hymie_36GP - crash fixes

git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@1081 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: e3a5771fae4012dc86f3aeaf51ac14f0cc334cf2
Former-commit-id: af1b8387ff268df70fcc806358c4d8ddb81974c2

src/drivers/hymie_36GP/LearnedGraph.cpp

@@ -79,6 +79,7 @@ LearnedGraph::LearnedGraph( double minX, double maxX, int xSteps, double initial
 LearnedGraph::~LearnedGraph()
 {
 	delete [] m_pData;
+	delete [] m_pAxis;
 }
 
 int		LearnedGraph::GetNAxes() const
@@ -166,7 +167,7 @@ void	LearnedGraph::SetBeta( double beta )
 
 double	LearnedGraph::CalcValue( int dim, int offs, const Idx* idx ) const
 {
-	if( dim < m_nAxes )
+	if( dim < m_nAxes && dim >= 0 )
 	{
 		int		offs_i = offs + m_pAxis[dim].m_itemSize * idx[dim].i;
 		int		offs_j = offs + m_pAxis[dim].m_itemSize * idx[dim].j;
@@ -182,7 +183,7 @@ double	LearnedGraph::CalcValue( int dim, int offs, const Idx* idx ) const
 
 void	LearnedGraph::LearnValue( int dim, int offs, const Idx* idx, double delta )
 {
-	if( dim < m_nAxes )
+	if( dim < m_nAxes && dim >= 0 )
 	{
 		int		offs_i = offs + m_pAxis[dim].m_itemSize * idx[dim].i;
 		int		offs_j = offs + m_pAxis[dim].m_itemSize * idx[dim].j;

src/drivers/hymie_36GP/MyRobot.cpp

@@ -2132,6 +2132,7 @@ void	MyRobot::Drive( int index, tCarElt* car, tSituation* s )
 //		acc = MN(acc, 0.2);
 	}
 
+#if 0
 	if( car->ctrl.accelCmd == 1 && car->ctrl.brakeCmd == 0 )
 	{
 		m_maxAccel.Learn( car->_speed_x, car->_accel_x );
@@ -2140,6 +2141,7 @@ void	MyRobot::Drive( int index, tCarElt* car, tSituation* s )
 //			GfOut( " %4.1f", m_maxAccel.GetY(i) );
 //		GfOut( "\n" );
 	}
+#endif
 
 	if( fabs(pi.k * spd0 - car->_yaw_rate) < 0.02 )
 	{
@@ -2309,7 +2311,8 @@ void	MyRobot::AvoidOtherCars(
 	{for( int i = 0; i < m_nCars; i++ )
 	{
 		m_opp[i].ProcessMyCar( s, &m_pShared->m_teamInfo, car, mySit, *this,
-					m_maxAccel.CalcY(car->_speed_x), m_aggression, i );
+					car->_speed_x, m_aggression, i );
+					//m_maxAccel.CalcY(car->_speed_x), m_aggression, i );
 	}}
 
 #if defined(USE_NEW_AVOIDANCE)

src/drivers/hymie_36GP/hymie_36GP.cpp

@@ -38,7 +38,7 @@
 
 static const int	NBOTS = 20;//2;
 static int NBBOTS = 0;
-static MyRobot		s_robot[NBOTS];
+static MyRobot		*s_robot[NBOTS];
 static Shared		s_shared;
 static const int BUFSIZE = 256;
 static const int MAXNBBOTS = 20;
@@ -199,6 +199,8 @@ static int InitFuncPt( int index, void* pt )
 
 	tRobotItf* itf = (tRobotItf*)pt;
 
+	s_robot[index - indexOffset] = new MyRobot();
+
 	// Create robot instance for index.
 	itf->rbNewTrack = initTrack;	// Give the robot the track view called.
 	itf->rbNewRace  = newRace;		// Start a new race.
@@ -224,41 +226,42 @@ static int InitFuncPt( int index, void* pt )
 static void initTrack( int index, tTrack* track, void* carHandle,
 						void** carParmHandle, tSituation* s )
 {
-	s_robot[index].SetShared( &s_shared );
+	s_robot[index - indexOffset]->SetShared( &s_shared );
-	s_robot[index].InitTrack(index, track, carHandle, carParmHandle, s);
+	s_robot[index - indexOffset]->InitTrack(index - indexOffset, track, carHandle, carParmHandle, s);
 }
 
 
 // Start a new race.
 static void newRace( int index, tCarElt* car, tSituation* s )
 {
-	s_robot[index].NewRace( index, car, s );
+	s_robot[index - indexOffset]->NewRace( index - indexOffset, car, s );
 }
 
 // Drive during race.
 static void drive( int index, tCarElt* car, tSituation* s )
 {
-	s_robot[index].Drive( index, car, s );
+	s_robot[index - indexOffset]->Drive( index - indexOffset, car, s );
 }
 
 
 // Pitstop callback.
 static int pitcmd( int index, tCarElt* car, tSituation* s )
 {
-	return s_robot[index].PitCmd(index, car, s);
+	return s_robot[index - indexOffset]->PitCmd(index - indexOffset, car, s);
 }
 
 
 // End of the current race.
 static void endRace( int index, tCarElt* car, tSituation* s )
 {
-	s_robot[index].EndRace( index, car, s );
+	s_robot[index - indexOffset]->EndRace( index - indexOffset, car, s );
 }
 
 
 // Called before the module is unloaded.
 static void shutdown( int index )
 {
-	s_robot[index].Shutdown( index );
+	s_robot[index]->Shutdown( index - indexOffset );
+	delete s_robot[index - indexOffset];
 }