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- Update USR for last problem with raceinit.

Browse source 
- Update mpa12-murasama (by Julien)
- Update mpa1 with new scheme (short/long/road)


git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6063 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 74888527b26ad833654cd215f65ed125b9ff1374
Former-commit-id: a612a0e2384f5fe256d642d764ab121e3cdf7e93
This commit is contained in:
torcs-ng 2015-08-09 15:23:58 +00:00
parent 68c1cf727f
commit 19c00fef27
7 changed files with 983 additions and 513 deletions
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2
src/drivers/usr/CMakeLists.txt
View file

@ -37,7 +37,7 @@ SET(ROBOT_SOURCES
src/spline.cpp
src/strategy.h
src/strategy.cpp
src/xmldefs.h)
src/globaldefs.h)
# Official-only USR instances.
SET(ROBOT_CLONES usr_trb1 usr_sc usr_ls1 usr_ls2 usr_mpa1 usr_mpa11 usr_mpa12 usr_36GP usr_rs usr_lp1)

205
src/drivers/usr/src/driver.cpp
View file

@ -21,6 +21,39 @@
#define CONTROL_SKILL
//==========================================================================*
// Statics
//--------------------------------------------------------------------------*
int Driver::NBBOTS = MAX_NBBOTS; // Nbr of drivers/robots
const char* Driver::MyBotName = "usr"; // Name of this bot
const char* Driver::ROBOT_DIR = "drivers/usr";// Sub path to dll
const char* Driver::SECT_PRIV = "private";// Private section
const char* Driver::DEFAULTCARTYPE = "car1-trb1";// Default car type
int Driver::RobotType = 0;
bool Driver::AdvancedParameters = false; // Advanced parameters
bool Driver::UseOldSkilling = false; // Use old skilling
bool Driver::UseSCSkilling = false; // Use supercar skilling
bool Driver::UseMPA1Skilling = false; // Use mpa1 car skilling
float Driver::SkillingFactor = 0.1f; // Skilling factor for career-mode
bool Driver::UseBrakeLimit = false; // Use brake limit
bool Driver::UseGPBrakeLimit = false; // Use brake limit GP36
bool Driver::UseRacinglineParameters = false; // Use racingline parameters
bool Driver::UseWingControl = false; // Use wing control parameters
float Driver::BrakeLimit = -6; // Brake limit
float Driver::BrakeLimitBase = 0.025f; // Brake limit base
float Driver::BrakeLimitScale = 25; // Brake limit scale
float Driver::SpeedLimitBase = 0.025f; // Speed limit base
float Driver::SpeedLimitScale = 25; // Speed limit scale
bool Driver::FirstPropagation = true; // Initialize
bool Driver::Learning = false; // Initialize
double Driver::LengthMargin; // safety margin long.
bool Driver::Qualification; // Global flag
static const char *WheelSect[4] = // TORCS defined sections
{SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
static const char *WingSect[2] =
{SECT_FRNTWING, SECT_REARWING};
//const float Driver::MAX_UNSTUCK_ANGLE = (float)(15.0f/180.0f*PI); // [radians] If the angle of the car on the track is smaller, we assume we are not stuck.
const float Driver::MAX_UNSTUCK_ANGLE = 1.3f;
const float Driver::UNSTUCK_TIME_LIMIT = 2.5f; // [s] We try to get unstuck after this time.
@ -62,7 +95,70 @@ enum { STUCK_REVERSE = 1, STUCK_FORWARD = 2 };
Cardata *Driver::cardata = NULL;
static int current_light = RM_LIGHT_HEAD1 | RM_LIGHT_HEAD2;
Driver::Driver(int index, const int robot_type) :
#define BUFLEN 256
static char PathFilenameBuffer[BUFLEN]; // for path and filename
#define RANDOM_SEED 0xfded
#define RANDOM_A 1664525
#define RANDOM_C 1013904223
//==========================================================================*
// Set name of robot (and other appendant features)
//--------------------------------------------------------------------------*
void Driver::SetBotName(void* RobotSettings, char* Value)
{
// At this point TORCS gives us no information
// about the name of the driver, the team and
// our own car type!
// Because we want it to set the name as defined
// in the teams xml file and to load depending
// setup files we have to find it out:
// Needed for Career mode?
/*if (CarType)
free (CarType);*/
CarType = NULL;
char SectionBuffer[256]; // Buffer
char indexstr[32];
snprintf(SectionBuffer, BUFLEN, "%s/%s/%d", ROB_SECT_ROBOTS, ROB_LIST_INDEX, m_Index);
char* Section = SectionBuffer;
// Modified to avoid memory leaks
// Speed dreams has a trick to find out the oCarType
RtGetCarindexString(m_Index, "usr", (char) m_Extended, indexstr, 32);
if( m_Extended )
CarType = strdup( indexstr );
else // avoid empty car type
CarType = strdup(GfParmGetStr(RobotSettings, Section, ROB_ATTR_CAR, DEFAULTCARTYPE)); // section, default car type
m_BotName = Value; // Get pointer to drv. name
m_TeamName = GfParmGetStr(RobotSettings, Section, ROB_ATTR_TEAM, (char *) CarType); // section, default car type
m_RaceNumber = (int) GfParmGetNum(RobotSettings, Section, ROB_ATTR_RACENUM, (char *) NULL, (tdble) m_Index + 1); // section, index as default
LogUSR.debug("#Bot name : %s\n", m_BotName);
LogUSR.debug("#Team name : %s\n", m_TeamName);
LogUSR.debug("#Car type : %s\n", CarType);
LogUSR.debug("#Race number : %d\n", m_RaceNumber);
};
void Driver::SetRandomSeed(unsigned int seed)
{
random_seed = seed ? seed : RANDOM_SEED;
return;
}
unsigned int Driver::getRandom()
{
random_seed = RANDOM_A * random_seed + RANDOM_C;
return (random_seed >> 16);
}
Driver::Driver(int index) :
HasABS(false),
HasESP(false),
HasTCL(false),
@ -210,49 +306,43 @@ Driver::Driver(int index, const int robot_type) :
cmd_light(0.0f),
mRain(0)
{
INDEX = index;
LogUSR.debug("\n#TDriver::TDriver() >>>\n\n");
int I;
m_Index = index; // Save own index
m_Extended = ( index < 0 || index >= NBBOTS ) ? 1 : 0; // is extended or not
switch(robot_type) {
case USR_TRB1:
robot_name = "usr_trb1";
break;
// Motion survey
/*oSysFooStuckX = new TSysFoo(1,128); // Ringbuffer for X
oSysFooStuckY = new TSysFoo(1,128); // and Y coordinates
case USR_SC:
robot_name = "usr_sc";
break;
// Steering: Control offset from path
oPIDCLine.oP = 1.0;
oPIDCLine.oD = 10;
case USR_LS1:
robot_name = "usr_ls1";
break;
// Braking: Control speed difference
oPIDCBrake.oP = 20.0;
oPIDCBrake.oI = 0.0;
oPIDCBrake.oD = 30.0;
oPIDCBrake.oMaxTotal = 0.0;
oPIDCBrake.oMinTotal = 0.0;
case USR_LS2:
robot_name = "usr_ls2";
break;
// StartRPM: Control engine revs while prestart
oPIDCStart.oP = 12.00; // Proportional factor
oPIDCStart.oI = 1.0; // Integrative factor
oPIDCStart.oD = 2.0; // Differential factor
case USR_36GP:
robot_name = "usr_36GP";
break;
for (I = 0; I <= NBR_BRAKECOEFF; I++) // Initialize braking
oBrakeCoeff[I] = 0.5;
case USR_RS:
robot_name = "usr_rs";
break;
NBRRL = gNBR_RL; // Setup number
oRL_FREE = RL_FREE; // and index for
oRL_LEFT = RL_LEFT; // normal races
oRL_RIGHT = RL_RIGHT;*/
case USR_LP1:
robot_name = "usr_lp1";
break;
//Driver::LengthMargin = LENGTH_MARGIN; // Initialize safty margin
//enableCarNeedsSinLong = false;
case USR_MPA1:
robot_name = "usr_mpa1";
break;
case USR_MPA11:
robot_name = "usr_mpa11";
break;
case USR_MPA12:
robot_name = "usr_mpa12";
break;
}
LogUSR.debug("\n#<<< Driver::Driver()\n\n");
}
@ -276,32 +366,11 @@ Driver::~Driver()
free(tLftMargin);
free(tRgtMargin);
free(tYawRateAccel);
if (CarType != NULL)
free(CarType);
}
#define RANDOM_SEED 0xfded
#define RANDOM_A 1664525
#define RANDOM_C 1013904223
#define BUFLEN 256
void Driver::SetBotName(const char* Value)
{
CarType = Value;
LogUSR.debug("#Car Name : %s\n",CarType);
};
void Driver::SetRandomSeed(unsigned int seed)
{
random_seed = seed ? seed : RANDOM_SEED;
return;
}
unsigned int Driver::getRandom()
{
random_seed = RANDOM_A * random_seed + RANDOM_C;
return (random_seed >> 16);
}
// Called for every track change or new race.
void Driver::initTrack(tTrack* t, void *carHandle, void **carParmHandle, tSituation *s)
{
@ -329,9 +398,13 @@ void Driver::initTrack(tTrack* t, void *carHandle, void **carParmHandle, tSituat
global_skill = MAX(0.0f, MIN(10.0f, global_skill));
// Initialize the base param path
const char* BaseParamPath = Driver::ROBOT_DIR;
const char* PathFilename = PathFilenameBuffer;
//load the driver skill level, range 0 - 1
float driver_skill = 0.0f;
snprintf(buffer, BUFSIZE, "drivers/%s/%d/skill.xml",robot_name,INDEX);
snprintf(buffer, BUFSIZE, "%s/%d/skill.xml", BaseParamPath, m_Index);
skillHandle = GfParmReadFile(buffer, GFPARM_RMODE_STD);
if (skillHandle)
{
@ -357,7 +430,7 @@ void Driver::initTrack(tTrack* t, void *carHandle, void **carParmHandle, tSituat
mRain = getWeather();
//if (mRain == 0)
snprintf(buffer, BUFSIZE, "drivers/%s/%s/default.xml", robot_name, CarType);
snprintf(buffer, BUFSIZE, "%s/%s/default.xml", BaseParamPath, CarType);
/*else
snprintf(buffer, BUFSIZE, "drivers/%s/%s/default-%d.xml",robot_name, carName, mRain);*/
@ -365,9 +438,9 @@ void Driver::initTrack(tTrack* t, void *carHandle, void **carParmHandle, tSituat
void *newhandle;
if (mRain == 0)
snprintf(buffer, BUFSIZE, "drivers/%s/%s/%s.xml", robot_name, CarType, trackname);
snprintf(buffer, BUFSIZE, "%s/%s/%s.xml", BaseParamPath, CarType, trackname);
else
snprintf(buffer, BUFSIZE, "drivers/%s/%s/%s-%d.xml",robot_name, CarType, trackname, mRain);
snprintf(buffer, BUFSIZE, "%s/%s/%s-%d.xml", BaseParamPath, CarType, trackname, mRain);
newhandle = GfParmReadFile(buffer, GFPARM_RMODE_STD);
if (newhandle)
@ -380,9 +453,9 @@ void Driver::initTrack(tTrack* t, void *carHandle, void **carParmHandle, tSituat
else
{
if (mRain == 0)
snprintf(buffer, BUFSIZE, "drivers/%s/%s/%s.xml", robot_name, CarType, trackname);
snprintf(buffer, BUFSIZE, "%s/%s/%s.xml", BaseParamPath, CarType, trackname);
else
snprintf(buffer, BUFSIZE, "drivers/%s/%s/%s-%d.xml",robot_name, CarType, trackname, mRain);
snprintf(buffer, BUFSIZE, "%s/%s/%s-%d.xml", BaseParamPath, CarType, trackname, mRain);
newhandle = GfParmReadFile(buffer, GFPARM_RMODE_STD);
if (newhandle)

54
src/drivers/usr/src/driver.h
View file

@ -39,10 +39,7 @@
#include "cardata.h"
#include "raceline.h"
#include "mod.h"
#include "xmldefs.h"
extern GfLogger* PLogUSR;
#define LogUSR (*PLogUSR)
#include "globaldefs.h"
class Opponents;
class Opponent;
@ -53,14 +50,14 @@ class SimpleStrategy;
enum { TEAM_FRIEND=1, TEAM_FOE };
enum { avoidleft=1, avoidright=2, avoidside=4, avoidsideclosing=8, avoidback=16 };
enum { debug_steer=1, debug_overtake=2, debug_brake=4 };
enum { USR_TRB1=1, USR_SC, USR_LS1, USR_LS2, USR_36GP, USR_RS, USR_LP1, USR_MPA1, USR_MPA11, USR_MPA12 };
class Driver {
class Driver
{
public:
Driver(int index, const int robot_type);
Driver(int index);
~Driver();
void SetBotName(const char *Value);
void SetBotName(void* RobotSettings, char* Value);
// Callback functions called from Speed Dreams / TORCS.
void initTrack(tTrack* t, void *carHandle, void **carParmHandle, tSituation *s);
@ -98,6 +95,38 @@ public:
double TyreTreadDepthFront();
double TyreTreadDepthRear();
// Per robot global data.
static int NBBOTS; // Nbr of cars
double CurrSimTime; // Current simulation time
static const char* MyBotName; // Name of this bot
static const char* ROBOT_DIR; // Sub path to dll
static const char* SECT_PRIV; // Private section
static const char* DEFAULTCARTYPE; // Default car type
static int RobotType;
static bool AdvancedParameters;
static bool UseOldSkilling;
static bool UseSCSkilling;
static bool UseMPA1Skilling;
static float SkillingFactor;
static bool UseBrakeLimit;
static bool UseGPBrakeLimit;
static bool UseRacinglineParameters;
static bool UseWingControl;
static float BrakeLimit;
static float BrakeLimitScale;
static float BrakeLimitBase;
static float SpeedLimitScale;
static float SpeedLimitBase;
static bool FirstPropagation;
static bool Learning;
static double LengthMargin; // Length margin
static bool Qualification; // Flag qualifying
int m_Index;
int m_Extended;
bool HasABS;
bool HasESP;
bool HasTCL;
@ -163,9 +192,8 @@ private:
float stuckSteering( float steercmd );
// Per robot global data.
const char *robot_name;
const char *CarType;
char* CarType; // Type name of own car
int NoTeamWaiting;
float TeamWaitTime;
float truespeed;
@ -206,6 +234,10 @@ private:
float avgaccel_x;
double wheelz[4];
char *m_BotName; // Name of driver
const char *m_TeamName; // Name of team
int m_RaceNumber; // Race number
tCarElt *car; // Pointer to tCarElt struct.
LRaceLine *raceline; // pointer to the raceline instance

1181
src/drivers/usr/src/usr.cpp
View file

File diff suppressed because it is too large Load diff

50
src/interfaces/robot.h
View file

@ -82,37 +82,37 @@ typedef struct RobotItf {
/*
* Parameters definitions for driver
*/
#define ROB_SECT_ROBOTS "Robots"
#define ROB_SECT_ROBOTS "Robots"
#define ROB_LIST_INDEX "index"
#define ROB_LIST_INDEX "index"
#define ROB_ATTR_NAME "name"
#define ROB_ATTR_SNAME "short name"
#define ROB_ATTR_CODE "code name" //3-letter abbreviated name
#define ROB_ATTR_TEAM "team"
#define ROB_ATTR_DESC "desc"
#define ROB_ATTR_AUTHOR "author"
#define ROB_ATTR_CAR "car name"
#define ROB_ATTR_CATEGORY "category"
#define ROB_ATTR_RACENUM "race number"
#define ROB_ATTR_RED "red"
#define ROB_ATTR_GREEN "green"
#define ROB_ATTR_BLUE "blue"
#define ROB_ATTR_NAME "name"
#define ROB_ATTR_SNAME "short name"
#define ROB_ATTR_CODE "code name" //3-letter abbreviated name
#define ROB_ATTR_TEAM "team"
#define ROB_ATTR_DESC "desc"
#define ROB_ATTR_AUTHOR "author"
#define ROB_ATTR_CAR "car name"
#define ROB_ATTR_CATEGORY "category"
#define ROB_ATTR_RACENUM "race number"
#define ROB_ATTR_RED "red"
#define ROB_ATTR_GREEN "green"
#define ROB_ATTR_BLUE "blue"
#define ROB_ATTR_TYPE "type"
#define ROB_ATTR_TYPE "type"
#define ROB_VAL_HUMAN "human"
#define ROB_VAL_ROBOT "robot"
#define ROB_ATTR_LEVEL "skill level"
#define ROB_ATTR_FEATURES "features"
#define ROB_VAL_HUMAN "human"
#define ROB_VAL_ROBOT "robot"
#define ROB_ATTR_LEVEL "skill level"
#define ROB_ATTR_FEATURES "features"
#define ROB_VAL_ROOKIE "rookie"
#define ROB_VAL_AMATEUR "amateur"
#define ROB_VAL_SEMI_PRO "semi-pro"
#define ROB_VAL_PRO "pro"
#define ROB_SECT_ARBITRARY "Robots/arbitrary cars"
#define ROB_VAL_ROOKIE "rookie"
#define ROB_VAL_AMATEUR "amateur"
#define ROB_VAL_SEMI_PRO "semi-pro"
#define ROB_VAL_PRO "pro"
#define ROB_SECT_ARBITRARY "Robots/arbitrary cars"
#define ROB_VAL_FEATURE_PENALTIES "penalties"
#define ROB_VAL_FEATURE_PENALTIES "penalties"
#define ROB_VAL_FEATURE_TIMEDSESSION "timed session"
#define ROB_VAL_FEATURE_WETTRACK "wet track"

2
src/modules/racing/genparoptv1/raceinit.cpp
View file

@ -566,7 +566,7 @@ static tCarElt* reLoadSingleCar( int carindex, int listindex, int modindex, int
carindex, listindex, elt->_modName, elt->_name, elt->_carName,
elt->_category, elt->_skinName, elt->_skinTargets);
if ((strncmp(carname.c_str(), "mpa11", 5) == 0) || (strncmp(carname.c_str(), "mpa12", 5) == 0))
if ((strncmp(carname.c_str(), "mpa1", 4) == 0))
{
if (strcmp(subcategory, "long") == 0)
carname = carname+"-long";

2
src/modules/racing/standardgame/raceinit.cpp
View file

@ -624,7 +624,7 @@ static tCarElt* reLoadSingleCar( int carindex, int listindex, int modindex, int
carindex, listindex, elt->_modName, elt->_name, elt->_carName,
elt->_category, elt->_skinName, elt->_skinTargets);
if ((strncmp(carname.c_str(), "mpa11", 5) == 0) || (strncmp(carname.c_str(), "mpa12", 5) == 0))
if ((strncmp(carname.c_str(), "mpa1", 4) == 0))
{
if (strcmp(subcategory, "long") == 0)
carname = carname+"-long";