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Global team manager for use with teams of different robots

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@773 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 9e0c1fb0d1a3a0626401944f3ad5b06c1398ce2a
Former-commit-id: a1f936b430c6d3734076c96c8fbdd5ad4d0f90ba
This commit is contained in:
wdbee 2009-02-22 16:23:10 +00:00
parent 111b809f1b
commit e96c90c48d
13 changed files with 481 additions and 31 deletions
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5
src/drivers/simplix/simplix.vcproj
View file

@ -49,7 +49,7 @@
Name="VCCLCompilerTool"
Optimization="0"
AdditionalIncludeDirectories="../../../export/include;../../../../3rdParty/include;../../windows/include;../../.."
PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS;_USRDLL;_CRT_SECURE_NO_DEPRECATE;DEBUG;DEBUG_OUT"
PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS;_USRDLL;_CRT_SECURE_NO_DEPRECATE;DEBUG;DEBUG_OUT;_USE_RTTEAMMANAGER_"
BasicRuntimeChecks="3"
RuntimeLibrary="1"
PrecompiledHeaderFile=".\Debug/simplix.pch"
@ -152,7 +152,7 @@
Optimization="2"
InlineFunctionExpansion="2"
AdditionalIncludeDirectories="../../../export/include;../../../../3rdParty\include;../../windows/include;../../.."
PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;_USRDLL;_CRT_SECURE_NO_DEPRECATE"
PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;_USRDLL;_CRT_SECURE_NO_DEPRECATE;_USE_RTTEAMMANAGER_"
StringPooling="true"
RuntimeLibrary="0"
EnableFunctionLevelLinking="true"
@ -890,4 +890,3 @@
<Globals>
</Globals>
</VisualStudioProject>

3
src/drivers/simplix/src/unitcommondata.cpp
View file

@ -66,6 +66,9 @@
TCommonData::TCommonData():
Track(NULL)
{
#ifdef _USE_RTTEAMMANAGER_
TeamManager = RtGetGlobalTeamManager();
#endif
}
//==========================================================================*

8
src/drivers/simplix/src/unitcommondata.h
View file

@ -60,7 +60,11 @@
#include <track.h>
#include "unitglobal.h"
#ifdef _USE_RTTEAMMANAGER_
#include <teammanager.h>
#else
#include "unitteammanager.h"
#endif
#include "unitclothoid.h"
//==========================================================================*
@ -73,7 +77,11 @@ class TCommonData
~TCommonData(); // Destructor
public:
#ifdef _USE_RTTEAMMANAGER_
tTeamManager* TeamManager; // Team manager
#else
TTeamManager TeamManager; // Team manager
#endif
PTrack Track; // TORCS Track data
};
//==========================================================================*

14
src/drivers/simplix/src/unitdriver.cpp
View file

@ -10,7 +10,7 @@
// File : unitdriver.cpp
// Created : 2007.11.25
// Last changed : 2009.02.14
// Copyright : © 2007-2009 Wolf-Dieter Beelitzf
// Copyright : © 2007-2009 Wolf-Dieter Beelitz
// eMail : wdb@wdbee.de
// Version : 2.00.000
//--------------------------------------------------------------------------*
@ -1052,6 +1052,7 @@ void TDriver::EndRace()
//--------------------------------------------------------------------------*
void TDriver::Shutdown()
{
RtFreeGlobalTeamManager();
}
//==========================================================================*
@ -1111,7 +1112,11 @@ void TDriver::FindRacinglines()
if(oCommonData->Track != oTrackDesc.Track()) // New track?
{
oCommonData->Track = oTrackDesc.Track(); // Save pointer
#ifdef _USE_RTTEAMMANAGER_
// oCommonData->TeamManager->Clear(); // release old informations
#else
oCommonData->TeamManager.Clear(); // release old informations
#endif
}
GfOut("# ... load smooth path ...\n");
@ -1232,7 +1237,11 @@ void TDriver::FindRacinglines()
//--------------------------------------------------------------------------*
void TDriver::TeamInfo()
{
#ifdef _USE_RTTEAMMANAGER_
oTeam = RtTeamManagerAdd(oCommonData->TeamManager,oCar);
#else
oTeam = oCommonData->TeamManager.Add(oCar);
#endif
//GfOut("#\n\n# Team: %s\n\n\n",oTeam->TeamName);
}
//==========================================================================*
@ -1312,7 +1321,10 @@ void TDriver::Update(tCarElt* Car, tSituation* S)
for (int I = 0; I < oNbrCars; I++)
{
oOpponents[I].Update(oCar,
#ifdef _USE_RTTEAMMANAGER_
#else
&oCommonData->TeamManager,
#endif
MyDomX, MyDomY, MinDistBack, MinTimeSlot);
}

12
src/drivers/simplix/src/unitdriver.h
View file

@ -155,7 +155,11 @@ class TDriver
(void* RobotSettings, char* Value);
inline void SetCommonData // Set pointer to common data
(TCommonData* CommonData);
#ifdef _USE_RTTEAMMANAGER_
inline tTeam* GetTeam();
#else
inline TTeamManager::TTeam* GetTeam();
#endif
inline char* GetBotName();
inline float CurrSpeed();
@ -216,7 +220,11 @@ private:
double oAvoidScale; // scale avoiding
double oAvoidWidth; // In m.
bool oGoToPit; // Enter pit flag
#ifdef _USE_RTTEAMMANAGER_
tTeam* oTeam;
#else
TTeamManager::TTeam* oTeam; // Team
#endif
int oDriveTrainType; // Drive train type
TPidController oPIDCLine; // Controller for line error.
@ -387,7 +395,11 @@ void TDriver::SetCommonData
//==========================================================================*
// Get Team
//--------------------------------------------------------------------------*
#ifdef _USE_RTTEAMMANAGER_
tTeam* TDriver::GetTeam()
#else
TTeamManager::TTeam* TDriver::GetTeam()
#endif
{
return oTeam;
}

4
src/drivers/simplix/src/unitglobal.h
View file

@ -238,7 +238,11 @@ enum
// ... my own planet
// pit states ...
#ifdef _USE_RTTEAMMANAGER_
#define PIT_IS_FREE NULL
#else
#define PIT_IS_FREE (-1)
#endif
// ... pit states
// Shortcuts for TORCS commands ...

10
src/drivers/simplix/src/unitopponent.cpp
View file

@ -132,13 +132,19 @@ TOpponent::TInfo& TOpponent::Info()
//--------------------------------------------------------------------------*
void TOpponent::Update(
const PCarElt MyCar,
#ifdef _USE_RTTEAMMANAGER_
#else
PTeamManager TeamManager,
#endif
double MyDirX,
double MyDirY,
float &MinDistBack,
double &MinTimeSlot)
{
#ifdef _USE_RTTEAMMANAGER_
#else
oTeamManager = TeamManager; // Save Pointer
#endif
if((CarState & RM_CAR_STATE_NO_SIMU) && // omit cars out of race
(CarState & RM_CAR_STATE_PIT) == 0 ) // if not in pit
@ -317,7 +323,11 @@ bool TOpponent::Classify(
DistAhead = MIN(MAX(50, DistAhead), 100); // view to min 50 max 100 m
// Teammate?
#ifdef _USE_RTTEAMMANAGER_
if (RtIsTeamMate(MyCar,oCar)) // If Opp. is teammate
#else
if (oTeamManager->IsTeamMate(MyCar,oCar)) // If Opp. is teammate
#endif
{
oInfo.Flags |= F_TEAMMATE; // Set teammate flag
oInfo.TeamMateDamage = oCar->_dammage; // Save his damages

9
src/drivers/simplix/src/unitopponent.h
View file

@ -61,7 +61,10 @@
#include "unitglobal.h"
#include "unitcommon.h"
#ifdef _USE_RTTEAMMANAGER_
#else
#include "unitteammanager.h"
#endif
//==========================================================================*
// Class TOpponent
@ -134,7 +137,10 @@ class TOpponent
void Update // Update
(const PCarElt MyCar,
#ifdef _USE_RTTEAMMANAGER_
#else
PTeamManager TeamManager,
#endif
double MyDirX, double MyDirY,
float &MinDistBack,
double &MinTimeSlot);
@ -151,7 +157,10 @@ class TOpponent
double oDeltaTime; // Simulation delta time
int oIndex; // Opponents cars index
TInfo oInfo; // info of this opponent
#ifdef _USE_RTTEAMMANAGER_
#else
PTeamManager oTeamManager; // Teammanager
#endif
double LapBackTimer;
};

39
src/drivers/simplix/src/unitstrategy.cpp
View file

@ -106,9 +106,15 @@ bool TSimpleStrategy::IsPitFree()
{
if (CarPit != NULL)
{
#ifdef _USE_RTTEAMMANAGER_
tTeam* Team = oDriver->GetTeam();
if ((CarPit->pitCarIndex == TR_PIT_STATE_FREE)
&& ((Team->PitState == oCar) || (Team->PitState == PIT_IS_FREE)))
#else
TTeamManager::TTeam* Team = oDriver->GetTeam();
if ((CarPit->pitCarIndex == TR_PIT_STATE_FREE)
&& ((Team->PitState == CarDriverIndex) || (Team->PitState == PIT_IS_FREE)))
#endif
return true;
}
return false;
@ -161,14 +167,25 @@ bool TSimpleStrategy::NeedPitStop()
}
else // Ansonsten prüfen, für
{ // welche Anzahl von Runden
TTeamManager::TTeam* Team = // alle Teammitglieder
oDriver->GetTeam(); // noch Treibstoff haben
// alle Teammitglieder
// noch Treibstoff haben
#ifdef _USE_RTTEAMMANAGER_
tTeam* Team = oDriver->GetTeam();
#else
TTeamManager::TTeam* Team = oDriver->GetTeam();
#endif
FuelNeeded = FuelConsum * oTrackLength; // Treibstoff für eine Runde
#ifdef _USE_RTTEAMMANAGER_
int FuelForLaps = // Eigene Reichweite
(int) (CarFuel / FuelNeeded - 1);
RtTeamSetMinLaps(Team,oCar,FuelForLaps); // Eigene Reichweite melden
int MinLaps = RtTeamGetMinLaps(Team,oCar); // Mindestreichweite der anderen
#else
int FuelForLaps = // Eigene Reichweite
Team->FuelForLaps[CarDriverIndex] =
(int) (CarFuel / FuelNeeded - 1);
int MinLaps = Team->GetMinLaps(oCar); // Mindestreichweite der anderen
#endif
// Wenn Tanken, dann der, der weniger Runden weit kommen würde
if (FuelForLaps < MinLaps)
@ -194,8 +211,13 @@ bool TSimpleStrategy::NeedPitStop()
if (Result)
{
#ifdef _USE_RTTEAMMANAGER_
tTeam* Team = oDriver->GetTeam();
Team->PitState = oCar; // Box reserviert
#else
TTeamManager::TTeam* Team = oDriver->GetTeam();
Team->PitState = CarDriverIndex; // Box reserviert
#endif
}
return Result;
};
@ -206,8 +228,13 @@ bool TSimpleStrategy::NeedPitStop()
//--------------------------------------------------------------------------*
void TAbstractStrategy::PitRelease()
{
#ifdef _USE_RTTEAMMANAGER_
tTeam* Team = oDriver->GetTeam();
if (Team->PitState == oCar) // Box für mich reserviert?
#else
TTeamManager::TTeam* Team = oDriver->GetTeam();
if (Team->PitState == CarDriverIndex) // Box für mich reserviert?
#endif
{
Team->PitState = PIT_IS_FREE;
oCar->ctrl.raceCmd = 0;
@ -447,11 +474,11 @@ void TSimpleStrategy::Update(PtCarElt Car,
oLastPitFuel = 0.0; // Refueled
oFuelChecked = true; // We did the estimation in this lap
if (!oGoToPit) // If decision isn'd made
oGoToPit = NeedPitStop(); // Check if we sholud have a pitstop
if (!oGoToPit) // If decision isn't made
oGoToPit = NeedPitStop(); // Check if we should have a pitstop
}
else if (DL < 50) // I we are out of the window
{ // to estimate
{ // to estimate fuel consumption
oFuelChecked = false; // reset flag
};
};

55
src/libs/robottools/robotools.def
View file

@ -1,21 +1,34 @@
;
; robottools.def
;
LIBRARY
SECTIONS .data READ WRITE
EXPORTS
RtTrackGetWidth
RtTrackHeightL
RtTrackLocal2Global
RtTrackHeightG
RtTrackSideTgAngleL
RtTrackSideNormalG
RtTrackGlobal2Local
RtTrackSurfaceNormalL
RtGetDistFromStart
RtGetDistFromStart2
RtDistToPit
RtTrackGetSeg
;
; robottools.def
;
LIBRARY
SECTIONS .data READ WRITE
EXPORTS
RtTrackGetWidth
RtTrackHeightL
RtTrackLocal2Global
RtTrackHeightG
RtTrackSideTgAngleL
RtTrackSideNormalG
RtTrackGlobal2Local
RtTrackSurfaceNormalL
RtGetDistFromStart
RtGetDistFromStart2
RtDistToPit
RtTrackGetSeg
RtIsTeamMate
RtTeamManager
RtTeamManagerFree
RtTeamManagerAdd
RtGetGlobalTeamManager
RtFreeGlobalTeamManager
RtTeam
RtTeamFree
RtTeamGetMinLaps
RtTeamSetMinLaps
RtTeamAdd
RtTeammate
RtTeammateFree

9
src/libs/robottools/robottools.vcproj
View file

@ -4,6 +4,7 @@
Version="8,00"
Name="robottools"
ProjectGUID="{65130FEC-5171-4924-B6AE-0456FB4029A1}"
RootNamespace="robottools"
>
<Platforms>
<Platform
@ -234,6 +235,10 @@
/>
</FileConfiguration>
</File>
<File
RelativePath=".\rtteammanager.cpp"
>
</File>
<File
RelativePath="rttelem.cpp"
>
@ -287,6 +292,10 @@
RelativePath="robottools.h"
>
</File>
<File
RelativePath=".\teammanager.h"
>
</File>
</Filter>
<Filter
Name="Resource Files"

240
src/libs/robottools/rtteammanager.cpp Normal file
View file

@ -0,0 +1,240 @@
/***************************************************************************
file : rtteammanager.cpp
created : Sun Feb 22 28:43:00 CET 2009
copyright : (C) 2009 by Wolf-Dieter Beelitz
email : wdb@wdbee.de
version :
***************************************************************************/
/***************************************************************************
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
***************************************************************************/
/** @file
This is a collection of useful functions for using a teammanager with
teams being build of different robots.
You can see an example of teammanager usage in the robots of GP36:
simplix_36GP and usr_36GP.
@author <a href=mailto:wdb@wdbee.de>Wolf-Dieter Beelitz</a>
@version
@ingroup robottools
*/
/** @defgroup teammanager Teammanager for robots.
@ingroup robottools
*/
#include <stdlib.h>
#include <stdio.h>
#include <cstring>
#ifdef WIN32
#include <windows.h>
#endif
#include <car.h>
#include "robottools.h"
#include "teammanager.h"
static tTeamManager* GlobalTeamManager;
//
// Check if Car0 is teammate of Car1
//
bool RtIsTeamMate(const CarElt* Car0, const CarElt* Car1)
{
return strcmp(Car0->_teamname, Car1->_teamname) == 0;
}
//
// Create a team manager
//
tTeamManager* RtTeamManager() // Default constructor
{
tTeamManager* TeamManager = (tTeamManager*) // get memory
malloc(sizeof(tTeamManager));
TeamManager->Count = 0; // Nbr of Teams
TeamManager->Teams = NULL; // The next team member
return TeamManager;
}
//
// Destroy a team manager
//
void RtTeamManagerFree(tTeamManager *TeamManager)// Destructor
{
tTeam* Team = TeamManager->Teams;
while (Team != NULL)
{
tTeam* NextTeam = Team->Teams;
tTeammate* Teammate = Team->Teammates;
while (Teammate != NULL)
{
tTeammate* NextTeammate = Teammate->Next;
RtTeammateFree(Teammate);
Teammate = NextTeammate;
}
RtTeamFree(Team);
Team = NextTeam;
}
free(TeamManager); // Release memory
}
//
// Add a car to his team
//
tTeam* RtTeamManagerAdd(tTeamManager *TeamManager, CarElt* Car)
{
tTeammate* NewTeammate = RtTeammate(); // Add car: new teammate
NewTeammate->Car = Car ; // Set car pointer
NewTeammate->Next = NULL; // Empty list
tTeam* Team = TeamManager->Teams; // Get first Team;
while (Team != NULL) // Loop over all teams
{
if (strcmp(Car->_teamname,Team->TeamName) == 0)
{ // If Team is cars team add car to team
RtTeamAdd(Team, NewTeammate);
return Team;
}
else
Team = Team->Teams;
}
// If the team doesn't exists yet
tTeam* NewTeam = RtTeam(); // Create a new team
NewTeam->TeamName = Car->_teamname; // Set its teamname
RtTeamAdd(NewTeam, NewTeammate); // Add new teammate
if (TeamManager->Teams == NULL) // Add new team to
TeamManager->Teams = NewTeam; // linked list of
else // teams
{
Team = TeamManager->Teams;
while (Team->Teams != NULL)
Team = Team->Teams;
Team->Teams = NewTeam;
}
return NewTeam;
}
//
// Get a pointer to the global teammanager
//
tTeamManager* RtGetGlobalTeamManager()
{
if (GlobalTeamManager == NULL)
GlobalTeamManager = RtTeamManager();
return GlobalTeamManager;
}
//
// Release the global teammanager
//
void RtFreeGlobalTeamManager()
{
if (GlobalTeamManager != NULL)
RtTeamManagerFree(GlobalTeamManager);
GlobalTeamManager = NULL;
}
//
// Create a team
//
tTeam* RtTeam() // Default constructor
{
tTeam* Team = (tTeam*) malloc(sizeof(tTeam));// get memory
Team->Count = 0; // Nbr of Teammates
Team->PitState = PIT_IS_FREE; // Request for shared pit
Team->TeamName = NULL; // Name of team
Team->Teams = NULL; // Empty list
Team->Teammates = NULL; // Empty list
for (int I = 0; I < TR_PIT_MAXCARPERPIT; I++)// Loop over all
{ // possible members
Team->Cars[I] = NULL; // No Cars
Team->FuelForLaps[I] = 99; // Fuel still unlimited
}
return Team;
}
//
// Destroy a team
//
void RtTeamFree(tTeam *Team) // Destructor
{
free(Team); // Release memory
}
//
// Get nbr of laps all other teammates can race with current fuel
//
int RtTeamGetMinLaps(tTeam *Team, CarElt* Car) // Get Nbr of laps, all
{ // teammates has fuel for
int MinL = 99; // Assume unlimited
for (int I = 0; I < TR_PIT_MAXCARPERPIT; I++)// Loop over all possible
if (Team->Cars[I] != Car) // entries!
MinL = MIN(MinL,Team->FuelForLaps[I]); // If not self, calculate
return MinL; // Nbr of laps all can race
}
//
// Set nbr of laps this teammate can race with current fuel
//
void RtTeamSetMinLaps(tTeam *Team, CarElt* Car, int FuelForLaps)
{
for (int I = 0; I < TR_PIT_MAXCARPERPIT; I++)// Loop over all teammates
{
if (Team->Cars[I] == Car) // If self, set value
{
Team->FuelForLaps[I] = FuelForLaps;
break;
}
}
}
//
// Add a teammate to the team
//
void RtTeamAdd(tTeam *Team, tTeammate* NewTeammate)
{
tTeammate* Teammate = Team->Teammates;
if (Teammate == NULL)
Team->Teammates = NewTeammate;
else
{
while (Teammate->Next)
Teammate = Teammate->Next;
Teammate->Next = NewTeammate;
}
Team->Cars[Team->Count++] = NewTeammate->Car;
}
//
// Create a teammate
//
tTeammate* RtTeammate() // Default constructor
{
tTeammate* Teammate = (tTeammate*) malloc(sizeof(tTeammate));
Teammate->Car = NULL; // Teammates car
Teammate->Next = NULL; // Empty list
return Teammate;
}
//
// Destroy a teammate
//
void RtTeammateFree(tTeammate* Teammate)
{
free(Teammate); // Release memory
}

104
src/libs/robottools/teammanager.h Normal file
View file

@ -0,0 +1,104 @@
/***************************************************************************
file : teammanager.h
created : Sun Feb 22 28:43:00 CET 2009
copyright : (C) 2009 by Wolf-Dieter Beelitz
email : wdb@wdbee.de
version :
***************************************************************************/
/***************************************************************************
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
***************************************************************************/
/** @file
Teammanager
@author <a href=mailto:wdb@wdbee.de>Wolf-Dieter Beelitz</a>
@version
*/
#ifndef _TEAMMANAGER_H_
#define _TEAMMANAGER_H_
#include <car.h>
#include <track.h> // TR_PIT_MAXCARPERPIT = 4
// Teammanager defines
#define PIT_IS_FREE NULL
// Teammanager Utilities
//
// Data of a teammate
//
typedef struct tTeammate
{
CarElt* Car; // The car of this team member
tTeammate* Next; // The next team member
} tTeammate;
//
// Data of a team
//
typedef struct tTeam
{
int Count; // Nbr of Teammates
CarElt* PitState; // Request for shared pit
char* TeamName; // Name of team
tTeam* Teams; // Linked list of teams
tTeammate* Teammates; // Linked list of teammates
CarElt* Cars[TR_PIT_MAXCARPERPIT]; // Cars
int FuelForLaps[TR_PIT_MAXCARPERPIT]; // Fuel for laps
} tTeam;
//
// Data of a team manager
//
typedef struct
{
int Count; // Nbr of Teammates
tTeam* Teams; // Linked list of teams
} tTeamManager;
//
// Utility functions
//
bool RtIsTeamMate(const CarElt* Car0, const CarElt* Car1);
//
// Teammanager related functions
//
extern tTeamManager* RtTeamManager();
extern void RtTeamManagerFree(tTeamManager* Teammanager);
extern tTeam* RtTeamManagerAdd(tTeamManager *TeamManager, CarElt* Car);
extern tTeamManager* RtGetGlobalTeamManager();
extern void RtFreeGlobalTeamManager();
//
// Team related functions
//
extern tTeam* RtTeam();
extern void RtTeamFree(tTeam* Team);
extern int RtTeamGetMinLaps(tTeam* Team, CarElt* Car);
extern void RtTeamSetMinLaps(tTeam *Team, CarElt* Car, int FuelForLaps);
extern void RtTeamAdd(tTeam *Team, tTeammate* Teammate);
//
// Teammate related functions
//
extern tTeammate* RtTeammate();
extern void RtTeammateFree(tTeammate* Teammate);
#endif /* _TEAMMANAGER_H_ */