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/*
* Project: S.Ha.R.K.
*
* Coordinators:
* Giorgio Buttazzo <giorgio@sssup.it>
* Paolo Gai <pj@gandalf.sssup.it>
*
* Authors :
* Paolo Gai <pj@gandalf.sssup.it>
* Massimiliano Giorgi <massy@gandalf.sssup.it>
* Luca Abeni <luca@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: auto.c,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
File: $File$
Revision: $Revision: 1.1.1.1 $
Last update: $Date: 2002-09-02 09:37:42 $
------------
**/
/*
* Copyright (C) 2000 Marco Dallera and Marco Fiocca
*
* 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
*
*/
/*
* AUTO
*
* Another Unuseful Track simulatOr
*
* Authors: Marco Dallera
* Marco Fiocca
*
*/
#include "include/auto.h"
#include "include/const.h"
#include "include/utils.h"
int car_number
;
car_params cars
[MAX_CAR_NUMBER
];
char drivers
[DRIVERS_NUMBER
][MAX_DRIVER_NAME_LENGTH
] = {
"M.Schumacher",
"D.Coulthard",
"R.Schumacher",
"M.Hakkinen",
"R.Barrichello",
"J.P.Montoya",
"E.Irvine",
"J.Trulli",
"H.Frentzen",
"J.Villeneuve",
"J.Alesi",
"G.Fisichella",
"O.Panis",
"O.Wurz",
"J.Button",
"P.P.Diniz",
"P.De La Rosa",
"T.Marques",
"R.Zonta",
"G.Mazzacane"
};
extern char sprite
[18][CAR_WIDTH
*CAR_HEIGHT
];
/* Semaphores */
sem_t grx_mutex
;
/* Useful colors */
int red
= rgb16
(255, 0, 0);
int green
= rgb16
( 0, 255, 0);
int blue
= rgb16
( 0, 0, 255);
int lightgray
= rgb16
(192, 192, 192);
/* JetCTRL Initialization */
void init_jetcontrol
(void);
/* -------------------------------------------------------*/
/* --------------------- */
/* Handling car status */
/* --------------------- */
int set_car_status
(car_status cs
, CAB cab_id
) {
char *msg
;
msg
= cab_reserve
(cab_id
);
memcpy(msg
, &cs
, CAR_MSG_DIM
);
return(cab_putmes
(cab_id
, msg
));
}
car_status get_car_status
(CAB cab_id
) {
char *msg
;
car_status status
;
msg
= cab_getmes
(cab_id
);
memcpy(&status
, msg
, CAR_MSG_DIM
);
cab_unget
(cab_id
, msg
);
return (status
);
}
/* ---------------------------- */
/* Handling road informations */
/* ---------------------------- */
int set_road_info
(road_info info
, CAB road_status_cab
) {
char *msg
;
msg
= cab_reserve
(road_status_cab
);
memcpy(msg
, &info
, ROAD_MSG_DIM
);
return(cab_putmes
(road_status_cab
, msg
));
}
road_info get_road_info
(CAB road_status_cab
) {
char *msg
;
road_info info
;
msg
= cab_getmes
(road_status_cab
);
memcpy(&info
, msg
, ROAD_MSG_DIM
);
cab_unget
(road_status_cab
, msg
);
return (info
);
}
/* -------------------------------------------------------*/
/* Closing function */
void byebye
()
{
grx_close
();
// we need clear to reposition the cursor in the right place after
// going back from the graphical mode.
clear
();
kern_printf
("Race is over!\n");
}
/* -------------------------------------------------------*/
/* ------------------- */
/* Hard car creation */
/* ------------------- */
void hard_car_create
() {
car_params cp
;
HARD_TASK_MODEL sensor_m
, control_m
;
PID sensor_pid
, control_pid
;
TIME seed
; /* used to init the random seed */
int drv_ind
;
if (car_number
>= MAX_CAR_NUMBER
) return;
/* Randomize!!!! */
seed
= sys_gettime
(NULL
);
srand(seed
);
/* CAB creation */
cp.
road_status_cab = cab_create
("road_cab", ROAD_MSG_DIM
, ROAD_MSG_READER
);
cp.
car_status_cab = cab_create
("car_cab", CAR_MSG_DIM
, CAR_MSG_READER
);
/* Car parameters initialization */
cp.
max_speed = rand_01
();
cp.
min_acc = cp.
max_speed;
cp.
max_acc = cp.
max_speed;
cp.
rage = cp.
max_speed;
cp.
color = 3+car_number
;
cp.
number = car_number
;
drv_ind
= DRIVERS_NUMBER
-1 - (int)(((cp.
rage-0.8+0.005) * (float)DRIVERS_NUMBER
) / 0.2);
/* Sets driver's name without duplications */
strcpy(cp.
driver, drivers
[drv_ind
]);
while (!strcmp(cp.
driver,"***"))
strcpy(cp.
driver, drivers
[++drv_ind
%DRIVERS_NUMBER
]);
strcpy(drivers
[drv_ind
],"***");
cars
[car_number
] = cp
;
/* ------------ */
/* Task Calls */
/* ------------ */
/* sensor task creation */
hard_task_default_model
(sensor_m
);
hard_task_def_arg
(sensor_m
, (void *)car_number
);
hard_task_def_wcet
(sensor_m
, SENSOR_WCET
);
hard_task_def_mit
(sensor_m
, SENSOR_PERIOD
);
hard_task_def_usemath
(sensor_m
);
sensor_pid
= task_create
("camera", sensor
, &sensor_m
, NULL
);
if(sensor_pid
== -1)
sys_end
();
/* control task creation */
hard_task_default_model
(control_m
);
hard_task_def_arg
(control_m
, (void *)car_number
);
hard_task_def_wcet
(control_m
, CONTROL_WCET
);
hard_task_def_mit
(control_m
, CONTROL_PERIOD
);
hard_task_def_usemath
(control_m
);
control_pid
= task_create
("controller", control
, &control_m
, NULL
);
if(control_pid
== -1)
sys_end
();
cars
[car_number
].
sensor_pid = sensor_pid
;
cars
[car_number
].
control_pid = control_pid
;
car_number
++; // increases cars number
task_activate
(sensor_pid
);
task_activate
(control_pid
);
}
/* -------------------------------------------------------*/
/* ------------------- */
/* Soft car creation */
/* ------------------- */
void soft_car_create
() {
car_params cp
;
SOFT_TASK_MODEL sensor_m
, control_m
;
PID sensor_pid
, control_pid
;
TIME seed
; /* used to init the random seed */
int drv_ind
;
if (car_number
>= MAX_CAR_NUMBER
) return;
/* Randomize!!!! */
seed
= sys_gettime
(NULL
);
srand(seed
);
/* CAB creation */
cp.
road_status_cab = cab_create
("road_cab", ROAD_MSG_DIM
, ROAD_MSG_READER
);
cp.
car_status_cab = cab_create
("car_cab", CAR_MSG_DIM
, CAR_MSG_READER
);
/* Car parameters initialization */
cp.
max_speed = rand_01
();
cp.
min_acc = cp.
max_speed;
cp.
max_acc = cp.
max_speed;
cp.
rage = cp.
max_speed;
cp.
color = 8+car_number
;
cp.
number = car_number
;
drv_ind
= DRIVERS_NUMBER
-1 - (int)(((cp.
rage-0.8+0.005) * (float)DRIVERS_NUMBER
) / 0.2);
/* Sets driver's name without duplications */
strcpy(cp.
driver, drivers
[drv_ind
]);
while (!strcmp(cp.
driver,"***"))
strcpy(cp.
driver, drivers
[++drv_ind
%DRIVERS_NUMBER
]);
strcpy(drivers
[drv_ind
],"***");
cars
[car_number
] = cp
;
/* ------------ */
/* Task Calls */
/* ------------ */
/* sensor task creation */
soft_task_default_model
(sensor_m
);
soft_task_def_arg
(sensor_m
, (void *)car_number
);
soft_task_def_met
(sensor_m
, SENSOR_WCET
);
soft_task_def_period
(sensor_m
, SENSOR_PERIOD
);
soft_task_def_usemath
(sensor_m
);
sensor_pid
= task_create
("camera", sensor
, &sensor_m
, NULL
);
if(sensor_pid
== -1)
sys_end
();
/* control task creation */
soft_task_default_model
(control_m
);
soft_task_def_arg
(control_m
, (void *)car_number
);
soft_task_def_met
(control_m
, CONTROL_WCET
);
soft_task_def_period
(control_m
, CONTROL_PERIOD
);
soft_task_def_usemath
(control_m
);
control_pid
= task_create
("controller", control
, &control_m
, NULL
);
if(control_pid
== -1)
sys_end
();
cars
[car_number
].
sensor_pid = sensor_pid
;
cars
[car_number
].
control_pid = control_pid
;
car_number
++; // increases cars number
task_activate
(sensor_pid
);
task_activate
(control_pid
);
}
/* -------------------------------------------------------*/
/* ------------------- */
/* The main function */
/* ------------------- */
int main
(int argc
, char **argv
) {
TIME seed
; /* used to init the random seed */
if (MAX_CAB
< 30) {
cprintf
("The application needs at least 30 CABS.\n"
"Please set the MAX_CAB #define to 30 or more...\n"
"...(see include/modules/cabs.h)\n");
sys_end
();
}
/* Set the exception handler */
set_exchandler_grx
();
/* Set the closing function */
sys_atrunlevel
(byebye
, NULL
, RUNLEVEL_BEFORE_EXIT
);
/* Keyboard handling */
keyb_handler
();
kern_printf
("KEYBOARD initialized...\n");
/* Graphics mutex */
sem_init
(&grx_mutex
, 0, 1);
/* Graphics init */
grx_init
();
grx_open
(SCREEN_WIDTH
, SCREEN_HEIGHT
, SCREEN_BIT_COLORS
);
/* Track drawing */
sem_wait
(&grx_mutex
);
grx_setcolor
(46,0,0,0);
grx_setcolor
(43,255,255,255);
grx_setcolor
(26,255,74,33);
grx_setcolor
(27,255,255,255);
grx_setcolor
(1,8,8,8);
grx_setcolor
(3,255,0,0);
grx_setcolor
(28,255,50,0);
grx_setcolor
(29,255,90,0);
grx_setcolor
(30,255,130,0);
grx_setcolor
(31,255,170,0);
grx_setcolor
(32,255,210,0);
grx_setcolor
(33,48,48,48);
grx_putimage
(TRACK_X1
, TRACK_Y1
, TRACK_X2
, TRACK_Y2
, track_img
);
sem_post
(&grx_mutex
);
/* Command and info display */
cmd_display
();
/* JetCTRL Initialization */
init_jetcontrol
();
/* Randomize!!!! */
seed
= sys_gettime
(NULL
);
srand(seed
);
car_number
= 0;
/* ------------ */
/* Task Calls */
/* ------------ */
hard_car_create
();
return 0;
}
/* -------------------------------------------------------*/
void read_track
(int i
)
{
DOS_FILE
*f
; // DOS file descriptor
int file_length
;
int index
;
char filename
[100];
int err
; // Error code
/* Init track_list */
track_init
();
/* Set the selected track from track_list */
if (i
< TRACK_NUMBER
)
index
= i
;
else
index
= 0;
cprintf
("Selected index = %d\n", index
);
strcpy(filename
, strcat("tracks/", track_list
[index
].
name));
cprintf
("File to open = %s\n", filename
);
track_list
[index
].
selected = 1;
/* open the DOS file for reading (you can specify only "r" or "w") */
f
= DOS_fopen
(filename
,"r");
/* check for open errors */
if (!f
) {
err
= DOS_error
(); // error!!
/* note that if you call DOS_error() here, it return 0!!! */
cprintf
("Error %d opening %s...\n", err
, filename
);
file_length
= 0;
byebye
();
return;
}
/* read track file */
file_length
= DOS_fread
(&track_img
, 1, TRACK_WIDTH
*TRACK_HEIGHT
, f
);
/* check for errors */
err
= DOS_error
();
cprintf
("Read %d bytes from %s...\n", file_length
, filename
);
if (err
) {
cprintf
("Error %d reading %s...\n", err
, filename
);
file_length
= 0;
/* there is not return because I want to close the file! */
}
/* Close the file */
cprintf
("Closing file %s...\n", filename
);
DOS_fclose
(f
);
cprintf
("File %s closed successfully!\n", filename
);
}
/* -------------------------------------------------------*/
void read_sprites
()
{
/* DOS file descriptor */
DOS_FILE
*f
;
int myfilebuf_length
,i
;
char filename
[100];
/* Error code */
int err
;
i
=0;
for ( i
=0; i
< 16; i
++) {
sprintf(filename
,"cars/car%d.raw",i
);
f
= DOS_fopen
(filename
,"r");
// check for open errors
if (!f
) {
// error!!
err
= DOS_error
();
// note that if you call DOS_error() here, it return 0!!!
cprintf
("Error %d opening %s...\n", err
, filename
);
myfilebuf_length
= 0;
return;
}
// read from file
myfilebuf_length
= DOS_fread
(&sprite
[i
][0],1,CAR_WIDTH
*CAR_HEIGHT
,f
);
// check for errors
err
= DOS_error
();
cprintf
("Read %d bytes from %s...\n", myfilebuf_length
, filename
);
if (err
) {
cprintf
("Error %d reading %s...\n", err
, filename
);
myfilebuf_length
= 0;
// there is not return because I want to close the file!
}
// Close the file
DOS_fclose
(f
);
}
f
= DOS_fopen
("cars/boom.raw","r");
if (!f
) {
err
= DOS_error
();
cprintf
("Error %d opening boom.raw...\n", err
);
myfilebuf_length
= 0;
return;
}
myfilebuf_length
= DOS_fread
(&sprite
[16][0],1,CAR_WIDTH
*CAR_HEIGHT
,f
);
err
= DOS_error
();
cprintf
("Read %d bytes from boom.raw...\n", myfilebuf_length
);
if (err
) {
cprintf
("Error %d reading boom.raw...\n", err
);
myfilebuf_length
= 0;
}
DOS_fclose
(f
);
f
= DOS_fopen
("cars/fumo.raw","r");
if (!f
) {
err
= DOS_error
();
cprintf
("Error %d opening fumo.raw...\n", err
);
myfilebuf_length
= 0;
return;
}
myfilebuf_length
= DOS_fread
(&sprite
[17][0],1,CAR_WIDTH
*CAR_HEIGHT
,f
);
err
= DOS_error
();
cprintf
("Read %d bytes from fumo.raw...\n", myfilebuf_length
);
if (err
) {
cprintf
("Error %d reading fumo.raw...\n", err
);
myfilebuf_length
= 0;
}
DOS_fclose
(f
);
}