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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: ball.c,v 1.5 2004-04-18 09:45:27 giacomo Exp $
File: $File$
Revision: $Revision: 1.5 $
Last update: $Date: 2004-04-18 09:45:27 $
------------
**/
/*
* 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
*
*/
/*--------------------------------------------------------------*/
/* SIMULATION OF JUMPING BALLS */
/*--------------------------------------------------------------*/
#include "demo.h"
#include <kernel/func.h>
#include <stdlib.h>
#define R 8 /* dimension of a ball */
#define G 9.8 /* acceleration of gravity */
static int ballexit
= 0;
static int npc
= 0; /* number of tasks created */
/*--------------------------------------------------------------*/
/* Delay function for jumping balls */
/*--------------------------------------------------------------*/
void my_delay
(void)
{
int xxx
;
for (xxx
=0; xxx
<BALL_DELAY
; xxx
++);
}
/*--------------------------------------------------------------*/
/* Periodic task for ball simulation */
/*--------------------------------------------------------------*/
TASK palla
(int i
)
{
int x
, y
; /* coordinate grafiche pallina */
int ox
, oy
; /* vecchia posizione pallina */
int x0
, y0
; /* posizione iniziale X pallina */
float vx
, vy
; /* velocitÂ… della pallina */
float vy0
; /* velocita' pallina al primo rimbalzo */
float ty
, tx
; /* variabile temporale */
float dt
; /* incremento temporale */
y
= oy
= y0
= BALL_HEIGHT
;
x
= ox
= x0
= BALL_XMIN
;
vy0
= sqrt(2.
* G
* (float)BALL_HEIGHT
);
vy
= 0;
vx
= BALL_VELX
+ myrand
(9);
tx
= 0;
ty
= 0;
dt
= ((float)PERIOD_BALL
)/100000;
while (1) {
y
= y0
+ vy
*ty
- .5*G
*ty
*ty
;
x
= x0
+ vx
* tx
;
if (y
< 0) {
y
= 0;
if (vy
== 0.0)
vy
= vy0
;
else if (vy
< BALL_VYMIN
)
vy
= vy0
* (1.0 - myrand
(50)/100.0);
else
vy
= 0.9 * vy
;
ty
= 0.0;
y0
= 0;
}
if (x
> BALL_XMAX
) {
tx
= 0.0;
x0
= BALL_XMAX
;
vx
= -vx
;
x
= x0
+ vx
* tx
;
}
if (x
< BALL_XMIN
) {
tx
= 0.0;
x0
= BALL_XMIN
;
vx
= -vx
;
x
= x0
+ vx
* tx
;
}
mutex_lock
(&mutex
);
grx_disc
(ox
, oy
, R
, 0);
ox
= x
;
oy
= BALL_Y
- y
;
mutex_unlock
(&mutex
);
if (ballexit
&& i
!=0xFFFF) {
npc
--;
return 0;
}
mutex_lock
(&mutex
);
grx_disc
(ox
, oy
, R
, i
);
mutex_unlock
(&mutex
);
my_delay
();
ty
+= dt
;
tx
+= dt
;
task_endcycle
();
}
}
void killball
(KEY_EVT
*k
)
{
ballexit
= 1;
}
void ballfun
(KEY_EVT
*k
)
{
SOFT_TASK_MODEL mp
;
int r
,g
,b
;
PID pid
;
char palla_str
[]="palla ";
if (npc
== BALL_MAX_P
) return;
ballexit
= 0;
r
= 64 + myrand
(190);
g
= 64 + myrand
(190);
b
= 64 + myrand
(190);
itoa(npc
,palla_str
+5);
soft_task_default_model
(mp
);
soft_task_def_level
(mp
,2);
soft_task_def_ctrl_jet
(mp
);
soft_task_def_arg
(mp
, (void *)rgb16
(r
,g
,b
));
soft_task_def_group
(mp
, BALL_GROUP
);
soft_task_def_met
(mp
, WCET_BALL
);
soft_task_def_period
(mp
,PERIOD_BALL
);
soft_task_def_usemath
(mp
);
pid
= task_create
(palla_str
, palla
, &mp
, NULL
);
if (pid
!= NIL
) {
task_activate
(pid
);
npc
++;
}
}
void hardball
()
{
HARD_TASK_MODEL mp
;
int r
,g
,b
;
PID pid
;
r
= 255;
g
= 255;
b
= 255;
hard_task_default_model
(mp
);
hard_task_def_ctrl_jet
(mp
);
hard_task_def_arg
(mp
, (void *)rgb16
(r
,g
,b
));
hard_task_def_wcet
(mp
, WCET_HARD_BALL
);
hard_task_def_mit
(mp
,PERIOD_BALL
);
hard_task_def_usemath
(mp
);
pid
= task_create
("pallaEDF", palla
, &mp
, NULL
);
if (pid
== NIL
) {
sys_shutdown_message
("Could not create task <pallaEDF>");
task_activate
(shutdown_task_PID
);
return;
}
else
task_activate
(pid
);
}
/*--------------------------------------------------------------*/
/* MAIN process */
/*--------------------------------------------------------------*/
void scenario_ball
()
{
grx_text
("Noise", 0, 45 /*BALL_Y-BALL_HEIGHT-15*/, rgb16
(0,0,255), black
);
grx_line
(0,55,383,55,red
);
grx_rect
(BALL_XMIN
-R
-1, BALL_Y
-BALL_HEIGHT
-R
-1,
BALL_XMAX
+R
+1, BALL_Y
+R
+1, rgb16
(0,200,0));
}
void init_ball
(void)
{
KEY_EVT k
;
hardball
();
k.
flag = 0;
k.
scan = KEY_SPC
;
k.
ascii = ' ';
k.
status = KEY_PRESSED
;
keyb_hook
(k
,ballfun
,FALSE
);
k.
flag = 0;
k.
scan = KEY_BKS
;
k.
ascii = ' ';
k.
status = KEY_PRESSED
;
keyb_hook
(k
,killball
,FALSE
);
}
/*--------------------------------------------------------------*/