diff --git a/src/drivers/kilo2008/kdriver.cpp b/src/drivers/kilo2008/kdriver.cpp index fc13af56..5532437c 100644 --- a/src/drivers/kilo2008/kdriver.cpp +++ b/src/drivers/kilo2008/kdriver.cpp @@ -49,6 +49,10 @@ static int static double colour[] = {1.0, 0.0, 0.0, 0.0}; #define DEFAULTCARTYPE "trb1-cavallo-360rb" +#define SLOW_TRACK_LIMIT 2.4 +#define FAST_TRACK_LIMIT 4.0 + + KDriver::KDriver(int index):Driver(index) { m_rgtinc = m_lftinc = 0.0; @@ -578,15 +582,18 @@ KDriver::filterSidecollOffset(Opponent *o, const double incfactor) * Initialize the robot on a track. * For this reason it looks up any setup files. * - * Setup files are in this director path: + * Setup files are in a directory path like: * drivers/kilo - * |- default.xml (skill) + * |- default.xml (skill enable) * tracks * | |-.xml (track-specific parameters) * | * | * - * |-.xml (setup for given track) + * |-.xml (setup for the given track) + * |-def-slow.xml (setup for undefined, slow tracks) + * |-def-norm.xml (setup for undefined, normal tracks) + * |-def-fast.xml (setup for undefined, fast tracks) * * @param [in] t the track * @param [out] carHandle @@ -613,9 +620,9 @@ KDriver::initTrack(tTrack * t, void *carHandle, void **carParmHandle, if(carParmHandle) cout << "default xml loaded" << endl; #endif - buf.str(string()); //Try to load the track-based informations + buf.str(string()); buf << botPath.str() << "tracks/" << trackname; void *newhandle = GfParmReadFile(buf.str().c_str(), GFPARM_RMODE_STD); #ifdef DEBUG @@ -623,20 +630,8 @@ KDriver::initTrack(tTrack * t, void *carHandle, void **carParmHandle, if(newhandle) cout << "track-based xml loaded" << endl; #endif - buf.str(string()); - //Merge the above two setups - if(newhandle) { - //If there is a default setup loaded, merge settings with custom track setup - if(*carParmHandle) - *carParmHandle = - GfParmMergeHandles(*carParmHandle, newhandle, - (GFPARM_MMODE_SRC | GFPARM_MMODE_DST | - GFPARM_MMODE_RELSRC | GFPARM_MMODE_RELDST)); - //Otherwise no need to merge - else - *carParmHandle = newhandle; - }//if newhandle + mergeCarSetups(*carParmHandle, newhandle); #ifdef DEBUG cout << "merge #1" << endl; #endif @@ -653,6 +648,7 @@ KDriver::initTrack(tTrack * t, void *carHandle, void **carParmHandle, #endif //Load setup tailored for car+track + buf.str(string()); buf << botPath.str() << m_carType << "/" << trackname; newhandle = GfParmReadFile(buf.str().c_str(), GFPARM_RMODE_STD); #ifdef DEBUG @@ -661,6 +657,12 @@ KDriver::initTrack(tTrack * t, void *carHandle, void **carParmHandle, cout << "car+track xml loaded" << endl; #endif + //If there is no tailored setup, let's load a default one + // based on the track charateristics. + if(!newhandle) + newhandle = loadDefaultSetup(); + + //~ mergeCarSetups(*carParmHandle, newhandle); //Merge the above two setups if(newhandle) { //If there is a default setup loaded, merge settings with custom track setup @@ -678,29 +680,6 @@ KDriver::initTrack(tTrack * t, void *carHandle, void **carParmHandle, #endif - //If there was no car+track setup, - //decide the character of the track and choose 1 of 3 default setups. - double dLength = 0.0; - double dCurves = 0.0; - tTrackSeg *pSeg = track->seg; - do { - if(pSeg->type == TR_STR) - dLength += pSeg->length; - else { - dLength += pSeg->radius * pSeg->arc; - dCurves += RAD2DEG(pSeg->arc); - } - - pSeg = pSeg->next; - } while(pSeg != track->seg); -#ifdef DEBUG - cout << "Track " << track->name - << " length: " << dLength - << " curves: " << dCurves - << " ratio: " << dLength / dCurves - << endl; -#endif - // Create a pit stop strategy object. strategy = new KStrategy(); // Init fuel. @@ -865,21 +844,20 @@ KDriver::calcSpeed() accelcmd = brakecmd = 0.0; double speed; - switch(mode) - { - case AVOIDING: - case BEING_OVERLAPPED: - speed = avoidspeed; - break; - - case CORRECTING: - speed = racespeed - - (racespeed - avoidspeed) * MAX(0.0, (correcttimer - simtime) / 7.0); - break; - - default: - speed = racespeed; - }//switch mode + switch(mode) { + case AVOIDING: + case BEING_OVERLAPPED: + speed = avoidspeed; + break; + + case CORRECTING: + speed = racespeed - + (racespeed - avoidspeed) * MAX(0.0, (correcttimer - simtime) / 7.0); + break; + + default: + speed = racespeed; + }//switch mode double x = (10 + car->_speed_x) * (speed - car->_speed_x) / 200; @@ -889,3 +867,80 @@ KDriver::calcSpeed() brakecmd = MIN(1.0, -(MAX(10.0, brakedelay * 0.7)) * x); }//calcSpeed + +/** + * Decides the character of the track + * and chooses 1 of 3 default setups. + * Loads the appropriate setup file and + * returns it's handler. + * + * @return Handler to the loaded default setup + */ +void * +KDriver::loadDefaultSetup() const +{ + void *ret = NULL; + + double dLength = 0.0; + double dCurves = 0.0; + + //Count length and degrees of all turns + tTrackSeg *pSeg = track->seg; + do { + if(pSeg->type == TR_STR) + dLength += pSeg->length; + else { + dLength += pSeg->radius * pSeg->arc; + dCurves += RAD2DEG(pSeg->arc); + } + + pSeg = pSeg->next; + } while(pSeg != track->seg); + + double dRatio = dLength / dCurves; + +#ifdef DEBUG + cout << "Track " << track->name + << " length: " << dLength + << " curves: " << dCurves + << " ratio: " << dRatio + << endl; +#endif + + stringstream buf; + buf << "drivers/" << bot << "/" << m_carType; + + if(dRatio < SLOW_TRACK_LIMIT) { + //Slow track + buf << "/def-slow.xml"; + } else if (dRatio < FAST_TRACK_LIMIT) { + //Normal track + buf << "/def-norm.xml"; + } else { + //Fast track + buf << "/def-fast.xml"; + }//if dRatio + + ret = GfParmReadFile(buf.str().c_str(), GFPARM_RMODE_STD); +#ifdef DEBUG + cout << "Decision of setup: " << buf.str() << endl; + if(ret) + cout << "Def-XXX xml loaded" << endl; +#endif + + return ret; +}//loadDefaultSetup + +void +KDriver::mergeCarSetups(void *oldHandle, void *newHandle) +{ + if(newHandle) { + if(oldHandle) + oldHandle = GfParmMergeHandles(oldHandle, newHandle, + (GFPARM_MMODE_SRC | GFPARM_MMODE_DST | + GFPARM_MMODE_RELSRC | GFPARM_MMODE_RELDST)); + //Otherwise no need to merge + else + oldHandle = newHandle; + }//if newHandle +}//mergeCarSetups diff --git a/src/drivers/kilo2008/kdriver.h b/src/drivers/kilo2008/kdriver.h index 5db7e021..4fd5b6fb 100644 --- a/src/drivers/kilo2008/kdriver.h +++ b/src/drivers/kilo2008/kdriver.h @@ -64,6 +64,8 @@ protected: double filterTakeoverOffset(Opponent *o); double filterSidecollOffset(Opponent *o, const double); void checkPitStatus(tSituation *s); + void * loadDefaultSetup() const; + void mergeCarSetups(void *oldHandle, void *newHandle); //'own' variables double m_mincatchdist; diff --git a/src/drivers/kilo2008/trb1-cavallo-360rb/def-fast.xml b/src/drivers/kilo2008/trb1-cavallo-360rb/def-fast.xml new file mode 100644 index 00000000..cf49e2e6 --- /dev/null +++ b/src/drivers/kilo2008/trb1-cavallo-360rb/def-fast.xml @@ -0,0 +1,136 @@ + + + + + + +
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+ diff --git a/src/drivers/kilo2008/trb1-cavallo-360rb/def-norm.xml b/src/drivers/kilo2008/trb1-cavallo-360rb/def-norm.xml new file mode 100644 index 00000000..45624b85 --- /dev/null +++ b/src/drivers/kilo2008/trb1-cavallo-360rb/def-norm.xml @@ -0,0 +1,142 @@ + + + + + + +
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+ diff --git a/src/drivers/kilo2008/trb1-cavallo-360rb/def-slow.xml b/src/drivers/kilo2008/trb1-cavallo-360rb/def-slow.xml new file mode 100644 index 00000000..b6f8e7e9 --- /dev/null +++ b/src/drivers/kilo2008/trb1-cavallo-360rb/def-slow.xml @@ -0,0 +1,142 @@ + + + + + + +
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