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- update shadow's driver

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6637 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 57038fa4d00c5e9ddf03f6a7efca1a2d4891fa7e
Former-commit-id: 53b202e1b9b9e272f12d252a9845bb6d0569e2f3
This commit is contained in:
torcs-ng 2019-05-04 23:42:09 +00:00
parent d562effd02
commit bb11e1b1fa
2 changed files with 30 additions and 129 deletions
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144
src/drivers/shadow/src/Driver.cpp
View file

@ -30,6 +30,7 @@
////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////
// Construction/Destruction // Construction/Destruction
////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////
static const int BUFSIZE = 256;
#define FLY_COUNT 20 #define FLY_COUNT 20
@ -44,10 +45,6 @@
//==========================================================================* //==========================================================================*
// Statics // Statics
//--------------------------------------------------------------------------* //--------------------------------------------------------------------------*
//int TDriver::NBBOTS = MAX_NBBOTS; // Nbr of drivers/robots
//const char* TDriver::ROBOT_DIR = "drivers/shadow"; // Sub path to dll
//const char* TDriver::DEFAULTCARTYPE = "car1-trb1"; // Default car type
const char* TDriver::robot_name="shadow_trb1";
int TDriver::RobotType = 0; int TDriver::RobotType = 0;
bool TDriver::AdvancedParameters = false; // Advanced parameters bool TDriver::AdvancedParameters = false; // Advanced parameters
bool TDriver::UseOldSkilling = false; // Use old skilling bool TDriver::UseOldSkilling = false; // Use old skilling
@ -74,35 +71,6 @@ const float TDriver::ABS_MINSPEED = 3.0f; // [m/s] Below this speed t
const float TDriver::ABS_SLIP = 2.5f; const float TDriver::ABS_SLIP = 2.5f;
const float TDriver::ABS_RANGE = 5.0f; const float TDriver::ABS_RANGE = 5.0f;
//double TDriver::LengthMargin; // safety margin long.
//bool TDriver::Qualification; // Global flag
/*static const char *WheelSect[4] = // TORCS defined sections
{SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
static const char *WingSect[2] =
{SECT_FRNTWING, SECT_REARWING};*/
//==========================================================================*
//==========================================================================*
// Buffers
//
// Q: qualifying
// F: Free
// L: Avoid to left
// R: Avoid to right
//--------------------------------------------------------------------------*
/*#define BUFLEN 256
static char PathToWriteToBuffer[BUFLEN]; // for path we write to*/
//static char PathFilenameBuffer[256]; // for path and filename
/*static char TrackNameBuffer[BUFLEN]; // for track name
static char TrackLoadQualifyBuffer[BUFLEN]; // for track filename Q
static char TrackLoadBuffer[BUFLEN]; // for track filename F
static char TrackLoadLeftBuffer[BUFLEN]; // for track filename L
static char TrackLoadRightBuffer[BUFLEN]; // for track filename R
static char PitLoadBuffer[BUFLEN]; // for pit track filename F
static char PitLoadLeftBuffer[BUFLEN]; // for pit track filename L
static char PitLoadRightBuffer[BUFLEN]; // for pit track filename R*/
//==========================================================================*
//==========================================================================* //==========================================================================*
// Skilling: Randomness // Skilling: Randomness
//--------------------------------------------------------------------------* //--------------------------------------------------------------------------*
@ -135,7 +103,7 @@ static const double s_sgMin[] = { 0.00, 10 };
static const double s_sgMax[] = { 0.03, 100 }; static const double s_sgMax[] = { 0.03, 100 };
static const int s_sgSteps[] = { 10, 18 }; static const int s_sgSteps[] = { 10, 18 };
TDriver::TDriver(int Index, const int robot_type): TDriver::TDriver(int Index):
m_CarType(0), m_CarType(0),
m_driveType(DT_RWD), m_driveType(DT_RWD),
m_gearUpRpm(9000), m_gearUpRpm(9000),
@ -200,75 +168,12 @@ TDriver::TDriver(int Index, const int robot_type):
m_FuelNeeded(0), m_FuelNeeded(0),
m_Strategy(NULL), m_Strategy(NULL),
m_pShared(NULL),
m_raceType(0) m_raceType(0)
{ {
INDEX = Index; INDEX = Index;
switch(robot_type)
{
case SHADOW_TRB1:
robot_name = "shadow_trb1";
Frc = 0.95;
break;
case SHADOW_SC:
robot_name = "shadow_sc";
Frc = 0.90;
break;
case SHADOW_SRW:
robot_name = "shadow_srw";
WingControl = true;
Frc = 0.95;
break;
case SHADOW_LS1:
robot_name = "shadow_ls1";
Frc = 0.85;
break;
case SHADOW_LS2:
robot_name = "shadow_ls2";
Frc = 0.85;
break;
case SHADOW_36GP:
robot_name = "shadow_36GP";
Frc = 0.75;
break;
case SHADOW_67GP:
robot_name = "shadow_67GP";
Frc = 0.75;
break;
case SHADOW_RS:
robot_name = "shadow_rs";
Frc = 0.98;
break;
case SHADOW_LP1:
robot_name = "shadow_lp1";
Frc = 0.90;
break;
case SHADOW_MPA1:
robot_name = "shadow_mpa1";
Frc = 0.88;
break;
case SHADOW_MPA11:
robot_name = "shadow_mpa11";
Frc = 0.88;
break;
case SHADOW_MPA12:
robot_name = "shadow_mpa12";
Frc = 0.88;
break;
}
for( int i = 0; i < 50; i++ ) for( int i = 0; i < 50; i++ )
{ {
m_brkCoeff[i] = 0.5;//0.12; m_brkCoeff[i] = 0.5;//0.12;
@ -293,6 +198,9 @@ TDriver::~TDriver()
if (m_Strategy != NULL) if (m_Strategy != NULL)
delete m_Strategy; delete m_Strategy;
if(m_pShared !=NULL)
delete m_pShared;
LogSHADOW.debug("\n#<<< TDriver::~TDriver()\n\n"); LogSHADOW.debug("\n#<<< TDriver::~TDriver()\n\n");
} }
@ -310,11 +218,6 @@ static void* MergeParamFile( void* hParams, const char* fileName )
GFPARM_MMODE_RELSRC | GFPARM_MMODE_RELDST); GFPARM_MMODE_RELSRC | GFPARM_MMODE_RELDST);
} }
void TDriver::SetShared( Shared* pShared )
{
m_pShared = pShared;
}
//==========================================================================* //==========================================================================*
//==========================================================================* //==========================================================================*
@ -360,14 +263,12 @@ void TDriver::GetSkillingParameters()
// Global skilling from Andrew Sumner ... // Global skilling from Andrew Sumner ...
// Check if skilling is enabled // Check if skilling is enabled
int SkillEnabled = 0; int SkillEnabled = 0;
char PathFilenameBuffer[512]; char PathFilenameBuffer[1024];
// Do not skill if optimisation is working snprintf(PathFilenameBuffer, 1024, "%sdrivers/%s/default.xml", GetDataDir(), MyBotName);
//if (!GeneticOpti)
{
snprintf(PathFilenameBuffer, 512, "%sdrivers/%s/default.xml", GetDataDir(), robot_name);
LogSHADOW.debug("#PathFilename: %s\n", PathFilenameBuffer); // itself LogSHADOW.debug("#PathFilename: %s\n", PathFilenameBuffer); // itself
void* SkillHandle = GfParmReadFile(PathFilenameBuffer, GFPARM_RMODE_REREAD); void* SkillHandle = GfParmReadFile(PathFilenameBuffer, GFPARM_RMODE_REREAD);
if (SkillHandle) if (SkillHandle)
{ {
SkillEnabled = (int) MAX(0,MIN(1,(int) GfParmGetNum(SkillHandle, "skilling", "enable", (char *) NULL, 0.0))); SkillEnabled = (int) MAX(0,MIN(1,(int) GfParmGetNum(SkillHandle, "skilling", "enable", (char *) NULL, 0.0)));
@ -377,7 +278,6 @@ void TDriver::GetSkillingParameters()
} }
GfParmReleaseHandle(SkillHandle); GfParmReleaseHandle(SkillHandle);
}
if (SkillEnabled > 0) // If skilling is enabled if (SkillEnabled > 0) // If skilling is enabled
{ // Get Skill level { // Get Skill level
@ -408,7 +308,7 @@ void TDriver::GetSkillingParameters()
} }
// Get individual skilling // Get individual skilling
snprintf(PathFilenameBuffer, 256, "%sdrivers/%s/%d/skill.xml", GetDataDir(), robot_name, INDEX); snprintf(PathFilenameBuffer, 256, "%sdrivers/%s/%d/skill.xml", GetDataDir(), MyBotName, INDEX);
LogSHADOW.debug("#PathFilename: %s\n", PathFilenameBuffer); // itself LogSHADOW.debug("#PathFilename: %s\n", PathFilenameBuffer); // itself
SkillHandle = GfParmReadFile(PathFilenameBuffer, GFPARM_RMODE_REREAD); SkillHandle = GfParmReadFile(PathFilenameBuffer, GFPARM_RMODE_REREAD);
@ -441,11 +341,15 @@ void TDriver::InitTrack( tTrack* pTrack, void* pCarHandle, void** ppCarParmHandl
void* hCarParm = 0; void* hCarParm = 0;
char buf[1024]; char buf[1024];
char trackName[256]; char trackName[256];
char carName[256];
track = pTrack; track = pTrack;
// Initialize the base param path const char *car_sect = SECT_GROBJECTS "/" LST_RANGES "/" "1";
//const char* BaseParamPath = TDriver::robot_name; strncpy(carName, GfParmGetStr(pCarHandle, car_sect, PRM_CAR, ""), sizeof(carName));
//const char* PathFilename = PathFilenameBuffer; char *p = strrchr(carName, '.');
if (p)
*p = '\0';
SkillGlobal = Skill = DecelAdjustPerc = DriverAggression = SkillAdjustLimit = 0.0; SkillGlobal = Skill = DecelAdjustPerc = DriverAggression = SkillAdjustLimit = 0.0;
GetSkillingParameters(); GetSkillingParameters();
@ -472,8 +376,8 @@ void TDriver::InitTrack( tTrack* pTrack, void* pCarHandle, void** ppCarParmHandl
// set up the base param path. // set up the base param path.
// //
snprintf(buf, BUFSIZE, "drivers/%s/%s/default.xml", robot_name, m_CarType); snprintf(buf, BUFSIZE, "drivers/%s/%s/default.xml", MyBotName, carName);
LogSHADOW.info("#Path for default.xml = drivers/%s/%s/default.xml\n", robot_name, m_CarType); LogSHADOW.info("#Path for default.xml = drivers/%s/%s/default.xml\n", MyBotName, carName);
*ppCarParmHandle = GfParmReadFile(buf, GFPARM_RMODE_STD); *ppCarParmHandle = GfParmReadFile(buf, GFPARM_RMODE_STD);
@ -486,7 +390,7 @@ void TDriver::InitTrack( tTrack* pTrack, void* pCarHandle, void** ppCarParmHandl
if (!m_Rain) if (!m_Rain)
{ {
// default params for car type (e.g. clkdtm) // default params for car type (e.g. clkdtm)
snprintf( buf, BUFSIZE, "drivers/%s/%s/%s.xml", robot_name, m_CarType, trackName ); snprintf( buf, BUFSIZE, "drivers/%s/%s/%s.xml", MyBotName, carName, trackName );
LogSHADOW.info("#Override params for car type with params of track: %s\n", buf); LogSHADOW.info("#Override params for car type with params of track: %s\n", buf);
hCarParm = MergeParamFile(hCarParm, buf); hCarParm = MergeParamFile(hCarParm, buf);
} }
@ -494,13 +398,13 @@ void TDriver::InitTrack( tTrack* pTrack, void* pCarHandle, void** ppCarParmHandl
if (m_Rain) if (m_Rain)
{ {
// Override params for car type with params of track and weather // Override params for car type with params of track and weather
snprintf(buf, BUFSIZE, "drivers/%s/%s/%s-%d.xml", robot_name, m_CarType, trackName, m_WeatherCode); snprintf(buf, BUFSIZE, "drivers/%s/%s/%s-%d.xml", MyBotName, carName, trackName, m_WeatherCode);
LogSHADOW.info("#Override params for car type with params of track and weather: %s\n", buf); LogSHADOW.info("#Override params for car type with params of track and weather: %s\n", buf);
hCarParm = MergeParamFile(hCarParm, buf); hCarParm = MergeParamFile(hCarParm, buf);
} }
// override params for car type on track of specific race type. // override params for car type on track of specific race type.
snprintf( buf, sizeof(buf), "drivers/%s/%s/track-%s-%s.xml", robot_name, m_CarType, trackName, raceType[pS->_raceType] ); snprintf( buf, sizeof(buf), "drivers/%s/%s/track-%s-%s.xml", MyBotName, carName, trackName, raceType[pS->_raceType] );
LogSHADOW.info("#Override params for car type with params of track and race type: %s\n", buf); LogSHADOW.info("#Override params for car type with params of track and race type: %s\n", buf);
hCarParm = MergeParamFile(hCarParm, buf); hCarParm = MergeParamFile(hCarParm, buf);
@ -651,6 +555,8 @@ void TDriver::InitTrack( tTrack* pTrack, void* pCarHandle, void** ppCarParmHandl
oCarHasESP = true; oCarHasESP = true;
*/ */
m_pShared = new Shared();
MyTrack::SideMod sideMod; MyTrack::SideMod sideMod;
sideMod.side = -1; sideMod.side = -1;
const char* pStr = GfParmGetStr(hCarParm, SECT_PRIV, PRV_SIDE_MOD, ""); const char* pStr = GfParmGetStr(hCarParm, SECT_PRIV, PRV_SIDE_MOD, "");
@ -720,7 +626,7 @@ void TDriver::NewRace( tCarElt* pCar, tSituation* pS )
char* pTrackName = strrchr(m_track.GetTrack()->filename, '/') + 1; char* pTrackName = strrchr(m_track.GetTrack()->filename, '/') + 1;
char buf[1024]; char buf[1024];
snprintf( buf, 256, "drivers/%s/%s.spr", robot_name, pTrackName ); snprintf( buf, 256, "drivers/%s/%s.spr", MyBotName, pTrackName );
initCw(); initCw();
LogSHADOW.debug(" CW = %.3f\n", m_cm.CD_BODY); LogSHADOW.debug(" CW = %.3f\n", m_cm.CD_BODY);

15
src/drivers/shadow/src/Driver.h
View file

@ -118,8 +118,6 @@ class SimpleStrategy;
// Speed Dreams-Interface // Speed Dreams-Interface
//--------------------------------------------------------------------------* //--------------------------------------------------------------------------*
static const int MAX_NBBOTS = 100; static const int MAX_NBBOTS = 100;
static const int MAXNBBOTS = MAX_NBBOTS; // Number of drivers/robots
static const int BUFSIZE = 256;
enum { SHADOW_TRB1=1, SHADOW_SC, SHADOW_SRW, SHADOW_LS1, SHADOW_LS2, SHADOW_36GP, enum { SHADOW_TRB1=1, SHADOW_SC, SHADOW_SRW, SHADOW_LS1, SHADOW_LS2, SHADOW_36GP,
SHADOW_67GP, SHADOW_RS, SHADOW_LP1, SHADOW_MPA1, SHADOW_MPA11, SHADOW_MPA12 }; SHADOW_67GP, SHADOW_RS, SHADOW_LP1, SHADOW_MPA1, SHADOW_MPA11, SHADOW_MPA12 };
@ -144,10 +142,9 @@ public:
}; };
public: public:
TDriver(int index, const int robot_type); // Constructor TDriver(int index); // Constructor
~TDriver(); // Destructor ~TDriver(); // Destructor
void SetShared( Shared* pShared );
void InitTrack(tTrack* track, void* carHandle, void** carParmHandle, tSituation* s); void InitTrack(tTrack* track, void* carHandle, void** carParmHandle, tSituation* s);
void NewRace(tCarElt* car, tSituation* s ); void NewRace(tCarElt* car, tSituation* s );
@ -204,15 +201,11 @@ public:
static int NBBOTS; // Nbr of cars static int NBBOTS; // Nbr of cars
double CurrSimTime; // Current simulation time double CurrSimTime; // Current simulation time
static const char *robot_name;
double Frc; // Friction coefficient double Frc; // Friction coefficient
//bool UseBrakeLimit; // Enable/disable brakelimit //bool UseBrakeLimit; // Enable/disable brakelimit
double wheelRadius; double wheelRadius;
static const char* ROBOT_DIR; // Sub path to dll
static const char* DEFAULTCARTYPE; // Default car type
static int RobotType; static int RobotType;
static bool AdvancedParameters; static bool AdvancedParameters;
static bool UseOldSkilling; static bool UseOldSkilling;
@ -298,6 +291,8 @@ public:
double m_LastAccel; double m_LastAccel;
int m_LastPosIdx; // Last brake position int m_LastPosIdx; // Last brake position
const char* MyBotName; // Name of this bot
private: private:
void ProcessOtherCars( int index, tCarElt* car, double spd, tSituation* s ); void ProcessOtherCars( int index, tCarElt* car, double spd, tSituation* s );
void AvoidOtherCars( int index, tCarElt* car, double k, double& carTargetSpd, tSituation* s, bool& inTraffic, bool& lapper ); void AvoidOtherCars( int index, tCarElt* car, double k, double& carTargetSpd, tSituation* s, bool& inTraffic, bool& lapper );
@ -352,8 +347,8 @@ private:
double BUMP_MOD; double BUMP_MOD;
int SPDC_NORMAL; int SPDC_NORMAL;
int SPDC_TRAFFIC; int SPDC_TRAFFIC;
int SPDC_EXTRA; int SPDC_EXTRA;
int STEER_CTRL; int STEER_CTRL;
double STEER_K_ACC; double STEER_K_ACC;
double STEER_K_DEC; double STEER_K_DEC;
double STAY_TOGETHER; // dist in m. double STAY_TOGETHER; // dist in m.