Fix main loop for more runs, add timestamp interpolation.

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) {

src/control.h

@@ -4,11 +4,14 @@
 #include "config.h"
 
 #include <unistd.h>
+#include <sys/time.h>
 #include <glib.h>
 
 #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

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) {

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 {

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;
 	}

src/main.c

@@ -4,9 +4,23 @@
 
 #include <stdio.h>
 
+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;