speed-dreams/speed-dreams-code
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- Update USR's driver for better pit stop

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@7425 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 228595030f9d0ae6d455806051bb1016311f2603
Former-commit-id: 473f8b8136b6f101322b01b3b62cfb02ba918a7b
This commit is contained in:
torcs-ng 2021-04-20 23:01:13 +00:00
parent 7cedca52a9
commit c63dc1d66d
4 changed files with 85 additions and 51 deletions
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20
src/drivers/usr/src/driver.cpp
View file

@ -15,6 +15,8 @@
* * * *
***************************************************************************/ ***************************************************************************/
#include <teammanager.h>
#include "driver.h" #include "driver.h"
#include "MyParam.h" #include "MyParam.h"
@ -27,6 +29,7 @@
#include <portability.h> #include <portability.h>
//#define TIME_ANALYSIS //#define TIME_ANALYSIS
#ifdef TIME_ANALYSIS #ifdef TIME_ANALYSIS
#include "Timer.h" #include "Timer.h"
@ -58,7 +61,18 @@ Driver::Driver(int index) :
mFlagNames.push_back("FAST_BEHIND"); mFlagNames.push_back("FAST_BEHIND");
} }
void Driver::InitTrack(tTrack* Track, void* carHandle, void** carParmHandle, const tSituation* situation) //==========================================================================*
// Get Team info
//--------------------------------------------------------------------------*
void Driver::TeamInfo(tCarElt* car, tSituation* situation)
{
//RtTeamManagerShowInfo();
mTeamIndex = RtTeamManagerIndex(car, track, situation);
LogUSR.info("#Team index = %i\n", mTeamIndex);
RtTeamManagerDump();
}
void Driver::InitTrack(tTrack* Track, void* carHandle, void** carParmHandle, tSituation* situation)
{ {
LogUSR.debug(".......... %s Driver initrack .........\n", mDriverName); LogUSR.debug(".......... %s Driver initrack .........\n", mDriverName);
track = Track; track = Track;
@ -135,6 +149,7 @@ void Driver::InitTrack(tTrack* Track, void* carHandle, void** carParmHandle, con
// Set initial fuel // Set initial fuel
double distance = 0.0; double distance = 0.0;
if (mPitTest > 0) if (mPitTest > 0)
distance = mTrack.length() * 2 + 0.3; distance = mTrack.length() * 2 + 0.3;
else else
@ -193,7 +208,7 @@ void Driver::InitTrack(tTrack* Track, void* carHandle, void** carParmHandle, con
LogUSR.info("Couldn't load : %s\n", buffer); LogUSR.info("Couldn't load : %s\n", buffer);
} }
void Driver::NewRace(tCarElt* car, const tSituation* situation) void Driver::NewRace(tCarElt* car, tSituation* situation)
{ {
LogUSR.info("********** %s : NewRace() **********\n", mDriverName); LogUSR.info("********** %s : NewRace() **********\n", mDriverName);
@ -201,6 +216,7 @@ void Driver::NewRace(tCarElt* car, const tSituation* situation)
mSimTime = -1.0; mSimTime = -1.0;
initVars(); initVars();
TeamInfo(car, mSituation);
mCar.init(car, &mTrack); mCar.init(car, &mTrack);
mPit.init(mTrack.torcsTrack(), situation, &mCar, mPitDamage, mPitGripFactor, mPitEntryMargin); mPit.init(mTrack.torcsTrack(), situation, &mCar, mPitDamage, mPitGripFactor, mPitEntryMargin);

9
src/drivers/usr/src/driver.h
View file

@ -43,17 +43,19 @@ class Driver
public: public:
Driver(int index); Driver(int index);
void InitTrack(tTrack *Track, void* carHandle, void** carParmHandle, const tSituation* situation); void InitTrack(tTrack *Track, void* carHandle, void** carParmHandle, tSituation* situation);
void NewRace(tCarElt* car, const tSituation* situation); void NewRace(tCarElt* car, tSituation* situation);
void Drive(); void Drive();
int PitCmd(); int PitCmd();
void EndRace(); void EndRace();
void Shutdown(); void Shutdown();
const char* mDriverName; const char* mDriverName;
int mTeamIndex; // Index of car in Teams arrays;
private: private:
enum DriveState {STATE_RACE, STATE_STUCK, STATE_OFFTRACK, STATE_PITLANE, STATE_PITSTOP}; enum DriveState {STATE_RACE, STATE_STUCK, STATE_OFFTRACK, STATE_PITLANE, STATE_PITSTOP};
void TeamInfo(tCarElt* car, tSituation* situation);
void updateTime(); void updateTime();
void updateBasics(); void updateBasics();
void updateOpponents(); void updateOpponents();
@ -121,7 +123,7 @@ private:
double mDeltaTime; double mDeltaTime;
double mSimTime; double mSimTime;
double mLapSimTime; double mLapSimTime;
const tSituation* mSituation; tSituation* mSituation;
MyCar mCar; MyCar mCar;
MyTrack mTrack; MyTrack mTrack;
@ -212,6 +214,7 @@ private:
double mOvtMargin; double mOvtMargin;
tTrack* track; tTrack* track;
tCarElt* car;
}; };
#endif // _DRIVER_H_ #endif // _DRIVER_H_

28
src/drivers/usr/src/pit.cpp
View file

@ -95,7 +95,7 @@ void Pit::init(const tTrack* track, const tSituation* situation, MyCar* car, int
if (mPit != NULL) if (mPit != NULL)
{ {
mSpeedLimit = mPitInfo->speedLimit - 0.2; mSpeedLimit = mPitInfo->speedLimit - 0.5;
// Compute pit spline points along the track // Compute pit spline points along the track
mPitp[3].x = mPit->pos.seg->lgfromstart + mPit->pos.toStart; mPitp[3].x = mPit->pos.seg->lgfromstart + mPit->pos.toStart;
mPitp[2].x = mPitp[3].x - mPitInfo->len; mPitp[2].x = mPitp[3].x - mPitInfo->len;
@ -103,7 +103,9 @@ void Pit::init(const tTrack* track, const tSituation* situation, MyCar* car, int
mPitp[0].x = mPitInfo->pitEntry->lgfromstart; mPitp[0].x = mPitInfo->pitEntry->lgfromstart;
mPitp[1].x = mPitInfo->pitStart->lgfromstart - mPitInfo->len; mPitp[1].x = mPitInfo->pitStart->lgfromstart - mPitInfo->len;
mPitp[5].x = mPitInfo->pitEnd->lgfromstart + mPitInfo->pitEnd->length + mPitInfo->len; mPitp[5].x = mPitInfo->pitEnd->lgfromstart + mPitInfo->pitEnd->length + mPitInfo->len;
//mPitp[5].x = mPitInfo->pitEnd->lgfromstart + mPitInfo->nPitSeg * mPitInfo->len;
mPitp[6].x = mPitInfo->pitExit->lgfromstart + mPitInfo->pitExit->length; mPitp[6].x = mPitInfo->pitExit->lgfromstart + mPitInfo->pitExit->length;
//mPitp[6].x = mPitInfo->pitExit->lgfromstart;
mDtp[0].x = mPitp[0].x; mDtp[0].x = mPitp[0].x;
mDtp[1].x = mPitp[1].x; mDtp[1].x = mPitp[1].x;
mDtp[2].x = mPitp[5].x; mDtp[2].x = mPitp[5].x;
@ -127,26 +129,38 @@ void Pit::init(const tTrack* track, const tSituation* situation, MyCar* car, int
mDtp[i].x = toSplineCoord(mDtp[i].x); mDtp[i].x = toSplineCoord(mDtp[i].x);
} }
// Fix broken pit exit.
if (mPitp[6].x < mPitp[5].x)
{
//fprintf(stderr,"bt: Pitexit broken on track %s.\n", track->name);fflush(stderr);
mPitp[6].x = mPitp[5].x;// +50.0f;
}
mPitp[1].x = std::min(mPitp[1].x, mPitp[2].x); mPitp[1].x = std::min(mPitp[1].x, mPitp[2].x);
mPitp[5].x = std::max(mPitp[4].x, mPitp[5].x); mPitp[5].x = std::max(mPitp[4].x, mPitp[5].x);
mPitOnLeftSide = mPitInfo->side == TR_LFT; mPitOnLeftSide = mPitInfo->side == TR_LFT;
double sign = mPitOnLeftSide ? 1.0 : -1.0; double sign = mPitOnLeftSide ? 1.0 : -1.0;
mPitp[0].y = sign * (mTrack->width / 2.0 - 2.0); mPitp[0].y = sign * (mTrack->width / 2.0 - 2.0);
mPitp[6].y = sign * (mTrack->width / 2.0 - 2.0); mPitp[6].y = sign * (mTrack->width / 2.0 - 2.0);
//mPitp[0].y = 0.0;
//mPitp[6].y = 0.0;
mDtp[0].y = mPitp[0].y; mDtp[0].y = mPitp[0].y;
mDtp[3].y = mPitp[6].y; mDtp[3].y = mPitp[6].y;
for (i = 1; i < PITPOINTS - 1; i++) for (i = 1; i < PITPOINTS - 1; i++)
{ {
mPitp[i].y = sign * (fabs(mPitInfo->driversPits->pos.toMiddle) - 0.3 * mPitInfo->width - 2.2); mPitp[i].y = sign * (fabs(mPitInfo->driversPits->pos.toMiddle) - 0.3 * mPitInfo->width - 2.2);
//mPitp[i].y = sign * (fabs(mPitInfo->driversPits->pos.toMiddle) - mPitInfo->width);
} }
for (i = 1; i < DTPOINTS - 1; i++) for (i = 1; i < DTPOINTS - 1; i++)
{ {
mDtp[i].y = sign * (fabs(mPitInfo->driversPits->pos.toMiddle) - 0.3 * mPitInfo->width - 2.2); mDtp[i].y = sign * (fabs(mPitInfo->driversPits->pos.toMiddle) - 0.3 * mPitInfo->width - 2.2);
//mDtp[i].y = sign * (fabs(mPitInfo->driversPits->pos.toMiddle) - mPitInfo->width);
} }
mPitp[3].y = sign * fabs(mPitInfo->driversPits->pos.toMiddle); mPitp[3].y = sign * (fabs(mPitInfo->driversPits->pos.toMiddle) + 1.0);
mPitSpline.init(PITPOINTS, mPitp); mPitSpline.init(PITPOINTS, mPitp);
mDtSpline.init(DTPOINTS, mDtp); mDtSpline.init(DTPOINTS, mDtp);
} }
@ -295,7 +309,7 @@ void Pit::update()
mPenalty = 0; // fuel, damage and tires served before penalty mPenalty = 0; // fuel, damage and tires served before penalty
bool pittyres = false; bool pittyres = false;
// Check for fuel, damage and tyres // Check for fuel, damage and tyres
bool pitfuel = mCar->_fuel < mAvgFuelPerLap; bool pitfuel = mCar->_fuel < (mAvgFuelPerLap + 2.0);
bool pitdamage = (mCar->_dammage > mPitDamage && remaininglaps * mTrack->length > mMaxDamageDist && mLastFuel > 15.0) || (mCar->_dammage > mMaxDamage); bool pitdamage = (mCar->_dammage > mPitDamage && remaininglaps * mTrack->length > mMaxDamageDist && mLastFuel > 15.0) || (mCar->_dammage > mMaxDamage);
//bool pittyres = (mMyCar->tires()->distLeft() < 1.0 * mTrack->length && mMyCar->tires()->gripFactor() < mPitGripFactor && remaininglaps * mTrack->length > 10000.0); //bool pittyres = (mMyCar->tires()->distLeft() < 1.0 * mTrack->length && mMyCar->tires()->gripFactor() < mPitGripFactor && remaininglaps * mTrack->length > 10000.0);
@ -304,7 +318,7 @@ void Pit::update()
else { else {
pittyres = false; pittyres = false;
} }
if (fs > mPitEntry - mEntryMargin - mPreEntryMargin - 3.0 && fs < mPitEntry - mEntryMargin - mPreEntryMargin && !mStopChecked) if ((fs > mPitEntry - mEntryMargin - mPreEntryMargin - 3.0) && (fs < mPitEntry - mEntryMargin - mPreEntryMargin) && !mStopChecked)
{ {
if (pitBeforeTeammate(remaininglaps)) if (pitBeforeTeammate(remaininglaps))
{ {
@ -321,7 +335,7 @@ void Pit::update()
mStopChecked = true; mStopChecked = true;
} }
else if (fs >= mPitEntry - mEntryMargin && fs < mPitEntry - mEntryMargin + 3.0) else if ((fs >= mPitEntry - mEntryMargin) && (fs < mPitEntry - mEntryMargin + 3.0))
{ {
mStopChecked = false; mStopChecked = false;
} }
@ -337,7 +351,7 @@ bool Pit::pitBeforeTeammate(int remaininglaps) const
teamcarfuel = mTeamCar->_fuel; teamcarfuel = mTeamCar->_fuel;
} }
if (teamcarrunning && mCar->_fuel < teamcarfuel && mCar->_fuel < remaininglaps * mAvgFuelPerLap) if (teamcarrunning && (mCar->_fuel < teamcarfuel) && (mCar->_fuel < remaininglaps * mAvgFuelPerLap))
{ {
double matelaps = teamcarfuel / mAvgFuelPerLap; double matelaps = teamcarfuel / mAvgFuelPerLap;
double matetoentry; double matetoentry;
@ -348,7 +362,7 @@ bool Pit::pitBeforeTeammate(int remaininglaps) const
} }
else else
{ {
matetoentry = mTrack->length - mTeamCar->_distFromStartLine + (mPitEntry - mEntryMargin); matetoentry = mTrack->length - (mTeamCar->_distFromStartLine + (mPitEntry - mEntryMargin));
} }
double matefulllaps = floor(matelaps - matetoentry / mTrack->length); double matefulllaps = floor(matelaps - matetoentry / mTrack->length);

1
src/drivers/usr/src/spline.cpp
View file

@ -37,6 +37,7 @@ double Spline::evaluate(double z) const
do do
{ {
i = (a + b) / 2; i = (a + b) / 2;
if (mSpl[i].x <= z) if (mSpl[i].x <= z)
{ {
a = i; a = i;