speed-dreams/speed-dreams-code
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Fixed #90 (USR TRB1 crash when out of pit slots and non shared pitting) + same fix in USR 36GP, SC and LS1 + fixed bad format for debug fprintf

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@2305 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 5aa37f50ca6b7a35ce235f0df77ea89fa6583c71
Former-commit-id: 843cdb2976fdbf10854cf2ed07cef3587a78d0d5
This commit is contained in:
pouillot 2010-03-24 22:13:28 +00:00
parent a8287e6b03
commit ded5a76ca9
4 changed files with 37 additions and 27 deletions
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5
src/drivers/usr_36GP/driver.cpp
View file

@ -924,7 +924,7 @@ void Driver::drive(tSituation *s)
{
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",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);
fprintf(stderr," spd%.1f|k%.1f|a%.1f/%.1f|t%.1f angle=%.2f/%.2f/%.2f yr=%.2f skid=%.2f acxy=%.2f/%.2f slip=%.3f/%.3f %.3f/%.3f\n",(double)currentspeed,(double)rldata->speed,(double)rldata->avspeed,(double)rldata->slowavspeed,(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);
fprintf(stderr," spd%.1f|k%.1f|a%.1f/%.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)rldata->slowavspeed,(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);
}
laststeer = car->_steerCmd;
@ -3072,6 +3072,9 @@ void Driver::update(tSituation *s)
break;
}
if (!opponent[i].getCarPtr()->_pit) // This sometimes happens (Ticket #90) !
break;
if (opponent[i].getCarPtr()->_pit->pos.seg == car->_pit->pos.seg)
{
// sharing a pit

5
src/drivers/usr_ls1/driver.cpp
View file

@ -928,7 +928,7 @@ void Driver::drive(tSituation *s)
{
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",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);
fprintf(stderr," spd%.1f|k%.1f|a%.1f/%.1f|t%.1f angle=%.2f/%.2f/%.2f yr=%.2f skid=%.2f acxy=%.2f/%.2f slip=%.3f/%.3f %.3f/%.3f\n",(double)currentspeed,(double)rldata->speed,(double)rldata->avspeed,(double)rldata->slowavspeed,(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);
fprintf(stderr," spd%.1f|k%.1f|a%.1f/%.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)rldata->slowavspeed,(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);
}
laststeer = car->_steerCmd;
@ -3076,6 +3076,9 @@ void Driver::update(tSituation *s)
break;
}
if (!opponent[i].getCarPtr()->_pit) // This sometimes happens (Ticket #90) !
break;
if (opponent[i].getCarPtr()->_pit->pos.seg == car->_pit->pos.seg)
{
// sharing a pit

5
src/drivers/usr_sc/driver.cpp
View file

@ -924,7 +924,7 @@ void Driver::drive(tSituation *s)
{
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",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);
fprintf(stderr," spd%.1f|k%.1f|a%.1f/%.1f|t%.1f angle=%.2f/%.2f/%.2f yr=%.2f skid=%.2f acxy=%.2f/%.2f slip=%.3f/%.3f %.3f/%.3f\n",(double)currentspeed,(double)rldata->speed,(double)rldata->avspeed,(double)rldata->slowavspeed,(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);
fprintf(stderr," spd%.1f|k%.1f|a%.1f/%.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)rldata->slowavspeed,(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);
}
laststeer = car->_steerCmd;
@ -3072,6 +3072,9 @@ void Driver::update(tSituation *s)
break;
}
if (!opponent[i].getCarPtr()->_pit) // This sometimes happens (Ticket #90) !
break;
if (opponent[i].getCarPtr()->_pit->pos.seg == car->_pit->pos.seg)
{
// sharing a pit

49
src/drivers/usr_trb1/driver.cpp
View file

@ -924,7 +924,7 @@ void Driver::drive(tSituation *s)
{
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",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);
fprintf(stderr," spd%.1f|k%.1f|a%.1f/%.1f|t%.1f angle=%.2f/%.2f/%.2f yr=%.2f skid=%.2f acxy=%.2f/%.2f slip=%.3f/%.3f %.3f/%.3f\n",(double)currentspeed,(double)rldata->speed,(double)rldata->avspeed,(double)rldata->slowavspeed,(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);
fprintf(stderr," spd%.1f|k%.1f|a%.1f/%.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)rldata->slowavspeed,(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);
}
laststeer = car->_steerCmd;
@ -3072,35 +3072,36 @@ void Driver::update(tSituation *s)
break;
}
if (opponent[i].getCarPtr()->_pit != NULL)
{
if (opponent[i].getCarPtr()->_pit->pos.seg == car->_pit->pos.seg)
{
// sharing a pit
if (opitpos == PIT_FRONT)
{
double pitloc = pit->getNPitLoc( PIT_MID );
double myfrompit = pitloc - car->_distFromStartLine;
double opfrompit = pitloc - opponent[i].getCarPtr()->_distFromStartLine;
if (myfrompit < 0.0) myfrompit += track->length;
if (opfrompit < 0.0) opfrompit += track->length;
if (!opponent[i].getCarPtr()->_pit) // This sometimes happens (Ticket #90) !
break;
// work out who's closest to the pit & therefore should go in front
if (opfrompit > myfrompit)
{
pitpos = PIT_FRONT;
}
else
{
pitpos = PIT_BACK; // go in behind other car
}
if (opponent[i].getCarPtr()->_pit->pos.seg == car->_pit->pos.seg)
{
// sharing a pit
if (opitpos == PIT_FRONT)
{
double pitloc = pit->getNPitLoc( PIT_MID );
double myfrompit = pitloc - car->_distFromStartLine;
double opfrompit = pitloc - opponent[i].getCarPtr()->_distFromStartLine;
if (myfrompit < 0.0) myfrompit += track->length;
if (opfrompit < 0.0) opfrompit += track->length;
// work out who's closest to the pit & therefore should go in front
if (opfrompit > myfrompit)
{
pitpos = PIT_FRONT;
}
else
{
pitpos = PIT_FRONT; // stop at end of pit space to leave room
pitpos = PIT_BACK; // go in behind other car
}
}
}
else
{
pitpos = PIT_FRONT; // stop at end of pit space to leave room
}
}
break;
}
}