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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>
* (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: fly.c,v 1.11 2005-02-25 11:10:46 pj Exp $
File: $File$
Revision: $Revision: 1.11 $
Last update: $Date: 2005-02-25 11:10:46 $
------------
**/
/*
* 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 <sem/sem/sem.h>
#include <stdlib.h>
#include <math.h>
#include <drivers/shark_keyb26.h>
#include <drivers/shark_fb26.h>
#define YMENU 10 /* menu level */
#define XMIN 50
#define XMAX 600
#define YMIN 100
#define YMAX 450
#define VEL 5 /* linear velocity (def. = 5) */
#define ANG 30 /* angolo massimo sterzata (30) */
#define D 3 /* raggio mosca */
#undef ESC
#define ESC 27 /* ASCII code of ESCAPE key */
#define MAX_P 35 /* max number of flies */
#define FLYGROUP 1
double tick
= 1.0; /* system tick = 1 ms */
int fly_period
= 40000; /* task period */
int fly_wcet
= 1000; /* task wcet */
PID pid
;
sem_t grx_mutex
;
/*--------------------------------------------------------------*/
void draw_fly
(int x
, int y
, int c
)
{
grx_disc
(x
, y
, D
, c
);
}
/******************************************************************/
TASK fly
(void *arg
)
{
int x
, y
;
int ox
, oy
;
int dx
, dy
, da
;
int teta
, col
,red
;
int outx
, outy
;
double r
;
int i
= (int)arg
;
x
= ox
= (XMIN
+XMAX
)/2;
y
= oy
= (YMIN
+YMAX
)/2;
teta
= 0;
red
= 100+10*i
;
if (red
> 255) red
= 255;
col
= rgb16
(red
,0,50); /* colore fly */
while (1) {
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
);
outy
= (y
>= YMAX
) || (y
<= YMIN
);
if (outx
|| outy
) {
x
= x
- dx
;
y
= y
- dy
;
if (outx
) teta
= 180 - teta
;
if (outy
) teta
= -teta
;
if (teta
> 360) teta
-= 360;
if (teta
< 0) teta
+= 360;
r
= (double)teta
* PI
/ 180.
;
dx
= (float)(VEL
* cos(r
));
dy
= (float)(VEL
* sin(r
));
x
+= dx
;
y
+= dy
;
}
sem_wait
(&grx_mutex
);
draw_fly
(ox
, oy
, 0);
draw_fly
(x
, y
, col
);
ox
= x
; oy
= y
;
sem_post
(&grx_mutex
);
task_endcycle
();
}
}
/****************************** MAIN ******************************/
int main
(int argc
, char **argv
)
{
HARD_TASK_MODEL m
;
char c
; /* character from keyboard */
int i
= 0; /* number of tasks created */
TIME seme
; /* used to init the random seed */
/* Init the mutex */
sem_init
(&grx_mutex
,0,1);
/* The scenario */
grx_rect
(XMIN
-D
-1, YMIN
-D
-1, XMAX
+D
+1, YMAX
+D
+1, rgb16
(255,255,255));
grx_text
("Simulation of Random Flies", XMIN
, YMENU
+10, rgb16
(255,255,255), 0);
grx_text
("SPACE create a fly" , XMIN
, YMENU
+20, rgb16
(255,255,255), 0);
grx_text
("ESC exit to DOS" , XMIN
, YMENU
+30, rgb16
(255,255,255), 0);
/* The program waits a space to create a fly */
c
= keyb_getch
(BLOCK
);
/* randomize!!!! */
seme
= sys_gettime
(NULL
);
srand(seme
);
do {
if ((c
== ' ') && (i
< MAX_P
)) {
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
) {
sys_shutdown_message
("Could not create task <fly>");
exit(1);
}
task_activate
(pid
);
i
++;
}
c
= keyb_getch
(BLOCK
);
} while (c
!= ESC
);
exit(0);
return 0;
}
/*--------------------------------------------------------------*/