From 499faf43413853795b23dfa5b4f03fdcacd1a1d8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Stefan=20B=C3=BChler?= Date: Sat, 12 Jul 2008 11:32:10 +0200 Subject: [PATCH] Fix looping runs, faster path --- src/control_parser.c | 392 +++++++++++++++++++++--------------------- src/control_parser.rl | 13 +- src/main.c | 1 + src/path.c | 22 ++- 4 files changed, 225 insertions(+), 203 deletions(-) diff --git a/src/control_parser.c b/src/control_parser.c index 1636642..58ca2f0 100644 --- a/src/control_parser.c +++ b/src/control_parser.c @@ -27,7 +27,7 @@ static timestamp extract_ts(context *ctx, char *fpc) { return atoi(ctx->tmp->str); } -#line 125 "control_parser.rl" +#line 130 "control_parser.rl" @@ -50,188 +50,191 @@ static const char _control_parser_actions[] = { }; static const short _control_parser_key_offsets[] = { - 0, 0, 1, 2, 7, 12, 17, 22, - 27, 32, 37, 42, 43, 49, 50, 53, - 56, 57, 60, 61, 62, 63, 66, 69, - 70, 73, 76, 79, 80, 83, 86, 91, - 92, 97, 102, 107, 112, 117, 123, 124, - 129, 134, 139, 144, 145, 150, 155, 160, - 165, 166, 171, 176, 181, 186, 187, 192, - 197, 202, 207, 212, 216, 220, 224, 228, - 232, 236, 240, 244, 248, 252, 256, 260, - 264, 268, 272, 276, 280, 283, 287, 291, - 295, 299, 303, 307, 311, 315 + 0, 0, 7, 8, 11, 12, 18, 19, + 22, 23, 24, 25, 28, 31, 32, 35, + 38, 41, 42, 45, 48, 53, 54, 59, + 64, 69, 74, 79, 85, 86, 91, 96, + 101, 106, 107, 112, 117, 122, 127, 128, + 133, 138, 143, 148, 149, 154, 159, 164, + 169, 174, 178, 182, 186, 190, 194, 198, + 202, 206, 210, 214, 218, 222, 226, 230, + 234, 238, 242, 245, 248, 249, 254, 259, + 264, 269, 274, 279, 284, 289, 293, 297, + 301, 305, 309, 313, 317, 321 }; static const char _control_parser_trans_keys[] = { - 73, 32, 32, 45, 46, 48, 57, 32, - 45, 46, 48, 57, 32, 45, 46, 48, - 57, 32, 45, 46, 48, 57, 32, 45, + 66, 67, 69, 73, 75, 83, 84, 32, + 32, 48, 57, 59, 66, 67, 69, 75, + 83, 84, 32, 32, 48, 57, 59, 69, + 32, 32, 48, 57, 32, 48, 57, 59, + 32, 48, 57, 32, 48, 57, 32, 48, + 57, 32, 32, 48, 57, 45, 97, 98, + 45, 76, 82, 108, 114, 32, 32, 45, 46, 48, 57, 32, 45, 46, 48, 57, 32, 45, 46, 48, 57, 32, 45, 46, - 48, 57, 59, 66, 67, 69, 75, 83, - 84, 32, 32, 48, 57, 32, 48, 57, - 32, 32, 48, 57, 59, 69, 32, 32, - 48, 57, 32, 48, 57, 59, 32, 48, - 57, 32, 48, 57, 32, 48, 57, 32, - 32, 48, 57, 45, 97, 98, 45, 76, - 82, 108, 114, 32, 32, 45, 46, 48, - 57, 32, 45, 46, 48, 57, 32, 45, - 46, 48, 57, 32, 45, 46, 48, 57, - 59, 98, 99, 104, 109, 66, 67, 69, - 75, 83, 84, 32, 32, 45, 46, 48, - 57, 32, 45, 46, 48, 57, 32, 45, - 46, 48, 57, 59, 98, 99, 104, 109, - 32, 32, 45, 46, 48, 57, 32, 45, - 46, 48, 57, 32, 45, 46, 48, 57, - 59, 98, 99, 104, 109, 32, 32, 45, + 48, 57, 59, 98, 99, 104, 109, 66, + 67, 69, 75, 83, 84, 32, 32, 45, 46, 48, 57, 32, 45, 46, 48, 57, 32, 45, 46, 48, 57, 59, 98, 99, 104, 109, 32, 32, 45, 46, 48, 57, 32, 45, 46, 48, 57, 32, 45, 46, + 48, 57, 59, 98, 99, 104, 109, 32, + 32, 45, 46, 48, 57, 32, 45, 46, 48, 57, 32, 45, 46, 48, 57, 59, - 98, 99, 104, 109, 32, 46, 48, 57, - 32, 46, 48, 57, 32, 46, 48, 57, - 32, 46, 48, 57, 32, 46, 48, 57, - 32, 46, 48, 57, 32, 46, 48, 57, - 32, 46, 48, 57, 32, 46, 48, 57, - 32, 46, 48, 57, 32, 46, 48, 57, - 32, 46, 48, 57, 32, 46, 48, 57, - 32, 46, 48, 57, 32, 46, 48, 57, - 32, 46, 48, 57, 32, 46, 48, 57, - 32, 48, 57, 32, 46, 48, 57, 32, - 46, 48, 57, 32, 46, 48, 57, 32, - 46, 48, 57, 32, 46, 48, 57, 32, - 46, 48, 57, 32, 46, 48, 57, 32, - 46, 48, 57, 0 + 98, 99, 104, 109, 32, 32, 45, 46, + 48, 57, 32, 45, 46, 48, 57, 32, + 45, 46, 48, 57, 32, 45, 46, 48, + 57, 59, 98, 99, 104, 109, 32, 46, + 48, 57, 32, 46, 48, 57, 32, 46, + 48, 57, 32, 46, 48, 57, 32, 46, + 48, 57, 32, 46, 48, 57, 32, 46, + 48, 57, 32, 46, 48, 57, 32, 46, + 48, 57, 32, 46, 48, 57, 32, 46, + 48, 57, 32, 46, 48, 57, 32, 46, + 48, 57, 32, 46, 48, 57, 32, 46, + 48, 57, 32, 46, 48, 57, 32, 46, + 48, 57, 32, 48, 57, 32, 48, 57, + 32, 32, 45, 46, 48, 57, 32, 45, + 46, 48, 57, 32, 45, 46, 48, 57, + 32, 45, 46, 48, 57, 32, 45, 46, + 48, 57, 32, 45, 46, 48, 57, 32, + 45, 46, 48, 57, 32, 45, 46, 48, + 57, 32, 46, 48, 57, 32, 46, 48, + 57, 32, 46, 48, 57, 32, 46, 48, + 57, 32, 46, 48, 57, 32, 46, 48, + 57, 32, 46, 48, 57, 32, 46, 48, + 57, 0 }; static const char _control_parser_single_lengths[] = { - 0, 1, 1, 1, 1, 1, 1, 1, - 1, 1, 1, 1, 6, 1, 1, 1, + 0, 7, 1, 1, 1, 6, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, - 1, 1, 1, 1, 1, 3, 5, 1, - 1, 1, 1, 1, 5, 6, 1, 1, - 1, 1, 5, 1, 1, 1, 1, 5, - 1, 1, 1, 1, 5, 1, 1, 1, - 1, 1, 5, 2, 2, 2, 2, 2, + 1, 1, 1, 3, 5, 1, 1, 1, + 1, 1, 5, 6, 1, 1, 1, 1, + 5, 1, 1, 1, 1, 5, 1, 1, + 1, 1, 5, 1, 1, 1, 1, 1, + 5, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, - 2, 2, 2, 2, 1, 2, 2, 2, + 2, 2, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 0 }; static const char _control_parser_range_lengths[] = { - 0, 0, 0, 2, 2, 2, 2, 2, - 2, 2, 2, 0, 0, 0, 1, 1, - 0, 1, 0, 0, 0, 1, 1, 0, - 1, 1, 1, 0, 1, 0, 0, 0, - 2, 2, 2, 2, 0, 0, 0, 2, - 2, 2, 0, 0, 2, 2, 2, 0, - 0, 2, 2, 2, 0, 0, 2, 2, - 2, 2, 0, 1, 1, 1, 1, 1, - 1, 1, 1, 1, 1, 1, 1, 1, + 0, 0, 0, 1, 0, 0, 0, 1, + 0, 0, 0, 1, 1, 0, 1, 1, + 1, 0, 1, 0, 0, 0, 2, 2, + 2, 2, 0, 0, 0, 2, 2, 2, + 0, 0, 2, 2, 2, 0, 0, 2, + 2, 2, 0, 0, 2, 2, 2, 2, + 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 0, 2, 2, 2, + 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 0 }; static const short _control_parser_index_offsets[] = { - 0, 0, 2, 4, 8, 12, 16, 20, - 24, 28, 32, 36, 38, 45, 47, 50, - 53, 55, 58, 60, 62, 64, 67, 70, - 72, 75, 78, 81, 83, 86, 90, 96, - 98, 102, 106, 110, 114, 120, 127, 129, - 133, 137, 141, 147, 149, 153, 157, 161, - 167, 169, 173, 177, 181, 187, 189, 193, - 197, 201, 205, 211, 215, 219, 223, 227, - 231, 235, 239, 243, 247, 251, 255, 259, - 263, 267, 271, 275, 279, 282, 286, 290, - 294, 298, 302, 306, 310, 314 + 0, 0, 8, 10, 13, 15, 22, 24, + 27, 29, 31, 33, 36, 39, 41, 44, + 47, 50, 52, 55, 59, 65, 67, 71, + 75, 79, 83, 89, 96, 98, 102, 106, + 110, 116, 118, 122, 126, 130, 136, 138, + 142, 146, 150, 156, 158, 162, 166, 170, + 174, 180, 184, 188, 192, 196, 200, 204, + 208, 212, 216, 220, 224, 228, 232, 236, + 240, 244, 248, 251, 254, 256, 260, 264, + 268, 272, 276, 280, 284, 288, 292, 296, + 300, 304, 308, 312, 316, 320 }; static const char _control_parser_trans_targs[] = { - 2, 0, 3, 0, 4, 84, 84, 0, - 5, 83, 83, 0, 6, 82, 82, 0, - 7, 81, 81, 0, 8, 80, 80, 0, - 9, 79, 79, 0, 10, 78, 78, 0, - 11, 77, 77, 0, 12, 0, 13, 16, - 20, 16, 16, 27, 0, 14, 0, 11, - 15, 0, 11, 15, 0, 17, 0, 18, - 26, 0, 19, 0, 20, 0, 21, 0, - 22, 25, 0, 23, 24, 0, 85, 0, - 23, 24, 0, 22, 25, 0, 18, 26, - 0, 28, 0, 29, 76, 0, 30, 30, - 30, 0, 31, 31, 31, 31, 31, 0, - 32, 0, 33, 75, 75, 0, 34, 74, - 74, 0, 35, 73, 73, 0, 36, 72, - 72, 0, 37, 38, 43, 48, 53, 0, - 13, 16, 20, 16, 16, 27, 0, 39, - 0, 40, 71, 71, 0, 41, 70, 70, - 0, 42, 69, 69, 0, 37, 38, 43, - 48, 53, 0, 44, 0, 45, 68, 68, - 0, 46, 67, 67, 0, 47, 66, 66, - 0, 37, 38, 43, 48, 53, 0, 49, - 0, 50, 65, 65, 0, 51, 64, 64, - 0, 52, 63, 63, 0, 37, 38, 43, - 48, 53, 0, 54, 0, 55, 62, 62, - 0, 56, 61, 61, 0, 57, 60, 60, - 0, 58, 59, 59, 0, 37, 38, 43, - 48, 53, 0, 58, 59, 59, 0, 57, - 60, 60, 0, 56, 61, 61, 0, 55, - 62, 62, 0, 52, 63, 63, 0, 51, - 64, 64, 0, 50, 65, 65, 0, 47, - 66, 66, 0, 46, 67, 67, 0, 45, - 68, 68, 0, 42, 69, 69, 0, 41, - 70, 70, 0, 40, 71, 71, 0, 36, - 72, 72, 0, 35, 73, 73, 0, 34, - 74, 74, 0, 33, 75, 75, 0, 29, - 76, 0, 11, 77, 77, 0, 10, 78, - 78, 0, 9, 79, 79, 0, 8, 80, - 80, 0, 7, 81, 81, 0, 6, 82, - 82, 0, 5, 83, 83, 0, 4, 84, - 84, 0, 0, 0 + 2, 6, 10, 68, 6, 6, 17, 0, + 3, 0, 4, 67, 0, 5, 0, 2, + 6, 10, 6, 6, 17, 0, 7, 0, + 8, 16, 0, 9, 0, 10, 0, 11, + 0, 12, 15, 0, 13, 14, 0, 85, + 0, 13, 14, 0, 12, 15, 0, 8, + 16, 0, 18, 0, 19, 66, 0, 20, + 20, 20, 0, 21, 21, 21, 21, 21, + 0, 22, 0, 23, 65, 65, 0, 24, + 64, 64, 0, 25, 63, 63, 0, 26, + 62, 62, 0, 27, 28, 33, 38, 43, + 0, 2, 6, 10, 6, 6, 17, 0, + 29, 0, 30, 61, 61, 0, 31, 60, + 60, 0, 32, 59, 59, 0, 27, 28, + 33, 38, 43, 0, 34, 0, 35, 58, + 58, 0, 36, 57, 57, 0, 37, 56, + 56, 0, 27, 28, 33, 38, 43, 0, + 39, 0, 40, 55, 55, 0, 41, 54, + 54, 0, 42, 53, 53, 0, 27, 28, + 33, 38, 43, 0, 44, 0, 45, 52, + 52, 0, 46, 51, 51, 0, 47, 50, + 50, 0, 48, 49, 49, 0, 27, 28, + 33, 38, 43, 0, 48, 49, 49, 0, + 47, 50, 50, 0, 46, 51, 51, 0, + 45, 52, 52, 0, 42, 53, 53, 0, + 41, 54, 54, 0, 40, 55, 55, 0, + 37, 56, 56, 0, 36, 57, 57, 0, + 35, 58, 58, 0, 32, 59, 59, 0, + 31, 60, 60, 0, 30, 61, 61, 0, + 26, 62, 62, 0, 25, 63, 63, 0, + 24, 64, 64, 0, 23, 65, 65, 0, + 19, 66, 0, 4, 67, 0, 69, 0, + 70, 84, 84, 0, 71, 83, 83, 0, + 72, 82, 82, 0, 73, 81, 81, 0, + 74, 80, 80, 0, 75, 79, 79, 0, + 76, 78, 78, 0, 4, 77, 77, 0, + 4, 77, 77, 0, 76, 78, 78, 0, + 75, 79, 79, 0, 74, 80, 80, 0, + 73, 81, 81, 0, 72, 82, 82, 0, + 71, 83, 83, 0, 70, 84, 84, 0, + 0, 0 }; static const char _control_parser_trans_actions[] = { - 0, 0, 0, 0, 61, 3, 3, 0, - 64, 3, 3, 0, 0, 0, 0, 0, - 67, 3, 3, 0, 70, 3, 3, 0, - 73, 3, 3, 0, 76, 3, 3, 0, - 79, 3, 3, 0, 0, 0, 0, 0, - 0, 0, 0, 5, 0, 0, 0, 97, - 3, 0, 51, 0, 0, 0, 0, 97, - 3, 0, 0, 0, 0, 0, 0, 0, - 97, 3, 0, 100, 3, 0, 1, 0, - 53, 0, 0, 51, 0, 0, 51, 0, - 0, 0, 0, 97, 3, 0, 37, 35, - 39, 0, 45, 41, 49, 43, 47, 0, + 0, 0, 0, 0, 0, 0, 5, 0, + 0, 0, 97, 3, 0, 0, 0, 0, + 0, 0, 0, 0, 5, 0, 0, 0, + 97, 3, 0, 0, 0, 0, 0, 0, + 0, 97, 3, 0, 100, 3, 0, 1, + 0, 53, 0, 0, 51, 0, 0, 51, + 0, 0, 0, 0, 97, 3, 0, 37, + 35, 39, 0, 45, 41, 49, 43, 47, + 0, 0, 0, 82, 3, 3, 0, 85, + 3, 3, 0, 91, 3, 3, 0, 94, + 3, 3, 0, 9, 9, 9, 9, 9, + 0, 7, 7, 7, 7, 7, 103, 0, 0, 0, 82, 3, 3, 0, 85, 3, - 3, 0, 91, 3, 3, 0, 94, 3, - 3, 0, 9, 9, 9, 9, 9, 0, - 7, 7, 7, 7, 7, 103, 0, 0, - 0, 82, 3, 3, 0, 85, 3, 3, - 0, 88, 3, 3, 0, 55, 55, 55, - 55, 55, 0, 0, 0, 82, 3, 3, - 0, 85, 3, 3, 0, 88, 3, 3, - 0, 57, 57, 57, 57, 57, 0, 0, - 0, 82, 3, 3, 0, 85, 3, 3, - 0, 88, 3, 3, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 82, 3, 3, - 0, 85, 3, 3, 0, 91, 3, 3, - 0, 94, 3, 3, 0, 59, 59, 59, - 59, 59, 0, 33, 0, 0, 0, 31, - 0, 0, 0, 27, 0, 0, 0, 25, - 0, 0, 0, 29, 0, 0, 0, 27, - 0, 0, 0, 25, 0, 0, 0, 29, - 0, 0, 0, 27, 0, 0, 0, 25, - 0, 0, 0, 29, 0, 0, 0, 27, - 0, 0, 0, 25, 0, 0, 0, 33, - 0, 0, 0, 31, 0, 0, 0, 27, - 0, 0, 0, 25, 0, 0, 0, 51, - 0, 0, 23, 0, 0, 0, 21, 0, - 0, 0, 19, 0, 0, 0, 17, 0, - 0, 0, 15, 0, 0, 0, 0, 0, - 0, 0, 13, 0, 0, 0, 11, 0, - 0, 0, 0, 0 + 3, 0, 88, 3, 3, 0, 55, 55, + 55, 55, 55, 0, 0, 0, 82, 3, + 3, 0, 85, 3, 3, 0, 88, 3, + 3, 0, 57, 57, 57, 57, 57, 0, + 0, 0, 82, 3, 3, 0, 85, 3, + 3, 0, 88, 3, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 82, 3, + 3, 0, 85, 3, 3, 0, 91, 3, + 3, 0, 94, 3, 3, 0, 59, 59, + 59, 59, 59, 0, 33, 0, 0, 0, + 31, 0, 0, 0, 27, 0, 0, 0, + 25, 0, 0, 0, 29, 0, 0, 0, + 27, 0, 0, 0, 25, 0, 0, 0, + 29, 0, 0, 0, 27, 0, 0, 0, + 25, 0, 0, 0, 29, 0, 0, 0, + 27, 0, 0, 0, 25, 0, 0, 0, + 33, 0, 0, 0, 31, 0, 0, 0, + 27, 0, 0, 0, 25, 0, 0, 0, + 51, 0, 0, 51, 0, 0, 0, 0, + 61, 3, 3, 0, 64, 3, 3, 0, + 0, 0, 0, 0, 67, 3, 3, 0, + 70, 3, 3, 0, 73, 3, 3, 0, + 76, 3, 3, 0, 79, 3, 3, 0, + 23, 0, 0, 0, 21, 0, 0, 0, + 19, 0, 0, 0, 17, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 11, 0, 0, 0, + 0, 0 }; static const int control_parser_start = 1; @@ -240,7 +243,7 @@ static const int control_parser_error = 0; static const int control_parser_en_main = 1; -#line 128 "control_parser.rl" +#line 133 "control_parser.rl" static int control_parser_has_error(context *ctx) { return ctx->cs == control_parser_error; @@ -253,11 +256,11 @@ static int control_parser_is_finished(context *ctx) { void control_parser_new(trial *t) { context *ctx = t->parse_ctx = g_slice_new(context); -#line 257 "control_parser.c" +#line 260 "control_parser.c" { ( ctx->cs) = control_parser_start; } -#line 140 "control_parser.rl" +#line 145 "control_parser.rl" ctx->buffer = g_string_sized_new(0); ctx->tmp = g_string_sized_new(0); ctx->mark = -1; @@ -267,14 +270,14 @@ void control_parser_new(trial *t) { void control_parser_reset(trial *t) { context *ctx = t->parse_ctx; -#line 271 "control_parser.c" +#line 274 "control_parser.c" { ( ctx->cs) = control_parser_start; } -#line 149 "control_parser.rl" +#line 154 "control_parser.rl" g_string_truncate(ctx->tmp, 0); ctx->mark = -1; - ctx->pos = 0; + /* fprintf(stderr, "Parser reset\n"); */ } void control_parser_free(trial *t) { @@ -295,7 +298,7 @@ run_t control_parse(trial *t) { /* fprintf(stderr, "Parsing '%s' (len=%zu)\n", p, wehave); */ -#line 299 "control_parser.c" +#line 302 "control_parser.c" { int _klen; unsigned int _trans; @@ -370,24 +373,29 @@ _match: { case 0: #line 34 "control_parser.rl" - { {p++; goto _out; } t->alive = 0; } + { + t->alive = 0; + /* fprintf(stderr, "Run finished\n"); */ + {p++; goto _out; } + } break; case 1: -#line 35 "control_parser.rl" +#line 39 "control_parser.rl" { ctx->mark = p - ctx->buffer->str; } break; case 2: -#line 36 "control_parser.rl" +#line 40 "control_parser.rl" { ctx->tm = telemetry_new(); } break; case 3: -#line 37 "control_parser.rl" +#line 41 "control_parser.rl" { g_queue_push_tail(&t->telemetry, ctx->tm); if (!t->alive) { t->vehicle.accel = ctx->tm->vehicle.accel; t->vehicle.turn = ctx->tm->vehicle.turn; gettimeofday(&t->started, NULL); + /* fprintf(stderr, "New run\n"); */ } else { /* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */ } @@ -397,7 +405,7 @@ _match: } break; case 4: -#line 50 "control_parser.rl" +#line 55 "control_parser.rl" { ctx->tm->ts = ctx->ts; ctx->tm->vehicle.x = ctx->x; @@ -412,115 +420,115 @@ _match: } break; case 5: -#line 67 "control_parser.rl" +#line 72 "control_parser.rl" { t->map.dx = extract_double(ctx, p); } break; case 6: -#line 68 "control_parser.rl" +#line 73 "control_parser.rl" { t->map.dy = extract_double(ctx, p); } break; case 7: -#line 69 "control_parser.rl" +#line 74 "control_parser.rl" { t->map.min_sensor = extract_double(ctx, p); } break; case 8: -#line 70 "control_parser.rl" +#line 75 "control_parser.rl" { t->map.max_sensor = extract_double(ctx, p); } break; case 9: -#line 71 "control_parser.rl" +#line 76 "control_parser.rl" { t->map.max_speed = extract_double(ctx, p); } break; case 10: -#line 72 "control_parser.rl" +#line 77 "control_parser.rl" { t->map.max_turn = extract_double(ctx, p); } break; case 11: -#line 73 "control_parser.rl" +#line 78 "control_parser.rl" { t->map.max_hard_turn = extract_double(ctx, p); } break; case 12: -#line 77 "control_parser.rl" +#line 82 "control_parser.rl" { ctx->x = extract_double(ctx, p); } break; case 13: -#line 78 "control_parser.rl" +#line 83 "control_parser.rl" { ctx->y = extract_double(ctx, p); } break; case 14: -#line 79 "control_parser.rl" +#line 84 "control_parser.rl" { ctx->r = extract_double(ctx, p); } break; case 15: -#line 80 "control_parser.rl" +#line 85 "control_parser.rl" { ctx->dir = extract_double(ctx, p); } break; case 16: -#line 81 "control_parser.rl" +#line 86 "control_parser.rl" { ctx->speed = extract_double(ctx, p); } break; case 17: -#line 83 "control_parser.rl" +#line 88 "control_parser.rl" { ctx->tm->vehicle.accel = ACCEL; } break; case 18: -#line 84 "control_parser.rl" +#line 89 "control_parser.rl" { ctx->tm->vehicle.accel = ROLL; } break; case 19: -#line 85 "control_parser.rl" +#line 90 "control_parser.rl" { ctx->tm->vehicle.accel = BREAK; } break; case 20: -#line 87 "control_parser.rl" +#line 92 "control_parser.rl" { ctx->tm->vehicle.turn = TURN_HARD_LEFT; } break; case 21: -#line 88 "control_parser.rl" +#line 93 "control_parser.rl" { ctx->tm->vehicle.turn = TURN_LEFT; } break; case 22: -#line 89 "control_parser.rl" +#line 94 "control_parser.rl" { ctx->tm->vehicle.turn = TURN_STRAIGHT; } break; case 23: -#line 90 "control_parser.rl" +#line 95 "control_parser.rl" { ctx->tm->vehicle.turn = TURN_RIGHT; } break; case 24: -#line 91 "control_parser.rl" +#line 96 "control_parser.rl" { ctx->tm->vehicle.turn = TURN_HARD_RIGHT; } break; case 25: -#line 93 "control_parser.rl" +#line 98 "control_parser.rl" { ctx->ts = extract_ts(ctx, p); } break; case 26: -#line 94 "control_parser.rl" +#line 99 "control_parser.rl" { printf("Score %u\n", extract_ts(ctx, p)); } break; case 27: -#line 96 "control_parser.rl" +#line 101 "control_parser.rl" { object o = { BOLDER, ctx->x, ctx->y, ctx->r, 0, 0 }; g_array_append_val(ctx->tm->objects, o); } break; case 28: -#line 100 "control_parser.rl" +#line 105 "control_parser.rl" { object o = { CRATER, ctx->x, ctx->y, ctx->r, 0, 0 }; g_array_append_val(ctx->tm->objects, o); } break; case 29: -#line 105 "control_parser.rl" +#line 110 "control_parser.rl" { object o = { MARTIAN, ctx->x, ctx->y, ctx->r, ctx->dir, ctx->speed }; g_array_append_val(ctx->tm->objects, o); } break; -#line 524 "control_parser.c" +#line 532 "control_parser.c" } } @@ -532,7 +540,7 @@ _again: _test_eof: {} _out: {} } -#line 172 "control_parser.rl" +#line 177 "control_parser.rl" ctx->pos = p - ctx->buffer->str; if (ctx->mark == -1) { @@ -548,7 +556,7 @@ _again: } if (control_parser_has_error(ctx)) { - fprintf(stderr, "Parse error\n"); + fprintf(stderr, "Parse error: '%s'\n", ctx->buffer->str + ctx->pos); shutdown(t->socket, SHUT_RDWR); close(t->socket); exit(126); diff --git a/src/control_parser.rl b/src/control_parser.rl index 5337432..d89da67 100644 --- a/src/control_parser.rl +++ b/src/control_parser.rl @@ -31,7 +31,11 @@ static timestamp extract_ts(context *ctx, char *fpc) { machine control_parser; variable cs ctx->cs; - action done { fbreak; t->alive = 0; } + action done { + t->alive = 0; + /* fprintf(stderr, "Run finished\n"); */ + fbreak; + } action mark { ctx->mark = fpc - ctx->buffer->str; } action telemetrystart { ctx->tm = telemetry_new(); } action telemetrystop { @@ -40,6 +44,7 @@ static timestamp extract_ts(context *ctx, char *fpc) { t->vehicle.accel = ctx->tm->vehicle.accel; t->vehicle.turn = ctx->tm->vehicle.turn; gettimeofday(&t->started, NULL); + /* fprintf(stderr, "New run\n"); */ } else { /* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */ } @@ -121,7 +126,7 @@ static timestamp extract_ts(context *ctx, char *fpc) { End = "E" SP timestamp SP score SP ";"; - main := init (telemetry | Boulder)* (Crater | Kill | Success)? End @ done; + main := init? (telemetry | Boulder)* (Crater | Kill | Success)? End @ done; }%% %% write data; @@ -148,7 +153,7 @@ void control_parser_reset(trial *t) { %% write init; g_string_truncate(ctx->tmp, 0); ctx->mark = -1; - ctx->pos = 0; + /* fprintf(stderr, "Parser reset\n"); */ } void control_parser_free(trial *t) { @@ -184,7 +189,7 @@ run_t control_parse(trial *t) { } if (control_parser_has_error(ctx)) { - fprintf(stderr, "Parse error\n"); + fprintf(stderr, "Parse error: '%s'\n", ctx->buffer->str + ctx->pos); shutdown(t->socket, SHUT_RDWR); close(t->socket); exit(126); diff --git a/src/main.c b/src/main.c index f13185a..56b937c 100644 --- a/src/main.c +++ b/src/main.c @@ -15,6 +15,7 @@ void trial_loop(trial *t) { path_execute(t,p); if (-1 == trial_check_input(t)) return; } + trial_reset_run(t); path_free(p); } while (!t->finished); } diff --git a/src/path.c b/src/path.c index 2ccf81a..54663ce 100644 --- a/src/path.c +++ b/src/path.c @@ -16,6 +16,13 @@ void command_free(command* c){ g_slice_free(command, c); } +double angle_for_rot(double from, double to) { + double a = to - from; + if (a > 180) a = -360 + a; + else if (a < -180) a = 360 + a; + return a; +} + path *path_new(map* m,vehicle *v){ command* tmp; path* res; @@ -27,23 +34,24 @@ path *path_new(map* m,vehicle *v){ /* Turn towards origin, take shorter direction*/ angle = atan2(-v->y,-v->x)*180/M_PI; - stop = abs(angle - v->dir)/m->max_turn*1000; + angle = angle_for_rot(v->dir, angle); + stop = abs(angle)/m->max_hard_turn*1000; printf("Angle: %f stop: %f\n",angle,stop); - if(angle - v->dir > 0){ + if(angle > 0){ /*clockwise/left turn*/ - tmp = command_new(0,BREAK,TURN_LEFT); + tmp = command_new(0,BREAK,TURN_HARD_LEFT); g_queue_push_tail(res->commands,tmp); } else { /*counterclockwise/right turn*/ - tmp = command_new(0,BREAK,TURN_RIGHT); + tmp = command_new(0,BREAK,TURN_HARD_RIGHT); g_queue_push_tail(res->commands,tmp); } - tmp = command_new(stop,BREAK,TURN_STRAIGHT); + tmp = command_new(stop,ACCEL,TURN_STRAIGHT); g_queue_push_tail(res->commands,tmp); /*start driving*/ - tmp = command_new(stop,ACCEL,TURN_STRAIGHT); - g_queue_push_tail(res->commands,tmp); +// tmp = command_new(stop,ACCEL,TURN_STRAIGHT); +// g_queue_push_tail(res->commands,tmp); return res; }