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#include "include/auto.h"
#include "include/const.h"


PID pid1,pid2,pid3,pid4;
SOFT_TASK_MODEL mp;
 

/* Semaphores */
sem_t grx_mutex;

/* Useful colors */
int black1       = rgb16(  0,  0,  0);
int red          = rgb16(255,  0,  0);
int green        = rgb16(  0,255,  0);
int blue         = rgb16(  0,  0,255);
int lightgray    = rgb16(192,192,192);
int car_colour   = rgb16( 40, 80,125);
int track_colour = rgb16( 15, 70,175);
int track_direction;

void drive_car();
/* -------------------------------------------------------*/

/* 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("ROAD CROSS GAME IS OVER, WERE U HURT!\n");
}

/* -------------------------------------------------------*/


void draw_highway()
{
  /* Track drawing */
    sem_wait(&grx_mutex);
    grx_box(0,HIGHWAY_Y_MIN,800,HIGHWAY_Y_MAX,track_colour);
    grx_line(0,HIGHWAY_Y_MIN ,800,HIGHWAY_Y_MIN ,115);
    grx_line(0,HIGHWAY_Y_MIN+75,800,HIGHWAY_Y_MIN+75,115);
    grx_line(0,HIGHWAY_Y_MIN+150,800,HIGHWAY_Y_MIN+150,115);
    grx_line(0,HIGHWAY_Y_MIN+225,800,HIGHWAY_Y_MIN+225,115);
    grx_line(0,HIGHWAY_Y_MAX,800,HIGHWAY_Y_MAX,115);
    grx_line(390,450,390,0,25);
    grx_line(410,450,410,0,25);
    sem_post(&grx_mutex);

}

//task for car on each
TASK  drive_car1(void *arg)
{
 while (1)
 {
    drive_car(1);
    task_endcycle();
 }
}

TASK  drive_car2(void *arg)
{
 while (1)
 {
    drive_car(2);
    task_endcycle();
  }
 }

TASK  drive_car3(void *arg)
{
  while (1)
 {
    drive_car(3);
    task_endcycle();
 }
}

TASK  drive_car4(void *arg)
{
  while (1)
 {
   drive_car(4);
   task_endcycle();
  }
}


void  drive_car(int track)
{
    int x1=0;
    int x2=0;
    int y1=0;
    int y2=0;
    int x1o=0;
    int x2o=0;
    int x_size=50;
    int y_size=35;

    switch(track)
     {
       case 1:
              x1=0;
              y1=110;
              track_direction = FORWARD;
              break;

       case 2:
              x1=0;
              y1=185 ;
              track_direction = FORWARD;
              break;

       case 3:
              x1=800-x_size;
              y1=260;
              track_direction =BACKWARD;
              break;
       case 4:

              x1=800-x_size;
              y1=335;
              track_direction =BACKWARD;
              break;

       }//end of switch

       x2=x1+x_size;
       y2=y1+y_size;

    if(track_direction == FORWARD)
     {
      do
         {
           x1o=x1;
           x2o=x2;
           x1 =x1o+5*track;
           x2 =x1+x_size;
           task_delay(60000);
           grx_box(x1o,y1,x2o,y2,track_colour) ;
           grx_box(x1,y1,x2,y2,car_colour);
         } while(x1<800);
      }//end of true condition of if
    else
      {//TRACK == BACKWARD
        do
        {
           x1o=x1;
           x2o=x2;
           x1 =x1o-(5*track);
           x2 =x1+x_size;
           task_delay(70000);

           grx_box(x1o,y1,x2o,y2,track_colour) ;
           grx_box(x1,y1,x2,y2,car_colour);
           if(track==3)
           grx_box(0,260,x_size,265+y_size,track_colour) ;
       //    if(track==4)
           grx_box(700,405,800,500,black1) ;
        } while(x1>0);
      }//end of else
}  //end of the method drive_car





/* -------------------------------------------------------*/
void initiate_task(){

  soft_task_default_model(mp);
  soft_task_def_level(mp,1);
  soft_task_def_ctrl_jet(mp);
  soft_task_def_arg(mp,NULL);
  soft_task_def_group(mp, 1);
  soft_task_def_met(mp,100);
  soft_task_def_period(mp,700);
  soft_task_def_usemath(mp);
  pid1 = task_create("track1", drive_car1, &mp, NULL);
  pid2 = task_create("track2", drive_car2, &mp, NULL);
  pid3 = task_create("track3", drive_car3, &mp, NULL);
  pid4 = task_create("track4", drive_car4, &mp, NULL);
  task_activate(pid1);
  task_activate(pid2);
  task_activate(pid3);
  task_activate(pid4);
  create_man();

  while(1)
    {
     grx_line(390,450,390,0,25);
     grx_line(410,450,410,0,25);
     task_endcycle();
    }
 }


/* ------------------- */
/*  The main function  */
/* ------------------- */

int main(int argc, char **argv) {

    HARD_TASK_MODEL m;
    PID main_pid;

    /* 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);

    draw_highway();
    sem_post(&grx_mutex);

    /* Command and info display */
    cmd_display();

    /* ------------ */
    /*  Task Calls  */
    /* ------------ */

    hard_task_default_model(m);
    hard_task_def_arg(m,NULL);
    hard_task_def_wcet(m, CONTROL_WCET);
    hard_task_def_mit(m, CONTROL_PERIOD);
    hard_task_def_usemath(m);
    main_pid = task_create("controller",initiate_task, &m, NULL);
    if(main_pid == -1)
        sys_end();
    task_activate(main_pid);
    return 0;
}

/* -------------------------------------------------------*/