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Call simulation to sync before telemetry update

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This commit is contained in:
Stefan Bühler 2008-07-13 19:28:32 +02:00
parent a997772874
commit 2cd7a175aa
2 changed files with 36 additions and 32 deletions
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66
src/control_parser.c
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@ -27,7 +27,7 @@ static timestamp extract_ts(context *ctx, char *fpc) {
return atoi(ctx->tmp->str); 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; 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) { static int control_parser_has_error(context *ctx) {
return ctx->cs == control_parser_error; return ctx->cs == control_parser_error;
@ -260,7 +260,7 @@ void control_parser_new(trial *t) {
{ {
( ctx->cs) = control_parser_start; ( ctx->cs) = control_parser_start;
} }
#line 159 "control_parser.rl" #line 161 "control_parser.rl"
ctx->buffer = g_string_sized_new(0); ctx->buffer = g_string_sized_new(0);
ctx->tmp = g_string_sized_new(0); ctx->tmp = g_string_sized_new(0);
ctx->mark = -1; ctx->mark = -1;
@ -274,7 +274,7 @@ void control_parser_reset(trial *t) {
{ {
( ctx->cs) = control_parser_start; ( ctx->cs) = control_parser_start;
} }
#line 168 "control_parser.rl" #line 170 "control_parser.rl"
g_string_truncate(ctx->tmp, 0); g_string_truncate(ctx->tmp, 0);
ctx->mark = -1; ctx->mark = -1;
/* fprintf(stderr, "Parser reset\n"); */ /* fprintf(stderr, "Parser reset\n"); */
@ -397,6 +397,8 @@ _match:
gettimeofday(&t->started, NULL); gettimeofday(&t->started, NULL);
/* fprintf(stderr, "New run\n"); */ /* fprintf(stderr, "New run\n"); */
} else { } 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, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */
fprintf(stderr, "Miss predict: dx=%f, dy=%f, ddir=%f, steps=%u\n", fprintf(stderr, "Miss predict: dx=%f, dy=%f, ddir=%f, steps=%u\n",
t->sim.tm.vehicle.x - t->vehicle.x, t->sim.tm.vehicle.x - t->vehicle.x,
@ -417,7 +419,7 @@ _match:
} }
break; break;
case 4: case 4:
#line 67 "control_parser.rl" #line 69 "control_parser.rl"
{ {
ctx->tm->ts = ctx->ts; ctx->tm->ts = ctx->ts;
ctx->tm->vehicle.x = ctx->x; ctx->tm->vehicle.x = ctx->x;
@ -432,95 +434,95 @@ _match:
} }
break; break;
case 5: case 5:
#line 84 "control_parser.rl" #line 86 "control_parser.rl"
{ t->map.dx = extract_double(ctx, p); } { t->map.dx = extract_double(ctx, p); }
break; break;
case 6: case 6:
#line 85 "control_parser.rl" #line 87 "control_parser.rl"
{ t->map.dy = extract_double(ctx, p); } { t->map.dy = extract_double(ctx, p); }
break; break;
case 7: case 7:
#line 86 "control_parser.rl" #line 88 "control_parser.rl"
{ t->map.min_sensor = extract_double(ctx, p); } { t->map.min_sensor = extract_double(ctx, p); }
break; break;
case 8: case 8:
#line 87 "control_parser.rl" #line 89 "control_parser.rl"
{ t->map.max_sensor = extract_double(ctx, p); } { t->map.max_sensor = extract_double(ctx, p); }
break; break;
case 9: case 9:
#line 88 "control_parser.rl" #line 90 "control_parser.rl"
{ t->map.max_speed = extract_double(ctx, p); } { t->map.max_speed = extract_double(ctx, p); }
break; break;
case 10: case 10:
#line 89 "control_parser.rl" #line 91 "control_parser.rl"
{ t->map.max_turn = extract_double(ctx, p); } { t->map.max_turn = extract_double(ctx, p); }
break; break;
case 11: case 11:
#line 90 "control_parser.rl" #line 92 "control_parser.rl"
{ t->map.max_hard_turn = extract_double(ctx, p); } { t->map.max_hard_turn = extract_double(ctx, p); }
break; break;
case 12: case 12:
#line 94 "control_parser.rl" #line 96 "control_parser.rl"
{ ctx->x = extract_double(ctx, p); } { ctx->x = extract_double(ctx, p); }
break; break;
case 13: case 13:
#line 95 "control_parser.rl" #line 97 "control_parser.rl"
{ ctx->y = extract_double(ctx, p); } { ctx->y = extract_double(ctx, p); }
break; break;
case 14: case 14:
#line 96 "control_parser.rl" #line 98 "control_parser.rl"
{ ctx->r = extract_double(ctx, p); } { ctx->r = extract_double(ctx, p); }
break; break;
case 15: case 15:
#line 97 "control_parser.rl" #line 99 "control_parser.rl"
{ ctx->dir = extract_double(ctx, p); } { ctx->dir = extract_double(ctx, p); }
break; break;
case 16: case 16:
#line 98 "control_parser.rl" #line 100 "control_parser.rl"
{ ctx->speed = extract_double(ctx, p); } { ctx->speed = extract_double(ctx, p); }
break; break;
case 17: case 17:
#line 100 "control_parser.rl" #line 102 "control_parser.rl"
{ ctx->tm->vehicle.accel = ACCEL; } { ctx->tm->vehicle.accel = ACCEL; }
break; break;
case 18: case 18:
#line 101 "control_parser.rl" #line 103 "control_parser.rl"
{ ctx->tm->vehicle.accel = ROLL; } { ctx->tm->vehicle.accel = ROLL; }
break; break;
case 19: case 19:
#line 102 "control_parser.rl" #line 104 "control_parser.rl"
{ ctx->tm->vehicle.accel = BRAKE; } { ctx->tm->vehicle.accel = BRAKE; }
break; break;
case 20: case 20:
#line 104 "control_parser.rl" #line 106 "control_parser.rl"
{ ctx->tm->vehicle.turn = TURN_HARD_LEFT; } { ctx->tm->vehicle.turn = TURN_HARD_LEFT; }
break; break;
case 21: case 21:
#line 105 "control_parser.rl" #line 107 "control_parser.rl"
{ ctx->tm->vehicle.turn = TURN_LEFT; } { ctx->tm->vehicle.turn = TURN_LEFT; }
break; break;
case 22: case 22:
#line 106 "control_parser.rl" #line 108 "control_parser.rl"
{ ctx->tm->vehicle.turn = TURN_STRAIGHT; } { ctx->tm->vehicle.turn = TURN_STRAIGHT; }
break; break;
case 23: case 23:
#line 107 "control_parser.rl" #line 109 "control_parser.rl"
{ ctx->tm->vehicle.turn = TURN_RIGHT; } { ctx->tm->vehicle.turn = TURN_RIGHT; }
break; break;
case 24: case 24:
#line 108 "control_parser.rl" #line 110 "control_parser.rl"
{ ctx->tm->vehicle.turn = TURN_HARD_RIGHT; } { ctx->tm->vehicle.turn = TURN_HARD_RIGHT; }
break; break;
case 25: case 25:
#line 110 "control_parser.rl" #line 112 "control_parser.rl"
{ ctx->ts = extract_ts(ctx, p); } { ctx->ts = extract_ts(ctx, p); }
break; break;
case 26: case 26:
#line 111 "control_parser.rl" #line 113 "control_parser.rl"
{ printf("Score %u\n", extract_ts(ctx, p)); } { printf("Score %u\n", extract_ts(ctx, p)); }
break; break;
case 27: 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); object *o = object_new(BOLDER, ctx->x, ctx->y, ctx->r, 0, 0);
/* g_array_append_vals(ctx->tm->objects, o, 1); */ /* g_array_append_vals(ctx->tm->objects, o, 1); */
@ -528,7 +530,7 @@ _match:
} }
break; break;
case 28: 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); object *o = object_new(CRATER, ctx->x, ctx->y, ctx->r, 0, 0);
/* g_array_append_vals(ctx->tm->objects, o, 1); */ /* g_array_append_vals(ctx->tm->objects, o, 1); */
@ -536,13 +538,13 @@ _match:
} }
break; break;
case 29: 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 }; object o = { MARTIAN, ctx->x, ctx->y, MARTIAN_RADIUS, ctx->dir, ctx->speed };
g_array_append_val(ctx->tm->objects, o); g_array_append_val(ctx->tm->objects, o);
} }
break; break;
#line 546 "control_parser.c" #line 548 "control_parser.c"
} }
} }
@ -554,7 +556,7 @@ _again:
_test_eof: {} _test_eof: {}
_out: {} _out: {}
} }
#line 191 "control_parser.rl" #line 193 "control_parser.rl"
ctx->pos = p - ctx->buffer->str; ctx->pos = p - ctx->buffer->str;
if (ctx->mark == -1) { if (ctx->mark == -1) {

2
src/control_parser.rl
View File

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