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- Update shadow's driver

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6825 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: f2c7e3b32b763f60263abeb2546e821a32c3f4ae
Former-commit-id: bb7587cd67073f8799da94e01ef0061f3c08ed60
This commit is contained in:
torcs-ng 2020-02-10 20:28:07 +00:00
parent 7962e5eb13
commit 12c5118544
1 changed files with 29 additions and 30 deletions
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59
src/drivers/shadow/src/Driver.cpp
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@ -19,6 +19,10 @@
//
//////////////////////////////////////////////////////////////////////
#include <algorithm>
#include <string>
#include "Driver.h"
#include "Quadratic.h"
#include "Utils.h"
@ -28,9 +32,6 @@
#include <portability.h>
#include <robottools.h>
#include <algorithm>
#include <string>
using namespace std;
//////////////////////////////////////////////////////////////////////
@ -110,8 +111,7 @@ void Driver::PathRange::AddLesser(
{
}
Driver::Driver(int index)
: INDEX(index),
Driver::Driver(int index) : INDEX(index),
m_Strategy(m_track, m_pitPath[PATH_NORMAL][0]),
_acc(0),
m_driveType(cDT_RWD),
@ -173,18 +173,17 @@ Driver::~Driver()
static void* MergeParamFile( void* hParams, const char* fileName, bool relSrc = true )
{
// PRINTF( "loading: '%s'\n", fileName );
void* hNewParams = GfParmReadFile(fileName, GFPARM_RMODE_STD);
if( hNewParams == NULL )
{
LogSHADOW.info("loaded: 'hParams' \n");
LogSHADOW.debug("loaded: 'hParams' \n");
return hParams;
}
if( hParams == NULL )
{
LogSHADOW.info( "loaded: '%s'\n", fileName );
LogSHADOW.debug( "loaded: '%s'\n", fileName );
return hNewParams;
}
@ -195,7 +194,7 @@ static void* MergeParamFile( void* hParams, const char* fileName, bool relSrc =
GfParmCheckHandle( hParams, hNewParams );
LogSHADOW.info( "merging: '%s'\n", fileName );
LogSHADOW.debug( "merging: '%s'\n", fileName );
hParams = GfParmMergeHandles(hParams, hNewParams,
GFPARM_MMODE_SRC | GFPARM_MMODE_DST |
(relSrc ? GFPARM_MMODE_RELSRC : 0) | GFPARM_MMODE_RELDST);
@ -225,7 +224,7 @@ void Driver::InitTrack(
void** ppCarParmHandle,
tSituation* pS )
{
LogSHADOW.info( "Shadow : initTrack()\n" );
LogSHADOW.debug( "Shadow : initTrack()\n" );
//
// get the name of the car (e.g. "clkdtm").
@ -241,7 +240,7 @@ void Driver::InitTrack(
if( p )
*p = '\0';
LogSHADOW.info( " m_carName: '%s'\n", m_carName );
LogSHADOW.info( " #Shadow carName: '%s'\n", m_carName );
//
// get the name of the track (e.g. "e-track-1")
@ -249,7 +248,7 @@ void Driver::InitTrack(
strncpy( m_trackName, strrchr(pTrack->filename, '/') + 1, sizeof(m_trackName) );
*strrchr(m_trackName, '.') = '\0';
LogSHADOW.info( " m_trackName: '%s'\n", m_trackName );
LogSHADOW.debug( " # Shadow trackName: '%s'\n", m_trackName );
//
// set up race type array.
@ -261,7 +260,7 @@ void Driver::InitTrack(
if( raceType == RM_TYPE_PRACTICE && (pS->raceInfo.totLaps == 3 || pS->raceInfo.totLaps == 10) )
raceType = RM_TYPE_QUALIF;
LogSHADOW.info("Race type = %s \n", raceTypeStr[raceType]);
LogSHADOW.debug(" # Shadow Race type = %s \n", raceTypeStr[raceType]);
//
// set up the base param path.
@ -328,10 +327,10 @@ void Driver::InitTrack(
double rpm = GfParmGetNum(hCarParm, SECT_PRIV, PRV_GEAR_UP_RPM, "rpm", 8190);
m_gearUpRpm = rpm * 2 * PI / 60;
LogSHADOW.info( "*** gear up rpm: %g (%g)\n", rpm, m_gearUpRpm );
LogSHADOW.debug( "*** gear up rpm: %g (%g)\n", rpm, m_gearUpRpm );
START_HOLD_LINE_TIME = SafeParmGetNum(hCarParm, SECT_PRIV, "start hold line time", 0, 5.0f);
LogSHADOW.info( "*** Start hold line time: %g \n\n", START_HOLD_LINE_TIME );
LogSHADOW.debug( "*** Start hold line time: %g \n\n", START_HOLD_LINE_TIME );
MyTrack::SideMod sideMod[N_PATHS];
string sect;
@ -361,11 +360,11 @@ void Driver::InitTrack(
m_cm[p].KZ_SCALE = SafeParmGetNum(hCarParm, sect.c_str(), PRV_KZ_SCALE, NULL, m_cm[PATH_NORMAL].KZ_SCALE);
m_cm[p].KV_SCALE = SafeParmGetNum(hCarParm, sect.c_str(), PRV_KV_SCALE, NULL, m_cm[PATH_NORMAL].KV_SCALE);
LogSHADOW.info( "*** FLAGS : 0x%02X\n", m_cm[p].FLAGS );
LogSHADOW.info( "*** BRAKE_MU_SCALE[%d]: %.3f\n", p, m_cm[p].BRAKE_MU_SCALE );
LogSHADOW.info( "*** MU_SCALE[%d] : %.3f\n", p, m_cm[p].MU_SCALE );
LogSHADOW.info( "*** KZ_SCALE[%d] : %.3f\n", p, m_cm[p].KZ_SCALE );
LogSHADOW.info( "*** KV_SCALE[%d] : %.3f\n\n", p, m_cm[p].KV_SCALE );
LogSHADOW.debug( "*** FLAGS : 0x%02X\n", m_cm[p].FLAGS );
LogSHADOW.debug( "*** BRAKE_MU_SCALE[%d]: %.3f\n", p, m_cm[p].BRAKE_MU_SCALE );
LogSHADOW.debug( "*** MU_SCALE[%d] : %.3f\n", p, m_cm[p].MU_SCALE );
LogSHADOW.debug( "*** KZ_SCALE[%d] : %.3f\n", p, m_cm[p].KZ_SCALE );
LogSHADOW.debug( "*** KV_SCALE[%d] : %.3f\n\n", p, m_cm[p].KV_SCALE );
for( int i = 0; ; i++ )
{
@ -438,8 +437,8 @@ void Driver::InitTrack(
m_priv[p].SAFETY_MULTIPLIER = SafeParmGetNum(hCarParm, sect.c_str(), PRV_SAFETY_MULTIPLIER, 0, m_priv[p].SAFETY_MULTIPLIER);
m_priv[p].BRAKE_LIMIT = SafeParmGetNum(hCarParm, sect.c_str(), PRV_BRAKE_LIMIT, 0, m_priv[p].BRAKE_LIMIT);
LogSHADOW.info( "FLY_HEIGHT %g\n", m_priv[p].FLY_HEIGHT );
LogSHADOW.info( "BUMP_MOD %d\n\n", m_priv[p].BUMP_MOD );
LogSHADOW.debug( "FLY_HEIGHT %g\n", m_priv[p].FLY_HEIGHT );
LogSHADOW.debug( "BUMP_MOD %d\n\n", m_priv[p].BUMP_MOD );
sideMod[p].side = -1;
@ -457,7 +456,7 @@ void Driver::InitTrack(
LogSHADOW.debug( "STAY_TOGETHER %g\n", m_priv[p].STAY_TOGETHER );
}
LogSHADOW.info( "*** FLAGS: 0x%02X\n\n", m_cm[PATH_NORMAL].FLAGS );
LogSHADOW.debug( "*** FLAGS: 0x%02X\n\n", m_cm[PATH_NORMAL].FLAGS );
m_track.NewTrack( pTrack, &m_priv[PATH_NORMAL].INNER_MOD, false, &sideMod[PATH_NORMAL],
m_priv[PATH_NORMAL].PIT_START_BUF_SEGS );
@ -521,7 +520,7 @@ void Driver::InitTrack(
//load the driver skill level, range 0 - 1
float driver_skill = 0.0f;
snprintf(buf, sizeof(buf), "drivers/%s/%d/skill.xml", MyBotName, INDEX);
LogSHADOW.info("Path skill driver: %s\n", buf);
LogSHADOW.debug("Path skill driver: %s\n", buf);
skillHandle = GfParmReadFile(buf, GFPARM_RMODE_STD);
if (skillHandle)
@ -529,17 +528,17 @@ void Driver::InitTrack(
driver_skill = GfParmGetNum(skillHandle, SECT_SKILL, PRV_SKILL_LEVEL, (char *) NULL, 0.0);
driver_aggression = GfParmGetNum(skillHandle, SECT_SKILL, PRV_SKILL_AGGRO, (char *)NULL, 0.0);
driver_skill = (float)MIN(1.0, MAX(0.0, driver_skill));
LogSHADOW.info(" # Global skill = %.2f - driver skill: %.2f - driver agression: %.2f\n", global_skill, driver_skill, driver_aggression);
LogSHADOW.debug(" # Global skill = %.2f - driver skill: %.2f - driver agression: %.2f\n", global_skill, driver_skill, driver_aggression);
}
skill = (float)((global_skill + driver_skill * 2) * (1.0 + driver_skill));
LogSHADOW.info(" # SHADOW Driver skill = %.2f\n", skill);
LogSHADOW.debug(" # SHADOW Driver skill = %.2f\n", skill);
}
// Start a new race.
void Driver::NewRace( int index, tCarElt* pCar, tSituation* pS )
{
LogSHADOW.info( "Shadow : newRace()\n" );
LogSHADOW.debug( "Shadow : newRace()\n" );
m_nCars = pS->_ncars;
m_myOppIdx = -1;
@ -2447,7 +2446,7 @@ void Driver::Drive( int index, tCarElt* car, tSituation* s )
}
m_raceStart = false;
LogSHADOW.info( "m_avoidS = %g (race start 2)\n", 0.0 );
LogSHADOW.debug( "m_avoidS = %g (race start 2)\n", 0.0 );
m_avoidS = 0;
m_avoidSVel = 0;
m_avoidT = CalcPathTarget(m_track.CalcPos(car), -car->_trkPos.toMiddle);
@ -3451,7 +3450,7 @@ void Driver::calcSkill(tSituation *s)
double rand1 = (double) getRandom() / 65536.0; // how long we'll change speed for
double rand2 = (double) getRandom() / 65536.0; // the actual speed change
double rand3 = (double) getRandom() / 65536.0; // whether change is positive or negative
LogSHADOW.info(" # Random 1 = %.3f - Random 2 = %.3f - Random 3 = %.3f\n", rand1, rand2, rand3);
LogSHADOW.debug(" # Random 1 = %.3f - Random 2 = %.3f - Random 3 = %.3f\n", rand1, rand2, rand3);
// acceleration to use in current time limit
decel_adjust_targ = (skill/4 * rand1);
@ -3474,7 +3473,7 @@ void Driver::calcSkill(tSituation *s)
else
brake_adjust_perc -= MIN(deltaTime*2, brake_adjust_perc - brake_adjust_targ);*/
LogSHADOW.info("skill: decel %.3f - %.3f, brake %.3f - %.3f\n", decel_adjust_perc, decel_adjust_targ, brake_adjust_perc, brake_adjust_targ);
LogSHADOW.debug("skill: decel %.3f - %.3f, brake %.3f - %.3f\n", decel_adjust_perc, decel_adjust_targ, brake_adjust_perc, brake_adjust_targ);
}
void Driver::SetRandomSeed(unsigned int seed)