Call simulation to sync before telemetry update

src/control_parser.c

@@ -27,7 +27,7 @@ static timestamp extract_ts(context *ctx, char *fpc) {
 	return atoi(ctx->tmp->str);
 }
 
-#line 144 "control_parser.rl"
+#line 146 "control_parser.rl"
 
 
 
@@ -243,7 +243,7 @@ static const int control_parser_error = 0;
 
 static const int control_parser_en_main = 1;
 
-#line 147 "control_parser.rl"
+#line 149 "control_parser.rl"
 
 static int control_parser_has_error(context *ctx) {
 	return ctx->cs == control_parser_error;
@@ -260,7 +260,7 @@ void control_parser_new(trial *t) {
 	{
 	( ctx->cs) = control_parser_start;
 	}
-#line 159 "control_parser.rl"
+#line 161 "control_parser.rl"
 	ctx->buffer = g_string_sized_new(0);
 	ctx->tmp = g_string_sized_new(0);
 	ctx->mark = -1;
@@ -274,7 +274,7 @@ void control_parser_reset(trial *t) {
 	{
 	( ctx->cs) = control_parser_start;
 	}
-#line 168 "control_parser.rl"
+#line 170 "control_parser.rl"
 	g_string_truncate(ctx->tmp, 0);
 	ctx->mark = -1;
 	/* fprintf(stderr, "Parser reset\n"); */
@@ -397,6 +397,8 @@ _match:
 			gettimeofday(&t->started, NULL);
 			/* fprintf(stderr, "New run\n"); */
 		} else {
+			dgl(t, &t->sim.tm.vehicle, &t->sim.tm.vehicle, ctx->tm->ts - t->sim.tm.ts);
+			ctx->tm->vehicle.w = t->sim.tm.vehicle.w;
 			/* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */
 			fprintf(stderr, "Miss predict: dx=%f, dy=%f, ddir=%f, steps=%u\n",
 				t->sim.tm.vehicle.x - t->vehicle.x,
@@ -417,7 +419,7 @@ _match:
 	}
 	break;
 	case 4:
-#line 67 "control_parser.rl"
+#line 69 "control_parser.rl"
 	{
 		ctx->tm->ts = ctx->ts;
 		ctx->tm->vehicle.x = ctx->x;
@@ -432,95 +434,95 @@ _match:
 	}
 	break;
 	case 5:
-#line 84 "control_parser.rl"
+#line 86 "control_parser.rl"
 	{ t->map.dx = extract_double(ctx, p); }
 	break;
 	case 6:
-#line 85 "control_parser.rl"
+#line 87 "control_parser.rl"
 	{ t->map.dy = extract_double(ctx, p); }
 	break;
 	case 7:
-#line 86 "control_parser.rl"
+#line 88 "control_parser.rl"
 	{ t->map.min_sensor = extract_double(ctx, p); }
 	break;
 	case 8:
-#line 87 "control_parser.rl"
+#line 89 "control_parser.rl"
 	{ t->map.max_sensor = extract_double(ctx, p); }
 	break;
 	case 9:
-#line 88 "control_parser.rl"
+#line 90 "control_parser.rl"
 	{ t->map.max_speed = extract_double(ctx, p); }
 	break;
 	case 10:
-#line 89 "control_parser.rl"
+#line 91 "control_parser.rl"
 	{ t->map.max_turn = extract_double(ctx, p); }
 	break;
 	case 11:
-#line 90 "control_parser.rl"
+#line 92 "control_parser.rl"
 	{ t->map.max_hard_turn = extract_double(ctx, p); }
 	break;
 	case 12:
-#line 94 "control_parser.rl"
+#line 96 "control_parser.rl"
 	{ ctx->x = extract_double(ctx, p); }
 	break;
 	case 13:
-#line 95 "control_parser.rl"
+#line 97 "control_parser.rl"
 	{ ctx->y = extract_double(ctx, p); }
 	break;
 	case 14:
-#line 96 "control_parser.rl"
+#line 98 "control_parser.rl"
 	{ ctx->r = extract_double(ctx, p); }
 	break;
 	case 15:
-#line 97 "control_parser.rl"
+#line 99 "control_parser.rl"
 	{ ctx->dir = extract_double(ctx, p); }
 	break;
 	case 16:
-#line 98 "control_parser.rl"
+#line 100 "control_parser.rl"
 	{ ctx->speed = extract_double(ctx, p); }
 	break;
 	case 17:
-#line 100 "control_parser.rl"
+#line 102 "control_parser.rl"
 	{ ctx->tm->vehicle.accel = ACCEL; }
 	break;
 	case 18:
-#line 101 "control_parser.rl"
+#line 103 "control_parser.rl"
 	{ ctx->tm->vehicle.accel = ROLL; }
 	break;
 	case 19:
-#line 102 "control_parser.rl"
+#line 104 "control_parser.rl"
 	{ ctx->tm->vehicle.accel = BRAKE; }
 	break;
 	case 20:
-#line 104 "control_parser.rl"
+#line 106 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_HARD_LEFT; }
 	break;
 	case 21:
-#line 105 "control_parser.rl"
+#line 107 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_LEFT; }
 	break;
 	case 22:
-#line 106 "control_parser.rl"
+#line 108 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_STRAIGHT; }
 	break;
 	case 23:
-#line 107 "control_parser.rl"
+#line 109 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_RIGHT; }
 	break;
 	case 24:
-#line 108 "control_parser.rl"
+#line 110 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_HARD_RIGHT; }
 	break;
 	case 25:
-#line 110 "control_parser.rl"
+#line 112 "control_parser.rl"
 	{ ctx->ts = extract_ts(ctx, p); }
 	break;
 	case 26:
-#line 111 "control_parser.rl"
+#line 113 "control_parser.rl"
 	{ printf("Score %u\n", extract_ts(ctx, p)); }
 	break;
 	case 27:
-#line 113 "control_parser.rl"
+#line 115 "control_parser.rl"
 	{
 		object *o = object_new(BOLDER, ctx->x, ctx->y, ctx->r, 0, 0);
 		/* g_array_append_vals(ctx->tm->objects, o, 1); */
@@ -528,7 +530,7 @@ _match:
 	}
 	break;
 	case 28:
-#line 118 "control_parser.rl"
+#line 120 "control_parser.rl"
 	{
 		object *o = object_new(CRATER, ctx->x, ctx->y, ctx->r, 0, 0);
 		/* g_array_append_vals(ctx->tm->objects, o, 1); */
@@ -536,13 +538,13 @@ _match:
 	}
 	break;
 	case 29:
-#line 124 "control_parser.rl"
+#line 126 "control_parser.rl"
 	{
 		object o = { MARTIAN, ctx->x, ctx->y, MARTIAN_RADIUS, ctx->dir, ctx->speed };
 		g_array_append_val(ctx->tm->objects, o);
 	}
 	break;
-#line 546 "control_parser.c"
+#line 548 "control_parser.c"
 		}
 	}
 
@@ -554,7 +556,7 @@ _again:
 	_test_eof: {}
 	_out: {}
 	}
-#line 191 "control_parser.rl"
+#line 193 "control_parser.rl"
 
 		ctx->pos = p - ctx->buffer->str;
 		if (ctx->mark == -1) {

src/control_parser.rl

@@ -46,6 +46,8 @@ static timestamp extract_ts(context *ctx, char *fpc) {
 			gettimeofday(&t->started, NULL);
 			/* fprintf(stderr, "New run\n"); */
 		} else {
+			dgl(t, &t->sim.tm.vehicle, &t->sim.tm.vehicle, ctx->tm->ts - t->sim.tm.ts);
+			ctx->tm->vehicle.w = t->sim.tm.vehicle.w;
 			/* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */
 			fprintf(stderr, "Miss predict: dx=%f, dy=%f, ddir=%f, steps=%u\n",
 				t->sim.tm.vehicle.x - t->vehicle.x,