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- Update USR's Code

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6666 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 31d9dc8e0c92ac47e0697b6867a3f06e8096cf24
Former-commit-id: 187cd4511a8b3c7b8af2f3eec7f2d3bf9995c3f1
This commit is contained in:
torcs-ng 2019-05-26 22:55:58 +00:00
parent 62e2d4d1fc
commit 8cbf96ac37
2 changed files with 55 additions and 59 deletions
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97
src/drivers/usr/src/driver.cpp
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@ -619,27 +619,27 @@ void Driver::drive(tSituation *s)
} }
if (target_line != test_rnd_raceline) if (target_line != test_rnd_raceline)
{ {
fprintf(stderr, "%d/%d ", rnd, target_line); LogUSR.debug("%d/%d ", rnd, target_line);
line_timer = s->currentTime; line_timer = s->currentTime;
if (target_line == LINE_RL) if (target_line == LINE_RL)
{ {
//linemode->setRecoveryToRaceLine(); //linemode->setRecoveryToRaceLine();
SetMode(correcting, 0.0, 1.0); SetMode(correcting, 0.0, 1.0);
fprintf(stderr, " Switching to %s from %s\n", lineName[target_line], lineName[test_rnd_raceline]);fflush(stderr); LogUSR.debug(" Switching to %s from %s\n", lineName[target_line], lineName[test_rnd_raceline]);
} }
else if (target_line == LINE_LEFT) else if (target_line == LINE_LEFT)
{ {
//linemode->setAvoidanceToLeft(); //linemode->setAvoidanceToLeft();
double rightMargin = 0.9 - (double)(rand() % 75) / 100.0; double rightMargin = 0.9 - (double)(rand() % 75) / 100.0;
SetMode(avoidright, 0.0, rightMargin); SetMode(avoidright, 0.0, rightMargin);
fprintf(stderr, "Switching to %s from %s (rgt %.3f)\n", lineName[target_line], lineName[test_rnd_raceline], rightMargin);fflush(stderr); LogUSR.debug("Switching to %s from %s (rgt %.3f)\n", lineName[target_line], lineName[test_rnd_raceline], rightMargin);
} }
else if (target_line == LINE_RIGHT) else if (target_line == LINE_RIGHT)
{ {
//linemode->setAvoidanceToRight(); //linemode->setAvoidanceToRight();
double leftMargin = 0.1 + (double)(rand() % 75) / 100.0; double leftMargin = 0.1 + (double)(rand() % 75) / 100.0;
SetMode(avoidleft, leftMargin, 1.0); SetMode(avoidleft, leftMargin, 1.0);
fprintf(stderr, "Switching to %s from %s (lft %.3f)\n", lineName[target_line], lineName[test_rnd_raceline], leftMargin);fflush(stderr); LogUSR.debug("Switching to %s from %s (lft %.3f)\n", lineName[target_line], lineName[test_rnd_raceline], leftMargin);
} }
else if (target_line == LINE_MID) else if (target_line == LINE_MID)
{ {
@ -649,7 +649,7 @@ void Driver::drive(tSituation *s)
if (leftMargin > rightMargin) if (leftMargin > rightMargin)
leftMargin = rightMargin; leftMargin = rightMargin;
SetMode(avoidleft|avoidright, leftMargin, rightMargin); SetMode(avoidleft|avoidright, leftMargin, rightMargin);
fprintf(stderr, "Switching to %s from %s (%.3f %.3f)\n", lineName[target_line], lineName[test_rnd_raceline], leftMargin, rightMargin);fflush(stderr); LogUSR.debug("Switching to %s from %s (%.3f %.3f)\n", lineName[target_line], lineName[test_rnd_raceline], leftMargin, rightMargin);
} }
test_rnd_raceline = target_line; test_rnd_raceline = target_line;
} }
@ -816,21 +816,21 @@ void Driver::shutdown(void)
/*============== Print Parameters at Setup ===================*/ /*============== Print Parameters at Setup ===================*/
void Driver::showSetup() void Driver::showSetup()
{ {
fprintf(stderr, "######### %s #########\n", car->_name); LogUSR.debug("######### %s #########\n", car->_name);
fprintf(stderr, "# %s: Mode verbose= %d\n", car->_name, modeVerbose); LogUSR.debug("# %s: Mode verbose= %d\n", car->_name, modeVerbose);
fprintf(stderr, "# %s: Strategy verbose= %d\n", car->_name, m_strategyverbose); LogUSR.debug("# %s: Strategy verbose= %d\n", car->_name, m_strategyverbose);
fprintf(stderr, "# %s: Steering verbose= %d\n", car->_name, m_steerverbose); LogUSR.debug("# %s: Steering verbose= %d\n", car->_name, m_steerverbose);
fprintf(stderr, "# %s: Check QualifTime= %d\n", car->_name, m_testQualifTime); LogUSR.debug("# %s: Check QualifTime= %d\n", car->_name, m_testQualifTime);
fprintf(stderr, "# %s: Check Pitstop= %d\n", car->_name, m_testPitstop); LogUSR.debug("# %s: Check Pitstop= %d\n", car->_name, m_testPitstop);
fprintf(stderr, "# \n"); LogUSR.debug("# \n");
fprintf(stderr, "# %s: fuelPerMeter= %.5f\n", car->_name, m_fuelPerMeter); LogUSR.debug("# %s: fuelPerMeter= %.5f\n", car->_name, m_fuelPerMeter);
fprintf(stderr, "# %s: PitDamage= %d\n", car->_name, m_maxDammage); LogUSR.debug("# %s: PitDamage= %d\n", car->_name, m_maxDammage);
fprintf(stderr, "# %s: Fuel strategy= %d\n", car->_name, m_fuelStrat); LogUSR.debug("# %s: Fuel strategy= %d\n", car->_name, m_fuelStrat);
fprintf(stderr, "# \n"); LogUSR.debug("# \n");
fprintf(stderr, "# %s: Brake delay= %.1f\n", car->_name, brakedelay); LogUSR.debug("# %s: Brake delay= %.1f\n", car->_name, brakedelay);
fprintf(stderr, "# %s: Corner speed= %.1f\n", car->_name, CornerSpeed); LogUSR.debug("# %s: Corner speed= %.1f\n", car->_name, CornerSpeed);
fprintf(stderr, "# %s: Pit Offset= %.1f\n", car->_name, PitOffset); LogUSR.debug("# %s: Pit Offset= %.1f\n", car->_name, PitOffset);
fprintf(stderr, "# %s: Let Pass= %.2f\n", car->_name, LetPass); LogUSR.debug("# %s: Let Pass= %.2f\n", car->_name, LetPass);
} }
/*========================================================*/ /*========================================================*/
@ -983,12 +983,16 @@ float Driver::getBrake()
} }
if (brakenow) if (brakenow)
{ {
if (car->_speed_x > 0.001) { fprintf(stderr, "%.1f %.1f\n", car->_speed_x, (car->_trkPos.seg->lgfromstart + car->_trkPos.toStart) - brakedist);fflush(stderr);} if (car->_speed_x > 0.001)
{
LogUSR.debug("%.1f %.1f\n", car->_speed_x, (car->_trkPos.seg->lgfromstart + car->_trkPos.toStart) - brakedist);
}
return 1.0; return 1.0;
} }
#endif #endif
// Car drives backward? // Car drives backward?
if (car->_speed_x < -MAX_UNSTUCK_SPEED) { if (car->_speed_x < -MAX_UNSTUCK_SPEED)
{
// Yes, brake. // Yes, brake.
return 1.0; return 1.0;
} }
@ -1898,7 +1902,7 @@ float Driver::getOffset()
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
if (overtake_test_timer == simtime) if (overtake_test_timer == simtime)
{ {
fprintf(stderr, "OVERTAKE - nothing to overtake\n"); LogUSR.debug("OVERTAKE - nothing to overtake\n");
} }
fflush(stderr); fflush(stderr);
#endif #endif
@ -1930,7 +1934,7 @@ float Driver::getOffset()
} }
else if(opp->getState() & OPP_LETPASS) else if(opp->getState() & OPP_LETPASS)
{ {
fprintf(stderr, "%s >> Opponent:%s LETPASS=%d\n", car->_name, opponent[i].getCarPtr()->_name,(opp->getState()&OPP_LETPASS)); LogUSR.debug("%s >> Opponent:%s LETPASS=%d\n", car->_name, opponent[i].getCarPtr()->_name,(opp->getState()&OPP_LETPASS));
fflush(stderr); fflush(stderr);
} }
*/ */
@ -1946,7 +1950,7 @@ float Driver::getOffset()
// Behind, larger distances are smaller ("more negative"). // Behind, larger distances are smaller ("more negative").
if (opponent[i].getDistance() > mindist && opponent[i].getDistance() < 0.0) { if (opponent[i].getDistance() > mindist && opponent[i].getDistance() < 0.0) {
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "OVERLAPPER: %s distance %.1f\n", opponent[i].getCarPtr()->_name,opponent[i].getDistance()); fflush(stderr); LogUSR.debug("OVERLAPPER: %s distance %.1f\n", opponent[i].getCarPtr()->_name,opponent[i].getDistance());
#endif #endif
mindist = opponent[i].getDistance(); mindist = opponent[i].getDistance();
o = &opponent[i]; o = &opponent[i];
@ -1979,7 +1983,7 @@ float Driver::getOffset()
leftMargin = MIN(rightMargin, MAX(leftMargin, (oppCarTR + MAX(0.0, o->getAvgLateralMovt() * 2)) / track->width)); leftMargin = MIN(rightMargin, MAX(leftMargin, (oppCarTR + MAX(0.0, o->getAvgLateralMovt() * 2)) / track->width));
} }
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "back avoidmode = %s%s\n",(avoidmode & avoidleft) ? "right " : "",(avoidmode & avoidright) ? "left" : "");fflush(stderr); LogUSR.debug("back avoidmode = %s%s\n",(avoidmode & avoidleft) ? "right " : "",(avoidmode & avoidright) ? "left" : "");
#endif #endif
if (avoidmode) if (avoidmode)
{ {
@ -2049,7 +2053,7 @@ float Driver::getOffset()
{ {
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
if (linemode->GetLeftTargetMargin() != 0.0 || linemode->GetRightTargetMargin() != 1.0) if (linemode->GetLeftTargetMargin() != 0.0 || linemode->GetRightTargetMargin() != 1.0)
fprintf(stderr, "Set Correcting...\n"); LogUSR.debug("Set Correcting...\n");
#endif #endif
SetMode(correcting, 0.0, 1.0, true); SetMode(correcting, 0.0, 1.0, true);
} }
@ -2057,7 +2061,7 @@ float Driver::getOffset()
else else
{ {
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "Can't correct as %.3f - %.3f < %.2f\n",situation->currentTime,overtake_timer, MAX(0.2, (car->_speed_x / 50) - fabs(raceline->tRInverse[LINE_RL][raceline->Next])*10)); LogUSR.debug("Can't correct as %.3f - %.3f < %.2f\n",situation->currentTime,overtake_timer, MAX(0.2, (car->_speed_x / 50) - fabs(raceline->tRInverse[LINE_RL][raceline->Next])*10));
#endif #endif
} }
@ -2121,7 +2125,7 @@ bool Driver::CheckOvertaking(double minLeftMargin, double maxRightMargin)
if ((opponent[i].getState() & OPP_FRONT_FOLLOW)) if ((opponent[i].getState() & OPP_FRONT_FOLLOW))
{ {
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: IGNORED, Following\n", car->_name, ocar->_name); fflush(stderr); LogUSR.debug("%s >> %s: IGNORED, Following\n", car->_name, ocar->_name);
#endif #endif
continue; continue;
} }
@ -2144,7 +2148,7 @@ bool Driver::CheckOvertaking(double minLeftMargin, double maxRightMargin)
!(opponent[i].getState() & OPP_COLL)) !(opponent[i].getState() & OPP_COLL))
{ {
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: IGNORED, Off Track\n", car->_name, ocar->_name); fflush(stderr); LogUSR.debug("%s >> %s: IGNORED, Off Track\n", car->_name, ocar->_name);
#endif #endif
continue; continue;
} }
@ -2165,7 +2169,7 @@ bool Driver::CheckOvertaking(double minLeftMargin, double maxRightMargin)
if (MAX(myCurrentSpeed, myMaxSpeed) <= ospeed - (fabsRInverse > 0.005 ? MAX(0.3, 1.0 - fabsRInverse * 50) : MAX(1.0, 5.0 - car->_speed_x/25.0))) if (MAX(myCurrentSpeed, myMaxSpeed) <= ospeed - (fabsRInverse > 0.005 ? MAX(0.3, 1.0 - fabsRInverse * 50) : MAX(1.0, 5.0 - car->_speed_x/25.0)))
{ {
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: IGNORED, too fast for us\n", car->_name, ocar->_name); fflush(stderr); LogUSR.debug("%s >> %s: IGNORED, too fast for us\n", car->_name, ocar->_name);
#endif #endif
continue; continue;
} }
@ -2173,7 +2177,7 @@ bool Driver::CheckOvertaking(double minLeftMargin, double maxRightMargin)
if (opponent[i].getHasSlowerSpeed()) if (opponent[i].getHasSlowerSpeed())
{ {
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: IGNORED, slower speed between us and collision point\n", car->_name, ocar->_name); fflush(stderr); LogUSR.debug("%s >> %s: IGNORED, slower speed between us and collision point\n", car->_name, ocar->_name);
#endif #endif
continue; continue;
} }
@ -2193,7 +2197,7 @@ bool Driver::CheckOvertaking(double minLeftMargin, double maxRightMargin)
if (speedDiff < minSpeedDiff && !nearBrakingZone && !opponent[i].getWithinBrakeDist()) if (speedDiff < minSpeedDiff && !nearBrakingZone && !opponent[i].getWithinBrakeDist())
{ {
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: IGNORED, speed diff %.2f < %.2f\n", car->_name, ocar->_name, speedDiff, minSpeedDiff); fflush(stderr); LogUSR.debug("%s >> %s: IGNORED, speed diff %.2f < %.2f\n", car->_name, ocar->_name, speedDiff, minSpeedDiff);
#endif #endif
continue; continue;
} }
@ -2209,13 +2213,13 @@ bool Driver::CheckOvertaking(double minLeftMargin, double maxRightMargin)
if ((catchtime < 0.0 || (MIN(distance, catchtime) > importance))) if ((catchtime < 0.0 || (MIN(distance, catchtime) > importance)))
{ {
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: IGNORED, catchtime %.4f > importance %.4f dist=%.3f\n", car->_name, ocar->_name, catchtime, importance, distance); fflush(stderr); LogUSR.debug("%s >> %s: IGNORED, catchtime %.4f > importance %.4f dist=%.3f\n", car->_name, ocar->_name, catchtime, importance, distance);
#endif #endif
continue; continue;
} }
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: CONSIDERING, catchtime/10 %.4f < importance %.4f, nbz %d wBD %d\n", car->_name, ocar->_name, catchtime/10, importance, nearBrakingZone, opponent[i].getWithinBrakeDist()); fflush(stderr); LogUSR.debug("%s >> %s: CONSIDERING, catchtime/10 %.4f < importance %.4f, nbz %d wBD %d\n", car->_name, ocar->_name, catchtime/10, importance, nearBrakingZone, opponent[i].getWithinBrakeDist());
#endif #endif
for (j = 0; j < oppCount; j++) for (j = 0; j < oppCount; j++)
@ -2304,7 +2308,7 @@ bool Driver::CheckOvertaking(double minLeftMargin, double maxRightMargin)
if (oppAvoidLft < minLft && oppAvoidRgt > maxRgt) if (oppAvoidLft < minLft && oppAvoidRgt > maxRgt)
{ {
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: BLOCKED! %.2f < %.2f and %.2f > %.2f\n", car->_name, ocar->_name, oppAvoidLft, minLft, oppAvoidRgt, maxRgt); fflush(stderr); LogUSR.debug("%s >> %s: BLOCKED! %.2f < %.2f and %.2f > %.2f\n", car->_name, ocar->_name, oppAvoidLft, minLft, oppAvoidRgt, maxRgt);
#endif #endif
continue; continue;
} }
@ -2392,7 +2396,7 @@ bool Driver::CheckOvertaking(double minLeftMargin, double maxRightMargin)
bool avoid2Rgt = (space2Right && curRspeed >= ocar->_speed_x && (rightSlowSpeedRatio <= (curRspeed * rgt_caution) / MAX(1.0, ocar->_speed_x))); bool avoid2Rgt = (space2Right && curRspeed >= ocar->_speed_x && (rightSlowSpeedRatio <= (curRspeed * rgt_caution) / MAX(1.0, ocar->_speed_x)));
bool avoid2Lft = (space2Left && curLspeed >= ocar->_speed_x && (leftSlowSpeedRatio <= (curLspeed * lft_caution) / MAX(1.0, ocar->_speed_x))); bool avoid2Lft = (space2Left && curLspeed >= ocar->_speed_x && (leftSlowSpeedRatio <= (curLspeed * lft_caution) / MAX(1.0, ocar->_speed_x)));
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s -> %s spd=%.3f/%.3f a2L=%d %d spd=%.3f/%.3f [%d (%.3f %.3f) %d %d] (%.6f <= (%.3f/%.1f)=%.3f) a2R=%d %d spd=%.3f/%.3f [%d (%.3f %.3f) %d %d] (%.6f <= (%.3f/%.1f)=%.3f\n", car->_name, ocar->_name, car->_speed_x,ocar->_speed_x,avoid2Lft, space2Left, curLspeed, minLspeed, oppAvoidLft >= minLft, oppAvoidLft, minLft, curLspeed >= ocar->_speed_x, leftSlowSpeedRatio <= (curLspeed * lft_caution) / ocar->_speed_x, leftSlowSpeedRatio,curLspeed*lft_caution,ocar->_speed_x,(curLspeed*lft_caution)/ocar->_speed_x,avoid2Rgt, space2Right, curRspeed,minRspeed,oppAvoidRgt <= maxRgt, oppAvoidRgt, maxRgt, curRspeed >= ocar->_speed_x, rightSlowSpeedRatio <= (curRspeed * rgt_caution) / ocar->_speed_x,rightSlowSpeedRatio,curRspeed*rgt_caution,ocar->_speed_x,(curRspeed*rgt_caution)/ocar->_speed_x); LogUSR.debug("%s -> %s spd=%.3f/%.3f a2L=%d %d spd=%.3f/%.3f [%d (%.3f %.3f) %d %d] (%.6f <= (%.3f/%.1f)=%.3f) a2R=%d %d spd=%.3f/%.3f [%d (%.3f %.3f) %d %d] (%.6f <= (%.3f/%.1f)=%.3f\n", car->_name, ocar->_name, car->_speed_x,ocar->_speed_x,avoid2Lft, space2Left, curLspeed, minLspeed, oppAvoidLft >= minLft, oppAvoidLft, minLft, curLspeed >= ocar->_speed_x, leftSlowSpeedRatio <= (curLspeed * lft_caution) / ocar->_speed_x, leftSlowSpeedRatio,curLspeed*lft_caution,ocar->_speed_x,(curLspeed*lft_caution)/ocar->_speed_x,avoid2Rgt, space2Right, curRspeed,minRspeed,oppAvoidRgt <= maxRgt, oppAvoidRgt, maxRgt, curRspeed >= ocar->_speed_x, rightSlowSpeedRatio <= (curRspeed * rgt_caution) / ocar->_speed_x,rightSlowSpeedRatio,curRspeed*rgt_caution,ocar->_speed_x,(curRspeed*rgt_caution)/ocar->_speed_x);
#endif #endif
// choose side with highest minimum speed provided its still above minSpeedDiff // choose side with highest minimum speed provided its still above minSpeedDiff
@ -2414,14 +2418,14 @@ bool Driver::CheckOvertaking(double minLeftMargin, double maxRightMargin)
{ {
SetMode(avoidSide, MAX(minLeftMargin, (oppAvoidRgt+2.0)/track->width), maxRightMargin, true); SetMode(avoidSide, MAX(minLeftMargin, (oppAvoidRgt+2.0)/track->width), maxRightMargin, true);
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: OVERTAKE to RIGHT (1)\n", car->_name, ocar->_name, oppAvoidRgt); fflush(stderr); LogUSRrr.debug("%s: OVERTAKE to RIGHT (1)\n", car->_name, ocar->_name, oppAvoidRgt);
#endif #endif
} }
else else
{ {
SetMode(avoidSide, minLeftMargin, MIN(maxRightMargin, (oppAvoidLft-2.0)/track->width), true); SetMode(avoidSide, minLeftMargin, MIN(maxRightMargin, (oppAvoidLft-2.0)/track->width), true);
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: OVERTAKE to LEFT (1)\n", car->_name, ocar->_name); fflush(stderr); LogUSR.debug("%s >> %s: OVERTAKE to LEFT (1)\n", car->_name, ocar->_name);
#endif #endif
} }
} }
@ -2430,7 +2434,7 @@ bool Driver::CheckOvertaking(double minLeftMargin, double maxRightMargin)
avoidSide = avoidright; avoidSide = avoidright;
SetMode(avoidSide, minLeftMargin, MIN(maxRightMargin, (oppAvoidLft-2.0)/track->width), true); SetMode(avoidSide, minLeftMargin, MIN(maxRightMargin, (oppAvoidLft-2.0)/track->width), true);
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: OVERTAKE to LEFT (2)\n", car->_name, ocar->_name); fflush(stderr); LogUSR.debug("%s >> %s: OVERTAKE to LEFT (2)\n", car->_name, ocar->_name);
#endif #endif
} }
else if (avoid2Rgt) else if (avoid2Rgt)
@ -2438,7 +2442,7 @@ bool Driver::CheckOvertaking(double minLeftMargin, double maxRightMargin)
avoidSide = avoidleft; avoidSide = avoidleft;
SetMode(avoidSide, MAX(minLeftMargin, (oppAvoidRgt+2.0)/track->width), maxRightMargin, true); SetMode(avoidSide, MAX(minLeftMargin, (oppAvoidRgt+2.0)/track->width), maxRightMargin, true);
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: OVERTAKE to RIGHT (2)\n", car->_name, ocar->_name); fflush(stderr); LogUSR.debug("%s >> %s: OVERTAKE to RIGHT (2)\n", car->_name, ocar->_name);
#endif #endif
} }
@ -2453,7 +2457,7 @@ bool Driver::CheckOvertaking(double minLeftMargin, double maxRightMargin)
} }
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
fprintf(stderr, "%s >> %s: DISCARDED aLft=%.2f aRgt=%.2f oSpd=%.2f lSpd=%.2f->%.2f rSpd=%.2f->%.2f ratio l%.2f r%.2f > l%.2f r%.2f\n", car->_name, ocar->_name,oppAvoidLft,oppAvoidRgt,ocar->_speed_x,curLspeed,minLspeed,curRspeed,minRspeed,leftSlowSpeedRatio,rightSlowSpeedRatio,curLspeed/ocar->_speed_x,curRspeed/ocar->_speed_x); fflush(stderr); LogUSR.debug("%s >> %s: DISCARDED aLft=%.2f aRgt=%.2f oSpd=%.2f lSpd=%.2f->%.2f rSpd=%.2f->%.2f ratio l%.2f r%.2f > l%.2f r%.2f\n", car->_name, ocar->_name,oppAvoidLft,oppAvoidRgt,ocar->_speed_x,curLspeed,minLspeed,curRspeed,minRspeed,leftSlowSpeedRatio,rightSlowSpeedRatio,curLspeed/ocar->_speed_x,curRspeed/ocar->_speed_x);
#endif #endif
} }
@ -2503,7 +2507,7 @@ int Driver::GetAvoidSide(Opponent *oppnt, int allowed_sides, double t_impact, do
} }
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
else else
fprintf(stderr, "Can't avoid to the left, oppTL=%.1f base=%.1f\n", oppCarTL, base2left); LogUSR.debug("Can't avoid to the left, oppTL=%.1f base=%.1f\n", oppCarTL, base2left);
#endif #endif
if ((allowed_sides & avoidleft) && oppCarTR < base2right) if ((allowed_sides & avoidleft) && oppCarTR < base2right)
{ {
@ -2515,7 +2519,7 @@ int Driver::GetAvoidSide(Opponent *oppnt, int allowed_sides, double t_impact, do
} }
#ifdef OVERTAKE_DEBUG #ifdef OVERTAKE_DEBUG
else else
fprintf(stderr, "Can't avoid to the right, oppTR=%.1f base=%.1f\n", oppCarTR, base2right); LogUSR.debug("Can't avoid to the right, oppTR=%.1f base=%.1f\n", oppCarTR, base2right);
#endif #endif
#if 0 #if 0
@ -2577,11 +2581,12 @@ void Driver::update(tSituation *s)
double dist = sqrt((dx*dx) + (dy*dy)); double dist = sqrt((dx*dx) + (dy*dy));
double adjx = car->_corner_x(FRNT_LFT) + dist * sin(getSpeedAngle(1.0)); double adjx = car->_corner_x(FRNT_LFT) + dist * sin(getSpeedAngle(1.0));
double adjy = car->_corner_y(FRNT_LFT) + dist * cos(getSpeedAngle(1.0)); double adjy = car->_corner_y(FRNT_LFT) + dist * cos(getSpeedAngle(1.0));
fprintf(stderr, "Current=%.2f/%.2f Projected=%.2f/%.2f -> %.2f/%.2f sA=%.2f/%.2f - %.2f %.2f %.2f\n",car->_corner_x(FRNT_LFT),car->_corner_y(FRNT_LFT),newx,newy,adjx,adjy,speedAngle[0],getSpeedAngle(1.0),speedAngle[1],speedAngle[2],speedAngle[3]);fflush(stderr); LogUSR.debug("Current=%.2f/%.2f Projected=%.2f/%.2f -> %.2f/%.2f sA=%.2f/%.2f - %.2f %.2f %.2f\n",car->_corner_x(FRNT_LFT),car->_corner_y(FRNT_LFT),newx,newy,adjx,adjy,speedAngle[0],getSpeedAngle(1.0),speedAngle[1],speedAngle[2],speedAngle[3]);
} }
#endif #endif
// Update global car data (shared by all instances) just once per timestep. // Update global car data (shared by all instances) just once per timestep.
if (currentsimtime != s->currentTime) { if (currentsimtime != s->currentTime)
{
simtime = currentsimtime = s->currentTime; simtime = currentsimtime = s->currentTime;
cardata->update(); cardata->update();
} }

17
src/drivers/usr/src/raceline.cpp
View file

@ -1469,7 +1469,6 @@ void LRaceLine::InitTrack(tTrack* track, tSituation *p)
stopUpdateDist = GfParmGetNum( car->_carHandle, SECT_PRIVATE, PRV_STOP_UPDATE_DIST, (char *)NULL, (tdble) 500.0f ); stopUpdateDist = GfParmGetNum( car->_carHandle, SECT_PRIVATE, PRV_STOP_UPDATE_DIST, (char *)NULL, (tdble) 500.0f );
resumeUpdateDist = GfParmGetNum( car->_carHandle, SECT_PRIVATE, PRV_RESUME_UPDATE_DIST, (char *)NULL, (tdble) -1.0f ); resumeUpdateDist = GfParmGetNum( car->_carHandle, SECT_PRIVATE, PRV_RESUME_UPDATE_DIST, (char *)NULL, (tdble) -1.0f );
hasLastUpdate = false; hasLastUpdate = false;
LogUSR.debug("USR Raceline initTrack data XML loaded ...\n");
m_raceType = p->_raceType; m_raceType = p->_raceType;
@ -1483,8 +1482,6 @@ void LRaceLine::InitTrack(tTrack* track, tSituation *p)
} }
} }
LogUSR.debug("USR Raceline initTrack split Track 1 passed ...\n");
bool trackPreLoaded = false; bool trackPreLoaded = false;
//hasSlow = false, hasMid = false; //hasSlow = false, hasMid = false;
hasSlow = true, hasMid = true; hasSlow = true, hasMid = true;
@ -1494,7 +1491,6 @@ void LRaceLine::InitTrack(tTrack* track, tSituation *p)
{ {
if (rl == LINE_RL) if (rl == LINE_RL)
{ {
LogUSR.debug("USR Raceline initTrack split Track RL ...\n");
/*Split the track into small elements*/ /*Split the track into small elements*/
SplitTrack(track, rl, trackPreLoaded); SplitTrack(track, rl, trackPreLoaded);
@ -1519,10 +1515,7 @@ void LRaceLine::InitTrack(tTrack* track, tSituation *p)
} }
} }
LogUSR.debug("USR Raceline initTrack split Track 2 passed ...\n");
SmoothSideRacingLines(); SmoothSideRacingLines();
LogUSR.debug("... USR Raceline initTrack split end\n");
} }
void LRaceLine::SmoothSideRacingLines() void LRaceLine::SmoothSideRacingLines()
@ -2968,8 +2961,7 @@ void LRaceLine::GetRaceLineData(RaceLineDriveData *data, bool transitioning)
{ {
static char *lineName[] = { "MID", "LFT", "RGT", "RL" }; static char *lineName[] = { "MID", "LFT", "RGT", "RL" };
int rl = data->linemode->GetTargetRaceline(); int rl = data->linemode->GetTargetRaceline();
fprintf(stderr, "%s TR %d:%d (%.1f) %s %s str=%.2f %.3f/%.3f %.3f/%.3f spd %.1f/%.1f/%.1f ang=%.3f vang=%.3f skidang=%.3f accx=%.3f\n", car->_name, This, Next, car->_distFromStartLine, lineName[rl], (isTransitioning ? "TRANS" : "OFFLINE"), data->racesteer, data->linemode->GetLeftCurrentMargin(), data->linemode->GetLeftTargetMargin(), data->linemode->GetRightCurrentMargin(), data->linemode->GetRightTargetMargin(), car->_speed_x, data->speed, CalculateOfflineSpeed((Next - 5 + Divs) % Divs, Next, data->linemode->GetLeftCurrentMargin(), data->linemode->GetRightCurrentMargin()), data->angle, data->speedangle, atan2(car->_speed_Y, car->_speed_X) - car->_yaw, car->_accel_x); LogUSR.debug("%s TR %d:%d (%.1f) %s %s str=%.2f %.3f/%.3f %.3f/%.3f spd %.1f/%.1f/%.1f ang=%.3f vang=%.3f skidang=%.3f accx=%.3f\n", car->_name, This, Next, car->_distFromStartLine, lineName[rl], (isTransitioning ? "TRANS" : "OFFLINE"), data->racesteer, data->linemode->GetLeftCurrentMargin(), data->linemode->GetLeftTargetMargin(), data->linemode->GetRightCurrentMargin(), data->linemode->GetRightTargetMargin(), car->_speed_x, data->speed, CalculateOfflineSpeed((Next - 5 + Divs) % Divs, Next, data->linemode->GetLeftCurrentMargin(), data->linemode->GetRightCurrentMargin()), data->angle, data->speedangle, atan2(car->_speed_Y, car->_speed_X) - car->_yaw, car->_accel_x);
fflush(stderr);
} }
#endif #endif
} }
@ -2988,8 +2980,7 @@ void LRaceLine::GetRaceLineData(RaceLineDriveData *data, bool transitioning)
#ifndef LEARNING #ifndef LEARNING
if (true || data->s->_raceType == RM_TYPE_PRACTICE) if (true || data->s->_raceType == RM_TYPE_PRACTICE)
{ {
fprintf(stderr, "%s LN %d:%d (%.1f %.1f) %s spd %.1f/%.1f/%.1f err=%.3f vne=%.3f skidang=%.3f accx=%.3f\n", car->_name, This, Next, car->_distFromStartLine, car->_distRaced, (rl == LINE_RL ? "RL" : (rl == LINE_LEFT ? "LFT" : "RGT")), car->_speed_x, data->speed, CalculateOfflineSpeed((Next - 5 + Divs) % Divs, Next, leftTarget, rightTarget), data->error, data->vnerror, atan2(car->_speed_Y, car->_speed_X) - car->_yaw, car->_accel_x); LogUSR.debug("%s LN %d:%d (%.1f %.1f) %s spd %.1f/%.1f/%.1f err=%.3f vne=%.3f skidang=%.3f accx=%.3f\n", car->_name, This, Next, car->_distFromStartLine, car->_distRaced, (rl == LINE_RL ? "RL" : (rl == LINE_LEFT ? "LFT" : "RGT")), car->_speed_x, data->speed, CalculateOfflineSpeed((Next - 5 + Divs) % Divs, Next, leftTarget, rightTarget), data->error, data->vnerror, atan2(car->_speed_Y, car->_speed_X) - car->_yaw, car->_accel_x);
fflush(stderr);
} }
#endif #endif
} }
@ -3316,12 +3307,12 @@ int LRaceLine::isOnLine(int line)
double pos2middle = fabs(car->_trkPos.toLeft - lane2left); double pos2middle = fabs(car->_trkPos.toLeft - lane2left);
if (steer_verbose) if (steer_verbose)
fprintf(stderr, "Lane ToLeft:%.3f, Car ToLeft:%.3f, Car ToMiddle:%.3f\n", lane2left, car->_trkPos.toLeft, car->_trkPos.toMiddle); LogUSR.debug("Lane ToLeft:%.3f, Car ToLeft:%.3f, Car ToMiddle:%.3f\n", lane2left, car->_trkPos.toLeft, car->_trkPos.toMiddle);
if (pos2middle < MAX(0.1, 1.0 - (car->_speed_x * (car->_speed_x / 10)) / 600)) if (pos2middle < MAX(0.1, 1.0 - (car->_speed_x * (car->_speed_x / 10)) / 600))
{ {
if (steer_verbose) if (steer_verbose)
fprintf(stderr, "%s is OnLine: PosToMiddle: %.3f \n", car->_name, pos2middle); LogUSR.debug("%s is OnLine: PosToMiddle: %.3f \n", car->_name, pos2middle);
return 1; return 1;
} }