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start USR's code migration to logging trace

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@5631 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 392df3260a0931e4f9d9ca1ed9e53aeadc525766
Former-commit-id: 2012e95684ee982c66ab60c14814e6ec987bfacc
This commit is contained in:
torcs-ng 2013-07-26 21:32:55 +00:00
parent 7346f437bf
commit 8b622e8b6d
3 changed files with 54 additions and 57 deletions
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103
src/drivers/usr/src/driver.cpp
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@ -272,7 +272,7 @@ Driver::~Driver()
void Driver::SetBotName(const char* Value)
{
CarType = Value;
//GfOut("CarType = %s\n", CarType);
LogUSR.debug("#Car Name : %s\n",CarType);
};
void Driver::SetRandomSeed(unsigned int seed)
@ -340,15 +340,6 @@ void Driver::initTrack(tTrack* t, void *carHandle, void **carParmHandle, tSituat
else
strcpy(trackname, ptrackname);
/*char carName[256];
{
char const *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
char const *key = PRM_CAR;
strncpy( carName, GfParmGetStr(carHandle, path, key, ""), sizeof(carName) );
char *p = strrchr(carName, '.');
if (p) *p = '\0';
}*/
mRain = getWeather();
//if (mRain == 0)
@ -379,7 +370,6 @@ void Driver::initTrack(tTrack* t, void *carHandle, void **carParmHandle, tSituat
else
snprintf(buffer, BUFSIZE, "drivers/%s/%s/%s-%d.xml",robot_name, CarType, trackname, mRain);
//snprintf(buffer, BUFSIZE, "drivers/%s/%s/%s.xml", robot_name, carName, trackname);
newhandle = GfParmReadFile(buffer, GFPARM_RMODE_STD);
if (newhandle)
{
@ -975,15 +965,15 @@ void Driver::drive(tSituation *s)
car->_clutchCmd = getClutch();
if (DebugMsg & debug_steer)
fprintf(stderr,"%s %d/%d: ",car->_name,rldata->thisdiv,rldata->nextdiv);
LogUSR.debug("%s %d/%d: ", car->_name, rldata->thisdiv, rldata->nextdiv);
}
if (DebugMsg & debug_steer)
{
double skid = (car->_skid[0]+car->_skid[1]+car->_skid[2]+car->_skid[3])/2;
fprintf(stderr,"%d%c%c%c s%.2f k%.2f ss%.2f cl%.3f g%d->%d brk%.3f acc%.2f dec%.2f coll%.1f %c",mode,((mode==mode_avoiding)?'A':' '),(avoidmode==avoidleft?'L':(avoidmode==avoidright?'R':' ')),(mode==mode_correcting?'c':' '),car->_steerCmd,rldata->ksteer,stucksteer,correctlimit,car->_gear,car->_gearCmd,car->_brakeCmd,car->_accelCmd,rldata->decel,collision,(rldata->closing?'c':'e'));
fprintf(stderr," spd%.1f|k%.1f|a%.1f|t%.1f angle=%.2f/%.2f/%.2f yr=%.2f skid=%.2f acxy=%.2f/%.2f inv%.3f/%.3f slip=%.3f/%.3f %.3f/%.3f\n",(double)currentspeed,(double)rldata->speed,(double)rldata->avspeed,(double)getTrueSpeed(),angle,speedangle,rldata->rlangle,car->_yaw_rate,skid,car->_accel_x,car->_accel_y,nextCRinverse,rldata->mInverse,car->_wheelSpinVel(FRNT_RGT)*car->_wheelRadius(FRNT_RGT)-car->_speed_x,car->_wheelSpinVel(FRNT_LFT)*car->_wheelRadius(FRNT_LFT)-car->_speed_x,car->_wheelSpinVel(REAR_RGT)*car->_wheelRadius(REAR_RGT)-car->_speed_x,car->_wheelSpinVel(REAR_LFT)*car->_wheelRadius(REAR_LFT)-car->_speed_x);fflush(stderr);
LogUSR.debug("%d%c%c%c s%.2f k%.2f ss%.2f cl%.3f g%d->%d brk%.3f acc%.2f dec%.2f coll%.1f %c",mode,((mode==mode_avoiding)?'A':' '),(avoidmode==avoidleft?'L':(avoidmode==avoidright?'R':' ')),(mode==mode_correcting?'c':' '),car->_steerCmd,rldata->ksteer,stucksteer,correctlimit,car->_gear,car->_gearCmd,car->_brakeCmd,car->_accelCmd,rldata->decel,collision,(rldata->closing?'c':'e'));
LogUSR.debug(" spd%.1f|k%.1f|a%.1f|t%.1f angle=%.2f/%.2f/%.2f yr=%.2f skid=%.2f acxy=%.2f/%.2f inv%.3f/%.3f slip=%.3f/%.3f %.3f/%.3f\n",(double)currentspeed,(double)rldata->speed,(double)rldata->avspeed,(double)getTrueSpeed(),angle,speedangle,rldata->rlangle,car->_yaw_rate,skid,car->_accel_x,car->_accel_y,nextCRinverse,rldata->mInverse,car->_wheelSpinVel(FRNT_RGT)*car->_wheelRadius(FRNT_RGT)-car->_speed_x,car->_wheelSpinVel(FRNT_LFT)*car->_wheelRadius(FRNT_LFT)-car->_speed_x,car->_wheelSpinVel(REAR_RGT)*car->_wheelRadius(REAR_RGT)-car->_speed_x,car->_wheelSpinVel(REAR_LFT)*car->_wheelRadius(REAR_LFT)-car->_speed_x);
}
laststeer = car->_steerCmd;
@ -1354,7 +1344,7 @@ void Driver::calcSkill()
brake_adjust_perc += MIN(deltaTime*2, brake_adjust_targ - brake_adjust_perc);
else
brake_adjust_perc -= MIN(deltaTime*2, brake_adjust_perc - brake_adjust_targ);
//fprintf(stderr,"skill: decel %.3f - %.3f, brake %.3f - %.3f\n",decel_adjust_perc,decel_adjust_targ,brake_adjust_perc,brake_adjust_targ);
LogUSR.debug("skill: decel %.3f - %.3f, brake %.3f - %.3f\n", decel_adjust_perc, decel_adjust_targ, brake_adjust_perc, brake_adjust_targ);
}
#endif
}
@ -1476,10 +1466,10 @@ float Driver::getSteer(tSituation *s)
aligned_timer = simtime;
steer = racesteer;
if (DebugMsg & debug_steer)
fprintf(stderr,"ALIGNED steer_ok=%d avsteer=%.3f racest=%.3f\n",steer_ok,avoidsteer,racesteer);
LogUSR.debug("ALIGNED steer_ok=%d avsteer=%.3f racest=%.3f\n", steer_ok, avoidsteer, racesteer);
}
else if (DebugMsg & debug_steer)
fprintf(stderr,"NOT ALIGNED %d %d %d %d %.2f %.2f %.2f\n",angle_ok,yr_ok,(skid<0.1),steer_ok,avoidsteer,racesteer,laststeer);
LogUSR.debug("NOT ALIGNED %d %d %d %d %.2f %.2f %.2f\n", angle_ok, yr_ok, (skid<0.1), steer_ok, avoidsteer,racesteer,laststeer);
}
if (mode != mode_normal)
@ -1586,7 +1576,7 @@ double Driver::calcSteer( double targetAngle, int rl )
NORM_PI_PI(steer_direction);
if (DebugMsg & debug_steer)
fprintf(stderr,"STEER tm%.2f off%.2f sd%.3f",car->_trkPos.toMiddle,myoffset,steer_direction);
LogUSR.debug("STEER tm%.2f off%.2f sd%.3f", car->_trkPos.toMiddle, myoffset, steer_direction);
if (car->_speed_x > 10.0 && mode != mode_normal && mode != mode_pitting)
{
@ -1611,10 +1601,10 @@ double Driver::calcSteer( double targetAngle, int rl )
steer = (steer_direction/car->_steerLock);
if (DebugMsg & debug_steer)
fprintf(stderr,"/sd%.3f a%.3f",steer_direction,steer);
LogUSR.debug("/sd%.3f a%.3f", steer_direction, steer);
if (DebugMsg & debug_steer)
fprintf(stderr," b%.3f",steer);
LogUSR.debug(" b%.3f", steer);
lastNSasteer = (float)steer;
@ -1642,7 +1632,7 @@ double Driver::calcSteer( double targetAngle, int rl )
#endif // old ki steering
if (DebugMsg & debug_steer)
fprintf(stderr," d%.3f",steer);
LogUSR.debug(" d%.3f", steer);
if (mode != mode_pitting)
{
@ -1683,7 +1673,7 @@ double Driver::calcSteer( double targetAngle, int rl )
#endif
if (DebugMsg & debug_steer)
fprintf(stderr," e%.3f\n",steer);
LogUSR.debug(" e%.3f\n", steer);
return steer;
}
@ -1734,7 +1724,7 @@ float Driver::correctSteering( float avoidsteer, float racesteer )
double climit = fabs(correctlimit * changelimit);
if (DebugMsg & debug_steer)
fprintf(stderr,"CORRECT: cl=%.3f/%.3f=%.3f as=%.3f rs=%.3f NS=%.3f",correctlimit,changelimit,climit,avoidsteer,racesteer,lastNSasteer);
LogUSR.debug("CORRECT: cl=%.3f/%.3f=%.3f as=%.3f rs=%.3f NS=%.3f",correctlimit,changelimit,climit,avoidsteer,racesteer,lastNSasteer);
if (/*mode == mode_correcting &&*/ simtime > 2.0f)
{
// move steering towards racesteer...
@ -1745,7 +1735,7 @@ fprintf(stderr,"CORRECT: cl=%.3f/%.3f=%.3f as=%.3f rs=%.3f NS=%.3f",correctlimit
if (fabs(steer-racesteer) <= car->_speed_x / 2000)
{
//steer = (float) MIN(racesteer, steer + correctlimit);
if (DebugMsg & debug_steer) fprintf(stderr," RA%.3f",racesteer);
if (DebugMsg & debug_steer) LogUSR.debug(" RA%.3f", racesteer);
steer = racesteer;
lastNSasteer = (float)rldata->NSsteer;
}
@ -1753,7 +1743,7 @@ if (DebugMsg & debug_steer) fprintf(stderr," RA%.3f",racesteer);
{
steer = (float) MIN(racesteer, MAX(steer + climit, racesteer - fabs(correctlimit) + climit));
lastNSasteer = (float) MIN(rldata->NSsteer, MAX(lastNSasteer, rldata->NSsteer + climit));
if (DebugMsg & debug_steer) fprintf(stderr," MA%.3f",steer);
if (DebugMsg & debug_steer) LogUSR.debug(" MA%.3f", steer);
}
}
else
@ -1763,13 +1753,13 @@ if (DebugMsg & debug_steer) fprintf(stderr," MA%.3f",steer);
//steer = (float) MAX(racesteer, steer-climit);
steer = racesteer;
lastNSasteer = (float)rldata->NSsteer;
if (DebugMsg & debug_steer) fprintf(stderr," RB%.3f",racesteer);
if (DebugMsg & debug_steer) LogUSR.debug(" RB%.3f", racesteer);
}
else
{
steer = (float) MAX(racesteer, MIN(steer - fabs(climit), racesteer + fabs(correctlimit) + climit));
lastNSasteer = (float) MAX(rldata->NSsteer, MIN(lastNSasteer, rldata->NSsteer + climit));
if (DebugMsg & debug_steer) fprintf(stderr," MB%.3f",steer);
if (DebugMsg & debug_steer) LogUSR.debug(" MB%.3f", steer);
}
}
}
@ -1802,12 +1792,12 @@ if (DebugMsg & debug_steer) fprintf(stderr," MB%.3f",steer);
else
//lastNSasteer = (float) MAX(rldata->NSsteer, lastNSasteer - (((155.0-speed)/10000) * correctspeed));
lastNSasteer = (float) MAX(rldata->NSsteer, lastNSasteer - changelimit);
if (DebugMsg & debug_steer) fprintf(stderr," I%.3f",steer);
if (DebugMsg & debug_steer) LogUSR.debug(" I%.3f", steer);
}
}
if (DebugMsg & debug_steer) fprintf(stderr," %.3f NS=%.3f\n",steer,lastNSasteer);
if (DebugMsg & debug_steer) LogUSR.debug(" %.3f NS=%.3f\n", steer, lastNSasteer);
return steer;
}
@ -2163,12 +2153,12 @@ bool Driver::canOvertake2( Opponent *o, int avoidingside )
if (oAspeed >= o->getSpeed()) // speed on avoidside of opponent is fast enough
{
if (DebugMsg & debug_overtake)
fprintf(stderr,"-> %s: OVERTAKE2 ospd=%.1f oAspd=%.1f\n",ocar->_name,o->getSpeed(),oAspeed);
LogUSR.debug("-> %s: OVERTAKE2 ospd=%.1f oAspd=%.1f\n", ocar->_name, o->getSpeed(), oAspeed);
return true;
}
if (DebugMsg & debug_overtake)
fprintf(stderr,"-> %s: FAIL2!!!! ospd=%.1f oAspd=%.1f\n",ocar->_name,o->getSpeed(),oAspeed);
LogUSR.debug("-> %s: FAIL2!!!! ospd=%.1f oAspd=%.1f\n", ocar->_name, o->getSpeed(), oAspeed);
return false;
}
@ -2199,7 +2189,7 @@ bool Driver::canOvertake( Opponent *o, double *mincatchdist, bool outside, bool
// already overtaking a slower opponent
if (DebugMsg & debug_overtake)
fprintf(stderr,"%.1f %s: IGNORE!!! spddiff=%.1f minspeed=%.1f\n",otry_factor,ocar->_name,speed-(ospeed+2*overtakecaution),*mincatchdist);
LogUSR.debug("%.1f %s: IGNORE!!! spddiff=%.1f minspeed=%.1f\n", otry_factor, ocar->_name, speed-(ospeed+2*overtakecaution),*mincatchdist);
return false;
}
@ -2214,7 +2204,7 @@ bool Driver::canOvertake( Opponent *o, double *mincatchdist, bool outside, bool
*mincatchdist = speed - ospeed;
if (DebugMsg & debug_overtake)
fprintf(stderr,"%.1f %s: OVERTAKE! spd=%.1f ospd=%.1f oAspd=%.1f ti=%.1f\n",otry_factor,ocar->_name,speed,ospeed+2*overtakecaution,oAspeed,o->getTimeImpact());
LogUSR.debug("%.1f %s: OVERTAKE! spd=%.1f ospd=%.1f oAspd=%.1f ti=%.1f\n", otry_factor, ocar->_name,speed,ospeed+2*overtakecaution,oAspeed,o->getTimeImpact());
return true;
}
@ -2223,7 +2213,7 @@ bool Driver::canOvertake( Opponent *o, double *mincatchdist, bool outside, bool
// not worth the risk, ignore opponent
if (DebugMsg & debug_overtake)
fprintf(stderr,"%.1f %s: FAIL!!!!! spd=%.1f ospd=%.1f oAspd=%.1f ti=%.1f\n",otry_factor,ocar->_name,speed,ospeed+2*overtakecaution,oAspeed,o->getTimeImpact());
LogUSR.debug("%.1f %s: FAIL!!!!! spd=%.1f ospd=%.1f oAspd=%.1f ti=%.1f\n",otry_factor,ocar->_name,speed,ospeed+2*overtakecaution,oAspeed,o->getTimeImpact());
return false;
}
@ -2359,7 +2349,7 @@ float Driver::getOffset()
{
o = &opponent[i];
if (DebugMsg & debug_overtake)
fprintf(stderr,"%s SIDE %s\n",car->_name,ocar->_name);fflush(stderr);
LogUSR.debug("%s SIDE %s\n", car->_name, ocar->_name);
double sidedist = fabs(ocar->_trkPos.toLeft - car->_trkPos.toLeft);
double sidemargin = opponent[i].getWidth()/2 + getWidth()/2 + 5.0f + MAX(fabs(rldata->rInverse), fabs(rldata->mInverse))*100;
@ -2394,7 +2384,7 @@ fprintf(stderr,"%s SIDE %s\n",car->_name,ocar->_name);fflush(stderr);
// myoffset -= rldata->rInverse * 500 * IncFactor;
avoidmovt = 1;
if (DebugMsg & debug_overtake)
fprintf(stderr,"%s SIDE to Rgt %s, MOVING LEFT by %.3f, sm=%.3f sd=%.3f/%.3f sm-sd=%.3f mInv=%.3f\n",car->_name,ocar->_name,(float) (OVERTAKE_OFFSET_INC*lftinc*MAX(0.2f, MIN(1.5f, sdiff))),sidemargin,sidedist,sidedist2,sdiff,rldata->mInverse);fflush(stderr);
LogUSR.debug("%s SIDE to Rgt %s, MOVING LEFT by %.3f, sm=%.3f sd=%.3f/%.3f sm-sd=%.3f mInv=%.3f\n",car->_name,ocar->_name,(float) (OVERTAKE_OFFSET_INC*lftinc*MAX(0.2f, MIN(1.5f, sdiff))),sidemargin,sidedist,sidedist2,sdiff,rldata->mInverse);
} else if (side <= 0.0) {
double rinc = OVERTAKE_OFFSET_INC * (rgtinc * MAX(0.2, MIN(1.1, sdiff/4)) * 1.5);
if (rldata->rInverse > 0.0)
@ -2404,13 +2394,13 @@ fprintf(stderr,"%s SIDE to Rgt %s, MOVING LEFT by %.3f, sm=%.3f sd=%.3f/%.3f sm-
// myoffset -= rldata->rInverse * 500 * IncFactor;
avoidmovt = 1;
if (DebugMsg & debug_overtake)
fprintf(stderr,"%s SIDE to Lft %s, MOVING RIGHT by %.3f sm-sd=%.2f mo=%.3f\n",car->_name,ocar->_name,(OVERTAKE_OFFSET_INC*lftinc*MAX(1.0f, MIN(2.0f, sdiff))),sdiff,myoffset);fflush(stderr);
LogUSR.debug("%s SIDE to Lft %s, MOVING RIGHT by %.3f sm-sd=%.2f mo=%.3f\n",car->_name,ocar->_name,(OVERTAKE_OFFSET_INC*lftinc*MAX(1.0f, MIN(2.0f, sdiff))),sdiff,myoffset);
}
if (avoidmovt)
sideratio = MIN(sidedist,sidedist2)/sidemargin;
else if (DebugMsg & debug_overtake)
fprintf(stderr,"%s SIDE %s, NO MOVE %.1f\n",car->_name,ocar->_name,myoffset);fflush(stderr);
LogUSR.debug("%s SIDE %s, NO MOVE %.1f\n", car->_name, ocar->_name, myoffset);
}
else if (sidedist > sidemargin+3.0)
{
@ -2423,7 +2413,7 @@ fprintf(stderr,"%s SIDE %s, NO MOVE %.1f\n",car->_name,ocar->_name,myoffset);ffl
{
myoffset -= (float) (OVERTAKE_OFFSET_INC*lftinc/4);
if (DebugMsg & debug_overtake)
fprintf(stderr,"%s SIDE to Rgt %s, MOVING BACK TO RIGHT\n",car->_name,ocar->_name);fflush(stderr);
LogUSR.debug("%s SIDE to Rgt %s, MOVING BACK TO RIGHT\n", car->_name, ocar->_name);
if (!avoidmode)
avoidtime = MIN(simtime, avoidtime+deltaTime*0.5);
}
@ -2432,15 +2422,15 @@ fprintf(stderr,"%s SIDE to Rgt %s, MOVING BACK TO RIGHT\n",car->_name,ocar->_nam
{
myoffset += (float) (OVERTAKE_OFFSET_INC*rgtinc/4);
if (DebugMsg & debug_overtake)
fprintf(stderr,"%s SIDE to Lft %s, MOVING BACK TO LEFT\n",car->_name,ocar->_name);fflush(stderr);
LogUSR.debug("%s SIDE to Lft %s, MOVING BACK TO LEFT\n", car->_name, ocar->_name);
if (!avoidmode)
avoidtime = MIN(simtime, avoidtime+deltaTime*0.5);
}
else if (DebugMsg & debug_overtake)
fprintf(stderr,"%s SIDE %s, NO MOVE %.1f\n",car->_name,ocar->_name,myoffset);fflush(stderr);
LogUSR.debug("%s SIDE %s, NO MOVE %.1f\n", car->_name, ocar->_name, myoffset);
}
else if (DebugMsg & debug_overtake)
fprintf(stderr,"%s SIDE %s, NO MOVE AT ALL! %.1f\n",car->_name,ocar->_name,myoffset);fflush(stderr);
LogUSR.debug("%s SIDE %s, NO MOVE AT ALL! %.1f\n", car->_name, ocar->_name, myoffset);
if (ocar->_trkPos.toLeft > car->_trkPos.toLeft)
{
@ -2538,11 +2528,11 @@ fprintf(stderr,"%s SIDE %s, NO MOVE AT ALL! %.1f\n",car->_name,ocar->_name,myoff
{
int newside = checkSwitch(avoidingside, o, ocar);
if (DebugMsg & debug_overtake)
fprintf(stderr," AVOIDING A %c\n",(avoidingside==TR_LFT?'L':'R'));
LogUSR.debug(" AVOIDING A %c\n", (avoidingside==TR_LFT?'L':'R'));
if (newside != avoidingside)
{
if (DebugMsg & debug_overtake)
fprintf(stderr," SWITCH 1 from %c to %c\n",(avoidingside==TR_LFT?'L':'R'),(newside==TR_LFT?'L':'R'));
LogUSR.debug(" SWITCH 1 from %c to %c\n", (avoidingside==TR_LFT?'L':'R'),(newside==TR_LFT?'L':'R'));
avoidingside = newside;
thismustmove = true;
}
@ -2586,20 +2576,20 @@ fprintf(stderr," SWITCH 1 from %c to %c\n",(avoidingside==TR_LFT?'L':'R'),(newsi
rinc += rInverse * 200 * IncFactor;
myoffset -= (float) rinc;
if (DebugMsg & debug_overtake)
fprintf(stderr,"%s LFT %s, MOVING RIGHT %.3f/%.3f -> %.3f (rgtinc=%.2f (%.2f) rinc=%.2f)\n",car->_name,ocar->_name,(float) (OVERTAKE_OFFSET_INC*rgtinc),rinc,myoffset,rgtinc,lftinc,rinc);
LogUSR.debug("%s LFT %s, MOVING RIGHT %.3f/%.3f -> %.3f (rgtinc=%.2f (%.2f) rinc=%.2f)\n", car->_name, ocar->_name, (float) (OVERTAKE_OFFSET_INC*rgtinc),rinc,myoffset,rgtinc,lftinc,rinc);
avoidmovt = 1;
}
else if (sidedist > car->_dimension_y + ocar->_dimension_y + 4.0 &&
car->_trkPos.toRight < MIN(lane2right-1.0, 4.0 + fabs(nextCRinverse)*1000))
{
if (DebugMsg & debug_overtake)
fprintf(stderr,"%s LFT %s, MOVING BACK TO LEFT %.3f\n",car->_name,ocar->_name,(float) (OVERTAKE_OFFSET_INC*lftinc/2));
LogUSR.debug("%s LFT %s, MOVING BACK TO LEFT %.3f\n",car->_name,ocar->_name,(float) (OVERTAKE_OFFSET_INC*lftinc/2));
myoffset += (float) (OVERTAKE_OFFSET_INC*lftinc)/2;
if (!avoidmode)
avoidtime = MIN(simtime, avoidtime+deltaTime);
}
else if (DebugMsg & debug_overtake)
fprintf(stderr,"%s LFT %s, HOLDING LINE\n",car->_name,ocar->_name);
LogUSR.debug("%s LFT %s, HOLDING LINE\n",car->_name,ocar->_name);
}
else // if (avoidingside == TR_RGT)
{
@ -2610,7 +2600,7 @@ fprintf(stderr,"%s LFT %s, HOLDING LINE\n",car->_name,ocar->_name);
(prefer_side == TR_LFT && car->_trkPos.toLeft > MIN(lane2left, 3.0 + nextCRinverse*1000)))
{
if (DebugMsg & debug_overtake)
fprintf(stderr,"%s RGT %s, MOVING LEFT %.3f\n",car->_name,ocar->_name,(float) (OVERTAKE_OFFSET_INC*lftinc));
LogUSR.debug("%s RGT %s, MOVING LEFT %.3f\n",car->_name,ocar->_name,(float) (OVERTAKE_OFFSET_INC*lftinc));
double linc = OVERTAKE_OFFSET_INC * lftinc;
if (rInverse < 0.0)
linc -= rInverse * 200 * IncFactor;
@ -2621,13 +2611,13 @@ fprintf(stderr,"%s RGT %s, MOVING LEFT %.3f\n",car->_name,ocar->_name,(float) (O
car->_trkPos.toLeft < MIN(lane2left-1.0, 4.0 + fabs(nextCRinverse)*1000))
{
if (DebugMsg & debug_overtake)
fprintf(stderr,"%s RGT %s, MOVING BACK TO RIGHT %.3f\n",car->_name,ocar->_name,(float) (OVERTAKE_OFFSET_INC*rgtinc/2));
LogUSR.debug("%s RGT %s, MOVING BACK TO RIGHT %.3f\n", car->_name, ocar->_name,(float) (OVERTAKE_OFFSET_INC*rgtinc/2));
myoffset -= (float) (OVERTAKE_OFFSET_INC*rgtinc)/2;
if (!avoidmode)
avoidtime = MIN(simtime, avoidtime+deltaTime);
}
else if (DebugMsg & debug_overtake)
fprintf(stderr,"%s RGT %s, HOLDING LINE\n",car->_name,ocar->_name);
LogUSR.debug("%s RGT %s, HOLDING LINE\n", car->_name, ocar->_name);
}
{
@ -2681,7 +2671,7 @@ fprintf(stderr,"%s RGT %s, HOLDING LINE\n",car->_name,ocar->_name);
float side = car->_trkPos.toMiddle - ocar->_trkPos.toMiddle;
float w = car->_trkPos.seg->width/WIDTHDIV-BORDER_OVERTAKE_MARGIN;
if (DebugMsg & debug_overtake)
fprintf(stderr,"%s BEHIND %s (%d %d %d %d)\n",car->_name,ocar->_name,((o->getState() & OPP_LETPASS) && !o->isTeamMate()),(o->isTeamMate() && (car->_dammage - o->getDamage() > TEAM_DAMAGE_CHANGE_LEAD)),((o->getDistance() > -TEAM_REAR_DIST) && (o->getDistance() < -car->_dimension_x)),(car->race.laps == o->getCarPtr()->race.laps));
LogUSR.debug("%s BEHIND %s (%d %d %d %d)\n", car->_name, ocar->_name,((o->getState() & OPP_LETPASS) && !o->isTeamMate()),(o->isTeamMate() && (car->_dammage - o->getDamage() > TEAM_DAMAGE_CHANGE_LEAD)),((o->getDistance() > -TEAM_REAR_DIST) && (o->getDistance() < -car->_dimension_x)),(car->race.laps == o->getCarPtr()->race.laps));
if (side > 0.0f) {
if (myoffset < w) {
myoffset += (float) (OVERTAKE_OFFSET_INC*lftinc);
@ -2709,7 +2699,7 @@ fprintf(stderr,"%s BEHIND %s (%d %d %d %d)\n",car->_name,ocar->_name,((o->getSta
myoffset = (float) (MAX(minoffset, MIN(maxoffset, myoffset)));
if (DebugMsg & debug_overtake)
fprintf(stderr,"%s BEHIND %s (%g)\n",car->_name,ocar->_name,myoffset);
LogUSR.debug("%s BEHIND %s (%g)\n", car->_name, ocar->_name, myoffset);
}
}
@ -2754,8 +2744,7 @@ end_getoffset:
if (DebugMsg & debug_overtake)
if (mode != mode_normal)
{
fprintf(stderr,"mode=%d max=%.1f(%.1f) min=%.1f(%.1f) myoff=%.1f->%.1f->%.1f\n",mode,maxoffset,oldmax,minoffset,oldmin,car->_trkPos.toMiddle,mo,myoffset);
fflush(stderr);
LogUSR.debug("mode=%d max=%.1f(%.1f) min=%.1f(%.1f) myoff=%.1f->%.1f->%.1f\n",mode,maxoffset,oldmax,minoffset,oldmin,car->_trkPos.toMiddle,mo,myoffset);
}
}
return myoffset;
@ -2792,7 +2781,7 @@ int Driver::checkSwitch( int side, Opponent *o, tCarElt *ocar )
{
case TR_RGT:
if (DebugMsg & debug_overtake)
fprintf(stderr,"CHECKSWITCH: Rgt - ti=%.2f dm=%.1f o=%.2f->%.2f m=%.2f->%.2f\n",t_impact,deltamult,ocar->_trkPos.toLeft,ocatchleft,car->_trkPos.toLeft,mcatchleft);
LogUSR.debug("CHECKSWITCH: Rgt - ti=%.2f dm=%.1f o=%.2f->%.2f m=%.2f->%.2f\n",t_impact,deltamult,ocar->_trkPos.toLeft,ocatchleft,car->_trkPos.toLeft,mcatchleft);
if (nextCRinverse > 0.0)
radius = 0.0;
if ((side == prefer_side ||
@ -2802,7 +2791,7 @@ fprintf(stderr,"CHECKSWITCH: Rgt - ti=%.2f dm=%.1f o=%.2f->%.2f m=%.2f->%.2f\n",
track->width - ocatchleft > (car->_dimension_y + 3.0 + radius + speedchange))
{
if (DebugMsg & debug_overtake)
fprintf(stderr," Switch to his right (side=lft) - %d %d %d %d\n",(side==prefer_side),(ocatchleft<mcatchleft-1.5),(xdist>sdiff+ydist+MAX(0.0, angle*10)),(track->width-ocatchleft>(car->_dimension_y+3+radius+speedchange)));
LogUSR.debug(" Switch to his right (side=lft) - %d %d %d %d\n",(side==prefer_side),(ocatchleft<mcatchleft-1.5),(xdist>sdiff+ydist+MAX(0.0, angle*10)),(track->width-ocatchleft>(car->_dimension_y+3+radius+speedchange)));
side = TR_LFT;
}
break;
@ -2810,7 +2799,7 @@ fprintf(stderr," Switch to his right (side=lft) - %d %d %d %d\n",(sid
case TR_LFT:
default:
if (DebugMsg & debug_overtake)
fprintf(stderr,"CHECKSWITCH: Lft - ti=%.2f dm=%.1f o=%.2f->%.2f m=%.2f->%.2f\n",t_impact,deltamult,ocar->_trkPos.toLeft,ocatchleft,car->_trkPos.toLeft,mcatchleft);
LogUSR.debug("CHECKSWITCH: Lft - ti=%.2f dm=%.1f o=%.2f->%.2f m=%.2f->%.2f\n",t_impact,deltamult,ocar->_trkPos.toLeft,ocatchleft,car->_trkPos.toLeft,mcatchleft);
if (nextCRinverse < 0.0)
radius = 0.0;
if ((side == prefer_side ||

3
src/drivers/usr/src/driver.h
View file

@ -41,6 +41,9 @@
#include "mod.h"
#include "xmldefs.h"
extern GfLogger* PLogUSR;
#define LogUSR (*PLogUSR)
class Opponents;
class Opponent;
class Pit;

5
src/drivers/usr/src/usr.cpp
View file

@ -93,6 +93,8 @@ char undefined[] = "undefined";
static int robot_type; //Decide if TRB, SC, GP36, LS or some other driver
// The "USR" logger instance
GfLogger* PLogUSR = 0;
////////////////////////////////////////////////////////////
// Utility functions
@ -327,6 +329,9 @@ extern "C" int usr_lp1(tModInfo *ModInfo)
extern "C" int moduleWelcome(const tModWelcomeIn* welcomeIn,
tModWelcomeOut* welcomeOut)
{
PLogUSR = GfLogger::instance("USR");
LogUSR.debug("\n#Interface Version: %d.%d\n",
welcomeIn->itfVerMajor,welcomeIn->itfVerMinor);
// Save module name and loadDir, and determine module XML file pathname.
setRobotName(welcomeIn->name);