- added shadow_mpa11

git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@5955 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 2e1c35a25df86cbf81a9713630fffe876454b409
Former-commit-id: f15bea767b47f28412febe0526b52de6afeede49

src/drivers/shadow/CMakeLists.txt

@@ -6,7 +6,7 @@ SET(ROBOT_NAME "shadow")
 # Official-only shadow interface.
 SET(ROBOT_INTERFACE LEGACY WELCOME)
 
-# Work-in-progress / unofficial shadow2 interface.
+# Work-in-progress / unofficial shadow interface.
 #IF(NOT OPTION_OFFICIAL_ONLY)
 #
 #    SET(ROBOT_INTERFACE ${ROBOT_INTERFACE} shadow_mpa11)
@@ -81,9 +81,9 @@ SET(ROBOT_SOURCES src/Array.h
 				src/Vec3d.h
 )
 
-# Official-only shadow2 instances.
+# Official-only shadow instances.
 SET(ROBOT_CLONES shadow_36GP shadow_sc shadow_srw shadow_trb1 shadow_ls1 shadow_ls2 shadow_mp5 
-			shadow_mpa1 shadow_lp1 shadow_ref)
+			shadow_mpa1 shadow_mpa11 shadow_lp1 shadow_ref)
 
 # The ubiquitous robot module and its clones.
 ROBOT_MODULE(NAME ${ROBOT_NAME} VERSION 3.3.0 SOVERSION 1.0.0

src/drivers/shadow/src/Driver.cpp

@@ -225,6 +225,11 @@ TDriver::TDriver(int Index, const int robot_type):
         robot_name = "shadow_mpa1";
         Frc = 0.88;
         break;
+
+    case SHADOW_MPA11:
+        robot_name = "shadow_mpa11";
+        Frc = 0.88;
+        break;
     }
 
     for( int i = 0; i < 50; i++ )
@@ -2719,29 +2724,29 @@ void TDriver::initTireMu()
     m_cm.TYRE_MU_R = TIREMUR;
 }
 
-double TDriver::filterTCL(double Accel)                                // Tracktion control
+double TDriver::filterTCL(double Accel)                                     // Tracktion control
 {
-    if(fabs(car->_speed_x) < 0.001)                                       // Only if driving faster
+    if(fabs(car->_speed_x) < 0.001)                                         // Only if driving faster
         return Accel;
 
-    double Spin = 0;                                                      // Initialize spin
+    double Spin = 0;                                                        // Initialize spin
-    double Wr = 0;                                                        // wheel radius
+    double Wr = 0;                                                          // wheel radius
-    int Count = 0;                                                        // count impellers
+    int Count = 0;                                                          // count impellers
 
-    if(HasTrainFWD)                                                       // If front wheels
+    if(HasTrainFWD)                                                         // If front wheels
-    {                                                                     //   are impellers
+    {                                                                       //   are impellers
         double WSL = car->_wheelSpinVel(FRNT_LFT);                          // Get spin velocity
         double WSR = car->_wheelSpinVel(FRNT_RGT);
         if (WSL > WSR)                                                      // Depending on max
-            Spin += 2 * WSL + WSR;                                            // calc weighted spin
+            Spin += 2 * WSL + WSR;                                          // calc weighted spin
         else
             Spin += WSL + 2 * WSR;
         Wr += car->_wheelRadius(FRNT_LFT)+ car->_wheelRadius(FRNT_RGT);     // measure radius
         Count += 3;                                                         // and count weights
     }
 
-    if(HasTrainRWD)                                                       // If rear wheels
+    if(HasTrainRWD)                                                         // If rear wheels
-    {                                                                     //   are impellers
+    {                                                                       //   are impellers
         double WSL = car->_wheelSpinVel(REAR_LFT);
         double WSR = car->_wheelSpinVel(REAR_RGT);
         if (WSL > WSR)

src/drivers/shadow/src/Driver.h

@@ -99,7 +99,7 @@ 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,
-       SHADOW_RS, SHADOW_LP1, SHADOW_MPA1 };
+       SHADOW_RS, SHADOW_LP1, SHADOW_MPA1, SHADOW_MPA11 };
 
 class TDriver  
 {

src/drivers/shadow/src/Opponent.h

@@ -150,10 +150,8 @@ public:
 
 	void		UpdatePath();
 
-	void		UpdateSit( const CarElt* myCar, const TeamInfo* pTeamInfo,
+    void		UpdateSit( const CarElt* myCar, const TeamInfo* pTeamInfo, double myDirX, double myDirY );
-						   double myDirX, double myDirY );
+    void		ProcessMyCar( const Situation* s, const TeamInfo* pTeamInfo, const CarElt* myCar, const Sit& mySit,
-	void		ProcessMyCar( const Situation* s, const TeamInfo* pTeamInfo,
-							  const CarElt* myCar, const Sit& mySit,
                               const TDriver& me, double myMaxAccX, int idx );
 
 private:

src/drivers/shadow/src/Shadow.cpp

@@ -198,13 +198,20 @@ void SetupSHADOW_lp1()
     robot_type = SHADOW_LP1;
 };
 
-// Schismatic init for usr_mpa1
+// Schismatic init for shadow_mpa1
 void SetupSHADOW_mpa1()
 {
     // Add shadow_mpa1 specific initialization here
     robot_type = SHADOW_MPA1;
 };
 
+// Schismatic init for shadow_mpa1
+void SetupSHADOW_mpa11()
+{
+    // Add shadow_mpa1 specific initialization here
+    robot_type = SHADOW_MPA11;
+};
+
 
 ////////////////////////////////////////////////////////////
 // Carset specific entry points (functions)
@@ -301,6 +308,21 @@ extern "C" int shadow_mpa1(tModInfo *ModInfo)
     return ret;
 }
 
+// Schismatic entry point for shadow_mpa11
+extern "C" int shadow_mpa11(tModInfo *ModInfo)
+{
+    int ret = -1;
+    setRobotName("shadow_mpa11");
+    robot_type = SHADOW_MPA11;
+    void *robot_settings = getFileHandle();
+    if (robot_settings)
+    {
+        ret = shadow(ModInfo);
+    }
+
+    return ret;
+}
+
 // Schismatic entry point for shadow_36GP
 extern "C" int shadow_36GP(tModInfo *ModInfo)
 {
@@ -445,6 +467,8 @@ extern "C" int moduleWelcome(const tModWelcomeIn* welcomeIn,
         SetupSHADOW_lp1();
     else if (strncmp(robot_name,"shadow_mpa1", strlen("shadow_mpa1")) == 0)
         SetupSHADOW_mpa1();
+    else if (strncmp(robot_name,"shadow_mpa11", strlen("shadow_mpa11")) == 0)
+        SetupSHADOW_mpa11();
 
 
     // Set max nb of interfaces to return.