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Skilling enabled.

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Re #183.

git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@3017 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 0e914058cfed2c9d2a0fc87cbcbda20e781d62fa
Former-commit-id: 170010c212f94a7f75c87d0f922dc9ed55beb1d9
This commit is contained in:
kmetykog 2010-10-18 20:41:47 +00:00
parent 0291e505f7
commit 9c0a4869c5
6 changed files with 148 additions and 21 deletions
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17
src/drivers/kilo2008/1/skill.xml Normal file
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@ -0,0 +1,17 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE params SYSTEM "../../../../src/libs/tgf/params.dtd">
<params name="Skill" type="template">
<section name="skill">
<!-- This skill level is added to the global skill level set in -->
<!-- raceman/config/extra/skill.xml to provide a unique value for -->
<!-- each driver. The values should be between 0 and 1, with 0 being -->
<!-- the highest skill level. -->
<attnum name="level" min="0.0" max="1.0" val="0.0"/>
</section>
</params>

17
src/drivers/kilo2008/2/skill.xml Normal file
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@ -0,0 +1,17 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE params SYSTEM "../../../../src/libs/tgf/params.dtd">
<params name="Skill" type="template">
<section name="skill">
<!-- This skill level is added to the global skill level set in -->
<!-- raceman/config/extra/skill.xml to provide a unique value for -->
<!-- each driver. The values should be between 0 and 1, with 0 being -->
<!-- the highest skill level. -->
<attnum name="level" min="0.0" max="1.0" val="0.0"/>
</section>
</params>

112
src/drivers/kilo2008/kdriver.cpp
View file

@ -38,7 +38,7 @@
#include <robottools.h> //Rt*
#include <robot.h> //ROB_PIT_IM
#define DEBUG
//#define DEBUG
//"I AM DEATH, NOT TAXES. *I* TURN UP ONLY ONCE." -- Death
//Fear was theirs, not yers.
@ -660,11 +660,13 @@ void
KDriver::initTrack(tTrack * t, void *carHandle, void **carParmHandle,
tSituation * s)
{
m_track = t;
initSkill(s);
stringstream buf;
//Load a custom setup if one is available.
m_track = t;
char *trackname = strrchr(m_track->filename, '/') + 1; //Ptr to the track filename
stringstream buf;
stringstream botPath;
//Try to load the default setup
@ -735,14 +737,6 @@ KDriver::initTrack(tTrack * t, void *carHandle, void **carParmHandle,
cout << "merge #2" << endl;
#endif
// Create a pit stop strategy object.
m_strategy = new KStrategy();
// Init fuel.
m_strategy->setFuelAtRaceStart(t, carParmHandle, s, INDEX);
m_raceline = new LRaceLine;
// Load and set parameters.
MU_FACTOR =
GfParmGetNum(*carParmHandle, KILO_SECT_PRIV, KILO_ATT_MUFACTOR, NULL, 0.69f);
@ -750,8 +744,15 @@ KDriver::initTrack(tTrack * t, void *carHandle, void **carParmHandle,
GfParmGetNum(*carParmHandle, KILO_SECT_PRIV, KILO_ATT_PITOFFSET, NULL, 10.0);
m_brakeDelay =
GfParmGetNum(*carParmHandle, KILO_SECT_PRIV, KILO_ATT_BRDELAY, NULL, 10.0);
m_raceline->InitTrack(m_track, carParmHandle, s);
// Create a pit stop strategy object.
m_strategy = new KStrategy();
// Init fuel.
m_strategy->setFuelAtRaceStart(t, carParmHandle, s, INDEX);
m_raceline = new LRaceLine;
//m_raceline->setSkill(m_skill);
m_raceline->InitTrack(m_track, carParmHandle, s, m_filterSideSkill);
}//initTrack
@ -1237,7 +1238,9 @@ KDriver::brakeDist(double allowedspeed, double mu)
double d = (CA * mu + CW) / m_mass;
double v1sqr = m_currentSpeedSqr;
double v2sqr = pow(allowedspeed, 2);
return -log((c + v2sqr * d) / (c + v1sqr * d)) / (2.0 * d);
double ret = -log((c + v2sqr * d) / (c + v1sqr * d)) / (2.0 * d);
ret /= m_filterBrakeSkill;
return ret;
}//brakeDist
@ -1576,6 +1579,8 @@ KDriver::getTargetPoint()
lookahead = MAX(cmplookahead, lookahead);
}//if getInPit
lookahead *= m_filterLookaheadSkill;
m_oldLookahead = lookahead;
// Search for the segment containing the target point.
@ -1692,6 +1697,7 @@ KDriver::getAccel()
if(fabs(m_angle) > 0.8 && getSpeed() > 10.0)
m_accelCmd = MAX(0.0, MIN(m_accelCmd, 1.0 - getSpeed() / 100.0 * fabs(m_angle)));
ret = m_accelCmd;
ret *= (m_car->_gear > 1) ? m_filterAccelSkill : 1.0;
}//if m_car->_gear
return ret;
@ -1707,10 +1713,15 @@ KDriver::getAccel()
double
KDriver::getBrake()
{
double ret = (m_car->_speed_x < -MAX_UNSTUCK_SPEED)
? 1.0 //Car drives backward, brake
: m_brakeCmd; //Car drives forward, normal braking.
double ret;
if(m_car->_speed_x < -MAX_UNSTUCK_SPEED) {
ret = 1.0; //Car drives backward, brake
} else {
ret = m_brakeCmd; //Car drives forward, normal braking.
//ret *= m_filterBrakeSkill; //Brake earlier if less skilled
}
return ret;
}//getBrake
@ -1791,3 +1802,68 @@ KDriver::getClutch()
}
}
}//getClutch
/**
* initSkill
* Reads the global and the driver-specific skill values.
*
* @return The accumulated skill value
*/
double
KDriver::initSkill(tSituation * s)
{
double globalSkill = m_skill = 0.0;
m_filterBrakeSkill = 1.0;
m_filterAccelSkill = 1.0;
m_filterLookaheadSkill = 1.0;
m_filterSideSkill = 1.0;
if(s->_raceType != RM_TYPE_PRACTICE) {
stringstream buf;
// load the global skill level, range 0 - 10
buf << GetLocalDir() << "config/raceman/extra/skill.xml";
void *skillHandle = GfParmReadFile(buf.str().c_str(), GFPARM_RMODE_REREAD);
if(!skillHandle) {
buf.str(string());
buf << GetDataDir() << "config/raceman/extra/skill.xml";
skillHandle = GfParmReadFile(buf.str().c_str(), GFPARM_RMODE_REREAD);
}//if !skillHandle
if(skillHandle) {
globalSkill = GfParmGetNum(skillHandle, KILO_SECT_SKILL, KILO_SKILL_LEVEL, NULL, 10.0);
globalSkill = MIN(10.0, MAX(0.0, globalSkill));
}
//load the driver skill level, range 0 - 1
double driverSkill = 0.0;
buf.str(string());
buf << "drivers/" << bot << "/" << INDEX << "/skill.xml";
skillHandle = GfParmReadFile(buf.str().c_str(), GFPARM_RMODE_STD);
if(skillHandle) {
driverSkill = GfParmGetNum(skillHandle, KILO_SECT_SKILL, KILO_SKILL_LEVEL, NULL, 0.0);
//driver_aggression = GfParmGetNum(skillHandle, SECT_SKILL, PRV_SKILL_AGGRO, (char *)NULL, 0.0);
driverSkill = MIN(1.0, MAX(0.0, driverSkill));
}
//limits: 0.0 - 24.0
m_skill = (globalSkill + driverSkill * 2.0) * (1.0 + driverSkill);
//Set up different handicap values
m_filterBrakeSkill = MAX(0.85, 1.0 - m_skill / 24.0 * 0.15);
m_filterAccelSkill = MAX(0.80, 1.0 - m_skill / 24.0 * 0.20);
m_filterLookaheadSkill = 1.0 / (1.0 + m_skill / 24.0);
m_filterSideSkill = 1.0 + m_skill / 24.0;
}//if not practice
#ifdef DEBUG
cout << "Skill: " << m_skill
<< ", brake: " << m_filterBrakeSkill
<< ", accel: " << m_filterAccelSkill
<< ", lookA: " << m_filterLookaheadSkill
<< ", sides: " << m_filterSideSkill
<< endl;
#endif
return m_skill;
}//initSkill

13
src/drivers/kilo2008/kdriver.h
View file

@ -57,6 +57,9 @@ class LRaceLine;
#define KILO_ATT_BRDELAY "BrakeDelay"
#define KILO_ATT_SECRAD "SecurityRadius"
#define KILO_ATT_PITOFFSET "PitOffset"
#define KILO_SECT_SKILL "Skill"
#define KILO_SKILL_LEVEL "Level"
#define KILO_SKILL_AGGRO "Aggression"
enum { NORMAL = 1, AVOIDING, CORRECTING, PITTING, BEING_OVERLAPPED };
@ -90,6 +93,7 @@ protected:
void initCw();
void initTireMu();
void initTCLFilter();
double initSkill(tSituation * s);
//Driving aids
double filterTCL_RWD();
@ -194,7 +198,14 @@ protected:
double m_rInverse;
std::string m_carType;
int m_carIndex;
//Skilling
double m_skill;
double m_filterBrakeSkill;
double m_filterAccelSkill;
double m_filterLookaheadSkill;
double m_filterSideSkill;
// Data that should stay constant after first initialization.
int MAX_UNSTUCK_COUNT;
int INDEX;

8
src/drivers/kilo2008/raceline.cpp
View file

@ -478,7 +478,8 @@ LRaceLine::Interpolate(int Step, int rl)
void
LRaceLine::InitTrack(const tTrack * const track, void **carParmHandle, const tSituation *s)
LRaceLine::InitTrack(const tTrack * const track, void **carParmHandle,
const tSituation *s, const double filterSideSkill)
{
m_dMinCornerInverse =
GfParmGetNum(*carParmHandle, KILO_SECT_PRIV, KILO_ATT_MINCORNER, NULL, 0.002);
@ -497,6 +498,11 @@ LRaceLine::InitTrack(const tTrack * const track, void **carParmHandle, const tSi
m_dSecurityRadius =
GfParmGetNum(*carParmHandle, KILO_SECT_PRIV, KILO_ATT_SECRAD, NULL, 100.0);
if(s->_raceType != RM_TYPE_PRACTICE) {
m_dExtMargin *= filterSideSkill;
m_dIntMargin *= filterSideSkill;
}//if not practice
// split track
for(int rl = LINE_MID; rl <= LINE_RL; rl++)
{

2
src/drivers/kilo2008/raceline.h
View file

@ -84,7 +84,7 @@ public:
inline void setCar(tCarElt * const car) {m_pCar = car;}
void InitTrack(const tTrack * const track, void **carParmHandle, const tSituation *s);
void InitTrack(const tTrack * const track, void **carParmHandle, const tSituation *s, const double filterSideSkill);
void NewRace();
void GetRaceLineData(const tSituation * const s, v2d * target,
double *speed, double *avspeed, double *raceoffset,