From b285897838eade52332b264c18b5212dc34f54fc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Stefan=20B=C3=BChler?= Date: Sat, 12 Jul 2008 10:40:15 +0200 Subject: [PATCH] Fix main loop for more runs, add timestamp interpolation. --- src/control.c | 42 ++++++++++++++++++---------- src/control.h | 20 ++++++++++--- src/control_parser.c | 65 ++++++++++++++++++++++--------------------- src/control_parser.h | 2 -- src/control_parser.rl | 1 + src/main.c | 26 ++++++++++------- 6 files changed, 93 insertions(+), 63 deletions(-) diff --git a/src/control.c b/src/control.c index 870c8ca..e485e56 100644 --- a/src/control.c +++ b/src/control.c @@ -96,17 +96,19 @@ void trial_reset_run(trial *t) { control_parser_reset(t); } -void trial_wait_for_start(trial *t) { - while (0 == t->telemetry.length) { - trial_wait_for_input(t); +int trial_wait_for_start(trial *t) { + while (!t->finished && !t->alive) { + if (-1 == trial_wait_for_input(t)) return -1; } + return 0; } static char buffer[16*1024]; -void trial_check_input(trial *t) { +int trial_check_input(trial *t) { ssize_t len; struct pollfd p; + p.fd = t->socket; p.events = POLLIN; switch (poll(&p, 1, 0)) { @@ -114,34 +116,44 @@ void trial_check_input(trial *t) { switch (errno) { case EAGAIN: case EINTR: - return; + return 0; } fprintf(stderr, "poll error: %s\n", strerror(errno)); - exit(127); - break; + return -1; case 0: - return; + return 0; } len = read(t->socket, buffer, sizeof(buffer)); if (len < 0) { fprintf(stderr, "read error: %s\n", strerror(errno)); - exit(127); + return -1; + } else if (len == 0) { + t->finished = 1; + if (t->alive) { + fprintf(stderr, "unexpected connection close\n"); + return -1; + } + return 0; } g_string_append_len(t->parse_ctx->buffer, buffer, len); - control_parse(t); + return (RUN_ERROR != control_parse(t)) ? 0 : -1; } -void trial_wait_for_input(trial *t) { +int trial_wait_for_input(trial *t) { ssize_t len = read(t->socket, buffer, sizeof(buffer)); if (len < 0) { fprintf(stderr, "read error: %s\n", strerror(errno)); - exit(127); + return -1; } else if (len == 0) { - fprintf(stderr, "connection closed\n"); - exit(125); + if (t->alive) { + fprintf(stderr, "unexpected connection close\n"); + return -1; + } + t->finished = 1; + return 0; } g_string_append_len(t->parse_ctx->buffer, buffer, len); - control_parse(t); + return (RUN_ERROR != control_parse(t)) ? 0 : -1; } void trial_free(trial *t) { diff --git a/src/control.h b/src/control.h index 36f76a7..8590f07 100644 --- a/src/control.h +++ b/src/control.h @@ -4,11 +4,14 @@ #include "config.h" #include +#include #include #define INLINE static inline #define UNUSED(x) ((void)(x)) +typedef enum { RUN_ERROR, RUN_DONE, RUN_GO_ON, RUN_FINISHED } run_t; + typedef enum { ACCEL, ROLL, BREAK } accel_t; typedef enum { TURN_HARD_LEFT, TURN_LEFT, TURN_STRAIGHT, TURN_RIGHT, TURN_HARD_RIGHT } turn_t; @@ -66,7 +69,8 @@ struct trial { timestamp last_ts; GQueue telemetry; vehicle vehicle; /* our view */ - int alive; + int alive, finished; + struct timeval started; /* internal */ int socket; @@ -76,9 +80,9 @@ struct trial { /* trial */ trial *trial_new(const char *hostname, const char *port); void trial_reset_run(trial *t); -void trial_wait_for_start(trial *t); -void trial_check_input(trial *t); -void trial_wait_for_input(trial *t); +int trial_wait_for_start(trial *t); +int trial_check_input(trial *t); +int trial_wait_for_input(trial *t); void trial_free(trial *t); /* debugging stuff */ @@ -99,6 +103,8 @@ INLINE void vehicle_straight(trial *t); INLINE void vehicle_right(trial *t); INLINE void vehicle_hard_right(trial *t); +INLINE timestamp getcurts(trial *t); + /* needed by parser */ telemetry* telemetry_new(); @@ -183,4 +189,10 @@ INLINE void vehicle_hard_right(trial *t) { t->vehicle.turn = TURN_HARD_RIGHT; } +INLINE timestamp getcurts(trial *t) { + struct timeval tv; + gettimeofday(&tv, NULL); + return (tv.tv_sec - t->started.tv_sec) * 1000 + (tv.tv_usec - t->started.tv_sec) / 1000; +} + #endif diff --git a/src/control_parser.c b/src/control_parser.c index d7c6752..94f9aaf 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 122 "control_parser.rl" +#line 123 "control_parser.rl" @@ -240,7 +240,7 @@ static const int control_parser_error = 0; static const int control_parser_en_main = 1; -#line 125 "control_parser.rl" +#line 126 "control_parser.rl" static int control_parser_has_error(context *ctx) { return ctx->cs == control_parser_error; @@ -257,7 +257,7 @@ void control_parser_new(trial *t) { { ( ctx->cs) = control_parser_start; } -#line 137 "control_parser.rl" +#line 138 "control_parser.rl" ctx->buffer = g_string_sized_new(0); ctx->tmp = g_string_sized_new(0); ctx->mark = -1; @@ -271,7 +271,7 @@ void control_parser_reset(trial *t) { { ( ctx->cs) = control_parser_start; } -#line 146 "control_parser.rl" +#line 147 "control_parser.rl" g_string_truncate(ctx->tmp, 0); ctx->mark = -1; ctx->pos = 0; @@ -389,12 +389,13 @@ _match: t->vehicle.turn = ctx->tm->vehicle.turn; } t->last_ts = ctx->tm->ts; + gettimeofday(&t->started, NULL); ctx->tm = NULL; t->alive = 1; } break; case 4: -#line 47 "control_parser.rl" +#line 48 "control_parser.rl" { ctx->tm->ts = ctx->ts; ctx->tm->vehicle.x = ctx->x; @@ -409,115 +410,115 @@ _match: } break; case 5: -#line 64 "control_parser.rl" +#line 65 "control_parser.rl" { t->map.dx = extract_double(ctx, p); } break; case 6: -#line 65 "control_parser.rl" +#line 66 "control_parser.rl" { t->map.dy = extract_double(ctx, p); } break; case 7: -#line 66 "control_parser.rl" +#line 67 "control_parser.rl" { t->map.min_sensor = extract_double(ctx, p); } break; case 8: -#line 67 "control_parser.rl" +#line 68 "control_parser.rl" { t->map.max_sensor = extract_double(ctx, p); } break; case 9: -#line 68 "control_parser.rl" +#line 69 "control_parser.rl" { t->map.max_speed = extract_double(ctx, p); } break; case 10: -#line 69 "control_parser.rl" +#line 70 "control_parser.rl" { t->map.max_turn = extract_double(ctx, p); } break; case 11: -#line 70 "control_parser.rl" +#line 71 "control_parser.rl" { t->map.max_hard_turn = extract_double(ctx, p); } break; case 12: -#line 74 "control_parser.rl" +#line 75 "control_parser.rl" { ctx->x = extract_double(ctx, p); } break; case 13: -#line 75 "control_parser.rl" +#line 76 "control_parser.rl" { ctx->y = extract_double(ctx, p); } break; case 14: -#line 76 "control_parser.rl" +#line 77 "control_parser.rl" { ctx->r = extract_double(ctx, p); } break; case 15: -#line 77 "control_parser.rl" +#line 78 "control_parser.rl" { ctx->dir = extract_double(ctx, p); } break; case 16: -#line 78 "control_parser.rl" +#line 79 "control_parser.rl" { ctx->speed = extract_double(ctx, p); } break; case 17: -#line 80 "control_parser.rl" +#line 81 "control_parser.rl" { ctx->tm->vehicle.accel = ACCEL; } break; case 18: -#line 81 "control_parser.rl" +#line 82 "control_parser.rl" { ctx->tm->vehicle.accel = ROLL; } break; case 19: -#line 82 "control_parser.rl" +#line 83 "control_parser.rl" { ctx->tm->vehicle.accel = BREAK; } break; case 20: -#line 84 "control_parser.rl" +#line 85 "control_parser.rl" { ctx->tm->vehicle.turn = TURN_HARD_LEFT; } break; case 21: -#line 85 "control_parser.rl" +#line 86 "control_parser.rl" { ctx->tm->vehicle.turn = TURN_LEFT; } break; case 22: -#line 86 "control_parser.rl" +#line 87 "control_parser.rl" { ctx->tm->vehicle.turn = TURN_STRAIGHT; } break; case 23: -#line 87 "control_parser.rl" +#line 88 "control_parser.rl" { ctx->tm->vehicle.turn = TURN_RIGHT; } break; case 24: -#line 88 "control_parser.rl" +#line 89 "control_parser.rl" { ctx->tm->vehicle.turn = TURN_HARD_RIGHT; } break; case 25: -#line 90 "control_parser.rl" +#line 91 "control_parser.rl" { ctx->ts = extract_ts(ctx, p); } break; case 26: -#line 91 "control_parser.rl" +#line 92 "control_parser.rl" { printf("Score %u\n", extract_ts(ctx, p)); } break; case 27: -#line 93 "control_parser.rl" +#line 94 "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 97 "control_parser.rl" +#line 98 "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 102 "control_parser.rl" +#line 103 "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 521 "control_parser.c" +#line 522 "control_parser.c" } } @@ -529,7 +530,7 @@ _again: _test_eof: {} _out: {} } -#line 169 "control_parser.rl" +#line 170 "control_parser.rl" ctx->pos = p - ctx->buffer->str; if (ctx->mark == -1) { diff --git a/src/control_parser.h b/src/control_parser.h index 7c5d402..685a310 100644 --- a/src/control_parser.h +++ b/src/control_parser.h @@ -4,8 +4,6 @@ struct control_parser_ctx; typedef struct control_parser_ctx control_parser_ctx; -typedef enum { RUN_ERROR, RUN_DONE, RUN_GO_ON } run_t; - #include "control.h" struct control_parser_ctx { diff --git a/src/control_parser.rl b/src/control_parser.rl index a5dac55..21e0752 100644 --- a/src/control_parser.rl +++ b/src/control_parser.rl @@ -41,6 +41,7 @@ static timestamp extract_ts(context *ctx, char *fpc) { t->vehicle.turn = ctx->tm->vehicle.turn; } t->last_ts = ctx->tm->ts; + gettimeofday(&t->started, NULL); ctx->tm = NULL; t->alive = 1; } diff --git a/src/main.c b/src/main.c index 664c7fd..f13185a 100644 --- a/src/main.c +++ b/src/main.c @@ -4,9 +4,23 @@ #include +void trial_loop(trial *t) { + path *p; + do { + if (-1 == trial_wait_for_start(t)) return; + if (t->finished) break; + /*create trivial path towards the origin*/ + p = path_new(&t->map, &t->vehicle); + while (t->alive) { + path_execute(t,p); + if (-1 == trial_check_input(t)) return; + } + path_free(p); + } while (!t->finished); +} + int main(int argc, char **argv) { trial *t; - path *p; if (argc <= 2) { fprintf(stderr, "Syntax: %s hostname port\n", argv[0]); @@ -17,16 +31,8 @@ int main(int argc, char **argv) { return 2; } - /*create trivial path towards the origin*/ + trial_loop(t); - trial_wait_for_start(t); - p = path_new(&t->map,&t->vehicle); - while(t->alive){ - path_execute(t,p); - trial_wait_for_input(t); - } - - path_free(p); trial_free(t); return 0;