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/unsupported/trunk/arezzo/2004/lupo/lupo.c
0,0 → 1,553
/*
* 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: lupo.c,v 1.1 2004-08-05 11:34:36 pj Exp $
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2004-08-05 11:34:36 $
------------
**/
/*
* 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 */
/*--------------------------------------------------------------*/
#include <kernel/kern.h>
#include <drivers/glib.h>
#include <drivers/keyb.h>
#include <drivers/mouse.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 /* Velocità della pecora (def. = 5)*/
#define VELWOLF 4 /* Velocità del lupo(def. = 4) */
#define ANG 30 /* angolo massimo sterzata (30) */
#define D 3 /* raggio pecore e lupi */
#define ESC 27 /* ASCII code of ESCAPE key */
#define MAXPECORE 4 /* Massimo numero di pecore */
#define MAXLUPI 3 /* Massimo numero di lupi */
#define WOLFGROUP 1
#define SHEEPGROUP 1
#define HUNTGROUP 1
/* Variabili globali utilizzate nel programma*/
double tick = 1.0; /* system tick = 1 ms */
int hunt_period = 40000; /* Periodo del task cacciatore */
int sheep_period = 40000; /* Periodo del task lupo */
int wolf_period = 40000; /* Periodo del task pecora */
int hunt_wcet = 100; /* wcet del task cacciatore */
int sheep_wcet = 100; /* wcet del task pecora */
int wolf_wcet = 100; /* wcet del task lupo */
int num_p = 0; /* numero iniziale di pecore */
int num_l = 0; /* numero iniziale di lupi */
int num_c = 0; /* numero iniziale di cacciatori */
PID pidp,pidl,pidc; /* etichetta creata dal S.O. attribuita ad ogni task*/
sem_t mutex; /* semaforo di mutua */
/*--------------------------------------------------------------*/
/*Definizione della struttura posizione*/
struct pos {
int x , y; /*Posizione nel piano di ogni singolo task*/
sem_t priv; /*Semaforo relativo alla posizione di ogni singolo task*/
int death; /*Flag di vita o di morte di ogni singolo task*/
};
/*--------------------------------------------------------------*/
/*Generazione di vettori di struttura posizione per ogni task*/
struct pos pecora[MAXPECORE];
struct pos lupo[MAXLUPI];
struct pos caccia[1];
/*--------------------------------------------------------------*/
/*Funzione per disegnare a video lupi e pecore*/
void draw_obj(int x, int y, int c)
{
sem_wait(&mutex); /*Semaforo di mutua per proteggere la scrittura a video*/
grx_disc(x, y, D, c);
sem_post(&mutex);
}
/*--------------------------------------------------------------*/
/*Funzione di inizializzazione per tutti le variabili di ogni task*/
void init_sem()
{
int i;
sem_init(&mutex,0,1);
/*Inizializzazione del vettore di struttura posizione pecora*/
for (i=0;i<MAXPECORE;i++){
sem_init(&pecora[i].priv,0,1);
pecora[i].x = 0;
pecora[i].y = 0;
pecora[i].death = 0;
}
/*Inizializzazione del vettore di struttura posizione lupi*/
for (i=0;i<MAXLUPI;i++){
sem_init(&lupo[i].priv,0,1);
lupo[i].x = 0;
lupo[i].y = 0;
lupo[i].death = 0;
}
/*Inizializzazione del vettore di struttura posizione cacciatore*/
sem_init(&caccia[0].priv,0,1);
caccia[0].x = 0;
caccia[0].y = 0;
caccia[0].death = 0;
}
/******************************************************************/
/*Task pecora*/
TASK sheep(void *arg)
{
int x, y; /*Posizione futura*/
int ox, oy; /*Posizione attuale*/
int dx, dy, da; /*Spostamento lungo x e y e angolare*/
int teta, col; /*Angolo di direzione dello spostamento e colore pecora*/
int outx, outy,i_libera,i; /*Limiti perimetrali*/
double r; /*Angolo di direzione dello spostamento in radianti*/
i_libera = 0; /*Inizializzazione della prima posizione libera nel vettore di struttura pecora*/
for(i=0;i<MAXPECORE;i++){ /*Ciclo per cercare la prima posizione libera*/
sem_wait(&pecora[i].priv); /*Proteggiamo la lettura di ogni singola posizione del vettore */
if (!pecora[i].x) i_libera = i; /*Le posizioni libere si contraddistinguono per x=0 e y=0*/
sem_post(&pecora[i].priv);
}
num_p++; /*Incremento del numero di pecore*/
i = i_libera; /*La posizione nel vettore attribuita al task è la prima libera trovata*/
sem_wait(&pecora[i].priv); /*Proteggiamo l'attribuzione della posizione di origine della pecora*/
pecora[i].x = ox = x = XMAX - 20;
pecora[i].y = oy = y = YMAX - 20;
//pecora[i].pid = pidp;
sem_post(&pecora[i].priv);
teta = 0; /*Inizializzazione dell' angolo di direzione dello spostamento*/
col = 29; /* colore della pecora*/
while (1) { /*Ciclo infinito del task*/
/*Calcolo casuale della posizione della pecora*/
da = rand()%(2*ANG) - ANG; /* da = [-ANG,ANG] */
teta += da;
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;
outx = (x >= XMAX) || (x <= XMIN); /*Controllo posizione all'interno del perimetro*/
outy = (y >= YMAX) || (y <= YMIN);
if (outx || outy) { /*In caso di uscita dal perimetro voluto ricalcolo dx e dy
in modo che la pecora non esca da esso*/
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;
}
sem_wait(&pecora[i].priv);
if (pecora[i].death == 1) { /*Controllo sul flag di vita o di morte del task pecora.*/
pecora[i].x = 0; /* Se il flag è uguale a 1 la pecora "deve morire". */
pecora[i].y = 0; /*Questo lo indichiamo mettendo le sue posizioni in 0*/
pecora[i].death = 0; /*Rimettiamo il flag di vita o morte a 0*/
num_p--; /*Decremento del numero di pecore*/
draw_obj(ox, oy, 0); /*Chiamata della funzione per disegnare a video una pecora nera=morta*/
sem_post(&pecora[i].priv);
return 0;
}
pecora[i].x = x; /*Attribuzione delle nuove posizioni*/
pecora[i].y = y;
sem_post(&pecora[i].priv);
draw_obj(ox, oy, 0); /*Disegno della nuova posizione cancellando precedentemante quella vecchia*/
draw_obj(x, y, col);
ox = x; oy = y; /*Nuove posizioni attuali*/
task_endcycle();
}
}
/****************************************************************/
/*Task lupo*/
TASK wolf(void *arg)
{
int x, y; /*Posizione futura*/
int ox, oy; /*Posizione attuale*/
int dx, dy; /*Spostamento lungo x e y*/
int deltax,deltay; /*Distanza lupo pecora lungo l'asse x e lungo l'asse y*/
int ipo,ipo_min; /*Ipotenusa e ipotenusa minima di distanza tra lupo e pecora*/
int i_min,i,j_libera,j; /*indici della pecora più vicina, della prima posizione libera sul vettore*/
int teta, col; /*Angolo di direzione dello spostamento e colore lupo*/
int outx, outy; /*Limiti perimetrali*/
double r=0; /*Angolo di direzione dello spostamento in radianti*/
j_libera = 0; /*Inizializzazione della prima posizione libera nel vettore di struttura lupo*/
for(j=0;j<MAXLUPI;j++){ /*Ciclo per cercare la prima posizione libera*/
sem_wait(&lupo[j].priv); /*Proteggiamo la lettura di ogni singola posizione del vettore */
if (!lupo[j].x) j_libera = j; /*Le posizioni libere si contraddistinguono per x=0 e y=0*/
sem_post(&lupo[j].priv);
}
num_l++; /*Incremento del numero di lupi*/
j = j_libera; /*La posizione nel vettore attribuita al task è la prima libera trovata*/
sem_wait(&lupo[j].priv); /*Proteggiamo l'attribuzione della posizione di origine del lupo */
lupo[j].x = ox = x = XMIN + 20;
lupo[j].y = oy = y = YMIN + 20;
sem_post(&lupo[j].priv);
teta = 0; /*Inizializzazione dell' angolo di direzione dello spostamento*/
col = 4; /* colore lupo*/
while (1) { /*Ciclo infinito del task*/
/*controllo posizione cacciatore*/
sem_wait(&caccia[0].priv);
deltax = caccia[0].x-ox; /*Calcolo della distanza tra lupo e cacciatore*/
deltay = caccia[0].y-oy;
sem_post(&caccia[0].priv);
if (abs(deltax)<30 && abs(deltay)<30){ /*Se la distanza è minore di 30 pixel il lupo deve scappare dal cacciatore*/
if (deltax==0){ /*calcolo degli angoli di spostamento per fuggire dal cacciatore*/
if (deltay>0) teta=-45;
if (deltay<0) teta=45;
}
else{
teta=(180/PI)*atan(deltay/deltax);
if (deltax<0) teta=45+teta;
if (deltax>0) teta=-(teta+90);
}
}else
{
/*controllo pecora piu vicina*/
ipo_min=6000; /*ipotenusa in modo da averne sempre una minore*/
i_min=0; /*Inizializzazione dell' indice della pecora più vicina*/
for(i=0;i<MAXPECORE;i++){ /*Per ogni pecora controllo la distanza lupo-pecora*/
sem_wait(&pecora[i].priv);
if (pecora[i].x){ /*la posizione della pecora è 0 quando è morta*/
deltax=pecora[i].x-ox; /*calcolo distanza lupo-pecora lungo x*/
deltay=pecora[i].y-oy; /*calcolo distanza lupo-pecora lungo y*/
sem_post(&pecora[i].priv);
ipo=sqrt(deltax*deltax+deltay*deltay); /*Calcolo dell'ipotenusa=distanza tra lupo e pecora*/
if (ipo<ipo_min) {ipo_min=ipo;i_min=i;} /*Calcolo l'ipotenusa più piccola*/
}else
sem_post(&pecora[i].priv);
}
/*calcolo la distanza della pecora piu vicina*/
sem_wait(&pecora[i_min].priv);
deltax=pecora[i_min].x-ox;
deltay=pecora[i_min].y-oy;
if (deltax==0){ /*Calcolo angoli per far inseguire al lupo la pecora più vicina*/
if (deltay>0) teta=90;
if (deltay<0) teta=-90;
}
else{
teta=(180/PI)*atan(deltay/deltax);
if (deltax<0) teta=180+teta;
}
//controllo se posso uccidere la pecora
if ((abs(deltax)<2)&&(abs(deltay)<2)) pecora[i_min].death = 1; /*Se il lupo è sopra la pecora,questa deve morire*/
sem_post(&pecora[i_min].priv);
}
r = (double)teta * PI / 180.; /*Calcolo l'angolo in radianti*/
dx = (float)((VELWOLF+j) * cos(r)); /*Una volta calcolato l'angolo di spostamento,*/
dy = (float)((VELWOLF+j) * sin(r)); /*calcolo i relativi spostamenti lungo x e y*/
x += dx; /*calcolo le nuove posizioni*/
y += dy;
outx = (x >= XMAX) || (x <= XMIN); /*Controllo posizione all'interno del perimetro*/
outy = (y >= YMAX) || (y <= YMIN);
if (outx || outy) { /*In caso di uscita dal perimetro voluto ricalcolo dx e dy
in modo che il lupo non esca da esso*/
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;
}
sem_wait(&lupo[j].priv);
if (lupo[j].death == 1) { /*Controllo sul flag di vita o di morte del task lupo*/
lupo[j].x = 0; /* Se il flag è uguale a 1 il lupo "deve morire". */
lupo[j].y = 0; /*Questo lo indichiamo mettendo le sue posizioni in 0*/
lupo[j].death = 0; /*Rimettiamo il flag di vita o morte a 0*/
num_l--; /*Decremento del numero di lupi*/
draw_obj(ox, oy, 0); /*Chiamata della funzione per disegnare a video un lupo nero=morto*/
sem_post(&lupo[j].priv);
return 0;
}
lupo[j].x = x ; /*Attribuzione delle nuove posizioni*/
lupo[j].y = y ;
sem_post(&lupo[j].priv);
draw_obj(ox, oy, 0); /*Disegno della nuova posizione cancellando precedentemante quella vecchia*/
draw_obj(x, y, col);
ox = x; oy = y; /*Nuove posizioni attuali*/
task_endcycle();
}
}
/****************************************************************/
void my_mouse_handler(MOUSE_EVT *m)
{
grx_box(caccia[0].x-3,caccia[0].y-3,caccia[0].x+3,caccia[0].y+3,0); /*Cancella la posizione precedente del cacciatore disegnando un rettangolo nero*/
grx_box(m->x-3,m->y-3,m->x+3,m->y+3,2); /*disegno del cursore a forma di rettangolino attorno alla posizione attuale*/
sem_wait(&caccia[0].priv);
caccia[0].x = m->x; /*Attribuisco al cacciatore le nuove coordinate del mouse*/
caccia[0].y = m->y;
sem_post(&caccia[0].priv);
}
/****************************************************************/
TASK cacciatore(void *arg)
{
int i = 0;
int deltax,deltay; /*Distanza cacciatore-lupo lungo l'asse x e lungo l'asse y*/
num_c++; /*incremento del numero di cacciatori*/
mouse_on(); /*attivazione e visualizzazione del mouse*/
mouse_hook(my_mouse_handler); /*chiamata all'hook*/
while(1){ /*controllo infinito per vedere se il lupo è da ammazzare*/
if (i == MAXLUPI) i = 0; /*Se ha controllato tutti i lupi ricomincia dal primo nel vettore*/
sem_wait(&lupo[i].priv);
if (lupo[i].x){ /*la posizione del lupo è 0 solo quando è morto*/
deltax=lupo[i].x-caccia[0].x; /*calcolo la distanza tra lupo e cacciatore*/
deltay=lupo[i].y-caccia[0].y;
if (abs(deltax)<4 && abs(deltay)<4) lupo[i].death=1; /*Se il cacciatore è vicino al lupo questo deve morire*/
}
sem_post(&lupo[i].priv);
i++; /*Incrementa i per controllare il lupo successivo*/
task_endcycle();
}
return 0;
}
/****************************************************************/
/* This function is called when the system exits */
void byebye(void *arg)
{
mouse_end();
grx_close();
cprintf("Bye Bye!\n");
}
/****************************** MAIN ******************************/
int main(int argc, char **argv)
{
HARD_TASK_MODEL m;
char c; /* caratere dalla tastiera */
int i = 0; /* numero di tasks creati */
TIME seme; /* used to init the random seed */
// Inizializzazione del mouse
MOUSE_PARMS mouse = BASE_MOUSE;
mouse_def_ps2(mouse);
mouse_init(&mouse);
mouse_limit(XMIN,YMIN,XMAX,YMAX); /* limiti del mouse all'interno del rettangolo di gioco*/
mouse_position(XMIN+20,YMAX-20); /* posizione di partenza cacciatore*/
mouse_threshold(10); /* sensibilità del mouse */
// Inizializzazione dei vettori di strutture
init_sem();
/* Set the closing function */
sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT);
/* graphic card Initialization */
if (grx_init() < 1) {
sys_abort(1);
}
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("Simulazione di caccia al Lupo", XMIN, YMENU+10, 13, 0);
grx_text("p crea una pecora" , XMIN, YMENU+20, 12, 0);
grx_text("l crea un lupo" , XMIN, YMENU+30, 12, 0);
grx_text("c crea un cacciatore " , XMIN, YMENU+40, 12, 0);
grx_text("ESC exit to DOS" , XMIN, YMENU+50, 12, 0);
/* The program waits a space to create a fly */
c = keyb_getch(BLOCK);
/* randomize!!!! */
seme = sys_gettime(NULL);
srand(seme);
do {
if ((c == 'p')&&(num_p<MAXPECORE)) { /*se il numero di pecore max è raggiunto non crearne altre*/
hard_task_default_model(m);
hard_task_def_ctrl_jet (m);
hard_task_def_arg (m, (void *)i);
hard_task_def_wcet (m, sheep_wcet);
hard_task_def_mit (m, sheep_period);
hard_task_def_group (m, SHEEPGROUP);
hard_task_def_usemath (m);
pidp = task_create("sheep", sheep, &m, NULL);
if (pidp == NIL) {
grx_close();
perror("Could not create task <sheep>");
sys_abort(1);
}
task_activate(pidp);
}
if ((c == 'l')&&(num_l<MAXLUPI)) { /*se il numero di lupi max è raggiunto non crearne altri*/
hard_task_default_model(m);
hard_task_def_ctrl_jet (m);
hard_task_def_arg (m, (void *)i);
hard_task_def_wcet (m, wolf_wcet);
hard_task_def_mit (m, wolf_period);
hard_task_def_group (m, WOLFGROUP);
hard_task_def_usemath (m);
pidl = task_create("wolf", wolf, &m, NULL);
if (pidl == NIL) {
grx_close();
perror("Could not create task <wolf>");
sys_abort(1);
}
task_activate(pidl);
}
if ((c == 'c') && (num_c == 0)) { /*se il caccaiatore è già stato creato non crearne altri*/
hard_task_default_model(m);
hard_task_def_ctrl_jet (m);
hard_task_def_arg (m, (void *)i);
hard_task_def_wcet (m, hunt_wcet);
hard_task_def_mit (m, hunt_period);
hard_task_def_group (m, HUNTGROUP);
hard_task_def_usemath (m);
pidc = task_create("cacciatore", cacciatore, &m, NULL);
if (pidc == NIL) {
grx_close();
perror("Could not create task <cacciatore>");
sys_abort(1);
}
task_activate(pidc);
}
c = keyb_getch(BLOCK);
} while (c != ESC);
sys_end();
return 0;
}
/*--------------------------------------------------------------*/

/unsupported/trunk/arezzo/2004/lupo/initfile.c
0,0 → 1,120
/*
* 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 2004-08-05 11:34:36 pj Exp $
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2004-08-05 11:34:36 $
------------
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
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);
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
SEM_register_module();
CABS_register_module();
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;
}

/unsupported/trunk/arezzo/2004/lupo/Relazione_RTOS.pdf
0,0 → 1,3447
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/unsupported/trunk/arezzo/2004/lupo/Relazione_RTOS.lyx
0,0 → 1,265
#LyX 1.3 created this file. For more info see http://www.lyx.org/
\lyxformat 221
\textclass article
\language english
\inputencoding auto
\fontscheme default
\graphics default
\paperfontsize default
\papersize Default
\paperpackage a4
\use_geometry 0
\use_amsmath 0
\use_natbib 0
\use_numerical_citations 0
\paperorientation portrait
\secnumdepth 3
\tocdepth 3
\paragraph_separation indent
\defskip medskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 1
\paperpagestyle default
\layout Title
ATTENTI AL LUPO !!!
\layout Description
Progetto per il corso di Sistemi Operativi Real Time a.a.
2003-2004
\layout Description
Gruppo 1: Laura Azzolini, Alessandro Foglini, Alessandro Pellegrini
\layout Paragraph
INTRODUZIONE
\layout Standard
Il progetto da noi sviluppato prevede l'implementazione di più task che
lavorano in maniera concorrente in ambiente S.Ha.R.K..
\layout Standard
L'idea nasce dall'esempio fornito dal programma fly, che crea ad ogni pressione
di un tasto delle
\begin_inset Quotes eld
\end_inset
mosche
\begin_inset Quotes erd
\end_inset
che fluttuano casualmente all'interno di una scatola bidimensionale, senza
però interagire fra loro.
Il nostro progetto era orientato a dare un certo comportamento a tali mosche,
in particolare potevamo scegliere o di creare un mondo virtuale del tutto
automatico o permettere all'utente di interagire direttamente con i processi
in esecuzione in maniera tale da modificare il loro comportamento.
Secondo noi non era trascurabile l'interazione con l'utente, in particolare,
in questa maniera ci sembrava di poter meglio comprendere l'ambiente Real
Time.
Da quì nasce l'idea di avere un task che funge da inseguitore di oggetti
che si muovono casualmente (come le mosche) e di un ulteriore task comandato
dall'utente che influenzi il movimento dell'inseguitore.
Ecco come hanno preso vita il
\begin_inset Quotes eld
\end_inset
Lupo
\begin_inset Quotes erd
\end_inset
, la
\begin_inset Quotes eld
\end_inset
Pecora
\begin_inset Quotes erd
\end_inset
ed il
\begin_inset Quotes eld
\end_inset
Cacciatore
\begin_inset Quotes erd
\end_inset
.
\layout Paragraph
ARCHITETTURA
\layout Standard
La parte Real Time dell'architettura, prevede la condivisione di più strutture
dati per il controllo della posizione dei task in esecuzione, oltre alla
condivisione della grafica.
In particolare usiamo dei semafori per governare l'accesso alle strutture
condivise.
I dati condivisi sono stati realizzati con vettori di stutture, così che
ogni pecora , ogni lupo ed il cacciatore possiedono posizioni cartesiane,
un flag che segna se é stato ucciso o no ed un semaforo privato.
Abbiamo limitato l'utilizzo della mutua esclusione solo alla singola struttura
del vettore stesso, così da non bloccare le altre strutture nelle fasi
di lettura/scrittura.
Con l'utilizzo di tali vettori è stato possibile gestire la lettura/scrittura
dei dati propri di ogni task e l'accesso alle strutture dati.
\layout Subparagraph
Pecora
\layout Standard
La pecora è un task che nasce premendo il tasto
\begin_inset Quotes eld
\end_inset
p
\begin_inset Quotes erd
\end_inset
da tastiera e si muove nello schermo in maniera casuale rimanendo però
all'interno di un perimetro prestabilito.
\layout Standard
Alla creazione, ad ogni task pecora viene assegnata la prima posizione libera
nel vettore di strutture, alla quale accede in mutua esclusione con gli
altri task pecora presenti e con i task lupo.
E' possibile creare pecore fino a che il vettore non si riempie (max quattro
pecore).
Nella struttura che gli è stata assegnata, il task aggiorna le proprie
coordinate ad ogni spostamento.
L'interazione con gli altri task viene realizzata tramite il flag di vita
o morte; in particolare quando un lupo ha raggiunto la pecora, attiva il
flag e la pecora, notando l'attivazione muore.
\layout Subparagraph
Lupo
\layout Standard
Il lupo è un task che nasce premendo il tasto
\begin_inset Quotes eld
\end_inset
l
\begin_inset Quotes erd
\end_inset
da tastiera e si muove nello schermo, all'interno del perimetro prestabilito,
scappando dal task cacciatore o inseguendo il task pecora più vicino.
Se non sono presenti né il cacciatore né le pecore, il lupo rimane nella
sua tana.
\layout Standard
Alla creazione, ad ogni task lupo viene assegnata la prima posizione libera
nel vettore di strutture, alla quale accede in mutua esclusione con gli
altri task lupo presenti e con il task cacciatore.
A seconda della posizione assunta nel vettore, il lupo si muoverà a velocità
crescente.
E' possibile creare lupi fino a che il vettore non si riempie (max tre
lupi).
Nella struttura che gli è stata assegnata, il task aggiorna le proprie
coordinate ad ogni spostamento.
L'interazione con gli altri task viene realizzata tramite il controllo
delle posizioni e il relativo calcolo della distanza dal cacciatore e dalle
pecore, leggendo nelle rispettive strutture dati.
Abbiamo dato priorità alla fuga dal cacciatore se la distanza tra esso
e il lupo è minore di un certo valore.
Se questa condizione non si verifica, il lupo insegue la pecora più vicina.
Quando il lupo raggiunge la pecora, attiva il relativo flag di vita/morte.
Se il cacciatore raggiunge il lupo, gli attiva il flag di vita o morte
e il lupo, notando l'attivazione, muore.
\layout Subparagraph
Cacciatore
\layout Standard
Il cacciatore è un unico task che nasce premendo il tasto
\begin_inset Quotes eld
\end_inset
c
\begin_inset Quotes erd
\end_inset
da tastiera e si muove nello schermo, all'interno del perimetro prestabilito,
controllato dall'utente tramite il mouse.
Lo scopo del cacciatore è quello di raggiungere i lupi ed ucciderli prima
che questi ammazzino tutte le pecore.
\layout Standard
Quando il cacciatore raggiunge il lupo, attiva il relativo flag di vita/morte.
\layout Subparagraph
Main
\layout Standard
All'interno del main abbiamo inserito le inizializzazioni del mouse per
il task cacciatore, del semaforo di mutua esclusione per l'accesso a video,
delle strutture contenute nei vettori (semafori privati e posizione) e
della grafica (creazione del perimetro per il movimento dei task e visualizzazi
one delle istruzioni).
Abbiamo definito il modello di task da utilizzare e premendo i tasti corrispond
enti a pecora, lupo e cacciatore, abbiamo creato i vari task.
Premendo invece il tasto
\begin_inset Quotes eld
\end_inset
Esc
\begin_inset Quotes erd
\end_inset
si esce dal programma.
\layout Subparagraph
Altre funzioni
\layout Itemize
Draw_obj: funzione chiamata dai singoli task per disegnare i lupi e le pecore
accedendo a video in mutua esclusione .
\layout Itemize
my_mouse_handler: funzione richiamata dal task cacciatore per gestire lo
spostamento del cursore del mouse a video e per l'aggiornamento della posizione
del cacciatore.
\layout Itemize
bye_bye: funzione che termina il programma chiudendo la libreria grafica
e quella del mouse.
Stampa inoltre a video la scritta
\begin_inset Quotes eld
\end_inset
Bye bye!
\begin_inset Quotes erd
\end_inset
.
\layout Paragraph
CONCLUSIONI
\layout Standard
Dopo aver verificato la corettezza ed il funzionamento del programma abbiamo
provato a cambiare i parametri del periodo e del wcet di ogni task.
In particolare abbiamo notato che diminuendo il wcet sotto il valore di
30 us, quando tutti i task erano stati creati, il programma terminava con
un errore di wcet-violation.
Per avere un buon margine di sicurezza sulle possibili configurazioni,
abbiamo scelto un valore di wcet pari a 100 us.
Per quanto riguarda il periodo lo abbiamo impostato a 40000 us perchè diminuend
olo i task si muovevano troppo velocemente per avere un programma giocabile.
Sotto i 1000 us anche la visibilità dei vari task era ridotta al minimo.
\layout Standard
E' possibile creare un numero di task (pecore + lupi + cacciatore) anche
più alto di quello massimo impostato nel programma, a condizione che la
somma di tutti i wcet sia minore del periodo specificato, con un certo
margine.
\the_end

/unsupported/trunk/arezzo/2004/lupo/makefile
0,0 → 1,117
#
#
#
ifndef BASE
BASE=../..
endif
include $(BASE)/config/config.mk
PROGS = hello sig time preempt
PROGS += aster aster1 aster2 aster3 aster4 aster5 aster6 aster7 aster8
PROGS += pcidemo talk mousfind keycode memtest
PROGS += jointest condtest intsem semdemo pidemo pcdemo srpdemo mdemo
PROGS += ego lupo cabs sched mouse lupo2
include $(BASE)/config/example.mk
# Text applications
hello:
make -f $(SUBMAKE) APP=hello INIT= OTHEROBJS="ihello.o" OTHERINCL= SHARKOPT=__OLDCHAR__
time:
make -f $(SUBMAKE) APP=time INIT= OTHEROBJS="ihello.o" OTHERINCL= SHARKOPT=__OLDCHAR__
sig:
make -f $(SUBMAKE) APP=sig INIT= OTHEROBJS="ihello.o" OTHERINCL= SHARKOPT=__OLDCHAR__
preempt:
make -f $(SUBMAKE) APP=preempt INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
semdemo:
make -f $(SUBMAKE) APP=semdemo INIT= OTHEROBJS="isemdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
pidemo:
make -f $(SUBMAKE) APP=pidemo INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
pcdemo:
make -f $(SUBMAKE) APP=pcdemo INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
srpdemo:
make -f $(SUBMAKE) APP=srpdemo INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
mdemo:
make -f $(SUBMAKE) APP=mdemo INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster:
make -f $(SUBMAKE) APP=aster INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster1:
make -f $(SUBMAKE) APP=aster1 INIT= OTHEROBJS="iaster1.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster2:
make -f $(SUBMAKE) APP=aster2 INIT= OTHEROBJS="iaster1.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster3:
make -f $(SUBMAKE) APP=aster3 INIT= OTHEROBJS="iaster3.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster4:
make -f $(SUBMAKE) APP=aster4 INIT= OTHEROBJS="iaster4.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster5:
make -f $(SUBMAKE) APP=aster5 INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster6:
make -f $(SUBMAKE) APP=aster6 INIT= OTHEROBJS="iaster6.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster7:
make -f $(SUBMAKE) APP=aster7 INIT= OTHEROBJS="iaster7.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster8:
make -f $(SUBMAKE) APP=aster8 INIT= OTHEROBJS="iaster8.o" OTHERINCL= SHARKOPT=__OLDCHAR__
pcidemo:
make -f $(SUBMAKE) APP=pcidemo INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
talk:
make -f $(SUBMAKE) APP=talk INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
mousfind:
make -f $(SUBMAKE) APP=mousfind INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
jointest:
make -f $(SUBMAKE) APP=jointest INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
condtest:
make -f $(SUBMAKE) APP=condtest INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
intsem:
make -f $(SUBMAKE) APP=intsem INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
keycode:
make -f $(SUBMAKE) APP=keycode INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
memtest:
make -f $(SUBMAKE) APP=memtest INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
# Graphical applications
ego:
make -f $(SUBMAKE) APP=ego INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
lupo:
make -f $(SUBMAKE) APP=lupo INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
lupo2:
make -f $(SUBMAKE) APP=lupo2 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
mouse:
make -f $(SUBMAKE) APP=mouse INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
cabs:
make -f $(SUBMAKE) APP=cabs INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
sched:
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+>>
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+%%EOF

/unsupported/trunk/arezzo/2004/pong/prova18.c
0,0 → 1,512
/*--------------------------------------------------------------*/
/* GIUOCO DEL PING - PONG */
/*--------------------------------------------------------------*/
#include <kernel/kern.h>
#include <drivers/glib.h>
#include <drivers/keyb.h>
#include <semaphore.h>
#include <stdlib.h>
#include <math.h>
#include <drivers/mouse.h>
#define YMENU 10 /* menu level */
#define XMIN 50
#define XMAX 600
#define YMIN 100
#define YMAX 450
#define D 3 /* raggio pallina */
#define ESC 27 /* ASCII code of ESCAPE key */
#define FLYGROUP 1
#define sinistra 1
#define destra 0
double tick = 1.0; /* system tick = 1 ms */
int fly_period = 40000; /* task period */ /*Siamo a circa 25Hz --> ok per l'occhio umano*/
int avv_period = 40000; /* task period */ /*Siamo a circa 25Hz --> ok per l'occhio umano*/
int fly_wcet = 5000; /* task wcet pallina *//*12000 ok per un PIII a 450 MHz*//*700 ok per Athlon Xp 2000+*/
int avv_wcet =3000; /*task wcet avversario*/ /*1000 ok per un PIII a 450 MHz*//*200 ok per Athlon Xp 2000+*/
PID pid,pid_av;
sem_t mutex_av,mutex_gi; //semafori per mutua avversario e giocatore
int indice=0; //controllo per numero palline lanciate
float inerzia_av=0.3; //incremento passo avversario
int veloc_pallina =8; //velocità pallina
int punteggio =0;
int vmax_av=10; //velocità massima avversario
char s2[100]; //scrittura punteggio su monitor
float passo=0;//passo avversario
/*Nella struttura dati condivisa sono elencate quelle varabili che, trovandosi in sezione critica, devono essere utilizzate in mutua esclusione per garantire la perfetta funzionalità del programma. */
struct dati_condivisi {
int x; //coordinata della pallina
int y; //coordinata della pallina
int yvecchio;//coordinate del mouse per cancellare il cursore giocatore
int xvecchio;//coordinate del mouse per cancellare il cursore giocatore
int yattuale;//coordinate del mouse per disegnare il cursore giocatore
int xattuale;//coordinate del mouse per disegnare il cursore giocatore
int yvecchio_av;//coordinate del mouse per cancellare il cursore avversario
int xvecchio_av;//coordinate del mouse per cancellare il cursore avversario
int yattuale_av;//coordinate del mouse per disegnare il cursore avversario
int xattuale_av;//coordinate del mouse per disegnare il cursore avversario
int direzione_mouse; /*mouse proveniente da destra o sinistra per rilanciare la pallina nella stessa direzione*/
} str_cond;
void my_mouse_handler(MOUSE_EVT *m)
{ sem_wait(&mutex_gi);
/*Calcolo direzione di provenienza del cursore giocatore*/
if (m->x > str_cond.xattuale) str_cond.direzione_mouse =destra;
if (m->x < str_cond.xattuale) str_cond.direzione_mouse=sinistra;
/*scrittura delle coordinate del mouse nella struttura dati*/
str_cond.xattuale=m->x;
str_cond.yattuale=m->y;
/*disegno del cursore*/
grx_box(str_cond.xvecchio,str_cond.yvecchio,str_cond.xvecchio+50,str_cond.yvecchio+15,BLACK);
grx_box(m->x,m->y,m->x+50,m->y+15,RED);
str_cond.xvecchio=m->x;
str_cond.yvecchio=m->y;
sem_post(&mutex_gi);
}
/*--------------------------------------------------------------*/
void draw_fly(int x, int y, int c)
{
grx_disc(x, y, D, c);
}
/******************************************************************/
TASK avversario(void *arg)
{
while (1){
sem_wait(&mutex_av);
/*Inseguimento traiettoria pallina con con simulazione inerzia*/
if ((str_cond.xattuale_av + 25) < str_cond.x)
{
passo = passo + inerzia_av;
if (passo>=vmax_av) //limite velocità avversario
{passo=vmax_av;}
str_cond.xattuale_av += passo;//incremento passo avversario
}
if ((str_cond.xattuale_av + 25) > str_cond.x)
{
passo=passo - inerzia_av;
if (passo <= -vmax_av)
{
passo=-vmax_av;
}
str_cond.xattuale_av += passo;
}
/* CONTROLLO SULLO SFONDAMNETO DEI BORDI DELL'AVVERSARIO*/
if (str_cond.xattuale_av < (XMIN+2))
{
str_cond.xattuale_av = XMIN+2;
passo=0;
}
if (str_cond.xattuale_av > (XMAX-52))
{
str_cond.xattuale_av = XMAX-52;
passo=0;
}
/*disegno del cursore avversario*/
grx_box(str_cond.xvecchio_av,str_cond.yvecchio_av,str_cond.xvecchio_av+50,str_cond.yvecchio_av+15,BLACK);
grx_box(str_cond.xattuale_av,str_cond.yattuale_av,str_cond.xattuale_av+50,str_cond.yattuale_av+15,YELLOW);
str_cond.yvecchio_av = str_cond.yattuale_av;
str_cond.xvecchio_av = str_cond.xattuale_av;
sem_post(&mutex_av);
task_endcycle();
}
}
/*task pallina*/
TASK fly(void *arg)
{
int timer=0;//contatore pausa prima del rilancio pallina
int xold;//per controllo direzione provenienza pallina (destra - sinistr)
int direzione;//direzione provenienzaa pallina (destra - sinistra)
int ox, oy;// coordinate per cancellare la pallina
int dx, dy;//passo della pallina
int col;//colore pallina
double r;//angolo iniziale per lancio pallina
int i = (int)arg;
r = rand()%(120) + 30; /* angolo iniziale random*/
grx_text("GIUOCO DEL PING-PONG ", XMIN, YMENU+10, 13, 0);
grx_text("SPACE TO LUNCH A BALL " , XMIN, YMENU+20, 12, 0);
grx_text("ESC exit to DOS " , XMIN, YMENU+30, 12, 0);
grx_text(" ", XMIN, YMENU+40, 12, 0);
punteggio=0;
str_cond.x = ox = (XMIN+XMAX)/2;
str_cond.y = oy = (YMIN+YMAX)/2;
col = 2 + i; /* colore pallina */
dx = 5;
dy = 5;
dx = (int)(veloc_pallina * cos(r*PI/180));
dy = (int)(veloc_pallina * sin(r*PI/180));
while (1) {
sem_wait(&mutex_av);
sem_wait(&mutex_gi);
/*timer per pausa pallina se l'avversario subisce goal*/
timer--;
if (timer < 0) timer=0;
/*Per calcolare la provenienza della pallina utile per il rimbalzo sull'avversario*/
xold=str_cond.x;
/*calcolo nuova posizione della pallina*/
str_cond.x = str_cond.x + dx;
str_cond.y = str_cond.y + dy;
/*controllo provenienza pallina*/
if (xold < str_cond.x)
{
direzione=sinistra;
}
else direzione=destra;
/*Game over: se il giocatore subisce goal*/
if (str_cond.y >= YMAX-4)
{
indice--;//do la possibilità di lanciare una nuova pallina
/*ripristino valori iniziali*/
inerzia_av=0.3;
veloc_pallina = 8;
draw_fly(ox, oy, 0);
vmax_av=10;
/*rilascio i semafori presi*/
sem_post(&mutex_gi);
sem_post(&mutex_av);
break;
}
/*gol subito dall'avversario*/
if (str_cond.y <= YMIN+4)
{
veloc_pallina++;
punteggio++;
timer=50;/*timer per pausa dopo il goal*/
if (punteggio == 18) vmax_av = 11;
grx_text("IL TUO PUNTEGGIO E' ", XMIN, YMENU+40, WHITE, 0);
sprintf(s2,"%3d",punteggio);
grx_text(s2, XMIN +150, YMENU+40, WHITE, 0);
if (veloc_pallina >= 14) veloc_pallina=14;//limite velocità pallina
inerzia_av = inerzia_av + 0.33;
dy = -dy;
}
/*Rimbalzo sulle pareti laterali*/
if (str_cond.x <= XMIN+4)
{
dx = abs(dx);
str_cond.x +=dx;
}
if (str_cond.x >= XMAX-4)
{
dx = -abs(dx);
str_cond.x +=dx;
}
/*Rimbalzo sul cursore giocatore*/
/*lATO ESTERNO SINISTRO*/
if ((str_cond.y>=str_cond.yattuale-5) && (str_cond.y<=str_cond.yattuale+5) && (str_cond.x>=str_cond.xattuale-3) && (str_cond.x<str_cond.xattuale))
{
dx = (int)(veloc_pallina * cos(20*PI/180));
dy = (int)(veloc_pallina * sin(20*PI/180));
dy = -abs(dy);
if (str_cond.direzione_mouse == sinistra)
{
dx=-abs(dx);
str_cond.x +=dx;
}
else {dx=abs(dx);
str_cond.x +=dx;
}
str_cond.y +=dy;
}
/*Lato ESTERNO destro del cursore*/
if ((str_cond.y>=str_cond.yattuale-5) && (str_cond.y<=str_cond.yattuale +5)&&(str_cond.x>str_cond.xattuale+50) && (str_cond.x<=str_cond.xattuale+53))
{
dx = (int)(veloc_pallina * cos(20*PI/180));
dy = (int)(veloc_pallina * sin(20*PI/180));
dy = -abs(dy);
if (str_cond.direzione_mouse == sinistra){
dx=-abs(dx);
str_cond.x +=dx;
}
else {dx=abs(dx);
str_cond.x +=dx;
}
str_cond.y +=dy;
}
/*Lato sinistro del cursore*/
if ((str_cond.y>=str_cond.yattuale-5) && (str_cond.y<=str_cond.yattuale+5) && (str_cond.x>=str_cond.xattuale) && (str_cond.x<=str_cond.xattuale+16))
{
dx = (int)(veloc_pallina * cos(30*PI/180));
dy = (int)(veloc_pallina * sin(30*PI/180));
dy = -abs(dy);
if (str_cond.direzione_mouse == sinistra)
{
dx=-abs(dx);
str_cond.x +=dx;
}
else {dx=abs(dx);
str_cond.x +=dx;
}
str_cond.y +=dy;
}
/*Lato destro del cursore*/
if ((str_cond.y>=str_cond.yattuale-5) && (str_cond.y<=str_cond.yattuale+5)&&(str_cond.x>=str_cond.xattuale+34) && (str_cond.x<=str_cond.xattuale+50))
{
dx = (int)(veloc_pallina * cos(30*PI/180));
dy = (int)(veloc_pallina * sin(30*PI/180));
dy = -abs(dy);
if (str_cond.direzione_mouse == sinistra){
dx=-abs(dx);
str_cond.x +=dx;
}
else {dx=abs(dx);
str_cond.x +=dx;
}
str_cond.y +=dy;
}
/*Lato centrale del cursore*/
if ((str_cond.y>=str_cond.yattuale-5) && (str_cond.y<=str_cond.yattuale+5)&&(str_cond.x>str_cond.xattuale+16) && (str_cond.x<str_cond.xattuale+34))
{
dx = (int)(veloc_pallina * cos(45*PI/180));
dy = (int)(veloc_pallina * sin(45*PI/180));
if (str_cond.direzione_mouse == sinistra){
dx=-abs(dx);
str_cond.x +=dx;
}
else {dx=abs(dx);
str_cond.x +=dx;
}
dy = -abs(dy);
str_cond.y +=dy;
}
sem_post(&mutex_gi);
/*Controllo posizione avversario*/
/*lato sinistro avversario*/
if ((str_cond.y>=str_cond.yattuale_av+10) && (str_cond.y<=str_cond.yattuale_av+20)&&(str_cond.x>=str_cond.xattuale_av) && (str_cond.x<=str_cond.xattuale_av+16))
{
dx = (int)(veloc_pallina * cos(30*PI/180));
dy = (int)(veloc_pallina * sin(30*PI/180));
dy = abs(dy);
if (direzione == destra)
{
dx=-dx;
str_cond.x +=dx;
}
str_cond.y +=dy;
}
/*lato esterno sinistro*/
if ((str_cond.y>=str_cond.yattuale_av+10) && (str_cond.y<=str_cond.yattuale_av+20)&&(str_cond.x>=str_cond.xattuale_av-3) && (str_cond.x<=str_cond.xattuale_av))
{
dx = (int)(veloc_pallina * cos(30*PI/180));
dy = (int)(veloc_pallina * sin(30*PI/180));
dy = abs(dy);
if (direzione == destra)
{
dx=-dx;
str_cond.x +=dx;
}
str_cond.y +=dy;
}
/*lato destro avversario*/
if ((str_cond.y>=str_cond.yattuale_av+10) && (str_cond.y<=str_cond.yattuale_av+20)&&(str_cond.x>=str_cond.xattuale_av+34) && (str_cond.x<=str_cond.xattuale_av+50))
{
dx = (int)(veloc_pallina * cos(30*PI/180));
dy = (int)(veloc_pallina * sin(30*PI/180));
dy = abs(dy);
if (direzione == destra){
dx=-dx;
str_cond.x +=dx;
}
str_cond.y +=dy;
}
/*lato destro esterno avversario*/
if ((str_cond.y>=str_cond.yattuale_av+10) && (str_cond.y<=str_cond.yattuale_av+20)&&(str_cond.x>str_cond.xattuale_av+50) && (str_cond.x<=str_cond.xattuale_av+53))
{
dx = (int)(veloc_pallina * cos(30*PI/180));
dy = (int)(veloc_pallina * sin(30*PI/180));
dy = abs(dy);
if (direzione == destra){
dx=-dx;
str_cond.x +=dx;
}
str_cond.y +=dy;
}
/*lato centrale avversario*/
if ((str_cond.y>=str_cond.yattuale_av+10) && (str_cond.y<=str_cond.yattuale_av+20)&&(str_cond.x>=str_cond.xattuale_av+16) && (str_cond.x<=str_cond.xattuale_av+34))
{
dx = (int)(veloc_pallina * cos(45*PI/180));
dy = (int)(veloc_pallina * sin(45*PI/180));
if (direzione == destra){
dx=-dx;
str_cond.x +=dx;
}
dy = abs(dy);
str_cond.y +=dy;
}
if (timer >0)//lascia la pallina bloccata davanti all'avversario e scrive gol
{
str_cond.x=str_cond.xattuale_av+25;
str_cond.y=str_cond.yattuale_av+30;
grx_text("GOAL!!! ", (XMAX-XMIN)/2+XMIN, (YMAX-YMIN)/2+YMIN, WHITE, 0);
}
if (timer ==1) grx_text("GOAL!!! ", (XMAX-XMIN)/2+XMIN, (YMAX-YMIN)/2+YMIN, BLACK, 0);//cancella la scritta gol prima di rilanciare la pallina
draw_fly(ox, oy, 0);
draw_fly(str_cond.x, str_cond.y, col);
sem_post(&mutex_av);
ox = str_cond.x; oy = str_cond.y;
task_endcycle();
}
i--;
grx_text("HAI PERSO!! (Ah! Ah! Ah!) GAME OVER", XMIN, YMENU+10, 13, 0);
grx_text("SPACE TO START A NEW MATCH" , XMIN, YMENU+20, 12, 0);
grx_text("ESC exit to DOS" , XMIN, YMENU+30, 12, 0);
grx_text("IL TUO PUNTEGGIO E' ", XMIN, YMENU+40, WHITE, 0);
sprintf(s2,"%3d",punteggio);
grx_text(s2, XMIN +150, YMENU+40, WHITE, 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)
{str_cond.x=0;
str_cond.y=0;
str_cond.yvecchio = 150;
str_cond.xvecchio =150;
str_cond.yattuale=150;
str_cond.xattuale=150;
str_cond.yvecchio_av=110;
str_cond.xvecchio_av=110;
str_cond.yattuale_av=110;
str_cond.xattuale_av=110;
str_cond.direzione_mouse=sinistra;
sem_init(&mutex_av,0,1);
sem_init(&mutex_av,0,1);
HARD_TASK_MODEL m;
MOUSE_PARMS mouse = BASE_MOUSE;
char c; /* character from keyboard */
TIME seme; /* used to init the random seed */
int i = 0; /* number of tasks created */
/* Set the closing function */
sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT);
/* graphic card Initialization */
if (grx_init() < 1)
{
sys_abort(1);
}
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("GIUOCO DEL PING-PONG", XMIN, YMENU+10, 13, 0);
grx_text("SPACE TO LUNCH A BALL" , XMIN, YMENU+20, 12, 0);
grx_text("ESC exit to DOS" , XMIN, YMENU+30, 12, 0);
/* randomize!!!! */
seme = sys_gettime(NULL);
srand(seme);
/*Inizalizzazione del mouse*/
mouse_def_ps2(mouse);
mouse_init(&mouse);
mouse_limit(53, 430,547,430);
mouse_position(150,430);
mouse_threshold(3);
mouse_grxcursor(ENABLE);
mouse_hook(my_mouse_handler);
/* The program waits a space to create a fly */
c = keyb_getch(BLOCK);
/*inizializzazione e attivazione del task avversario*/
hard_task_default_model(m);
hard_task_def_ctrl_jet (m);
hard_task_def_arg (m, (void *)i);
hard_task_def_wcet (m, avv_wcet);
hard_task_def_mit (m, avv_period);
hard_task_def_group (m, FLYGROUP);
hard_task_def_usemath (m);
pid_av = task_create("avversario", avversario, &m, NULL);
if (pid_av == NIL) {
grx_close();
perror("Could not create task <fly>");
sys_abort(1);
}
task_activate(pid_av);
do {
if ((c == ' ') && (indice == 0))
{
indice++;
hard_task_default_model(m);
hard_task_def_ctrl_jet (m);
hard_task_def_arg (m, (void *)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++;
}
c = keyb_getch(BLOCK);
} while (c != ESC);
mouse_end();
grx_close();
sys_end();
return 0;
}
/*------------------------------------THE END--------------------------------------------*/

/unsupported/trunk/arezzo/2004/pong/initfile.c
0,0 → 1,120
/*
* 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 2004-08-05 11:34:36 pj Exp $
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2004-08-05 11:34:36 $
------------
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
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);
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
SEM_register_module();
CABS_register_module();
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;
}

/unsupported/trunk/arezzo/2004/pong/makefile
0,0 → 1,154
#
#
#
ifndef BASE
BASE=../..
endif
include $(BASE)/config/config.mk
PROGS = hello sig time preempt
PROGS += aster aster1 aster2 aster3 aster4 aster5 aster6 aster7 aster8
PROGS += pcidemo talk mousfind keycode memtest
PROGS += jointest condtest intsem semdemo pidemo pcdemo srpdemo mdemo
PROGS += ego fly cabs sched prova 1 prova2 prova3 prova4 prova5 prova7 prova8 prova9 prova10 prova11 prova12 prova13 prova18
PROGS += prova14 prova15 prova16 prova17 missile1
include $(BASE)/config/example.mk
# Text applications
hello:
make -f $(SUBMAKE) APP=hello INIT= OTHEROBJS="ihello.o" OTHERINCL= SHARKOPT=__OLDCHAR__
time:
make -f $(SUBMAKE) APP=time INIT= OTHEROBJS="ihello.o" OTHERINCL= SHARKOPT=__OLDCHAR__
sig:
make -f $(SUBMAKE) APP=sig INIT= OTHEROBJS="ihello.o" OTHERINCL= SHARKOPT=__OLDCHAR__
preempt:
make -f $(SUBMAKE) APP=preempt INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
semdemo:
make -f $(SUBMAKE) APP=semdemo INIT= OTHEROBJS="isemdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
pidemo:
make -f $(SUBMAKE) APP=pidemo INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
pcdemo:
make -f $(SUBMAKE) APP=pcdemo INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
srpdemo:
make -f $(SUBMAKE) APP=srpdemo INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
mdemo:
make -f $(SUBMAKE) APP=mdemo INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster:
make -f $(SUBMAKE) APP=aster INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster1:
make -f $(SUBMAKE) APP=aster1 INIT= OTHEROBJS="iaster1.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster2:
make -f $(SUBMAKE) APP=aster2 INIT= OTHEROBJS="iaster1.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster3:
make -f $(SUBMAKE) APP=aster3 INIT= OTHEROBJS="iaster3.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster4:
make -f $(SUBMAKE) APP=aster4 INIT= OTHEROBJS="iaster4.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster5:
make -f $(SUBMAKE) APP=aster5 INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster6:
make -f $(SUBMAKE) APP=aster6 INIT= OTHEROBJS="iaster6.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster7:
make -f $(SUBMAKE) APP=aster7 INIT= OTHEROBJS="iaster7.o" OTHERINCL= SHARKOPT=__OLDCHAR__
aster8:
make -f $(SUBMAKE) APP=aster8 INIT= OTHEROBJS="iaster8.o" OTHERINCL= SHARKOPT=__OLDCHAR__
pcidemo:
make -f $(SUBMAKE) APP=pcidemo INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
talk:
make -f $(SUBMAKE) APP=talk INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
mousfind:
make -f $(SUBMAKE) APP=mousfind INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
jointest:
make -f $(SUBMAKE) APP=jointest INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
condtest:
make -f $(SUBMAKE) APP=condtest INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
intsem:
make -f $(SUBMAKE) APP=intsem INIT= OTHEROBJS="imdemo.o" OTHERINCL= SHARKOPT=__OLDCHAR__
keycode:
make -f $(SUBMAKE) APP=keycode INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
memtest:
make -f $(SUBMAKE) APP=memtest INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT=__OLDCHAR__
# Graphical applications
ego:
make -f $(SUBMAKE) APP=ego INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova1:
make -f $(SUBMAKE) APP=prova1 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova2:
make -f $(SUBMAKE) APP=prova2 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova3:
make -f $(SUBMAKE) APP=prova3 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova4:
make -f $(SUBMAKE) APP=prova4 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova5:
make -f $(SUBMAKE) APP=prova5 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova17:
make -f $(SUBMAKE) APP=prova17 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova7:
make -f $(SUBMAKE) APP=prova7 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova8:
make -f $(SUBMAKE) APP=prova8 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova9:
make -f $(SUBMAKE) APP=prova9 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova10:
make -f $(SUBMAKE) APP=prova10 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova11:
make -f $(SUBMAKE) APP=prova11 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova12:
make -f $(SUBMAKE) APP=prova12 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova13:
make -f $(SUBMAKE) APP=prova13 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova14:
make -f $(SUBMAKE) APP=prova14 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova15:
make -f $(SUBMAKE) APP=prova15 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova16:
make -f $(SUBMAKE) APP=prova16 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
prova18:
make -f $(SUBMAKE) APP=prova18 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
missile1:
make -f $(SUBMAKE) APP=missile1 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
fly:
make -f $(SUBMAKE) APP=fly INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
cabs:
make -f $(SUBMAKE) APP=cabs INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"
sched:
make -f $(SUBMAKE) APP=sched INIT= OTHEROBJS="isched.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"

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/unsupported/trunk/arezzo/2004/invaders/initfile.c
0,0 → 1,120
/*
* 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 2004-08-05 11:34:34 pj Exp $
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2004-08-05 11:34:34 $
------------
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
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);
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
SEM_register_module();
CABS_register_module();
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;
}

/unsupported/trunk/arezzo/2004/invaders/invaders.c
0,0 → 1,651
/*
* Invaders 2004
* Copyright (C) 2004 Nicola Rialti, Alessandro Vannuccini, Matteo Corsini
* 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 <drivers/glib.h>
#include <drivers/keyb.h>
#include <semaphore.h>
#include <stdlib.h>
#include <math.h>
#define YMENU 10
#define XMIN 50
#define XMAX 600
#define YMIN 100
#define YMAX 450
#define VEL 3 // velocità dei nemici
#define VEL_NAVICELLA 6 // velocità della navicella
#define D 10 // raggio dell'astronave invasore
#define ESC 27 // ASCII code of ESCAPE key
#define MAX_ENEMIES 15 // numero massimo di nemici
#define MAX_MISSILE 3 // numero massimo di missili
#define INITIAL_LIFE 3 // numero di vite iniziali
#define HEIGHT_NAV 10 // altezza della navicella
#define COLOR_NAV 4 // colore della navicella
#define LENGTH_NAV 20 // lunghezza della navicella
#define LENGTH_MISSILE 7 // lunghezza del missile
#define ENEMY_CREATOR_PERIOD 400000
#define ENEMY_CREATOR_WCET 100
#define ENEMY_CREATOR_MET 100
#define NAVICELLA_PERIOD 10000
#define NAVICELLA_WCET 500
#define NAVICELLA_MET 500
#define ENEMY_PERIOD 40000 // 25 fps
//#define ENEMY_PERIOD 16666 // 60 fps
#define ENEMY_WCET 1000
#define ENEMY_MET 800
#define MISSILE_PERIOD 40000
#define MISSILE_WCET 500
int num_enemies; // numero dei nemici che varia a seconda dello schema
int speed; // velocità dei nemici che varia a seconda dello schema
double tick = 1.0; /* system tick = 1 ms */
sem_t mutex;
PID pid;
/* Struttura con i dati dei nemici */
struct enemy_table {
int status; // 0 -> risorsa libera, 1 -> risorsa occupata
int killed; // 1 -> il nemico è stato ucciso
PID pid;
WORD x,y;
int color;
} enemy_table[MAX_ENEMIES];
struct table {
int count_enemies;
int count_missile;
int score;
int level;
int killed; // 1 -> l'astronave è stata colpita
int life;
WORD x_center;
/* semafori di mutua per scrivere nelle strutture condivise */
/* un semaforo per il contatore dei missili, uno per i nemici */
/* uno per la posizione dei nemici */
sem_t mx_missile; // Semaforo per la struttura condivisa
sem_t mx_navicella; // semaforo per la posizione della navicella
sem_t mx_enemies[MAX_ENEMIES];// Semaforo per le strutture dei nemici
} navicella_table;
void init_navicella_table(struct table *m)
{
int i;
sem_init(&m->mx_missile,0,1);
for (i=0;i<MAX_ENEMIES;i++) {
sem_init(&m->mx_enemies[i],0,1);
}
m->count_enemies = m->count_missile = m->score = m->level = m->killed = 0;
m->life = INITIAL_LIFE;
}
void draw_fly(int x, int y, int c)
{
int b;
if (!c)
b=0;
else
b=15;
sem_wait(&mutex);
grx_disc(x, y, D, c);
grx_disc(x, y, D/3, b);
grx_disc(x+D*4/5, y, D/10, b);
grx_disc(x-D*4/5, y, D/10, b);
grx_disc(x,y+D*4/5,D/10,b);
grx_disc(x,y-D*4/5,D/10,b);
sem_post(&mutex);
}
void draw_navicella(int x,int c)
{
int l=LENGTH_NAV;
int h=HEIGHT_NAV;
sem_wait(&mutex);
grx_line(x-LENGTH_NAV/2,YMAX,x+LENGTH_NAV/2,YMAX,c); // base
grx_line(x-l/2,YMAX,x-l/2,YMAX-h/2,c); // parte dx
grx_line(x-l/2,YMAX-h/2,x-l*7/20,YMAX-h,c);
grx_line(x-l/5,YMAX-h/2,x-l*7/20,YMAX-h,c);
grx_line(x+l/2,YMAX,x+l/2,YMAX-h/2,c); // parte sx
grx_line(x+l/2,YMAX-h/2,x+l*7/20,YMAX-h,c);
grx_line(x+l/5,YMAX-h/2,x+l*7/20,YMAX-h,c);
grx_line(x-l/6,YMAX-h/2,x,YMAX-h*5/4,c);
grx_line(x+l/6,YMAX-h/2,x,YMAX-h*5/4,c);
sem_post(&mutex);
}
void draw_missile(int x,int y,int c)
{
sem_wait(&mutex);
grx_line(x,y+LENGTH_MISSILE/2,x,y-LENGTH_MISSILE/2,c);
sem_post(&mutex);
}
void draw_lifes(int life)
{
char s[15];
sprintf(s,"Navicelle: %d",life);
sem_wait(&mutex);
grx_text(" ",XMIN+300,YMENU+10, 0, 0);
grx_text(s,XMIN+300,YMENU+10, 12, 0);
sem_post(&mutex);
}
void draw_score(int score)
{
char s[10];
sprintf(s,"Score: %d",score);
sem_wait(&mutex);
grx_text(" ",XMIN+300,YMENU+20, 0, 0);
grx_text(s,XMIN+300,YMENU+20, 12, 0);
sem_post(&mutex);
}
void end_fun(KEY_EVT* k)
{
sys_end();
}
TASK missile(void *arg)
{
int index;
int x, y;
int oy;
int dy;
int col;
int outy;
index = (int)arg;
sem_wait(&navicella_table.mx_navicella);
x = navicella_table.x_center; // centro del missile
sem_post(&navicella_table.mx_navicella);
y = oy = YMAX-HEIGHT_NAV-LENGTH_MISSILE;
dy = LENGTH_MISSILE/2;
col = 2; // colore missile
while (1) {
y-=dy;
outy = (y <= YMIN);
/* se il missile è uscito dallo schermo */
/* libero la risorsa */
if (outy) {
sem_wait(&navicella_table.mx_missile);
navicella_table.count_missile--;
sem_post(&navicella_table.mx_missile);
draw_missile(x,oy,0);
break;
}
draw_missile(x, oy, 0);
draw_missile(x, y, col);
int i;
/* Confronto la posizione di ogni nemico */
/* con la posizione del missile */
/* per verificare se è stato colpito */
for (i=0;i<MAX_ENEMIES;i++)
{
sem_wait(&navicella_table.mx_enemies[i]);
if (enemy_table[i].status && !enemy_table[i].killed && +
x >= enemy_table[i].x-D && x <= enemy_table[i].x+D && +
y >= enemy_table[i].y-D && y <= enemy_table[i].y+D) {
enemy_table[i].killed=1; // segnalo all'invasore che deve morire
sem_post(&navicella_table.mx_enemies[i]);
draw_missile(x, y, 0);
return NULL;
}
else
sem_post(&navicella_table.mx_enemies[i]);
}
oy = y;
task_endcycle();
}
return NULL;
}
void shot()
{
SOFT_TASK_MODEL m;
sem_wait(&navicella_table.mx_missile);
if (navicella_table.count_missile<MAX_MISSILE) {
navicella_table.count_missile++;
int count=navicella_table.count_missile;
sem_post(&navicella_table.mx_missile);
soft_task_default_model(m);
soft_task_def_level(m,0);
soft_task_def_periodic(m);
soft_task_def_arg(m,(void*)count-1);
soft_task_def_period(m,MISSILE_PERIOD);
soft_task_def_wcet(m, MISSILE_WCET);
soft_task_def_met(m, NAVICELLA_MET);
soft_task_def_usemath(m);
pid = task_create("soft_missile", missile, &m, NULL);
task_activate(pid);
}
else
sem_post(&navicella_table.mx_missile);
}
void hard_shot()
{
HARD_TASK_MODEL m;
sem_wait(&navicella_table.mx_missile);
if (navicella_table.count_missile<MAX_MISSILE) {
navicella_table.count_missile++;
int count=navicella_table.count_missile;
sem_post(&navicella_table.mx_missile);
hard_task_default_model(m);
hard_task_def_periodic(m);
hard_task_def_arg(m,(void*)count-1);
hard_task_def_wcet(m, MISSILE_WCET);
hard_task_def_mit(m, NAVICELLA_PERIOD);
hard_task_def_usemath(m);
pid = task_create("hard_missile", missile, &m, NULL);
task_activate(pid);
}
else
sem_post(&navicella_table.mx_missile);
}
void move_right()
{
int x,ox;
sem_wait(&navicella_table.mx_missile);
x=ox=navicella_table.x_center;
sem_post(&navicella_table.mx_missile);
if (ox<XMAX) {
sem_wait(&navicella_table.mx_missile);
x+=VEL_NAVICELLA;
navicella_table.x_center=x;
sem_post(&navicella_table.mx_missile);
draw_navicella(ox,0);
draw_navicella(x,COLOR_NAV);
}
}
void move_left()
{
int x,ox;
sem_wait(&navicella_table.mx_missile);
x=ox=navicella_table.x_center;
sem_post(&navicella_table.mx_missile);
if (ox>XMIN) {
sem_wait(&navicella_table.mx_missile);
x-=VEL_NAVICELLA;
navicella_table.x_center=x;
sem_post(&navicella_table.mx_missile);
draw_navicella(ox,0);
draw_navicella(x,COLOR_NAV);
}
}
TASK navicella()
{
navicella_table.x_center=XMAX/2;
draw_navicella(XMAX/2,4);
KEY_EVT a;
keyb_set_map(itaMap);
a.flag = 0;
a.scan = KEY_ENT;
a.ascii = 13;
keyb_hook(a,shot);
a.scan = KEY_Z;
a.ascii = 'z';
keyb_hook(a,move_left);
a.scan = KEY_X;
a.ascii = 'x';
keyb_hook(a,move_right);
while(1) {
sem_wait(&navicella_table.mx_missile);
if(navicella_table.killed) { // controllo se sono stato colpito
if (navicella_table.life==0) // e se ho terminato le vite
sys_end();
else {
navicella_table.life--; // decremento il contatore delle astronavi
navicella_table.killed=0; // reimposto il flag killed a 0
draw_lifes(navicella_table.life);
}
}
sem_post(&navicella_table.mx_missile);
task_endcycle();
}
return NULL;
}
TASK enemy_missile(void *arg)
{
int index;
int x, y;
int oy;
int dy;
int col;
int outy;
index = (int)arg;
sem_wait(&navicella_table.mx_enemies[index]);
x = enemy_table[index].x; // posizione dell'invasore X
y = oy = enemy_table[index].y; // posizione dell'invasore Y
sem_post(&navicella_table.mx_enemies[index]);
dy = LENGTH_MISSILE;
col = 4; // colore missile
while (1) {
y+=dy;
outy = (y >= YMAX-HEIGHT_NAV);
if (outy) {
draw_missile(x,oy,0);
break;
}
draw_missile(x, oy, 0);
draw_missile(x, y, col);
/* Confronto la posizione della navicella */
/* con la posizione del missile */
/* per verificare se è stata colpita */
if (y>=YMAX-HEIGHT_NAV-LENGTH_MISSILE) {
sem_wait(&navicella_table.mx_missile);
//int colpita = (x >= navicella_table.x_center-LENGTH_NAV/2) && (x <= navicella_table.x_center+LENGTH_NAV/2);
if (x >= navicella_table.x_center-LENGTH_NAV/2 && x <= navicella_table.x_center+LENGTH_NAV/2) {
navicella_table.killed=1; // segnalo alla navicella che è stata colpita
sem_post(&navicella_table.mx_missile);
}
else
sem_post(&navicella_table.mx_missile);
}
oy = y;
task_endcycle();
}
return NULL;
}
void hard_enemy_shot(int index)
{
HARD_TASK_MODEL m;
hard_task_default_model(m);
hard_task_def_periodic(m);
hard_task_def_arg(m,(void*)index);
hard_task_def_wcet(m, MISSILE_WCET);
hard_task_def_mit(m, NAVICELLA_PERIOD*1000);
hard_task_def_usemath(m);
pid = task_create("hard_enemy_missile", enemy_missile, &m, NULL);
task_activate(pid);
}
void soft_enemy_shot(int index)
{
SOFT_TASK_MODEL m;
soft_task_default_model(m);
soft_task_def_periodic(m);
soft_task_def_period(m, MISSILE_PERIOD);
soft_task_def_arg(m,(void*)index);
soft_task_def_wcet(m, MISSILE_WCET);
soft_task_def_met(m, 800);
soft_task_def_usemath(m);
pid = task_create("soft_enemy_missile", enemy_missile, &m, NULL);
task_activate(pid);
}
TASK enemy(void *arg)
{
int index;
int x, y;
int ox, oy;
int dx,dy;
int col;
int outx, outy;
int direzione = 1;
index = (int)arg;
x = ox = XMIN;
y = oy = YMIN+D*2;
dy = D*2; // passo di discesa verticale
col = 1 + index; // colore nemico
enemy_table[index].color=col;
/* il nemico controlla se è stato colpito da un missile */
while (1) {
sem_wait(&navicella_table.mx_enemies[index]); // proteggo la risorsa del nemico[i]
if (enemy_table[index].killed==1){ // se è settato il FLAG killed=>devo morire
enemy_table[index].status=0; // libero la risorsa
sem_post(&navicella_table.mx_enemies[index]); // libero il semaforo
draw_fly(ox, oy, 0);
sem_wait(&navicella_table.mx_missile);
navicella_table.count_enemies--; // decremento il contatore dei nemici
navicella_table.count_missile--; // decremento il contatore dei missili
navicella_table.score++; // conta il numero di nemici uccisi
draw_score(navicella_table.score); // scrivo il nuovo punteggio
sem_post(&navicella_table.mx_missile);
break;
}
else
sem_post(&navicella_table.mx_enemies[index]);
dx = (float)(VEL * (direzione)); // passo di spostamento orizzontale
x += dx;
outx = (x >= XMAX) || (x <= XMIN);
outy = (y >= YMAX-HEIGHT_NAV);
int sparo = rand()%500;
/* SPARO?? */
if (sparo==0) {
//count_missile++; // un solo missile per volta, si combatte in 2
soft_enemy_shot(index);
}
/* Controllo se sono arrivato al bordo dello schermo */
if (outx) {
x = x - dx; y = y + 2 * D;
direzione=-direzione; // in tal caso cambio direzione
dx = (float)(VEL * (direzione));
x += dx;
y += dy;
}
if (outy) {
sys_end();
}
draw_fly(ox, oy, 0);
draw_fly(x, y, col);
ox = x; oy = y;
// scrivo nella struttura condivisa
sem_wait(&navicella_table.mx_enemies[index]);
enemy_table[index].x = x;
enemy_table[index].y = y;
sem_post(&navicella_table.mx_enemies[index]);
task_endcycle();
}
return NULL;
}
TASK enemy_creator(void *arg)
{
int index=0;
int i;
SOFT_TASK_MODEL m;
while(1) {
if (navicella_table.count_enemies<MAX_ENEMIES) {
sem_post(&navicella_table.mx_navicella); // semaforo di mutua esclusione per la risorsa generale
index=navicella_table.count_enemies; // l'indice parte da 0 fino a MAX_ENEMIES-1
navicella_table.count_enemies++; // il contatore va da 1 a MAX_ENEMIES
sem_post(&navicella_table.mx_navicella);
/* cerco una posizione libera */
/* nell'array di nemici enemy_table */
for (i=0;i<MAX_ENEMIES;i++) {
sem_wait(&navicella_table.mx_enemies[i]); // semaforo di mutua per la risorsa dei nemici[i]
if (!enemy_table[i].status) {
index=i; // se la risorsa [i] è libera esco dal ciclo
break; // senza liberare il semaforo
}
sem_post(&navicella_table.mx_enemies[i]); // se la risorsa è occupata libero il semaforo e passo a i+1
}
/* ALMENO UNA RISORSA DEVE ESSERE LIBERA */
/* quindi dopo il for questa la eseguo sempre */
enemy_table[index].status=1; // occupo la risora e inizializzo tutte le variabili
enemy_table[index].killed=0;
enemy_table[index].x=XMIN;
enemy_table[index].y=YMIN;
sem_post(&navicella_table.mx_enemies[index]); // libero il semaforo di mutua per la risorsa[i]
soft_task_default_model(m);
soft_task_def_level(m,0);
soft_task_def_periodic(m);
soft_task_def_arg(m,(void*)index);
soft_task_def_period(m,ENEMY_PERIOD);
soft_task_def_wcet(m, ENEMY_WCET);
soft_task_def_met(m, NAVICELLA_MET);
soft_task_def_usemath(m);
pid = task_create("soft_enemy", enemy, &m, NULL);
task_activate(pid);
}
task_endcycle();
}
return NULL;
}
PID crea_navicella()
{
SOFT_TASK_MODEL m_s;
PID pid;
soft_task_default_model(m_s);
soft_task_def_level(m_s,0);
soft_task_def_period(m_s,NAVICELLA_PERIOD);
soft_task_def_wcet(m_s, NAVICELLA_WCET);
soft_task_def_met(m_s, NAVICELLA_MET);
soft_task_def_usemath(m_s);
pid = task_create("navicella", navicella, &m_s, NULL);
return pid;
}
PID hard_crea_navicella()
{
HARD_TASK_MODEL m_s;
PID pid;
hard_task_default_model(m_s);
hard_task_def_level(m_s,0);
hard_task_def_wcet(m_s, NAVICELLA_WCET);
hard_task_def_mit(m_s, NAVICELLA_PERIOD);
hard_task_def_usemath(m_s);
pid = task_create("navicella", navicella, &m_s, NULL);
return pid;
}
PID crea_enemy_creator()
{
SOFT_TASK_MODEL m_s;
PID pid;
soft_task_default_model(m_s);
soft_task_def_level(m_s,0);
soft_task_def_periodic(m_s);
soft_task_def_period(m_s,ENEMY_CREATOR_PERIOD);
soft_task_def_wcet(m_s, ENEMY_CREATOR_WCET);
soft_task_def_met(m_s,ENEMY_CREATOR_MET);
soft_task_def_usemath(m_s);
pid = task_create("enemy_creator", enemy_creator, &m_s, NULL);
return pid;
}
/*
PID crea_enemy_creator()
{
HARD_TASK_MODEL m_s;
PID pid;
hard_task_default_model(m_s);
hard_task_def_level(m_s,0);
hard_task_def_periodic(m_s);
hard_task_def_mit(m_s,ENEMY_CREATOR_PERIOD);
hard_task_def_wcet(m_s, ENEMY_CREATOR_WCET);
hard_task_def_usemath(m_s);
pid = task_create("hard_enemy_creator", enemy_creator, &m_s, NULL);
return pid;
}
*/
/****************************************************************/
/* This function is called when the system exits */
void byebye(void *arg)
{
grx_close();
cprintf("Numero di nemici totali: %d\n",navicella_table.count_enemies);
cprintf("LIVELLO: %d\n",navicella_table.level);
cprintf("Numero di nemici uccisi: %d\n",navicella_table.score);
}
/****************************** MAIN ******************************/
void main(int argc, char **argv)
{
TIME seme; /* used to init the random seed */
init_navicella_table(&navicella_table);
/* Set the closing function */
sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT);
/* graphic card Initialization */
if (grx_init() < 1) {
sys_abort(1);
}
if (grx_open(640, 480, 8) < 0) {
cprintf("GRX Err\n");
sys_abort(1);
}
/* The scenario */
char s[10];
sprintf(s,"Astronavi: %d",navicella_table.life);
grx_rect(XMIN-D-1, YMIN-D-1, XMAX+D+1, YMAX+D+1, 14);
grx_text("SpaceInvaders...maddechè" , XMIN, YMENU+10, 13,0);
grx_text("ENTER shot, 'z' Left, 'x' Right" , XMIN, YMENU+20, 12, 0);
grx_text("ESC exit to DOS" , XMIN, YMENU+30, 12, 0);
grx_text(s , XMIN+300, YMENU+10, 12, 0);
grx_text("Score: 0",XMIN+300,YMENU+20,12,0);
/* randomize!!!! */
seme = sys_gettime(NULL);
srand(seme);
KEY_EVT k;
keyb_set_map(itaMap);
k.flag=0;
k.scan=KEY_ESC;
k.ascii=ESC;
keyb_hook(k,end_fun);
pid=hard_crea_navicella();
task_activate(pid);
pid=crea_enemy_creator();
task_activate(pid);
}
/*--------------------------------------------------------------*/

/unsupported/trunk/arezzo/2004/invaders/makefile
0,0 → 1,10
BASE=../..
include $(BASE)/config/config.mk
PROGS= invaders
include $(BASE)/config/example.mk
invaders:
make -f $(SUBMAKE) APP=invaders INIT= OTHEROBJS="initfile.o" SHARKOPT="__OLDCHAR__ __GRX__"

/unsupported/trunk/arezzo/2004/readme.txt
0,0 → 1,4
These demos were developed and tested using Shark 1.22.
defender has been ported to 1.4 by Giacomo Guidi.

/unsupported/trunk/arezzo/2004/defender/def_01.c
0,0 → 1,1073
/*--------------------------------------------------------------*/
/* DEFENDER GAME */
/*--------------------------------------------------------------*/
#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 3 /* linear velocity (def. = 3) */
#define ANG 30 /* angolo massimo sterzata (30) */
#define D 3 /* raggio alieno */
#define DD 6 /* diametro alieno */
#define ESC 27 /* ASCII code of ESCAPE key */
#define MAX_ALIEN 30 /* max number of aliens */
#define MAX_MISSIL 10 /* numero massimo di missili */
#define M_GROUP 1
#define ALIEN_GROUP 2
#define MISSILE_GROUP 3
#define STUPID 2
#define NORMAL 14
#define BAD 13
#define BASTARD 4
int tipo[4] = {STUPID,NORMAL,BAD,BASTARD};
#define PRODUCED 1
#define CONSUMED 0
#define Ix 16
#define Iy 16
char command_astro ; // comandi astronave
int AstroCmdState ;
struct argAlien {
int orig_x ; // coordinate iniziali
int orig_y ;
int a_type ; // tipo di alieno
};
int mother_period = 50000 ; /* task period */
int mother_wcet = 10000 ; /* task wcet */
int Alien_period = 40000 ; /* task period */
int Alien_wcet = 1000 ; /* task wcet */
int Astro_period = 40000 ; /* task period */
int Astro_wcet = 2000 ; /* task wcet */
int missile_period = 40000 ;
int missile_wcet = 1000 ;
PID pid_Madre, pid_Alien, pid_Astro, pid_Missile, pid_Monitor ;
sem_t grx_mutex, keyb_mutex, astro_mutex, alien_mutex, score_mutex;
sem_t missile_mutex[MAX_MISSIL];
/*--------------------------------------------------------------*/
// Risorse condivise
struct s_Astronave {
int x, y, FlagCollisione, FlagAstronave ;
} AstronavePosition ;
struct s_Missile {
int x, y, FlagCollisione ;
} MissilePosition[MAX_MISSIL] ;
struct s_Score {
int total, type[5] ;
} Score ;
int alieni_vivi ; // numero di alieni attualmente in vita
/*--------------------------------------------------------------*/
// Disegna l'astronave a partire dalla "poppa" x,y di colore c
void draw_Astronave(int x, int y, int c)
{
// Il disegno degli oggetti e' fatto sotto mutex per migliorare
// l'aspetto del sistema.
if (x < 3) x = 3;
if (y < 8) y = 8;
sem_wait(&grx_mutex);
grx_line(x, y-8, x, y+8, c);
grx_line(x, y-8, x+5, y-4, c);
grx_line(x, y+8, x+5, y+4, c);
grx_line(x+5, y-4, x+10, y-4, c);
grx_line(x+5, y+4, x+10, y+4, c);
grx_line(x+10, y-4, x+15, y, c);
grx_line(x+10, y+4, x+15, y, c);
grx_line(x+15, y, x+17, y, c);
grx_box(x-3, y-6, x, y-2, c);
grx_box(x-3, y+2, x, y+6, c);
grx_box(x+8, y-3, x+10, y-1, c);
grx_box(x+8, y+1, x+10, y+3, c);
grx_line(x+3, y-4, x+8, y-1, c);
grx_line(x+3, y+4, x+8, y+1, c);
sem_post(&grx_mutex);
}
// disegno del generico alieno "centro" x,y colore
void draw_Alieno(int x, int y, int c)
{
if (x < DD) x = DD;
if (y < 0) y = 0;
sem_wait(&grx_mutex);
grx_disc(x, y, D, c); // disco
grx_line(x-DD, y, x+DD, y, c); // linea
sem_post(&grx_mutex);
}
// disegno della madre alieni
void draw_Mother(int x, int y, int c, int d)
{
int i;
if (x < 10) x = 10;
if (y < 8) y = 8;
sem_wait(&grx_mutex);
grx_box(x-10, y-10, x-5, y+5, c); // box
grx_box(x+5, y-10, x+10, y+5, c); // box
grx_disc(x, y, 5, c); // disco
grx_line(x, y+8, x, y-8, c); // linea
for (i = 0; i < d ; i++) {
grx_disc(x + (rand()%20)-10, y + (rand()%10)-5, d/2, 0);
}
sem_post(&grx_mutex);
}
void draw_Missile(int x, int y, int c)
{
if (y < 3) y = 3;
sem_wait(&grx_mutex);
grx_box (x, y-1, x+6, y+1, c);
grx_line(x+1, y-3, x+1, y+3, c);
grx_line(x+1, y+3, x+3, y, c);
grx_line(x+1, y-3, x+3, y, c);
grx_disc(x+6, y, 1, c);
sem_post(&grx_mutex);
}
/******************************************************************/
// ------------------------------------------------------------------->
// ALIENO
// ------------------------------------------------------------------->
TASK Alieno(void *arg)
{
int x, y ;
int xa1, ya1 ;
int ox, oy ;
int x1 = 0 ; /* variabile di appoggio */
int dx, dy, da ;
int teta = 0 ;
int col ;
int outx, outy ;
double r ;
int j = 0 ;
int morto = FALSE ;
int score = 0 ;
int x_MissilePosition ;
int y_MissilePosition ;
int FlagCollisione ;
int x_AstronavePosition ;
int y_AstronavePosition ;
int xi,yi ;
int FlagAstro ;
float Kp = 0.01 ;
float Ki = 0.005 ;
float Kd = 0.00005 ;
float ex_k, ey_k, ex_sum, ey_sum, ex_km1, ey_km1 ;
ex_k = ey_k = ex_sum = ey_sum = ex_km1 = ey_km1 = 0 ;
struct argAlien *arg_Alieno = (struct argAlien *)arg ;
// Punto di partenza dell'alieno
x = ox = arg_Alieno->orig_x ;
y = oy = arg_Alieno->orig_y ;
col = arg_Alieno->a_type ; /* tipo alieno */
// Ciclo infinito
while (1) {
// Lettura valori Astronave
sem_wait(&astro_mutex);
x_AstronavePosition = AstronavePosition.x ;
y_AstronavePosition = AstronavePosition.y ;
FlagAstro = AstronavePosition.FlagAstronave ;
sem_post(&astro_mutex);
switch (col)
{
case STUPID :
{ // Parametri di spostamento
dx = -VEL;
x += dx;
if (x <= XMIN + DD) x = XMAX - DD;
score = 1 ;
}
break;
case NORMAL :
{ // Spostamento oggetto
dx = -VEL ;
dy = VEL * (rand()%3 -1) ;
x += dx ;
y += dy ;
outy = (y >= YMAX) || (y <= YMIN);
if (outy) y = y - dy;
if (x <= XMIN + DD) x = XMAX - DD;
score = 2 ;
}
break;
case BAD :
{
da = rand()%(2*ANG) - ANG; /* da = [-ANG,ANG] */
teta += da;
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;
outx = (x >= XMAX-DD) || (x <= XMIN+DD);
outy = (y >= YMAX) || (y <= YMIN);
if (outy) {
y = y - dy;
teta = -teta;
if (teta > 360) teta -= 360;
if (teta < 0) teta += 360;
r = (double)teta * PI / 180.;
dy = (float)(VEL * sin(r));
y += dy;
}
if (outx) {
x = x - dx;
if (x+dx >= XMAX-DD) x1 = XMIN + DD;
if (x <= XMIN+DD) x1 = XMAX - DD;
x = x1 + dx;
}
score = 3 ;
}
break;
case BASTARD : // alieno bastardo
{
xa1 = x_AstronavePosition ;
ya1 = y_AstronavePosition ;
if (!FlagAstro) col = BAD;
// PID di inseguimento asse X
ex_k =(float) (xa1 - x);
if (ex_k > 50) ex_k = 50 ; // saturazione simmetrica dell'errore
if (ex_k < -50) ex_k = -50 ;
ex_sum = ex_sum + ex_k ; // aggiornamento dell'errore integrale
dx = (int) ( ex_k * Kp + ex_sum * Ki + (ex_k - ex_km1) *Kd ); // PID classico
ex_km1 = ex_k ; // salvataggio dell'errore vecchio x il termine derivativo
// PID di inseguimento asse Y
ey_k = (float) (ya1 - y);
if (ey_k > 50) ey_k = 50 ; // saturazione simmetrica dell'errore
if (ey_k < -50) ey_k = -50 ;
ey_sum = ey_sum + ey_k ; // aggiornamento dell'errore integrale
dy = (int) ( ey_k * Kp + ey_sum * Ki + (ey_k-ey_km1) *Kd ) ;
ey_km1 = ey_k ;
x = x + dx ; // aggiornamento delle posizioni
y = y + dy ;
outx = (x >= XMAX-DD) || (x <= XMIN+DD); // flag di schianto
outy = (y >= YMAX) || (y <= YMIN);
if (outy)
{
y = y - dy;
ey_sum = 0;
}
if (outx)
{
x = x - dx;
if (x+dx >= XMAX-DD) x1 = XMIN + DD;
if (x <= XMIN+DD) x1 = XMAX - DD;
x = x1 + dx;
}
score = 4 ;
} // chiude il CASE BASTARD
break;
} //chiude lo switch
// Disegno l'alieno
draw_Alieno(ox, oy, 0); /* cancello il vecchio alieno */
// Rilevatore di collisioni con l'Astronave
if (FlagAstro)
{
// verifica della presenza dell'astronave nell'intorno
xi = ( (abs(x - x_AstronavePosition)) < Ix ) ;
yi = ( (abs(y - y_AstronavePosition)) < Iy ) ;
if (xi && yi)
{
sem_wait(&astro_mutex) ;
AstronavePosition.FlagCollisione = TRUE ;
sem_post(&astro_mutex) ;
break ; // morto x collisione astronave
}
}
// Controllo di collisione dell'ALIENO con i missili
for (j = 0; j < MAX_MISSIL; j++)
{
sem_wait(&missile_mutex[j]);
x_MissilePosition = MissilePosition[j].x ;
y_MissilePosition = MissilePosition[j].y ;
FlagCollisione = MissilePosition[j].FlagCollisione;
sem_post(&missile_mutex[j]);
if (FlagCollisione == FALSE) {
// verifica della presenza nell'intorno
xi = ( (x - x_MissilePosition) > 0 && (x - x_MissilePosition) < Ix ) ;
yi = ( (abs(y - y_MissilePosition)) < Iy ) ;
if (xi && yi) {
sem_wait(&missile_mutex[j]) ;
MissilePosition[j].FlagCollisione = TRUE ;
sem_post(&missile_mutex[j]) ;
morto = TRUE ;
}
}
else break ; // esco dal ciclo for
}
if (morto == TRUE) break ; // esco dal ciclo while
draw_Alieno(x, y, col); /* disegno il nuovo alieno */
ox = x; oy = y;
task_endcycle(); /* fine del ciclo */
} // chiusura del while
sem_wait(&alien_mutex) ;
alieni_vivi-- ;
sem_post(&alien_mutex) ;
sem_wait(&score_mutex) ;
Score.total+=score ;
Score.type[score-1]++;
sem_post(&score_mutex) ;
pid_Alien = NIL ;
return 0 ; // morte dell'alieno
}
// ------------------------------------------------------------------->
// MADRE ALIENI
// ------------------------------------------------------------------->
TASK MadreAlieni(void *arg)
{
int v = 0;
int a_v ;
int i = 150;
int conta_spari = 0;
int xi, yi;
int j = 0;
int x_MissilePosition ;
int y_MissilePosition ;
int FlagCollisione ;
int x_AstronavePosition ;
int y_AstronavePosition ;
int FlagAstro ;
int x, y;
int ox, oy;
int dx, dy, da;
int teta = 0;
int outx, outy;
double r;
struct argAlien arg_Alieno;
struct argAlien *p_Alien;
p_Alien = &arg_Alieno;
HARD_TASK_MODEL Alien;
// Punto di partenza della Madre alieni
x = ox = (rand()%XMIN) + (rand()%(XMAX-2*XMIN)) + XMIN;
y = oy = (rand()%YMIN) + (rand()%(YMAX-2*YMIN)) + YMIN;
// Ciclo infinito
while (1)
{
// Punto di partenza dell'alieno (dal culo della Madre alieni)
arg_Alieno.orig_x = x;
arg_Alieno.orig_y = y + 15;
// Tipo alieno casuale
v = rand()%4;
arg_Alieno.a_type = tipo[v];
sem_wait(&alien_mutex) ;
a_v = alieni_vivi ;
sem_post(&alien_mutex) ;
if ((a_v < MAX_ALIEN) && (i == 0))
{
hard_task_default_model(Alien);
hard_task_def_ctrl_jet (Alien);
hard_task_def_arg (Alien, (void *)p_Alien);
hard_task_def_wcet (Alien, Alien_wcet);
hard_task_def_mit (Alien, Alien_period);
hard_task_def_group (Alien, ALIEN_GROUP);
hard_task_def_usemath (Alien);
pid_Alien = task_create("Alieno", Alieno, &Alien, NULL);
if (pid_Alien == NIL)
{
grx_text("pid_Alien == NIL", 200, 80 , 4, 0);
return 0;
//grx_close();
//perror("Could not create task <Alieno>\n");
//sys_abort(1);
}
task_activate(pid_Alien);
i = 40 ; // count down alla generarazione di un alieno
sem_wait(&alien_mutex) ;
alieni_vivi++ ;
sem_post(&alien_mutex) ;
}
// Spostamento madre alieni
da = rand()%(2*ANG) - ANG; /* da = [-ANG,ANG] */
teta += da;
if (teta > 360) teta -= 360;
if (teta < 0) teta += 360;
r = (double)teta * PI / 180.;
dx = (float)(2 * cos(r));
dy = (float)(2 * sin(r));
x += dx;
y += dy;
outx = (x >= XMAX - 20) || (x <= XMIN + 20);
outy = (y >= YMAX - 20) || (y <= YMIN + 20);
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)(2 * cos(r));
dy = (float)(2 * sin(r));
x += dx;
y += dy;
}
draw_Mother(ox, oy, 0, 0);
// Controllo di collisione della MADRE con i missili
for (j = 0; j < MAX_MISSIL; j++)
{
sem_wait(&missile_mutex[j]);
x_MissilePosition = MissilePosition[j].x ;
y_MissilePosition = MissilePosition[j].y ;
FlagCollisione = MissilePosition[j].FlagCollisione;
sem_post(&missile_mutex[j]);
if (FlagCollisione == FALSE)
{
// verifica della presenza nell'intorno
xi = ( (x - x_MissilePosition) > 0 && (x - x_MissilePosition) < Ix ) ;
yi = ( (abs(y - y_MissilePosition)) < Iy ) ;
if (xi && yi)
{
sem_wait(&missile_mutex[j]) ;
MissilePosition[j].FlagCollisione = TRUE ;
sem_post(&missile_mutex[j]) ;
conta_spari++;
}
}
if (FlagCollisione == TRUE) break ; // esco dal ciclo for
}
if (conta_spari == 5) {
sem_wait(&score_mutex) ;
Score.total+=10 ;
Score.type[4]++ ;
sem_post(&score_mutex) ;
pid_Madre = NIL ;
return 0 ;
}
// Controllo di collisione della madre con l'astronave
// Lettura valori Astronave
sem_wait(&astro_mutex);
x_AstronavePosition = AstronavePosition.x ;
y_AstronavePosition = AstronavePosition.y ;
FlagAstro = AstronavePosition.FlagAstronave ;
sem_post(&astro_mutex);
if (FlagAstro)
{
// verifica della presenza dell'astronave nell'intorno
xi = ( (abs(x - x_AstronavePosition)) < Ix ) ;
yi = ( (abs(y - y_AstronavePosition)) < Iy ) ;
if (xi && yi)
{
sem_wait(&astro_mutex) ;
AstronavePosition.FlagCollisione = TRUE ;
sem_post(&astro_mutex) ;
conta_spari++ ;
}
}
if (conta_spari == 5) {
sem_wait(&score_mutex) ;
Score.total+=10 ;
Score.type[4]++ ;
sem_post(&score_mutex) ;
pid_Madre = NIL ;
return 0 ;
}
draw_Mother(x, y, 15, conta_spari);
ox = x; oy = y;
i-- ;
task_endcycle(); /* fine del ciclo while */
}
}
// ------------------------------------------------------------------->
// ASTRONAVE
// ------------------------------------------------------------------->
TASK Astronave(void *arg)
{
int x, y;
int ox, oy;
int dx, dy;
int col;
int outy;
char c;
int FlagCollisione ;
x = ox = XMIN + 10;
y = oy = (YMIN+YMAX)/2;
col = 15;
while (1) {
sem_wait(&keyb_mutex);
if (AstroCmdState == PRODUCED)
{
c = command_astro;
AstroCmdState = CONSUMED ;
}
else
{
c = 0 ;
}
sem_post(&keyb_mutex);
dx = VEL ;
dy = 0 ;
switch (c)
{
case 'w' :
{
dy = -VEL;
}
break;
case 's' :
{
dy = VEL;
}
break;
}
x += dx;
y += dy;
outy = (y >= YMAX-DD) || (y <= YMIN+DD);
if (outy) y = y - dy;
if (x >= XMAX - DD) x = XMIN + DD;
sem_wait(&astro_mutex);
AstronavePosition.x = x ;
AstronavePosition.y = y ;
FlagCollisione = AstronavePosition.FlagCollisione ;
sem_post(&astro_mutex);
draw_Astronave(ox, oy, 0);
if (FlagCollisione)
break ;
draw_Astronave(x, y, col);
ox = x; oy = y;
task_endcycle();
} // chiusura del while
sem_wait(&astro_mutex) ;
AstronavePosition.FlagCollisione = FALSE ;
AstronavePosition.FlagAstronave = FALSE ;
sem_post(&astro_mutex) ;
pid_Astro = NIL ; // cleanup
return 0 ;
} // chiusura dell'astronave
// ------------------------------------------------------------------->
// MISSILE
// ------------------------------------------------------------------->
TASK Missile(void *arg)
{
int x, y;
int ox, oy;
int dx;
int col;
int xa1;
int ya1;
int FlagCollisione ;
int i = (int)arg;
// Punto di partenza del missile (la punta dell'astronave)
col = 15; /* colore missile (bianco) */
sem_wait(&astro_mutex);
xa1 = AstronavePosition.x ;
ya1 = AstronavePosition.y ;
sem_post(&astro_mutex);
x = ox = xa1 + 15;
y = oy = ya1;
// Ciclo infinito
while (1) {
// Parametri di spostamento
dx = 2*VEL;
x += dx;
sem_wait(&missile_mutex[i]) ;
MissilePosition[i].x = x ; // aggiorno posizione
MissilePosition[i].y = y ;
FlagCollisione = MissilePosition[i].FlagCollisione ; // leggo collisione
sem_post(&missile_mutex[i]) ;
// Esplosione del missile : a) per raggimento del bordo dx
// b) per collisione con un alieno
// Disegno l'alieno
draw_Missile(ox, oy, 0); /* cancello il vecchio missile */
if ( (x >= XMAX - D) || FlagCollisione )
break ;
draw_Missile(x, y, col); /* disegno il nuovo missile */
ox = x; oy = y;
task_endcycle(); /* fine del ciclo */
} // chiusura del while(1): quando il missile arriva alla fine della sua esistenza
// (bordo dx o collisione) temina cancellandosi.
//
sem_wait(&missile_mutex[i]) ;
MissilePosition[i].FlagCollisione = FALSE ;
MissilePosition[i].x = 0 ;
MissilePosition[i].y = 0 ; // Missile fuori dall'area di gioco
sem_post(&missile_mutex[i]) ;
return 0 ;
}
// ------------------------------------------------------------------->
// M O N I T O R
// ------------------------------------------------------------------->
TASK Monitor(void *arg)
{
int stat1,stat2;
int giri = 0 ;
TIME T_Astro_Sum, T_Astro_Max, T_Astro_Curr ;
TIME T_Madre_Sum, T_Madre_Max, T_Madre_Curr ;
char s[400] ;
// Ciclo infinito
while (1)
{
stat1 = jet_getstat(pid_Astro, &T_Astro_Sum , &T_Astro_Max , &giri , &T_Astro_Curr);
if (stat1==0)
{
sprintf(s,"Astro->TimeMax = %d ", (int) T_Astro_Max);
grx_text(s , XMIN+350, YMENU+20, 4, 0);
}
else
{
sprintf(s," ") ;
grx_text(s , XMIN+350, YMENU+20, 4, 0) ;
}
//--------------------------------------------------->>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
stat2 = jet_getstat(pid_Madre, &T_Madre_Sum , &T_Madre_Max , &giri , &T_Madre_Curr);
if (stat2==0)
{
sprintf(s,"Madre->TimeMax = %d ", (int) T_Madre_Max);
grx_text(s , XMIN+350, YMENU+30, 4, 0);
}
else
{
sprintf(s," ") ;
grx_text(s , XMIN+350, YMENU+30, 4, 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,a,ms; // Task hard
NRT_TASK_MODEL monitor ; // Task non real time
char c ; /* character from keyboard */
int i = 0 ; /* missile numero */
TIME seme ; /* used to init the random seed */
int miss = 0;
int totalscore = 0;
int typescore[5] = {0,0,0,0,0};
char s[30] ;
char s1[30] ;
char s2[30] ;
char s3[30] ;
char s4[30] ;
char s5[30] ;
AstroCmdState = CONSUMED ;
for (i = 0; i < MAX_MISSIL; i++) {
MissilePosition[i].FlagCollisione = FALSE ;
}
AstronavePosition.FlagCollisione = FALSE ;
AstronavePosition.FlagAstronave = FALSE ;
pid_Madre = NIL ;
pid_Astro = NIL ;
Score.total = 0 ;
/* */
nrt_task_default_model(monitor) ; // inizializza il task monitor
pid_Monitor = task_create("Monitor", Monitor, &monitor, NULL);
if (pid_Monitor == NIL) {
grx_close();
perror("Could not create task <Monitor>\n");
sys_abort(1);
}
task_activate(pid_Monitor); // parte immediatamente
/* Set the closing function */
sys_atrunlevel(byebye, NULL, RUNLEVEL_BEFORE_EXIT);
/* Semaphore Initialization */
sem_init(&grx_mutex,0,1);
sem_init(&keyb_mutex,0,1);
sem_init(&astro_mutex,0,1);
sem_init(&alien_mutex,0,1);
sem_init(&score_mutex,0,1);
for (i = 0; i < MAX_MISSIL; i++) {
sem_init(&missile_mutex[i],0,1);
}
/* graphic card Initialization */
if (grx_init() < 1) {
cprintf("GRX Init\n");
sys_abort(1);
}
if (grx_open(640, 480, 8) < 0) {
cprintf("GRX Err\n");
sys_abort(1);
}
/* The scenario */
grx_line(XMIN-D-1, YMIN-D-1, XMAX+D+1, YMIN-D-1, 14);
grx_line(XMIN-D-1, YMAX+D+1, XMAX+D+1, YMAX+D+1, 14);
grx_text("Simulation of Defender Game", XMIN, YMENU+10, 1, 0);
grx_text("a -> crea Astronave" , XMIN, YMENU+20, 3, 0);
grx_text("m -> crea Madre alieni" , XMIN, YMENU+30, 13, 0);
grx_text("space -> sparo" , XMIN, YMENU+40, 14, 0);
grx_text("ESC exit to DOS" , XMIN, YMENU+50, 4, 0);
grx_text("SCORE " , XMIN, YMENU+60, 4, 0);
c = keyb_getch(BLOCK);
/* randomize!!!! */
seme = sys_gettime(NULL);
srand(seme);
do {
//barra spazio lancia il task missile
if ((c == ' ') && AstronavePosition.FlagAstronave==TRUE) {
for (i = 0; i < MAX_MISSIL; i++) {
sem_wait(&missile_mutex[i]) ;
miss = MissilePosition[i].x ;
sem_post(&missile_mutex[i]) ;
if (miss == 0) {
hard_task_default_model(ms);
hard_task_def_ctrl_jet (ms);
hard_task_def_arg (ms, (void *)i);
hard_task_def_wcet (ms, missile_wcet);
hard_task_def_mit (ms, missile_period);
hard_task_def_group (ms, MISSILE_GROUP);
hard_task_def_usemath (ms);
pid_Missile = task_create("Missile", Missile, &ms, NULL);
if (pid_Missile == NIL) {
grx_close();
perror("Could not create task <Missile>\n");
sys_abort(1);
}
task_activate(pid_Missile);
break ;
}
}
}
if ((c == 'm') && (pid_Madre == NIL) ) {
hard_task_default_model(m);
hard_task_def_ctrl_jet (m);
hard_task_def_arg (m, (void *)i);
hard_task_def_wcet (m, mother_wcet);
hard_task_def_mit (m, mother_period);
hard_task_def_group (m, M_GROUP);
hard_task_def_usemath (m);
pid_Madre = task_create("MadreAlieni", MadreAlieni, &m, NULL);
if (pid_Madre == NIL) {
grx_close();
perror("Could not create task <MadreAlieni>\n");
sys_abort(1);
}
task_activate(pid_Madre);
}
if ((c == 'a') && !AstronavePosition.FlagAstronave) { // creazione del task Astronave
hard_task_default_model(a);
hard_task_def_ctrl_jet (a);
hard_task_def_arg (a, (void *)i);
hard_task_def_wcet (a, Astro_wcet);
hard_task_def_mit (a, Astro_period);
hard_task_def_usemath (a);
pid_Astro = task_create("Astronave", Astronave, &a, NULL);
if (pid_Astro == NIL) {
grx_close();
perror("Could not create task <Astronave>\n");
sys_abort(1);
}
AstronavePosition.FlagAstronave = TRUE ;
task_activate(pid_Astro);
}
sem_wait(&score_mutex);
totalscore = Score.total;
for (i = 0; i < 5; i++) {
typescore[i] = Score.type[i];
}
sem_post(&score_mutex);
sprintf ( s, "SCORE = %d", totalscore);
sprintf ( s1, "STUPID = %d", typescore[0]);
sprintf ( s2, "NORMAL = %d", typescore[1]);
sprintf ( s3, "BAD = %d", typescore[2]);
sprintf ( s4, "BASTARD = %d", typescore[3]);
sprintf ( s5, "MOTHER = %d", typescore[4]);
grx_text( s , XMIN, YMENU+60, 4, 0);
grx_text("Nemici uccisi", XMIN+250, YMENU+10, 1, 0);
grx_text(s1 , XMIN+250, YMENU+20, 1, 0);
grx_text(s2 , XMIN+250, YMENU+30, 1, 0);
grx_text(s3 , XMIN+250, YMENU+40, 1, 0);
grx_text(s4 , XMIN+250, YMENU+50, 1, 0);
grx_text(s5 , XMIN+250, YMENU+60, 1, 0);
c = keyb_getch(BLOCK);
sem_wait(&keyb_mutex);
command_astro = c ;
AstroCmdState = PRODUCED ;
sem_post(&keyb_mutex);
} while (c != ESC);
sys_end();
return 0;
}
/*--------------------------------------------------------------*/

/unsupported/trunk/arezzo/2004/defender/defender.kilepr
0,0 → 1,17
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/quoteleft /a /b /c /d /e /f /g /h /i /j /k /l /m /n /o /p /q /r /s /t /u
/v /w /x /y /z /endash /emdash /hungarumlaut /tilde /dieresis /suppress
/.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
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/.notdef /Omega /ff /fi /fl /ffi /ffl /dotlessi /dotlessj /grave /acute
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%%EndProcSet
%%BeginProcSet: texps.pro
%!
TeXDict begin/rf{findfont dup length 1 add dict begin{1 index/FID ne 2
index/UniqueID ne and{def}{pop pop}ifelse}forall[1 index 0 6 -1 roll
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ne{/Metrics exch def dict begin Encoding{exch dup type/integertype ne{
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definefont 3 -1 roll makefont/setfont cvx]cvx def}def/ObliqueSlant{dup
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forall Encoding{]exch pop}{cleartomark}ifelse}if/Encoding exch def}def
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%%EndProcSet
%%BeginFont: CMBX10
%!PS-AdobeFont-1.1: CMBX10 1.00B
%%CreationDate: 1992 Feb 19 19:54:06
% Copyright (C) 1997 American Mathematical Society. All Rights Reserved.
11 dict begin
/FontInfo 7 dict dup begin
/version (1.00B) readonly def
/Notice (Copyright (C) 1997 American Mathematical Society. All Rights Reserved) readonly def
/FullName (CMBX10) readonly def
/FamilyName (Computer Modern) readonly def
/Weight (Bold) readonly def
/ItalicAngle 0 def
/isFixedPitch false def
end readonly def
/FontName /CMBX10 def
/PaintType 0 def
/FontType 1 def
/FontMatrix [0.001 0 0 0.001 0 0] readonly def
/Encoding 256 array
0 1 255 {1 index exch /.notdef put} for
dup 0 /.notdef put
readonly def
/FontBBox{-301 -250 1164 946}readonly def
/UniqueID 5000768 def
currentdict end
currentfile eexec
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cleartomark
%%EndFont
%%BeginFont: CMBX12
%!PS-AdobeFont-1.1: CMBX12 1.0
%%CreationDate: 1991 Aug 20 16:34:54
% Copyright (C) 1997 American Mathematical Society. All Rights Reserved.
11 dict begin
/FontInfo 7 dict dup begin
/version (1.0) readonly def
/Notice (Copyright (C) 1997 American Mathematical Society. All Rights Reserved) readonly def
/FullName (CMBX12) readonly def
/FamilyName (Computer Modern) readonly def
/Weight (Bold) readonly def
/ItalicAngle 0 def
/isFixedPitch false def
end readonly def
/FontName /CMBX12 def
/PaintType 0 def
/FontType 1 def
/FontMatrix [0.001 0 0 0.001 0 0] readonly def
/Encoding 256 array
0 1 255 {1 index exch /.notdef put} for
dup 0 /.notdef put
readonly def
/FontBBox{-53 -251 1139 750}readonly def
/UniqueID 5000769 def
currentdict end
currentfile eexec
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cleartomark
%%EndFont
%%BeginFont: CMTI10
%!PS-AdobeFont-1.1: CMTI10 1.00B
%%CreationDate: 1992 Feb 19 19:56:16
% Copyright (C) 1997 American Mathematical Society. All Rights Reserved.
11 dict begin
/FontInfo 7 dict dup begin
/version (1.00B) readonly def
/Notice (Copyright (C) 1997 American Mathematical Society. All Rights Reserved) readonly def
/FullName (CMTI10) readonly def
/FamilyName (Computer Modern) readonly def
/Weight (Medium) readonly def
/ItalicAngle -14.04 def
/isFixedPitch false def
end readonly def
/FontName /CMTI10 def
/PaintType 0 def
/FontType 1 def
/FontMatrix [0.001 0 0 0.001 0 0] readonly def
/Encoding 256 array
0 1 255 {1 index exch /.notdef put} for
dup 0 /.notdef put
readonly def
/FontBBox{-163 -250 1146 969}readonly def
/UniqueID 5000828 def
currentdict end
currentfile eexec
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cleartomark
%%EndFont
%%BeginFont: CMR10
%!PS-AdobeFont-1.1: CMR10 1.00B
%%CreationDate: 1992 Feb 19 19:54:52
% Copyright (C) 1997 American Mathematical Society. All Rights Reserved.
11 dict begin
/FontInfo 7 dict dup begin
/version (1.00B) readonly def
/Notice (Copyright (C) 1997 American Mathematical Society. All Rights Reserved) readonly def
/FullName (CMR10) readonly def
/FamilyName (Computer Modern) readonly def
/Weight (Medium) readonly def
/ItalicAngle 0 def
/isFixedPitch false def
end readonly def
/FontName /CMR10 def
/PaintType 0 def
/FontType 1 def
/FontMatrix [0.001 0 0 0.001 0 0] readonly def
/Encoding 256 array
0 1 255 {1 index exch /.notdef put} for
dup 0 /.notdef put
readonly def
/FontBBox{-251 -250 1009 969}readonly def
/UniqueID 5000793 def
currentdict end
currentfile eexec
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cleartomark
%%EndFont
%%BeginFont: CMR12
%!PS-AdobeFont-1.1: CMR12 1.0
%%CreationDate: 1991 Aug 20 16:38:05
% Copyright (C) 1997 American Mathematical Society. All Rights Reserved.
11 dict begin
/FontInfo 7 dict dup begin
/version (1.0) readonly def
/Notice (Copyright (C) 1997 American Mathematical Society. All Rights Reserved) readonly def
/FullName (CMR12) readonly def
/FamilyName (Computer Modern) readonly def
/Weight (Medium) readonly def
/ItalicAngle 0 def
/isFixedPitch false def
end readonly def
/FontName /CMR12 def
/PaintType 0 def
/FontType 1 def
/FontMatrix [0.001 0 0 0.001 0 0] readonly def
/Encoding 256 array
0 1 255 {1 index exch /.notdef put} for
dup 0 /.notdef put
readonly def
/FontBBox{-34 -251 988 750}readonly def
/UniqueID 5000794 def
currentdict end
currentfile eexec
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cleartomark
%%EndFont
%%BeginFont: CMR17
%!PS-AdobeFont-1.1: CMR17 1.0
%%CreationDate: 1991 Aug 20 16:38:24
% Copyright (C) 1997 American Mathematical Society. All Rights Reserved.
11 dict begin
/FontInfo 7 dict dup begin
/version (1.0) readonly def
/Notice (Copyright (C) 1997 American Mathematical Society. All Rights Reserved) readonly def
/FullName (CMR17) readonly def
/FamilyName (Computer Modern) readonly def
/Weight (Medium) readonly def
/ItalicAngle 0 def
/isFixedPitch false def
end readonly def
/FontName /CMR17 def
/PaintType 0 def
/FontType 1 def
/FontMatrix [0.001 0 0 0.001 0 0] readonly def
/Encoding 256 array
0 1 255 {1 index exch /.notdef put} for
dup 0 /.notdef put
readonly def
/FontBBox{-33 -250 945 749}readonly def
/UniqueID 5000795 def
currentdict end
currentfile eexec
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%%Trailer
userdict /end-hook known{end-hook}if
%%EOF

/unsupported/trunk/arezzo/2004/defender/initfile.c
0,0 → 1,132
/*
* 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
*/
/*
17 Giugno 2004 : commenti - da verificare - di Simone Mannori
*/
/*
------------
CVS : $Id: initfile.c,v 1.1 2004-08-05 11:34:34 pj Exp $
File: $File$
Revision: $Revision: 1.1 $
Last update: $Date: 2004-08-05 11:34:34 $
------------
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
TIME __kernel_register_levels__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
EDF_register_level(EDF_ENABLE_ALL); // 1 - scheduler EDF
CBS_register_level(CBS_ENABLE_ALL, 0); // 2 - scheduler CBS
RR_register_level(RRTICK, RR_MAIN_YES, mb); // 3 - round robin affettato @ 10 ms
dummy_register_level(); // il dummy task (!)
SEM_register_module(); // semafori
CABS_register_module(); // CABS
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;
}

/unsupported/trunk/arezzo/2004/defender/makefile
0,0 → 1,17
#
#
#
ifndef BASE
BASE=../..
endif
include $(BASE)/config/config.mk
PROGS= def_01
include $(BASE)/config/example.mk
def_01:
make -f $(SUBMAKE) APP=def_01 INIT= OTHEROBJS="initfile.o" OTHERINCL= SHARKOPT="__OLDCHAR__ __GRX__"

/unsupported/trunk/arezzo/readme.txt
0,0 → 1,6
These demos have been made as student projects for the RTOS course at
the University of Siena, branch of Arezzo.
Enjoy,
PJ