From 3ab78db7f509e943abef0b93d31b48860bf7cca1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Stefan=20B=C3=BChler?= <stbuehler@web.de>
Date: Sun, 13 Jul 2008 23:12:52 +0200
Subject: [PATCH] top secret

---
 src/control.c         |  2 +-
 src/control_parser.c  | 96 +++++++++++++++++++------------------------
 src/control_parser.rl | 16 +-------
 src/lookahead.c       |  1 +
 src/lookahead.h       |  1 +
 src/radar_main.c      | 15 +++----
 testitradar           |  2 +-
 7 files changed, 53 insertions(+), 80 deletions(-)

diff --git a/src/control.c b/src/control.c
index 8543335..ab14c3e 100644
--- a/src/control.c
+++ b/src/control.c
@@ -138,7 +138,7 @@ int trial_check_input(trial *t) {
 	
 	p.fd = t->socket;
 	p.events = POLLIN;
-	switch (poll(&p, 1, 0)) {
+	switch (poll(&p, 1, 1)) {
 		case -1:
 			switch (errno) {
 				case EAGAIN:
diff --git a/src/control_parser.c b/src/control_parser.c
index 7db5d9c..624dcfe 100644
--- a/src/control_parser.c
+++ b/src/control_parser.c
@@ -1,6 +1,7 @@
 #line 1 "control_parser.rl"
 
 #include "control_parser.h"
+#include "lookahead.h"
 
 #include <stdlib.h>
 #include <stdio.h>
@@ -27,11 +28,11 @@ static timestamp extract_ts(context *ctx, char *fpc) {
 	return atoi(ctx->tmp->str);
 }
 
-#line 146 "control_parser.rl"
+#line 134 "control_parser.rl"
 
 
 
-#line 35 "control_parser.c"
+#line 36 "control_parser.c"
 static const char _control_parser_actions[] = {
 	0, 1, 0, 1, 1, 1, 2, 1, 
 	3, 1, 4, 1, 5, 1, 6, 1, 
@@ -243,7 +244,7 @@ static const int control_parser_error = 0;
 
 static const int control_parser_en_main = 1;
 
-#line 149 "control_parser.rl"
+#line 137 "control_parser.rl"
 
 static int control_parser_has_error(context *ctx) {
 	return ctx->cs == control_parser_error;
@@ -256,11 +257,11 @@ static int control_parser_is_finished(context *ctx) {
 void control_parser_new(trial *t) {
 	context *ctx = t->parse_ctx = g_slice_new(context);
 	
-#line 260 "control_parser.c"
+#line 261 "control_parser.c"
 	{
 	( ctx->cs) = control_parser_start;
 	}
-#line 161 "control_parser.rl"
+#line 149 "control_parser.rl"
 	ctx->buffer = g_string_sized_new(0);
 	ctx->tmp = g_string_sized_new(0);
 	ctx->mark = -1;
@@ -270,11 +271,11 @@ void control_parser_new(trial *t) {
 void control_parser_reset(trial *t) {
 	context *ctx = t->parse_ctx;
 	
-#line 274 "control_parser.c"
+#line 275 "control_parser.c"
 	{
 	( ctx->cs) = control_parser_start;
 	}
-#line 170 "control_parser.rl"
+#line 158 "control_parser.rl"
 	g_string_truncate(ctx->tmp, 0);
 	ctx->mark = -1;
 	/* fprintf(stderr, "Parser reset\n"); */
@@ -298,7 +299,7 @@ run_t control_parse(trial *t) {
 		/* fprintf(stderr, "Parsing '%s' (len=%zu)\n", p, wehave); */
 
 		
-#line 302 "control_parser.c"
+#line 303 "control_parser.c"
 	{
 	int _klen;
 	unsigned int _trans;
@@ -372,7 +373,7 @@ _match:
 		switch ( *_acts++ )
 		{
 	case 0:
-#line 34 "control_parser.rl"
+#line 35 "control_parser.rl"
 	{
 		t->alive = 0;
 		/* fprintf(stderr, "Run finished\n"); */
@@ -380,15 +381,15 @@ _match:
 	}
 	break;
 	case 1:
-#line 39 "control_parser.rl"
+#line 40 "control_parser.rl"
 	{ ctx->mark = p - ctx->buffer->str; }
 	break;
 	case 2:
-#line 40 "control_parser.rl"
+#line 41 "control_parser.rl"
 	{ ctx->tm = telemetry_new(); }
 	break;
 	case 3:
-#line 41 "control_parser.rl"
+#line 42 "control_parser.rl"
 	{
 		g_queue_push_tail(&t->telemetry, ctx->tm);
 		if (!t->alive) {
@@ -396,22 +397,9 @@ _match:
 			t->vehicle.turn = ctx->tm->vehicle.turn;
 			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,
-				t->sim.tm.vehicle.y - t->vehicle.y,
-				t->sim.tm.vehicle.dir - t->vehicle.dir,
-				t->sim.steps);
 		}
 		/* Reset simulation */
-		t->sim.tm.ts = ctx->tm->ts;
-		t->sim.tm.vehicle = ctx->tm->vehicle;
-		g_array_set_size(t->sim.tm.objects, 0);
-		g_array_append_vals(t->sim.tm.objects, ctx->tm->objects->data, ctx->tm->objects->len);
-		t->sim.steps = 0;
+		sim_update(t);
 		
 		t->last_ts = ctx->tm->ts;
 		ctx->tm = NULL;
@@ -419,7 +407,7 @@ _match:
 	}
 	break;
 	case 4:
-#line 69 "control_parser.rl"
+#line 57 "control_parser.rl"
 	{
 		ctx->tm->ts = ctx->ts;
 		ctx->tm->vehicle.x = ctx->x;
@@ -434,95 +422,95 @@ _match:
 	}
 	break;
 	case 5:
-#line 86 "control_parser.rl"
+#line 74 "control_parser.rl"
 	{ t->map.dx = extract_double(ctx, p); }
 	break;
 	case 6:
-#line 87 "control_parser.rl"
+#line 75 "control_parser.rl"
 	{ t->map.dy = extract_double(ctx, p); }
 	break;
 	case 7:
-#line 88 "control_parser.rl"
+#line 76 "control_parser.rl"
 	{ t->map.min_sensor = extract_double(ctx, p); }
 	break;
 	case 8:
-#line 89 "control_parser.rl"
+#line 77 "control_parser.rl"
 	{ t->map.max_sensor = extract_double(ctx, p); }
 	break;
 	case 9:
-#line 90 "control_parser.rl"
+#line 78 "control_parser.rl"
 	{ t->map.max_speed = extract_double(ctx, p); }
 	break;
 	case 10:
-#line 91 "control_parser.rl"
+#line 79 "control_parser.rl"
 	{ t->map.max_turn = extract_double(ctx, p); }
 	break;
 	case 11:
-#line 92 "control_parser.rl"
+#line 80 "control_parser.rl"
 	{ t->map.max_hard_turn = extract_double(ctx, p); }
 	break;
 	case 12:
-#line 96 "control_parser.rl"
+#line 84 "control_parser.rl"
 	{ ctx->x = extract_double(ctx, p); }
 	break;
 	case 13:
-#line 97 "control_parser.rl"
+#line 85 "control_parser.rl"
 	{ ctx->y = extract_double(ctx, p); }
 	break;
 	case 14:
-#line 98 "control_parser.rl"
+#line 86 "control_parser.rl"
 	{ ctx->r = extract_double(ctx, p); }
 	break;
 	case 15:
-#line 99 "control_parser.rl"
+#line 87 "control_parser.rl"
 	{ ctx->dir = extract_double(ctx, p); }
 	break;
 	case 16:
-#line 100 "control_parser.rl"
+#line 88 "control_parser.rl"
 	{ ctx->speed = extract_double(ctx, p); }
 	break;
 	case 17:
-#line 102 "control_parser.rl"
+#line 90 "control_parser.rl"
 	{ ctx->tm->vehicle.accel = ACCEL; }
 	break;
 	case 18:
-#line 103 "control_parser.rl"
+#line 91 "control_parser.rl"
 	{ ctx->tm->vehicle.accel = ROLL; }
 	break;
 	case 19:
-#line 104 "control_parser.rl"
+#line 92 "control_parser.rl"
 	{ ctx->tm->vehicle.accel = BRAKE; }
 	break;
 	case 20:
-#line 106 "control_parser.rl"
+#line 94 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_HARD_LEFT; }
 	break;
 	case 21:
-#line 107 "control_parser.rl"
+#line 95 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_LEFT; }
 	break;
 	case 22:
-#line 108 "control_parser.rl"
+#line 96 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_STRAIGHT; }
 	break;
 	case 23:
-#line 109 "control_parser.rl"
+#line 97 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_RIGHT; }
 	break;
 	case 24:
-#line 110 "control_parser.rl"
+#line 98 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_HARD_RIGHT; }
 	break;
 	case 25:
-#line 112 "control_parser.rl"
+#line 100 "control_parser.rl"
 	{ ctx->ts = extract_ts(ctx, p); }
 	break;
 	case 26:
-#line 113 "control_parser.rl"
+#line 101 "control_parser.rl"
 	{ printf("Score %u\n", extract_ts(ctx, p)); }
 	break;
 	case 27:
-#line 115 "control_parser.rl"
+#line 103 "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); */
@@ -530,7 +518,7 @@ _match:
 	}
 	break;
 	case 28:
-#line 120 "control_parser.rl"
+#line 108 "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); */
@@ -538,13 +526,13 @@ _match:
 	}
 	break;
 	case 29:
-#line 126 "control_parser.rl"
+#line 114 "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 548 "control_parser.c"
+#line 536 "control_parser.c"
 		}
 	}
 
@@ -556,7 +544,7 @@ _again:
 	_test_eof: {}
 	_out: {}
 	}
-#line 193 "control_parser.rl"
+#line 181 "control_parser.rl"
 
 		ctx->pos = p - ctx->buffer->str;
 		if (ctx->mark == -1) {
diff --git a/src/control_parser.rl b/src/control_parser.rl
index 3db4042..172a948 100644
--- a/src/control_parser.rl
+++ b/src/control_parser.rl
@@ -1,5 +1,6 @@
 
 #include "control_parser.h"
+#include "lookahead.h"
 
 #include <stdlib.h>
 #include <stdio.h>
@@ -45,22 +46,9 @@ static timestamp extract_ts(context *ctx, char *fpc) {
 			t->vehicle.turn = ctx->tm->vehicle.turn;
 			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,
-				t->sim.tm.vehicle.y - t->vehicle.y,
-				t->sim.tm.vehicle.dir - t->vehicle.dir,
-				t->sim.steps);
 		}
 		/* Reset simulation */
-		t->sim.tm.ts = ctx->tm->ts;
-		t->sim.tm.vehicle = ctx->tm->vehicle;
-		g_array_set_size(t->sim.tm.objects, 0);
-		g_array_append_vals(t->sim.tm.objects, ctx->tm->objects->data, ctx->tm->objects->len);
-		t->sim.steps = 0;
+		sim_update(t);
 		
 		t->last_ts = ctx->tm->ts;
 		ctx->tm = NULL;
diff --git a/src/lookahead.c b/src/lookahead.c
index f2ea270..e0b0254 100644
--- a/src/lookahead.c
+++ b/src/lookahead.c
@@ -80,6 +80,7 @@ void sim_update(trial* t){
 
 	telemetry *tm,*tmp;
 	tm = (telemetry*) g_queue_peek_tail(&t->telemetry);
+	fprintf(stderr, "Time diff: %i\n", tm->ts - t->sim.tm.ts);
 	/*run simulation up to new telemetry timestamp*/
 	radar_dgl(t,tm->ts);
 	
diff --git a/src/lookahead.h b/src/lookahead.h
index 3fd582c..73aebaf 100644
--- a/src/lookahead.h
+++ b/src/lookahead.h
@@ -10,5 +10,6 @@ int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat
 void sim_update(trial* t);
 
 void radar_dgl(trial* t, timestamp ts);
+
 #endif
 
diff --git a/src/radar_main.c b/src/radar_main.c
index 9ffec65..8484dbb 100644
--- a/src/radar_main.c
+++ b/src/radar_main.c
@@ -4,7 +4,7 @@
 
 #include <stdio.h>
 
-#define LATENCY 20
+#define LATENCY 2
 
 void trial_loop(trial *t) {
 	do {
@@ -32,15 +32,10 @@ void trial_loop(trial *t) {
 
 		}
 		while (t->alive) {
-			timestamp step=getcurts(t) + LATENCY - t->sim.tm.ts;
-			if (step > 0) {
-				t->sim.tm.vehicle.w = turn2w(t, t->sim.tm.vehicle.turn);
-				dgl(t,&t->sim.tm.vehicle,&t->sim.tm.vehicle,step,1);
-				t->sim.tm.ts += step;
-				t->sim.steps++;
-			}
-//			simulate(t, getcurts(t) + LATENCY);
-			goradar(t);
+			radar_dgl(t, getcurts(t) + LATENCY);
+// 			goradar(t);
+			vehicle_break(t);
+			vehicle_hard_right(t);
 			if (-1 == trial_check_input(t)) return;
 // 			if (-1 == trial_wait_for_input(t)) return;
 		}
diff --git a/testitradar b/testitradar
index 18ee7e8..6fe4598 100755
--- a/testitradar
+++ b/testitradar
@@ -7,7 +7,7 @@ CMD="./build/default/src/icfp08radar localhost 17676"
 if [ "$1" == "--gdb" ]; then 
 	CMD="gdb --args ${CMD}"
 elif [ "$1" == "--valgrind" ]; then
-	CMD="valgrind --leak-check=full ${CMD}"
+	CMD="valgrind --leak-check=full -v ${CMD}"
 fi
 
 exec $CMD