0. 0. 0.
1: 1.0e21 10000. 8000. -60. 0.
2: 1.0e8 5000. 0. 0. 80.
3: 5.0e18 10000. 8000. -50. 0.
4: 1.0e9 10000. 8000. -40. 20.
5: 1.0e15 1000. 5000. -80. 0.
6: 1.0e5 1000. 5000. -80. 0.
7: 1.0e17 1000. 5000. -80. 0.
8: 1.0e5 1000. 5000. -80. 0.
9: 1.0e5 1000. 5000. -80. 0.
10: 1.0e5 1000. 5000. -80. 0.
----------------------------------------------------
/demos/tags/rel_1_2/orbit/orbit.c
0,0 → 1,341
/*
* 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
*/
 
/*
------------
CVS : $Id: orbit.c,v 1.4 2003-05-01 19:44:07 pj Exp $
 
File: $File$
Revision: $Revision: 1.4 $
Last update: $Date: 2003-05-01 19:44:07 $
------------
*/
 
/*
* Copyright (C) 2000 Giorgio Buttazzo and Paolo Gai
*
* 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
*
*/
 
/****************************************************************/
/* SIMULAZIONE DI MASSE CHE ORBITANO */
/****************************************************************/
 
#include <kernel/kern.h>
#include <drivers/glib.h>
#include <drivers/keyb.h>
#include <semaphore.h>
#include <stdlib.h>
#include <math.h>
 
#define MAX 11 /* numero massimo pianeti */
#define ESC 27 /* codice ASCII tasto ESCAPE */
#define XMAX 639 /* valore massimo coordinata X */
#define YMAX 479 /* valore massimo coordinata Y */
 
struct coord {
double x;
double y;
};
 
char fbuf[1000]; // buffer for reading a file
int flen; // file length
 
double mass[MAX]; /* vettore masse pianeti */
struct coord pos[MAX]; /* vettore posizioni attuali */
struct coord vel[MAX]; /* vettore velocita' iniziali */
 
int XGS, YGS; /* Coordinate centro spazio */
int RP, RT; /* raggio pianeta, raggio Terra */
int np; /* numero attuale di pianeti */
double G; /* Gravitazione Universale */
double tick; /* tick di sistema */
double delta; /* incremento temporale */
double scala; /* fattore grafico di scala */
 
// -------------------------------------------------------
// NOTA: %f o %lf significa double e %nf significa float
// -------------------------------------------------------
 
PID pid;
int period; /* task period */
int wcet; /* task wcet */
sem_t mutex; /* semaforo di mutua esclusione */
 
 
void get_par(void);
 
/*--------------------------------------------------------------*/
 
void my_fine(void *arg)
{
grx_close();
}
 
/*--------------------------------------------------------------*/
 
int inside(int x, int y)
{
return ((x > RP) && (x < XMAX-RP) &&
(y > RP) && (y < YMAX-RP));
}
 
/*--------------------------------------------------------------*/
 
TASK massa(void *xxx)
{
int i = (int)xxx; /* parametro del task */
int gx, gy; /* coordinate grafiche pallina */
int ox, oy; /* vecchia posizione pallina */
int j;
int r, col; /* raggio e colore pianeta */
double dt; /* incremento temporale */
double dist=0.0, dx, dy; /* distanze pianeta-pianeta */
double dist0=0.0; /* distanze pianeta-Terra */
double x, y; /* posizione del pianeta */
double vx, vy; /* velocita' del pianeta */
double ax, ay; /* accelerazione del pianeta */
double k; /* variabile ausiliaria */
double arg; /* variabile di appoggio */
 
x = pos[i].x; y = pos[i].y;
vx = vel[i].x; vy = vel[i].y;
ox = XGS + x / scala;
oy = YGS + y / scala;
dt = delta;
 
do {
x = pos[i].x;
y = pos[i].y;
ax = ay = 0.0;
for (j=0; j<np; j++) {
if (j != i) {
dx = pos[j].x - x;
dy = pos[j].y - y;
arg = dx*dx + dy*dy;
dist = sqrt(arg);
if (dist < RP*scala) dist = RP*scala;
k = G * mass[j] / (dist*dist*dist);
ax += k * dx;
ay += k * dy;
}
if (j == 0) dist0 = dist - (RP+RT)*scala;
}
x += vx*dt + 0.5*ax*dt*dt;
y += vy*dt + 0.5*ay*dt*dt;
vx += ax * dt;
vy += ay * dt;
 
gx = XGS + x / scala;
gy = YGS + y / scala;
 
r = RP;
col = i + 1;
 
sem_wait(&mutex);
grx_disc(ox,oy,r,0);
grx_disc(gx,gy,r,col);
sem_post(&mutex);
 
pos[i].x = x; pos[i].y = y;
ox = gx; oy = gy;
 
task_endcycle();
 
} while ((dist0 > 0) && inside(gx,gy));
 
sem_wait(&mutex);
grx_disc(ox,oy,r,0);
grx_disc(XGS,YGS,RT,12);
grx_circle(XGS,YGS,RT,14);
sem_post(&mutex);
 
return NULL;
}
 
/*--------------------------------------------------------------*/
/* MAIN */
/*--------------------------------------------------------------*/
 
int main()
{
HARD_TASK_MODEL m;
char c; /* carattere letto da tastiera */
 
sys_atrunlevel(my_fine, NULL, RUNLEVEL_BEFORE_EXIT);
 
sem_init(&mutex,0,1);
 
get_par();
keyb_getch(BLOCK);
 
grx_init();
grx_open(640, 480, 8);
 
grx_disc(XGS,YGS,RT,12);
grx_circle(XGS,YGS,RT,14);
 
np = 0;
 
do {
if (np < MAX-1) {
np++;
hard_task_default_model(m);
hard_task_def_arg (m, (void *)np);
hard_task_def_wcet (m, wcet);
hard_task_def_mit (m, period);
hard_task_def_usemath (m);
pid = task_create("massa", massa, &m, NULL);
if (pid == NIL) {
sys_shutdown_message("Could not create task");
sys_end();
}
task_activate(pid);
}
c = keyb_getch(BLOCK);
 
} while (c != ESC);
 
sys_end();
 
return 0;
}
 
/*------------------------------------------------------*/
/* file reading */
/*------------------------------------------------------*/
 
void read_file(void)
{
int err;
DOS_FILE *fp;
 
fp = DOS_fopen("orbit.dat","r");
 
if (!fp) {
err = DOS_error();
cprintf("Error %d opening myfile.txt...\n", err);
flen = 0;
return;
}
 
flen = DOS_fread(&fbuf, 1, 1000, fp);
cprintf("Read %d bytes from orbit.dat\n", flen);
 
DOS_fclose(fp);
}
 
/*------------------------------------------------------*/
/* get data from buffer */
/*------------------------------------------------------*/
 
void get_par(void)
{
int x = 0;
int i;
double vx, vy;
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%d", &period);
cprintf("period = %d\n", period);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%d", &wcet);
cprintf("wcet = %d\n", wcet);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &delta);
cprintf("delta = %f\n", delta);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &scala);
cprintf("scala = %f\n", scala);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &G);
cprintf("G = %20.15f\n", G);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%d", &RP);
cprintf("RP = %d\n", RP);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%d", &RT);
cprintf("RT = %d\n", RT);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%d", &XGS);
cprintf("XGS = %d\n", XGS);
 
while ((fbuf[x] != ':') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%d", &YGS);
cprintf("YGS = %d\n", YGS);
 
for (i=0; i<MAX; i++) {
while ((fbuf[x] != ':') && (x < flen)) x++;
x++; x++;
sscanf(&fbuf[x], "%f", &mass[i]);
 
while ((fbuf[x] != '\t') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &vx);
 
while ((fbuf[x] != '\t') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &vy);
pos[i].x = vx; pos[i].y = vy;
 
while ((fbuf[x] != '\t') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &vx);
 
while ((fbuf[x] != '\t') && (x < flen)) x++;
x++;
sscanf(&fbuf[x], "%f", &vy);
vel[i].x = vx; vel[i].y = vy;
 
cprintf("mass[%d] = %f\t", i, mass[i]);
cprintf("pos: %f, %f\t", pos[i].x, pos[i].y);
cprintf("vel: %f, %f\n", vel[i].x, vel[i].y);
}
}
 
/*--------------------------------------------------------------*/
 
/demos/tags/rel_1_2/orbit/makefile
0,0 → 1,16
#
#
#
 
ifndef BASE
BASE=../..
endif
include $(BASE)/config/config.mk
 
PROGS= orbit
 
include $(BASE)/config/example.mk
 
orbit:
make -f $(SUBMAKE) APP=orbit INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
 
/demos/tags/rel_1_2/simcity/keyboard.c
0,0 → 1,49
/* ------------------ */
/* Keyboard handler */
/* ------------------ */
 
#include <drivers/keyb.h>
#include "include/keyfunct.h"
 
void keyb_h() {
KEY_EVT k;
keyb_set_map(itaMap);
/* Exit keys: ALT-X, ENTER */
k.flag = ALTL_BIT;
k.scan = KEY_X;
k.ascii = 'x';
keyb_hook(k, endfun);
k.flag = ALTR_BIT;
k.scan = KEY_X;
k.ascii = 'x';
keyb_hook(k, endfun);
k.flag = 0;
k.scan = KEY_ENT;
k.ascii = 13;
keyb_hook(k, endfun);
/* Create HARD cars */
k.flag = 0;
k.scan = KEY_C;
k.ascii = 'c';
keyb_hook(k, h_car_create);
/* kill hard cars*/
k.flag = 0;
k.scan = KEY_K;
k.ascii = 'k';
keyb_hook(k, h_car_kill);
//refresh map
k.flag=0;
k.scan = KEY_R;
k.ascii = 'r';
keyb_hook(k, refresh);
//create soft cars
k.flag=0;
k.scan = KEY_S;
k.ascii = 's';
keyb_hook(k, s_car_create);
//toggle sensors
k.flag=0;
k.scan = KEY_D;
k.ascii = 'd';
keyb_hook(k, sensor_switch);
}
/demos/tags/rel_1_2/simcity/include/simcity.h
0,0 → 1,77
/********************************simcity.h***************************/
// global variables and tasks bodies declaration
 
#include <kernel/func.h>
#include <semaphore.h>
#ifndef CST
#include "constant.h"
#endif
 
/*Global stuff*/
 
extern car_data car_data_array[MAX_CAR];
extern tl_data tl_data_array[MAX_TL];
 
//car starting points
extern starting_set starting_set_array[S_POINT];
 
// PID vectors
extern PID p_table[MAX_CAR];
extern PID c_table[MAX_CAR];
extern PID g_table[MAX_CAR];
extern PID a_table[MAX_CAR];
 
extern char kill_flag[MAX_CAR];
//graphic mutex
extern sem_t mutex;
 
//kill_flag mutexes
extern sem_t kill_mutex[MAX_CAR];
 
//various sprites
extern DWORD macchine[ROW][COL][NCAR];
extern DWORD strada[H][W];
extern BYTE street[H*W*2];
extern BYTE vbuf[MAX_CAR][ROW*COL*2];
extern BYTE clrcam[(ROW+2)*(COL+2)*2];
extern BYTE gauge_img[ROW*COL*2];
extern BYTE brk_gauge[ROW*COL*2];
extern BYTE arrow[3][ROW*COL*2];
extern DWORD sprites[ROW][COL][NO_SPRITE];
extern BYTE clrscr[800*600*2];
extern DWORD faces[2][74][47];
 
extern char sens;
//sine & cosine look-up tables
extern float cosine[360],sine[360];
 
//traffic light sprites
extern DWORD y_sem[4][SH][SW];
extern DWORD r_sem[4][SH][SW];
extern DWORD g_sem[4][SH][SW];
 
//useful colors
extern DWORD white;
extern DWORD black;
extern DWORD red;
extern DWORD gray;
extern DWORD blue;
extern DWORD green;
extern DWORD border;
extern DWORD tl_bg;
 
//task chain pointers
extern car_data *free_n,*busy_n,*free_o,*busy_o;
// car counter
extern short maxc;
 
/*function declaration */
 
/* task bodies*/
TASK car(car_data *);
TASK traffic_light(tl_data *);
TASK camera(int);
TASK gauge_c(int);
TASK blink_arrow(int);
TASK refresher(void *);
TASK killer(void *);
/demos/tags/rel_1_2/simcity/include/keyfunct.h
0,0 → 1,10
/*******************************keyfunct.h****************************/
// keyboard handler functions
#include <drivers/keyb.h>
 
void h_car_create(KEY_EVT *);
void s_car_create(KEY_EVT *);
void h_car_kill(KEY_EVT *);
void endfun(KEY_EVT *);
void refresh(KEY_EVT *);
void sensor_switch(KEY_EVT *);
/demos/tags/rel_1_2/simcity/include/constant.h
0,0 → 1,99
/*************************const.h*******************************/
// constants and new types declaration
#include <kernel/func.h>
#define CST
 
#define NO_SPRITE 8
 
 
#define GRAPH
#define SENSOR
#define MAX_CAR 10
#define MAX_TL 3
#define S_POINT 4
#define PERIOD_CAR 135000 //period for K62 350MHZ
//#define PERIOD_CAR 87000 //period for PIII 733MHZ
#define SPERIOD_CAR 13000
#define SCAR_WCET 4300
#define SECOND 1000000
#define TL_WCET 200
#define CAM_WCET 200
#define GAUGE_WCET 200
#define ARROW_WCET 100
//#define CAR_WCET 7700 //wcet for PIII 733MHZ
#define CAR_WCET 12400 //wcet for K62 350MHZ
#define ROW 30
#define COL 30
#define NCAR 24
#define W 640
#define H 480
#define SH 12
#define SW 12
#define MAX_DIST 50.0
#define NORM_DIST 15.0
#define COLL_DIST 25.0
#define MIN_SPEED 0.0
#define NORM_SPEED 4.0
#define MAX_SPEED 6.0
#define MAX_LOOK 50
#define LOOK_ANGLE 70
#define DIST_ANGLE 90
#define CORR_FACT 0.7
#define FRANTIC 0.0
#define POS_RAND
#define OBL_START 1
#define DEG_TO_RAD(x) ((float)x)/180.0*3.14
#define RAD_TO_DEG(x) ((float)x)/3.14*180.0
#define RANDDIR (rand()%3-1)
#define L 0
#define R 1
#define U 2
#define D 3
 
#define DRAW 1
#define CANCEL 0
#define VERTICAL 1
#define HORIZONTAL 0
 
#define STEER_LEFT 1
#define STEER_RIGHT -1
#define STRAIGHT 0
 
#define CAMX 670
#define CAMY 120
#define MAPX 8
#define MAPY 113
 
#define FREE 0
#define STOP 1
#define CAR 2
 
/*data types*/
 
typedef struct car_d {
int number;
float xpos,ypos;
int xp,yp;
float dist_obs,dist_sem;
float speed,middle,front,rear,somma;
int angle,sat;
char collision,boom,correggi,incrocio;
char dir,running;
struct car_d *next;
} car_data;
 
typedef struct {
int x,y;
} point;
 
typedef struct {
char vpos,hpos,tl_name[8];
point l,r,u,d;
PID pid;
DWORD period;
} tl_data;
 
 
typedef struct {
int xpos,ypos,angles;
} starting_set;
/demos/tags/rel_1_2/simcity/include/misc.h
0,0 → 1,18
//*****************************misc.h************************************
// miscellaneous useful functions
#ifndef CST
#include "constant.h"
#endif
 
int my_rint(float);
void fill_table();
void tl_init();
void set_start_point();
int returnCarIndex(int);
int find_col(int,int);
int find_tl(int,int,int);
int allinea(int);
int module(int,int,int,int);
int normalize(int);
 
 
/demos/tags/rel_1_2/simcity/include/draw.h
0,0 → 1,14
//****************************draw.h*******************************
// drawing functions
#ifndef CST
#include "constant.h"
#endif
 
void drawSprites(int,int,char,char);
void drawStreet(int,int);
void get_images();
void drawCar(int,int,int,char);
void bold_rect(WORD,WORD,WORD,WORD,BYTE,BYTE,BYTE);
void draw_scenario();
void draw_tl(int x,int y,DWORD img[SH][SW]);
void drawFaces(int,int,short);
/demos/tags/rel_1_2/simcity/include/states.h
0,0 → 1,21
enum stati {
NORM,
INC1,
DX1,
STR1,
STR2,
SX1,
SX2,
SX3
} ;
 
enum sprite_type {
EXPL,
GAUGE,
ARR_OFF,
ARR_SX,
ARR_DX,
VECCHINA,
V_SPLAT,
GAUGE_ROTTO
};
/demos/tags/rel_1_2/simcity/include/proc.h
0,0 → 1,23
//***************************proc.h******************************
// task management functions
#ifndef CST
#include "constant.h"
#endif
 
 
int add();
void del(int);
void init_struct();
int del_o();
void gauge_create(char *,int);
void arrow_create(char *,int);
void killer_create();
void ref_create();
void cam_create(char *,int);
void stl_create(char *,int);
void h_create(char *,int);
void s_create(char *,int);
void killing(int);
 
 
 
/demos/tags/rel_1_2/simcity/include/car.h
0,0 → 1,10
//*****************************car.h********************************
// car management functions
#ifndef CST
#include "constant.h"
#endif
 
char collision_sensor(car_data *);
int sensore(car_data *);
void ch_spd(car_data *,char);
 
/demos/tags/rel_1_2/simcity/initfile.c
0,0 → 1,106
//****************************initfile.c*******************************
#define PI
 
#include "kernel/kern.h"
#include "modules/edf.h"
#include "modules/cbs.h"
#include "modules/rr.h"
 
#ifndef PI
#include "modules/rrsoft.h"
#endif
 
#include "modules/dummy.h"
 
#include "modules/sem.h"
#include "modules/hartport.h"
#include "modules/cabs.h"
#include "modules/pi.h"
#include "modules/pc.h"
#include "modules/srp.h"
#include "modules/npp.h"
#include "modules/nop.h"
#include <drivers/keyb.h>
 
//#include "ll/i386/x-dos.h"
 
 
/*+ sysyem tick in us +*/
#define TICK 0
 
/*+ RR tick in us +*/
//#define RRTICK 10000
#define RRTICK 2000
 
 
void getCars(void);
void getRoad(void);
void getSem(void);
void getSprites(void);
void getFaces(void);
void tl_pos();
 
TIME __kernel_register_levels__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
 
 
EDF_register_level(EDF_ENABLE_ALL);
CBS_register_level(CBS_ENABLE_ALL, 0);
 
// RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD|RRSOFT_ONLY_SOFT);
// RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_SOFT); //cbs
 
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
 
 
SEM_register_module();
 
CABS_register_module();
 
PI_register_module();
NOP_register_module();
 
getFaces();
getCars();
getRoad();
getSem();
getSprites();
tl_pos();
return TICK;
}
 
TASK __init__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
 
HARTPORT_init();
 
KEYB_init(NULL);
 
__call_main__(mb);
 
return (void *)0;
}
 
 
#ifdef PI
void app_mutex_init(mutex_t *m)
{
PI_mutexattr_t attr;
 
PI_mutexattr_default(attr);
 
mutex_init(m, &attr);
}
#else
void app_mutex_init(mutex_t *m)
{
NOP_mutexattr_t attr;
 
NOP_mutexattr_default(attr);
 
mutex_init(m, &attr);
}
#endif
/demos/tags/rel_1_2/simcity/car.c
0,0 → 1,175
#include <drivers/glib.h>
#include <stdlib.h>
#include <math.h>
#include "include/simcity.h"
#include "include/misc.h"
#include "include/car.h"
#include "include/draw.h"
 
char collision_sensor(car_data *cd) {
float i,dx,dx1,dy,dy1,deltax,deltay;
int colore,colore1;
int speed_done=0;
char col=FREE;
 
dx=cd->xpos+2.0*cosine[normalize(cd->angle+90)];
dy=cd->ypos-2.0*sine[normalize(cd->angle+90)];
dx1=cd->xpos-8.0*cosine[normalize(cd->angle+90)];
dy1=cd->ypos+8.0*sine[normalize(cd->angle+90)];
 
for (i=0.0;i<MAX_LOOK;i+=0.1) {
deltax=i*cosine[normalize(cd->angle)];
deltay=i*sine[normalize(cd->angle)];
sem_wait(&mutex);
colore=grx_getpixel(my_rint(dx+deltax),my_rint(dy-deltay));
colore1=grx_getpixel(my_rint(dx1+deltax),my_rint(dy1-deltay));
sem_post(&mutex);
if (((colore==white)||(colore1==white) || ((colore==red)||(colore1==red)))) {
if((colore==white)||(colore1==white))
col=STOP;
else
col=CAR;
cd->dist_obs=i;
cd->collision=1;
speed_done=1;
}
if (!speed_done) {
if (sens) {
sem_wait(&mutex);
grx_plot(my_rint(dx+deltax),my_rint(dy-deltay),gray);
grx_plot(my_rint(dx1+deltax),my_rint(dy1-deltay),gray);
sem_post(&mutex);
}
}
}
if (!speed_done) {
cd->collision=0;
cd->dist_obs=MAX_LOOK;
}
return col;
}
 
int sensore(car_data *cd) {
int col_front,col_rear,col_middle;
int done_front=0,done_rear=0,done_middle=0;
float front,rear,middle,store_middle;
int angolo;
float i;
float x1,y1,x05,y05;
float xs,ys,xs1,ys1;
float coordx,coordy,distx,disty;
 
cd->front=cd->rear=cd->middle=front=rear=middle=store_middle=NORM_DIST;
x1=cd->xpos-10.0*cosine[normalize(cd->angle)]; // coordinata sensore dietro
y1=cd->ypos+10.0*sine[normalize(cd->angle)];
 
x05=cd->xpos-5.0*cosine[normalize(cd->angle)]; // coordinata sensore mezzo
y05=cd->ypos+5.0*sine[normalize(cd->angle)];
 
for (i=0.0;i<MAX_DIST;i+=0.1) {
coordx=i*cosine[normalize(cd->angle-LOOK_ANGLE)];
coordy=i*sine[normalize(cd->angle-LOOK_ANGLE)];
distx=i*cosine[normalize(cd->angle-DIST_ANGLE)];
disty=i*sine[normalize(cd->angle-DIST_ANGLE)];
col_front=grx_getpixel(my_rint(cd->xpos+coordx),my_rint(cd->ypos-coordy));
col_rear=grx_getpixel(my_rint(x1+coordx),my_rint(y1-coordy));
col_middle=grx_getpixel(my_rint(x05+distx),my_rint(y05-disty));
if ((col_front==border) && !done_front) {
done_front=1;
cd->front=front=i;
}
if ((col_middle==border) && !done_middle) {
done_middle=1;
middle=cd->middle=i;
}
if ((col_rear==border) && !done_rear) {
done_rear=1;
cd->rear=rear=i;
}
if (sens) {
sem_wait(&mutex);
if (!done_front) {
grx_plot(my_rint(cd->xpos+coordx),my_rint(cd->ypos-coordy),gray);
}
if (!done_rear) {
grx_plot(my_rint(x1+coordx),my_rint(y1-coordy),blue);
}
if (!done_middle) {
grx_plot(my_rint(x05+distx),my_rint(y05-disty),green);
}
sem_post(&mutex);
}
}
 
if (!done_front) {
front=cd->front=MAX_DIST;
}
if (!done_rear) {
rear=cd->rear=MAX_DIST;
}
if (!done_middle) {
cd->middle=middle=MAX_DIST;
}
xs=cd->xpos+front*cosine[normalize(cd->angle-LOOK_ANGLE)];
xs1=x1+rear*cosine[normalize(cd->angle-LOOK_ANGLE)];
ys=cd->ypos-front*sine[normalize(cd->angle-LOOK_ANGLE)];
ys1=y1-rear*sine[normalize(cd->angle-LOOK_ANGLE)];
if (xs==xs1) {
angolo=90;
} else {
angolo=my_rint(RAD_TO_DEG(atan((-ys1+ys)/(xs1-xs))));
}
 
if (angolo<0) angolo+=360;
if (angolo>=360) angolo-=360;
 
if ((ys-ys1<0) && (xs1-xs>0)) {
angolo-=180;
}
if ((ys-ys1>=0) && (xs1-xs>0)) {
angolo+=180;
}
 
if ((xs1-xs==0) && (ys-ys1>0)) {
angolo=270;
}
 
if (abs(middle-NORM_DIST)>FRANTIC) {
cd->correggi=1;
} else {
cd->somma=0;
cd->correggi=0;
}
 
if (cd->correggi) {
if (middle>NORM_DIST) {
cd->somma-=CORR_FACT;
}
if (middle<NORM_DIST) {
cd->somma+=CORR_FACT;
}
}
angolo+=cd->somma;
return angolo;
}
 
void ch_spd(car_data *cd,char ob_type) {
float set_spd=0.0;
float bf;
 
if(cd->collision) {
if(ob_type==STOP)
bf=0.001;
else
bf=0.7;
set_spd=cd->speed-(MAX_LOOK-cd->dist_obs)*bf;
if(set_spd<0)
set_spd=0;
}
else {
set_spd=cd->speed+0.4;
if(set_spd>MAX_SPEED)
set_spd=MAX_SPEED;
}
cd->speed=set_spd;
}
/demos/tags/rel_1_2/simcity/simcity.c
0,0 → 1,154
/************************** Simcity ************************/
// Main,initialization functions and global variables allocation
#include <kernel/func.h>
#include <string.h>
#include <stdlib.h>
#include <drivers/keyb.h>
#include <drivers/glib.h>
#include <kernel/kern.h>
#include <semaphore.h>
#include <math.h>
#include "include/constant.h"
#include "include/misc.h"
#include "include/draw.h"
#include "include/proc.h"
#define rgb rgb16
 
/* graphic mutex... */
sem_t mutex;
//kill flag mutexes
sem_t kill_mutex[MAX_CAR];
 
// various sprites to use with grx_putimage()....
BYTE vbuf[MAX_CAR][ROW*COL*2];
BYTE clrscr[800*600*2];
BYTE clrcam[(ROW+2)*(COL+2)*2];
BYTE gauge_img[ROW*COL*2];
BYTE brk_gauge[ROW*COL*2];
BYTE arrow[3][ROW*COL*2];
BYTE street[H*W*2];
 
//task chain pointers
car_data *free_n,*free_o,*busy_n,*busy_o;
 
// various sprites to plot
extern DWORD macchine[ROW][COL][NCAR];
extern DWORD sprites[ROW][COL][NO_SPRITE];
extern DWORD strada[H][W];
 
//resolution to use
WORD r=600;
WORD c=800;
BYTE bpp=16;
 
// useful colors...
DWORD white;
DWORD black;
DWORD red;
DWORD gray;
DWORD blue;
DWORD green;
DWORD border;
DWORD tl_bg;
 
//PID vectors
 
PID p_table[MAX_CAR];
PID c_table[MAX_CAR];
PID g_table[MAX_CAR];
PID a_table[MAX_CAR];
 
char kill_flag[MAX_CAR];
float cosine[360],sine[360];
 
// data structures
car_data car_data_array[MAX_CAR];
tl_data tl_data_array[MAX_TL];
starting_set starting_set_array[S_POINT];
 
void keyb_h(void);
 
static void version( void )
{
cprintf("\n\nDemo presented by\n");
cprintf("Aguzzi Marco\n");
cprintf(" &\n");
cprintf("Ferrari Fabio\n");
}
 
void my_close(void *arg)
{
grx_close();
kern_printf("Shutting down SIMCITY\n");
}
 
int main(int argc, char **argv)
{
int i;
char tl_name[4];
 
version();
 
sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT);
 
//resetting kill flags
for(i=0;i<MAX_CAR;i++) {
p_table[i]=0;
kill_flag[i]=0;
}
 
// graphic mode initialization
#ifdef GRAPH
if (grx_init() < 1) {
kern_printf("Error initializing graphics\n");
sys_abort(1);
}
if (grx_open(c,r,bpp) < 0) {
kern_printf("GRX Open Err\n");
sys_abort(1);
}
get_images();
#endif
srand(sys_gettime(NULL));
 
//init the graphic mutex
sem_init(&mutex,1,1);
//init kill flag mutexes
for(i=0;i<MAX_CAR;i++) sem_init(&(kill_mutex[i]),1,1);
//fill sine & cosine lookup tables
fill_table();
/*init keys*/
keyb_h();
set_start_point();
tl_init();
init_struct();
 
/* useful colors ... */
white = rgb(255,255,255);
black = rgb(0,0,0);
red = rgb(255,0,0);
gray = rgb(210,210,210);
blue = rgb(0,0,220);
green = rgb(0,255,0);
border= rgb(128,128,128);
tl_bg= rgb(0,128,0);
#ifdef GRAPH
/* paint scenario*/
draw_scenario();
#endif
#ifndef GRAPH
cprintf("Main: max_tl:%d\n",MAX_TL);
#endif
 
//creating refresher,killer and traffic light processes...
ref_create();
killer_create();
for(i=0;i<MAX_TL;i++) {
sprintf(tl_name,"tl%d",i+1);
#ifndef GRAPH
cprintf("main:tname=%s",tl_name);
#endif
stl_create(tl_name,i);
}
return 0;
}
/demos/tags/rel_1_2/simcity/tasks.c
0,0 → 1,409
//*******************************tasks.c************************************
// task bodies
#include <drivers/glib.h>
#include <stdlib.h>
#include <string.h>
#include <kernel/func.h>
#include <drivers/glib.h>
#include <semaphore.h>
#include <math.h>
#include "include/simcity.h"
#include "include/states.h"
#include "include/draw.h"
#include "include/misc.h"
#include "include/car.h"
#include "include/proc.h"
#define rgb rgb16
 
/*extern starting_set starting_set_array[S_POINT];
extern short maxc; */
 
TASK killer(void *arg) {
short i,j=0;
DWORD col[3];
char flag=0;
 
col[0]=red;
col[1]=green;
col[2]=white;
 
while(1) {
if(maxc>0) {
for(i=0;i<MAX_CAR;i++) {
sem_wait(&(kill_mutex[i]));
if(car_data_array[i].boom && car_data_array[i].running) flag=1;
else flag=0;
sem_post(&(kill_mutex[i]));
if(flag) {
del(i);
killing(i);
}
}
}
j=(j+1)%3;
sem_wait(&mutex);
grx_text("Killer active!",CAMX,CAMY+MAX_CAR*46,col[j],black);
sem_post(&mutex);
task_endcycle();
}
}
 
 
TASK refresher(void *arg) {
int i;
tl_data *d;
 
while(1) {
sem_wait(&mutex);
grx_putimage(MAPX,MAPY,MAPX+W-1,MAPY+H-1,street);
for(i=0;i<MAX_TL;i++) {
d=&(tl_data_array[i]);
if((d->vpos=='g')) {
draw_tl(d->u.x,d->u.y,g_sem[U]);
draw_tl(d->d.x,d->d.y,g_sem[D]);
draw_tl(d->l.x,d->l.y,r_sem[L]);
draw_tl(d->r.x,d->r.y,r_sem[R]);
} else if(d->vpos=='y') {
draw_tl(d->u.x,d->u.y,y_sem[U]);
draw_tl(d->d.x,d->d.y,y_sem[D]);
draw_tl(d->l.x,d->l.y,r_sem[L]);
draw_tl(d->r.x,d->r.y,r_sem[R]);
} else if(d->hpos=='g') {
draw_tl(d->u.x,d->u.y,r_sem[U]);
draw_tl(d->d.x,d->d.y,r_sem[D]);
draw_tl(d->l.x,d->l.y,g_sem[L]);
draw_tl(d->r.x,d->r.y,g_sem[R]);
} else if(d->hpos=='y') {
draw_tl(d->u.x,d->u.y,r_sem[U]);
draw_tl(d->d.x,d->d.y,r_sem[D]);
draw_tl(d->l.x,d->l.y,y_sem[L]);
draw_tl(d->r.x,d->r.y,y_sem[R]);
}
}
sem_post(&mutex);
task_endcycle();
}
}
 
TASK blink_arrow(int number) {
char ld=0,prev=0,dir=0;
short c;
BYTE *arrow_img;
 
c=number*46;
while(1) {
if(kill_flag[number]) {
return 0;
}
if(!car_data_array[number].boom) {
dir=car_data_array[number].dir+1;
if(dir==prev) {
ld=(ld+1)%2;
if(ld==1)
arrow_img=arrow[(int)dir];
else
arrow_img=arrow[1];
 
sem_wait(&mutex);
grx_putimage(CAMX+80,CAMY-1+c,CAMX+80+29,CAMY-1+c+29,arrow_img);
sem_post(&mutex);
} else {
prev=dir;
ld=0;
sem_wait(&mutex);
grx_putimage(CAMX+80,CAMY-1+c,CAMX+80+29,CAMY-1+c+29,arrow[(int)dir]);
sem_post(&mutex);
}
}
task_endcycle();
}
}
 
 
TASK gauge_c(int number) {
int c;
float angle,ro;
int x,y;
char vel[5];
 
c=number*46;
while(1) {
if(kill_flag[number]) {
return 0;
}
if(!car_data_array[number].boom) {
angle=180.0*car_data_array[number].speed/MAX_SPEED;
sprintf(vel,"%.1f",car_data_array[number].speed);
ro=9.0;
y=my_rint(ro*sine[my_rint(angle)]);
x=my_rint(ro*cosine[my_rint(angle)]);
sem_wait(&mutex);
grx_putimage(CAMX,CAMY+c,CAMX+29,CAMY+29+c,gauge_img);
grx_line(CAMX+14,CAMY-1+c+25,CAMX+14-x,CAMY-1+c+25-y,blue);
grx_text(vel,CAMX,CAMY+c+30,white,black);
sem_post(&mutex);
} else {
sem_wait(&mutex);
grx_putimage(CAMX,CAMY+c,CAMX+29,CAMY+29+c,brk_gauge);
sem_post(&mutex);
}
task_endcycle();
}
}
 
TASK camera(int number) {
int c;
 
c=number*46;
grx_rect(CAMX+40-1,CAMY-1+c,CAMX+40+30,CAMY+30+c,green);
while(1) {
if(kill_flag[number]) {
return 0;
}
sem_wait(&mutex);
grx_putimage(CAMX+40,CAMY+c,CAMX+40+29,CAMY+c+29,vbuf[number]);
sem_post(&mutex);
task_endcycle();
}
}
 
TASK traffic_light(tl_data *d) {
char hpos,vpos,flag;
 
flag=0;
vpos=d->vpos;
if(vpos=='g') {
hpos='r';
#ifdef GRAPH
sem_wait(&mutex);
draw_tl(d->l.x,d->l.y,r_sem[L]);
draw_tl(d->r.x,d->r.y,r_sem[R]);
draw_tl(d->u.x,d->u.y,g_sem[U]);
draw_tl(d->d.x,d->d.y,g_sem[D]);
sem_post(&mutex);
#endif
} else {
vpos='r';
hpos='g';
#ifdef GRAPH
sem_wait(&mutex);
draw_tl(d->l.x,d->l.y,g_sem[L]);
draw_tl(d->r.x,d->r.y,g_sem[R]);
draw_tl(d->u.x,d->u.y,r_sem[U]);
draw_tl(d->d.x,d->d.y,r_sem[D]);
sem_post(&mutex);
#endif
}
task_endcycle();
while(1) {
if(vpos=='g') {
vpos='y';
flag=1;
#ifdef GRAPH
sem_wait(&mutex);
draw_tl(d->u.x,d->u.y,y_sem[U]);
draw_tl(d->d.x,d->d.y,y_sem[D]);
sem_post(&mutex);
#endif
}
if((vpos=='y')&&(!flag)) {
vpos='r';
hpos='g';
flag=1;
#ifdef GRAPH
sem_wait(&mutex);
draw_tl(d->u.x,d->u.y,r_sem[U]);
draw_tl(d->d.x,d->d.y,r_sem[D]);
draw_tl(d->l.x,d->l.y,g_sem[L]);
draw_tl(d->r.x,d->r.y,g_sem[R]);
sem_post(&mutex);
#endif
}
if((vpos=='r')&&(!flag)) {
if(hpos=='g') {
hpos='y';
flag=1;
#ifdef GRAPH
sem_wait(&mutex);
draw_tl(d->l.x,d->l.y,y_sem[L]);
draw_tl(d->r.x,d->r.y,y_sem[R]);
sem_post(&mutex);
#endif
}
if((hpos=='y')&&(!flag)) {
hpos='r';
vpos='g';
#ifdef GRAPH
sem_wait(&mutex);
draw_tl(d->l.x,d->l.y,r_sem[L]);
draw_tl(d->r.x,d->r.y,r_sem[R]);
draw_tl(d->u.x,d->u.y,g_sem[U]);
draw_tl(d->d.x,d->d.y,g_sem[D]);
sem_post(&mutex);
#endif
}
}
flag=0;
d->vpos=vpos;
d->hpos=hpos;
#ifndef GRAPH
sem_wait(&mutex);
cprintf("semaforo %s: verticale:%c orizz.:%c\n",d->tl_name,vpos,hpos);
sem_post(&mutex);
#endif
task_endcycle();
}
}
 
TASK car(car_data *cd) {
char ob_type=FREE;
int start_point,sat_angle=0;
int tl=0;
short stato=NORM,dir_flag=0;
 
sem_wait(&(kill_mutex[cd->number]));
while(kill_flag[cd->number]){
cd->running=0;
sem_post(&(kill_mutex[cd->number]));
return 0;
}
sem_post(&(kill_mutex[cd->number]));
while(1) {
sem_wait(&(kill_mutex[cd->number]));
while(kill_flag[cd->number]){
cd->running=0;
sem_post(&(kill_mutex[cd->number]));
return 0;
}
sem_post(&(kill_mutex[cd->number]));
if(cd->xp>630||cd->yp>590||cd->xp<18||cd->yp<MAPY+3) {
start_point=rand()%S_POINT;
if(start_point==2)
start_point++;
cd->xpos=cd->xp=starting_set_array[start_point].xpos;
cd->ypos=cd->yp=starting_set_array[start_point].ypos;
cd->angle=starting_set_array[start_point].angles;
}
if (!cd->boom) {
// Control State Machine
if(stato==NORM) {
cd->dir=STRAIGHT;
ob_type=collision_sensor(cd);
ch_spd(cd,ob_type);
if(cd->dist_obs<30 && ob_type==STOP) {
stato=INC1;
}
if(ob_type==FREE || cd->dist_obs>=27 || cd->speed>=2.0) {
cd->angle=sensore(cd);
cd->angle=normalize(cd->angle);
}
}
if(stato==INC1) {
tl=find_tl(cd->angle,cd->xp,cd->yp);
if(!dir_flag)
cd->dir=rand()%3-1;
if(find_col(cd->angle,tl)=='g') {
switch(cd->dir) {
case STEER_RIGHT:
stato=DX1;
break;
case STRAIGHT:
case STEER_LEFT:
stato=STR1;
break;
default:
stato=DX1;
}
} else {
cd->speed=0.0;
dir_flag=1;
}
}
if(stato==DX1) {
dir_flag=0;
cd->speed=4.0;
cd->angle=sensore(cd);
if(ob_type!=STOP)
stato=NORM;
else {
ob_type=collision_sensor(cd);
if(ob_type==CAR)
ch_spd(cd,ob_type);
}
}
if(stato==STR1) {
dir_flag=0;
cd->angle=allinea(cd->angle);
sensore(cd);
cd->speed=4.0;
ob_type=collision_sensor(cd);
if(ob_type==CAR)
ch_spd(cd,ob_type);
if(cd->middle==MAX_DIST) {
if(cd->dir==STRAIGHT)
stato=STR2;
else {
sat_angle=cd->angle+90;
stato=SX1;
}
}
}
if(stato==STR2) {
cd->speed=4.0;
sensore(cd);
ob_type=collision_sensor(cd);
if(ob_type==CAR)
ch_spd(cd,ob_type);
if(abs(cd->front-cd->rear)<0.1 && ((cd->middle-NORM_DIST)<7.0))
stato=NORM;
}
if(stato==SX1) {
cd->speed=4.0;
sensore(cd);
ob_type=collision_sensor(cd);
if(ob_type==CAR)
ch_spd(cd,ob_type);
else {
cd->angle+=7;
if(cd->angle>=sat_angle) {
cd->angle=sat_angle;
}
}
if(abs(cd->front-cd->rear)<0.1 && ((cd->middle-NORM_DIST)<7.0))
stato=NORM;
}
}
if (cd->dist_obs<COLL_DIST && ob_type==CAR) {
cd->boom=1;
cd->speed=0.0;
}
sem_wait(&mutex);
grx_getimage(cd->xp-15,cd->yp-15,cd->xp+14,cd->yp+14,vbuf[cd->number]);
if (cd->boom==0) {
drawCar(cd->xp,cd->yp,cd->angle,DRAW);
}
if (cd->boom==1) {
drawSprites(cd->xp,cd->yp,0,DRAW);
}
sem_post(&mutex);
task_endcycle();
sem_wait(&mutex);
if (cd->boom==0) {
grx_putimage(cd->xp-15,cd->yp-15,cd->xp+14,cd->yp+14,vbuf[cd->number]);
} else {
drawSprites(cd->xp,cd->yp,0,CANCEL);
}
sem_post(&mutex);
sem_wait(&(kill_mutex[cd->number]));
while(kill_flag[cd->number]){
cd->running=0;
sem_post(&(kill_mutex[cd->number]));
return 0;
}
sem_post(&(kill_mutex[cd->number]));
cd->xpos+=cd->speed*cos(DEG_TO_RAD(cd->angle));
cd->ypos-=cd->speed*sin(DEG_TO_RAD(cd->angle));
cd->xp=my_rint(cd->xpos);
cd->yp=my_rint(cd->ypos);
}
}
/demos/tags/rel_1_2/simcity/keyfunct.c
0,0 → 1,85
/**************** Functions called by keyboard handler*********/
#include <drivers/keyb.h>
#include <drivers/glib.h>
#include <drivers/glib.h>
#include <stdlib.h>
#include <string.h>
#include "include/simcity.h"
#include "include/proc.h"
 
short maxc=0;
char sens=0;
 
extern starting_set starting_set_array[S_POINT];
 
void h_car_create(KEY_EVT *k)
{
char name[10];
int num;
 
if((maxc<MAX_CAR)) {
num=add();
if(num>=0) {
sprintf(name,"car%d",num);
h_create(name,num);
sprintf(name,"camera%d",num);
cam_create(name,num);
sprintf(name,"speed%d",num);
gauge_create(name,num);
sprintf(name,"arrow%d",num);
arrow_create(name,num);
}
}
}
 
void s_car_create(KEY_EVT *k)
{
char name[10];
int num;
 
if((maxc<MAX_CAR)) {
num=add();
if(num>=0) {
sprintf(name,"car%d",num);
h_create(name,num);
sprintf(name,"camera%d",num);
cam_create(name,num);
sprintf(name,"speed%d",num);
gauge_create(name,num);
sprintf(name,"arrow%d",num);
arrow_create(name,num);
}
}
}
 
void h_car_kill(KEY_EVT *k) {
int num;
 
if(maxc>0) {
num=del_o();
if(num>=0) {
killing(num);
}
}
}
 
void endfun(KEY_EVT *k)
{
grx_close();
cprintf("Brk command pressed! Ending...\n");
sys_end();
}
 
void refresh(KEY_EVT *k){
 
sem_wait(&mutex);
//heavy and obsolete.....
//draw_scenario();
grx_putimage(MAPX,MAPY,MAPX+W-1,MAPY+H-1,street);
sem_post(&mutex);
}
 
void sensor_switch(KEY_EVT *k) {
if(sens==0) sens=1;
else sens=0;
}
/demos/tags/rel_1_2/simcity/misc.c
0,0 → 1,215
#include <math.h>
#include "include/misc.h"
#include "include/simcity.h"
 
int my_rint(float num) {
return (int)floor(num+0.5);
}
 
void fill_table(void) {
int i;
for (i=0;i<360;i++) {
sine[i]=sin(DEG_TO_RAD(i));
cosine[i]=cos(DEG_TO_RAD(i));
}
}
 
void tl_init() {
//MAPX,MAPY
char col[2];
short i;
 
col[0]='r';
col[1]='g';
for(i=0;i<MAX_TL;i++) {
tl_data_array[i].vpos=col[i%2];
tl_data_array[i].period=(i+3)*SECOND;
tl_data_array[i].l.x+=MAPX;
tl_data_array[i].l.y+=MAPY;
tl_data_array[i].r.x+=MAPX;
tl_data_array[i].r.y+=MAPY;
tl_data_array[i].u.x+=MAPX;
tl_data_array[i].u.y+=MAPY;
tl_data_array[i].d.x+=MAPX;
tl_data_array[i].d.y+=MAPY;
}
}
 
void set_start_point() {
//MAPX,MAPY
starting_set_array[0].xpos=607+MAPX;
starting_set_array[0].ypos=20+MAPY;
starting_set_array[0].angles=180;
starting_set_array[1].xpos=12+MAPX;
starting_set_array[1].ypos=62+MAPY;
starting_set_array[1].angles=0;
starting_set_array[2].xpos=260+MAPX;
starting_set_array[2].ypos=460+MAPY;
starting_set_array[2].angles=90;
starting_set_array[3].xpos=605+MAPX;
starting_set_array[3].ypos=205+MAPY;
starting_set_array[3].angles=180;
}
 
int returnCarIndex(int a) {
int indice=-1;
int angle;
 
angle=normalize(a);
if (((angle>=0) && (angle<=8)) || ((angle>353) && (angle<360))) { // 0 (+8 ; -7)
indice=0;
}
if ((angle<=23) && (angle>8)) { // 15
indice=1;
}
if ((angle<=38) && (angle>23)) { // 30
indice=2;
}
if ((angle<=53) && (angle>38)) { // 45
indice=3;
}
if ((angle<=68) && (angle>53)) { // 60
indice=4;
}
if ((angle<=83) && (angle>68)) { // 75
indice=5;
}
if ((angle<=98) && (angle>83)) { // 90
indice=6;
}
if ((angle<=113) && (angle>98)) { // 105
indice=7;
}
if ((angle<=128) && (angle>113)) { // 120
indice=8;
}
if ((angle<=143) && (angle>128)) { // 135
indice=9;
}
if ((angle<=158) && (angle>143)) { // 150
indice=10;
}
if ((angle<=173) && (angle>158)) { // 165
indice=11;
}
if ((angle<=188) && (angle>173)) { // 180
indice=12;
}
if ((angle<=203) && (angle>188)) { // 195
indice=13;
}
if ((angle<=218) && (angle>203)) { // 210
indice=14;
}
if ((angle<=233) && (angle>218)) { // 225
indice=15;
}
if ((angle<=248) && (angle>233)) { // 240
indice=16;
}
if ((angle<=263) && (angle>248)) { // 255
indice=17;
}
if ((angle<=278) && (angle>263)) { // 270
indice=18;
}
if ((angle<=293) && (angle>278)) { // 285
indice=19;
}
if ((angle<=308) && (angle>293)) { // 300
indice=20;
}
if ((angle<=323) && (angle>308)) { // 315
indice=21;
}
if ((angle<=338) && (angle>323)) { // 330
indice=22;
}
if ((angle<=353) && (angle>338)) { // 345
indice=23;
}
if (angle==360) {
indice=0;
}
return indice;
}
 
int normalize(int angle) {
if(angle<0)
return ((angle+360));
if(angle>=360)
return ((angle-360));
return angle;
}
 
int module(int x1,int x2,int y1,int y2) {
int x,y;
 
x=x1-x2;
y=y1-y2;
x*=x;
y*=y;
return x+y;
}
 
int allinea(int angle) {
int old_angle;
 
old_angle=normalize(angle);
if(old_angle<45)
old_angle=0;
else if(old_angle<135)
old_angle=90;
else if(old_angle<225)
old_angle=180;
else
old_angle=270;
return old_angle;
}
 
int find_tl(int angle,int xp,int yp) {
int a,min_tl,old_min,mins,i;
 
a=allinea(angle);
min_tl=old_min=10000;
for(mins=i=0;i<MAX_TL;i++) {
switch(a) {
case 0:
min_tl=module( xp,tl_data_array[i].l.x, yp,tl_data_array[i].l.y);
break;
case 90:
min_tl=module( xp,tl_data_array[i].d.x, yp,tl_data_array[i].d.y);
break;
case 180:
min_tl=module( xp,tl_data_array[i].r.x, yp,tl_data_array[i].r.y);
break;
case 270:
min_tl=module( xp,tl_data_array[i].u.x, yp,tl_data_array[i].u.y);
break;
default:
break;
}
if(min_tl<old_min) {
old_min=min_tl;
mins=i;
}
}
return mins;
}
 
int find_col(int angle,int tl) {
int min_tl=0,a;
 
a=allinea(angle);
switch(a) {
case 0:
case 180:
min_tl=tl_data_array[tl].hpos;
break;
case 90:
case 270:
min_tl=tl_data_array[tl].vpos;
break;
}
return min_tl;
}
/demos/tags/rel_1_2/simcity/makefile
0,0 → 1,15
#
#
#
 
ifndef BASE
BASE=../..
endif
include $(BASE)/config/config.mk
 
PROGS= simcity
 
include $(BASE)/config/example.mk
 
simcity:
make -f $(SUBMAKE) APP=simcity INIT= OTHEROBJS="initfile.o keyboard.o keyfunct.o tasks.o reading.o misc.o draw.o proc.o car.o" SHARKOPT="__OLDCHAR__ __GRX__"
/demos/tags/rel_1_2/simcity/sem/green_l.raw
0,0 → 1,0
€€€€€€€€€€€€€€€€€€€€€€€€€ÿ€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿ€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿ€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿ€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€€€€€€€€€€€€
/demos/tags/rel_1_2/simcity/sem/red_r.raw
0,0 → 1,0
€€€€€€€€€€€€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€ÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€ÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€ÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€ÿ€€€€€€€€€€€€€€€€€€€€€€€€€
/demos/tags/rel_1_2/simcity/sem/yellow_r.raw
0,0 → 1,0
€€€€€€€€€€€€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€ÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€ÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€ÿÿ€€€€€€€€€€€€€€€€€€€€€€€€€
/demos/tags/rel_1_2/simcity/sem/red_d.raw
0,0 → 1,0
€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€ÿÿ€€€€€€€€€ÿÿÿÿ€€€€€€€ÿÿÿÿÿÿ€€€€€ÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€
/demos/tags/rel_1_2/simcity/sem/red_u.raw
0,0 → 1,0
€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿ€€€€€ÿÿÿÿÿÿ€€€€€€€ÿÿÿÿ€€€€€€€€€ÿÿ€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€
/demos/tags/rel_1_2/simcity/sem/yellow_d.raw
0,0 → 1,0
€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€ÿÿÿÿ€€€€€€€€€ÿÿÿÿÿÿÿÿ€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€
/demos/tags/rel_1_2/simcity/sem/yellow_u.raw
0,0 → 1,0
€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€ÿÿÿÿÿÿÿÿ€€€€€€€€€ÿÿÿÿ€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€
/demos/tags/rel_1_2/simcity/sem/green_r.raw
0,0 → 1,0
€€€€€€€€€€€€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€ÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€ÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€ÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€ÿ€€€€€€€€€€€€€€€€€€€€€€€€€
/demos/tags/rel_1_2/simcity/sem/green_d.raw
0,0 → 1,0
€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€ÿÿ€€€€€€€€€ÿÿÿÿ€€€€€€€ÿÿÿÿÿÿ€€€€€ÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€
/demos/tags/rel_1_2/simcity/sem/green_u.raw
0,0 → 1,0
€€€€€€€€€€€€€€ÿÿÿÿÿÿÿÿ€€€€€ÿÿÿÿÿÿ€€€€€€€ÿÿÿÿ€€€€€€€€€ÿÿ€€€€€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€
/demos/tags/rel_1_2/simcity/sem/red_l.raw
0,0 → 1,0
€€€€€€€€€€€€€€€€€€€€€€€€€ÿ€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿ€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿ€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿ€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€€€€€€€€€€€€
/demos/tags/rel_1_2/simcity/sem/yellow_l.raw
0,0 → 1,0
€€€€€€€€€€€€€€€€€€€€€€€€€ÿÿ€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿ€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿÿÿ€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿÿÿ€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€ÿÿ€€€ÿÿÿÿÿÿÿÿÿÿÿÿ€€€€€€€€€€€€€€€€€€€€€€€€€
/demos/tags/rel_1_2/simcity/proc.c
0,0 → 1,393
#include <drivers/glib.h>
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include "include/simcity.h"
#include "include/misc.h"
#include "include/proc.h"
 
int add() {
if(maxc>0 && maxc<MAX_CAR-1) {
busy_n->next=free_o;
busy_n=free_o;
free_o=free_o->next;
busy_n->next=NULL;
}
if(maxc==0) {
busy_n=busy_o=free_o;
free_o=free_o->next;
busy_n->next=NULL;
}
if(maxc==MAX_CAR-1) {
busy_n->next=free_o;
busy_n=free_o;
free_o=free_n=NULL;
busy_n->next=NULL;
}
if(maxc<MAX_CAR) {
maxc++;
return(busy_n->number);
} else
return(-1);
}
 
void del(int num) {
car_data *d,*db;
 
db=d=busy_o;
if(maxc>1) {
while((d->number)!=num) {
db=d;
d=d->next;
}
if(d==busy_n) {
db->next=NULL;
busy_n=db;
} else if(d==busy_o) {
busy_o=busy_o->next;
} else {
db->next=d->next;
}
if(maxc!=MAX_CAR) {
free_n->next=d;
free_n=d;
free_n->next=NULL;
}
else {
free_n=free_o=d;
}
}
else {
free_n->next=d;
free_n=d;
free_n->next=NULL;
busy_n=busy_o=NULL;
}
maxc--;
}
 
void init_struct() {
int i;
 
free_o=&(car_data_array[0]);
free_n=&(car_data_array[MAX_CAR-1]);
busy_n=busy_o=NULL;
for(i=0;i<MAX_CAR;i++)
car_data_array[i].number=i;
for(i=0;i<MAX_CAR;i++) {
if(i<MAX_CAR-1)
car_data_array[i].next=&(car_data_array[i+1]);
else
car_data_array[i].next=NULL;
}
maxc=0;
}
 
int del_o() {
 
if(maxc<MAX_CAR && maxc>1) {
free_n->next=busy_o;
free_n=busy_o;
busy_o=busy_o->next;
free_n->next=NULL;
} else
if(maxc==MAX_CAR) {
free_n=free_o=busy_o;
busy_o=busy_o->next;
free_n->next=NULL;
} else
if(maxc==1) {
free_n->next=busy_o;
free_n=busy_o;
free_n->next=NULL;
busy_o=busy_n=NULL;
}
if(maxc>0) {
maxc--;
return(free_n->number);
} else
return -1;
}
 
void gauge_create(char *name,int num) {
void *par;
PID pid;
SOFT_TASK_MODEL stm;
 
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
par=(void *) num;
soft_task_def_arg(stm,par);
soft_task_def_met(stm,GAUGE_WCET);
soft_task_def_period(stm,PERIOD_CAR);
soft_task_def_usemath(stm);
pid = task_create(name, gauge_c, &stm, NULL);
if (pid == NIL) {
grx_close();
perror("stl_create():Could not create task <Gauge_c>");
sys_abort(1);
}
g_table[num]=pid;
task_activate(pid);
}
 
 
void arrow_create(char *name,int num) {
void *par;
PID pid;
SOFT_TASK_MODEL stm;
 
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
par=(void *) num;
soft_task_def_arg(stm,par);
soft_task_def_met(stm,ARROW_WCET);
soft_task_def_period(stm,PERIOD_CAR*4);
pid = task_create(name,blink_arrow, &stm, NULL);
if (pid == NULL) {
grx_close();
perror("stl_create():Could not create task <arrow>");
sys_abort(1);
}
a_table[num]=pid;
task_activate(pid);
}
 
void killer_create() {
void *par;
PID pid;
SOFT_TASK_MODEL stm;
 
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
par=(void *) 0;
soft_task_def_arg(stm,par);
soft_task_def_met(stm,1000);
soft_task_def_period(stm,5*SECOND);
pid = task_create("killer", killer, &stm, NULL);
if (pid == NULL) {
grx_close();
perror("ref_create():Could not create task <killer>");
sys_abort(1);
}
task_activate(pid);
}
 
 
void ref_create() {
void *par;
PID pid;
SOFT_TASK_MODEL stm;
 
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
par=(void *) 0;
soft_task_def_arg(stm,par);
soft_task_def_met(stm,3000);
soft_task_def_period(stm,4*SECOND);
pid = task_create("Refresher", refresher, &stm, NULL);
if (pid == NULL) {
grx_close();
perror("ref_create():Could not create task <refresher>");
sys_abort(1);
}
task_activate(pid);
}
 
void cam_create(char *name,int num) {
void *par;
PID pid;
SOFT_TASK_MODEL stm;
 
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
par=(void *) num;
soft_task_def_arg(stm,par);
soft_task_def_met(stm,CAM_WCET);
soft_task_def_period(stm,PERIOD_CAR);
pid = task_create(name, camera, &stm, NULL);
if (pid == NULL) {
grx_close();
perror("stl_create():Could not create task <Camera>");
sys_abort(1);
}
c_table[num]=pid;
task_activate(pid);
}
 
void stl_create(char *name,int num) {
void *par;
PID pid;
SOFT_TASK_MODEL stm;
 
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
strcpy(tl_data_array[num].tl_name,name);
par=(void *) &(tl_data_array[num]);
soft_task_def_arg(stm,par);
soft_task_def_met(stm,TL_WCET);
soft_task_def_period(stm,tl_data_array[num].period);
pid = task_create(name, traffic_light, &stm, NULL);
if (pid == NULL) {
grx_close();
perror("stl_create():Could not create task <Traffic Light>");
sys_abort(1);
}
tl_data_array[num].pid=pid;
task_activate(pid);
}
 
void h_create(char *name,int num) {
void *par;
PID pid;
int start_point=0;
short flag=0;
HARD_TASK_MODEL htm;
car_data cd,*d;
 
#ifdef POS_RAND
start_point=rand()%S_POINT;
if(busy_o!=NULL)
do {
flag=0;
d=busy_o;
do {
if(d->number!=num)
if(module(starting_set_array[start_point].xpos,d->xp,starting_set_array[start_point].ypos,d->yp)<256) {
start_point=(start_point+1)%S_POINT;
flag=1;
break;
}
d=d->next;
} while(d!=NULL);
} while(flag);
#endif
#ifndef POS_RAND
start_point=OBL_START;
#endif
 
cd.number=num;
cd.xpos=cd.xp=starting_set_array[start_point].xpos;
cd.ypos=cd.yp=starting_set_array[start_point].ypos;
cd.angle=starting_set_array[start_point].angles;
cd.speed=MIN_SPEED;
cd.dist_obs=MAX_DIST;
cd.collision=cd.boom=cd.correggi=cd.somma=0;
cd.dir=STRAIGHT;
car_data_array[num]=cd;
hard_task_default_model(htm);
hard_task_def_ctrl_jet(htm);
par=(void *) &(car_data_array[num]);
hard_task_def_arg(htm,par);
hard_task_def_wcet(htm, CAR_WCET);
hard_task_def_mit(htm,PERIOD_CAR);
hard_task_def_usemath(htm);
pid = task_create(name, car, &htm, NULL);
if (pid == NULL) {
grx_close();
perror("h_create():Could not create task <hard car>");
sys_abort(1);
}
else {
p_table[num]=pid;
sem_wait(&(kill_mutex[num]));
kill_flag[num]=0;
car_data_array[num].running=1;
sem_post(&(kill_mutex[num]));
task_activate(pid);
}
}
 
void s_create(char *name,int num) {
void *par;
PID pid;
int start_point=0;
SOFT_TASK_MODEL stm;
car_data cd,*d;
short flag=0;
 
#ifdef POS_RAND
start_point=rand()%S_POINT;
if(busy_o!=NULL)
do {
flag=0;
d=busy_o;
do {
if(d->number!=num)
if(module(starting_set_array[start_point].xpos,d->xp,starting_set_array[start_point].ypos,d->yp)<256) {
start_point=(start_point+1)%S_POINT;
flag=1;
break;
}
d=d->next;
} while(d!=NULL);
} while(flag);
#endif
#ifndef POS_RAND
start_point=OBL_START;
#endif
 
cd.number=num;
cd.xpos=cd.xp=starting_set_array[start_point].xpos;
cd.ypos=cd.yp=starting_set_array[start_point].ypos;
cd.angle=starting_set_array[start_point].angles;
cd.speed=MIN_SPEED;
cd.dist_obs=MAX_DIST;
cd.collision=cd.boom=cd.correggi=cd.somma=0;
cd.dir=STRAIGHT;
car_data_array[num]=cd;
soft_task_default_model(stm);
soft_task_def_level(stm,1);
soft_task_def_ctrl_jet(stm);
par=(void *) &(car_data_array[num]);;
soft_task_def_arg(stm,par);
soft_task_def_met(stm,SCAR_WCET);
soft_task_def_period(stm,SPERIOD_CAR);
soft_task_def_usemath(stm);
pid = task_create(name, car, &stm, NULL);
if (pid == NULL) {
grx_close();
perror("h_create():Could not create task <soft car>");
sys_abort(1);
}
else {
p_table[num]=pid;
sem_wait(&(kill_mutex[num]));
kill_flag[num]=0;
car_data_array[num].running=1;
sem_post(&(kill_mutex[num]));
task_activate(pid);
}
}
 
void killing(int num) {
PID car_to_kill,cam_to_kill,gauge_to_kill,a_to_kill;
int c;
 
c=car_data_array[num].number*46;
car_to_kill=p_table[num];
cam_to_kill=c_table[num];
gauge_to_kill=g_table[num];
a_to_kill=a_table[num];
sem_wait(&(kill_mutex[num]));
kill_flag[num]=1;
car_data_array[num].running=0;
sem_post(&(kill_mutex[num]));
task_kill(car_to_kill);
task_kill(cam_to_kill);
task_kill(gauge_to_kill);
task_kill(a_to_kill);
sem_wait(&mutex);
grx_putimage(car_data_array[num].xp-15,car_data_array[num].yp-15,car_data_array[num].xp+14,car_data_array[num].yp+14,vbuf[car_data_array[num].number]);
grx_putimage(CAMX-1,CAMY-1+c,CAMX+30,CAMY+30+c,clrcam);
grx_putimage(CAMX+40-1,CAMY-1+c,CAMX+40+30,CAMY+c+30,clrcam);
grx_putimage(CAMX+80-1,CAMY-1+c,CAMX+80+30,CAMY+c+30,clrcam);
grx_text(" ",CAMX,CAMY+c+30,black,black);
sem_post(&mutex);
}
/demos/tags/rel_1_2/simcity/reading.c
0,0 → 1,237
/********************************************reading.c******************************/
#include <kernel/func.h>
#include <drivers/glib.h>
#include <ll/i386/x-dos.h>
#include <stdlib.h>
#include <string.h>
#include "include/constant.h"
#define rgb rgb16
 
DWORD macchine[ROW][COL][NCAR];
DWORD strada[H][W];
DWORD sprites[ROW][COL][NO_SPRITE];
DWORD y_sem[4][SH][SW];
DWORD r_sem[4][SH][SW];
DWORD g_sem[4][SH][SW];
DWORD faces[2][74][47];
extern tl_data tl_data_array[MAX_TL];
 
char nomefile[17];
char nomestrada[17];
char nomesem[17];
char nomesprite[16];
 
void getSem() {
int i,j,k,count;
BYTE colore[3];
DOS_FILE *fp;
char letter[5];
 
strcpy(letter,"lrud");
strcpy(nomesem,"sem/green_ .raw");
 
//green traffic light....
for(k=0;k<4;k++) {
nomesem[10]=letter[k];
fp=DOS_fopen(nomesem,"r");
if(!fp) {
perror(nomesem);
sys_abort(1);
}
for(i=0;i<SH;i++) {
for(j=0;j<SW;j++) {
count=DOS_fread(&colore,sizeof(BYTE),3,fp);
if(count!=3) break;
g_sem[k][i][j]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
fp=0;
}
 
//red traffic light...
strcpy(nomesem,"sem/red_ .raw");
for(k=0;k<4;k++) {
nomesem[8]=letter[k];
fp=DOS_fopen(nomesem,"r");
if(!fp) {
perror(nomesem);
sys_abort(1);
}
for(i=0;i<SH;i++) {
for(j=0;j<SW;j++) {
count=DOS_fread(&colore,sizeof(BYTE),3,fp);
if(count!=3) break;
r_sem[k][i][j]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
fp=0;
}
 
//yellow traffic light...
strcpy(nomesem,"sem/yellow_ .raw");
for(k=0;k<4;k++) {
nomesem[11]=letter[k];
fp=DOS_fopen(nomesem,"r");
if(!fp) {
perror(nomesem);
sys_abort(1);
}
for(i=0;i<SH;i++) {
for(j=0;j<SW;j++) {
count=DOS_fread(&colore,sizeof(BYTE),3,fp);
if(count!=3) break;
y_sem[k][i][j]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
fp=0;
}
}
 
void getCars() {
int i,j,k,l,index;
int tmp;
char id_car[3];
BYTE colore[3];
DOS_FILE *fp;
 
strcpy(nomefile,"img/car_XXXn.raw");
k=0;
for (index=0;index<360;index+=15) {
tmp=index;
for (l=2;l>=0;l--) {
id_car[l]=tmp%10+'0';
tmp/=10;
}
nomefile[8]=id_car[0];
nomefile[9]=id_car[1];
nomefile[10]=id_car[2];
fp=DOS_fopen(nomefile,"r");
if (!fp) {
perror(nomefile);
sys_abort(1);
}
 
for (i=0;i<ROW;i++) {
for (j=0;j<COL;j++) {
DOS_fread(&colore,sizeof(BYTE),3,fp);
macchine[i][j][k]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
fp=0;
k++;
}
}
 
void getRoad() {
DOS_FILE *fp;
int i,j,test;
BYTE colore[3];
 
strcpy(nomestrada,"img/street.raw");
fp=DOS_fopen(nomestrada,"r");
if (!fp) {
perror(nomestrada);
sys_abort(1);
}
 
for (i=0;i<H;i++) {
for (j=0;j<W;j++) {
test=DOS_fread(&colore,sizeof(BYTE),3,fp);
if(test!=3) {
perror("Few bytes read!!!!!!\n");
 
}
strada[i][j]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
}
 
void getSprites(void) {
int i,j,k;
DOS_FILE *fp;
BYTE colore[3];
 
strcpy(nomesprite,"sprite/sp_X.raw");
for (k=0;k<NO_SPRITE;k++) {
nomesprite[10]=k+'0';
fp=DOS_fopen(nomesprite,"r");
if (!fp) {
perror(nomesprite);
sys_abort(1);
}
for (i=0;i<ROW;i++) {
for (j=0;j<COL;j++) {
DOS_fread(&colore,sizeof(BYTE),3,fp);
sprites[i][j][k]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
fp=0;
}
}
 
void tl_pos(void) {
DOS_FILE *fp;
int i;
char buf[7];
int dimx,dimy;
 
fp=DOS_fopen("sem.raw","r");
if (!fp) {
perror("sem.raw");
sys_abort(1);
}
buf[6]='\0';
for (i=0;i<MAX_TL;i++) {
DOS_fread(&buf,sizeof(char),6,fp);
dimx=(buf[0]-'0')*100+(buf[1]-'0')*10+(buf[2]-'0');
dimy=(buf[3]-'0')*100+(buf[4]-'0')*10+(buf[5]-'0');
tl_data_array[i].u.x=dimx;
tl_data_array[i].u.y=dimy;
DOS_fread(&buf,sizeof(char),6,fp);
dimx=(buf[0]-'0')*100+(buf[1]-'0')*10+(buf[2]-'0');
dimy=(buf[3]-'0')*100+(buf[4]-'0')*10+(buf[5]-'0');
tl_data_array[i].d.x=dimx;
tl_data_array[i].d.y=dimy;
DOS_fread(&buf,sizeof(char),6,fp);
dimx=(buf[0]-'0')*100+(buf[1]-'0')*10+(buf[2]-'0');
dimy=(buf[3]-'0')*100+(buf[4]-'0')*10+(buf[5]-'0');
tl_data_array[i].l.x=dimx;
tl_data_array[i].l.y=dimy;
DOS_fread(&buf,sizeof(char),6,fp);
dimx=(buf[0]-'0')*100+(buf[1]-'0')*10+(buf[2]-'0');
dimy=(buf[3]-'0')*100+(buf[4]-'0')*10+(buf[5]-'0');
tl_data_array[i].r.x=dimx;
tl_data_array[i].r.y=dimy;
}
DOS_fclose(fp);
}
 
void getFaces(void) {
int i,j,k;
DOS_FILE *fp;
BYTE colore[3];
 
strcpy(nomesprite,"img/bbX.raw");
for (k=0;k<2;k++) {
nomesprite[6]=k+'0';
fp=DOS_fopen(nomesprite,"r");
if (!fp) {
perror(nomesprite);
sys_abort(1);
}
for (i=0;i<74;i++) {
for (j=0;j<47;j++) {
DOS_fread(&colore,sizeof(BYTE),3,fp);
faces[k][i][j]=rgb(colore[0],colore[1],colore[2]);
}
}
DOS_fclose(fp);
fp=0;
}
}
/demos/tags/rel_1_2/simcity/sprite/sp_6.raw
0,0 → 1,23
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/demos/tags/rel_1_2/simcity/sprite/sp_7.raw
0,0 → 1,0
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/demos/tags/rel_1_2/simcity/img/street.raw
0,0 → 1,0
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