Simulate
This commit is contained in:
Stefan Bühler
parent
778d9ca994
commit
d37d09ee66
@ -31,6 +31,9 @@ typedef struct vehicle vehicle;
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struct telemetry;
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typedef struct telemetry telemetry;
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struct simulated;
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typedef struct simulated simulated;
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struct map;
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typedef struct map map;
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@ -69,19 +72,30 @@ struct map {
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GArray *solid_objects;
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};
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struct simulated {
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timestamp ts;
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vehicle vehicle;
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};
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struct trial {
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map map;
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timestamp last_ts;
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GQueue telemetry;
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vehicle vehicle; /* our view */
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vehicle vehicle;
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int alive, finished;
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struct timeval started;
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simulated sim;
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/* internal */
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struct timeval started;
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int socket;
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control_parser_ctx *parse_ctx;
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};
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/* extern */
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void simulate(trial *t);
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void godown(trial *t);
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/* trial */
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trial *trial_new(const char *hostname, const char *port);
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void trial_reset_run(trial *t);
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@ -116,7 +130,10 @@ telemetry* telemetry_new();
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/* Inline functions */
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#define SENDCMD(t, cmd) write(t->socket, cmd, sizeof(cmd)-1)
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#define SENDCMD(t, cmd) do { \
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write(t->socket, cmd, sizeof(cmd)-1); \
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/* write(1, cmd, sizeof(cmd)-1); */ \
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} while(0)
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INLINE void vehicle_accel(trial *t) {
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switch (t->vehicle.accel) {
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@ -27,7 +27,7 @@ static timestamp extract_ts(context *ctx, char *fpc) {
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return atoi(ctx->tmp->str);
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}
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#line 130 "control_parser.rl"
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#line 134 "control_parser.rl"
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@ -243,7 +243,7 @@ static const int control_parser_error = 0;
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static const int control_parser_en_main = 1;
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#line 133 "control_parser.rl"
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#line 137 "control_parser.rl"
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static int control_parser_has_error(context *ctx) {
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return ctx->cs == control_parser_error;
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@ -260,7 +260,7 @@ void control_parser_new(trial *t) {
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{
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( ctx->cs) = control_parser_start;
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}
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#line 145 "control_parser.rl"
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#line 149 "control_parser.rl"
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ctx->buffer = g_string_sized_new(0);
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ctx->tmp = g_string_sized_new(0);
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ctx->mark = -1;
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@ -274,7 +274,7 @@ void control_parser_reset(trial *t) {
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{
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( ctx->cs) = control_parser_start;
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}
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#line 154 "control_parser.rl"
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#line 158 "control_parser.rl"
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g_string_truncate(ctx->tmp, 0);
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ctx->mark = -1;
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/* fprintf(stderr, "Parser reset\n"); */
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@ -399,13 +399,17 @@ _match:
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} else {
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/* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */
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}
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/* Reset simulation */
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t->sim.ts = ctx->tm->ts;
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t->sim.vehicle = t->vehicle;
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t->last_ts = ctx->tm->ts;
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ctx->tm = NULL;
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t->alive = 1;
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}
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break;
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case 4:
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#line 55 "control_parser.rl"
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#line 59 "control_parser.rl"
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{
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ctx->tm->ts = ctx->ts;
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ctx->tm->vehicle.x = ctx->x;
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@ -420,115 +424,115 @@ _match:
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}
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break;
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case 5:
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#line 72 "control_parser.rl"
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#line 76 "control_parser.rl"
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{ t->map.dx = extract_double(ctx, p); }
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break;
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case 6:
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#line 73 "control_parser.rl"
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#line 77 "control_parser.rl"
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{ t->map.dy = extract_double(ctx, p); }
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break;
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case 7:
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#line 74 "control_parser.rl"
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#line 78 "control_parser.rl"
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{ t->map.min_sensor = extract_double(ctx, p); }
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break;
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case 8:
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#line 75 "control_parser.rl"
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#line 79 "control_parser.rl"
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{ t->map.max_sensor = extract_double(ctx, p); }
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break;
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case 9:
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#line 76 "control_parser.rl"
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#line 80 "control_parser.rl"
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{ t->map.max_speed = extract_double(ctx, p); }
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break;
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case 10:
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#line 77 "control_parser.rl"
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#line 81 "control_parser.rl"
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{ t->map.max_turn = extract_double(ctx, p); }
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break;
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case 11:
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#line 78 "control_parser.rl"
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#line 82 "control_parser.rl"
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{ t->map.max_hard_turn = extract_double(ctx, p); }
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break;
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case 12:
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#line 82 "control_parser.rl"
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#line 86 "control_parser.rl"
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{ ctx->x = extract_double(ctx, p); }
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break;
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case 13:
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#line 83 "control_parser.rl"
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#line 87 "control_parser.rl"
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{ ctx->y = extract_double(ctx, p); }
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break;
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case 14:
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#line 84 "control_parser.rl"
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#line 88 "control_parser.rl"
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{ ctx->r = extract_double(ctx, p); }
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break;
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case 15:
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#line 85 "control_parser.rl"
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#line 89 "control_parser.rl"
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{ ctx->dir = extract_double(ctx, p); }
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break;
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case 16:
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#line 86 "control_parser.rl"
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#line 90 "control_parser.rl"
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{ ctx->speed = extract_double(ctx, p); }
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break;
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case 17:
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#line 88 "control_parser.rl"
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#line 92 "control_parser.rl"
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{ ctx->tm->vehicle.accel = ACCEL; }
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break;
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case 18:
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#line 89 "control_parser.rl"
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#line 93 "control_parser.rl"
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{ ctx->tm->vehicle.accel = ROLL; }
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break;
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case 19:
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#line 90 "control_parser.rl"
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#line 94 "control_parser.rl"
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{ ctx->tm->vehicle.accel = BRAKE; }
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break;
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case 20:
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#line 92 "control_parser.rl"
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#line 96 "control_parser.rl"
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{ ctx->tm->vehicle.turn = TURN_HARD_LEFT; }
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break;
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case 21:
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#line 93 "control_parser.rl"
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#line 97 "control_parser.rl"
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{ ctx->tm->vehicle.turn = TURN_LEFT; }
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break;
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case 22:
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#line 94 "control_parser.rl"
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#line 98 "control_parser.rl"
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{ ctx->tm->vehicle.turn = TURN_STRAIGHT; }
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break;
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case 23:
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#line 95 "control_parser.rl"
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#line 99 "control_parser.rl"
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{ ctx->tm->vehicle.turn = TURN_RIGHT; }
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break;
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case 24:
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#line 96 "control_parser.rl"
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#line 100 "control_parser.rl"
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{ ctx->tm->vehicle.turn = TURN_HARD_RIGHT; }
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break;
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case 25:
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#line 98 "control_parser.rl"
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#line 102 "control_parser.rl"
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{ ctx->ts = extract_ts(ctx, p); }
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break;
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case 26:
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#line 99 "control_parser.rl"
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#line 103 "control_parser.rl"
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{ printf("Score %u\n", extract_ts(ctx, p)); }
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break;
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case 27:
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#line 101 "control_parser.rl"
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#line 105 "control_parser.rl"
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{
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object o = { BOLDER, ctx->x, ctx->y, ctx->r, 0, 0 };
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g_array_append_val(ctx->tm->objects, o);
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}
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break;
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case 28:
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#line 105 "control_parser.rl"
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#line 109 "control_parser.rl"
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{
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object o = { CRATER, ctx->x, ctx->y, ctx->r, 0, 0 };
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g_array_append_val(ctx->tm->objects, o);
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}
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break;
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case 29:
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#line 110 "control_parser.rl"
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#line 114 "control_parser.rl"
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{
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object o = { MARTIAN, ctx->x, ctx->y, ctx->r, ctx->dir, ctx->speed };
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object o = { MARTIAN, ctx->x, ctx->y, MARTIAN_RADIUS, ctx->dir, ctx->speed };
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g_array_append_val(ctx->tm->objects, o);
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}
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break;
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#line 532 "control_parser.c"
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#line 536 "control_parser.c"
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}
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}
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@ -540,7 +544,7 @@ _again:
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_test_eof: {}
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_out: {}
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}
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#line 177 "control_parser.rl"
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#line 181 "control_parser.rl"
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ctx->pos = p - ctx->buffer->str;
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if (ctx->mark == -1) {
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@ -48,6 +48,10 @@ static timestamp extract_ts(context *ctx, char *fpc) {
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} else {
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/* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */
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}
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/* Reset simulation */
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t->sim.ts = ctx->tm->ts;
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t->sim.vehicle = t->vehicle;
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t->last_ts = ctx->tm->ts;
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ctx->tm = NULL;
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t->alive = 1;
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@ -4,8 +4,6 @@
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#include <stdio.h>
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void godown(trial *t);
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void trial_loop(trial *t) {
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// path *p;
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// int offset;
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@ -18,8 +16,9 @@ void trial_loop(trial *t) {
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// offset = path_app_target(p,t,offset,0,0);
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while (t->alive) {
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// path_execute(t,p);
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simulate(t);
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godown(t);
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if (-1 == trial_wait_for_input(t)) return;
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if (-1 == trial_check_input(t)) return;
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}
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trial_matlab(t);
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trial_reset_run(t);
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@ -20,14 +20,14 @@ void godown(trial *t) {
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double xpot, ypot, r, angle;
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/* todo: simulate movement */
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v = t->vehicle;
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v = t->sim.vehicle;
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tm = (telemetry*) g_queue_peek_tail(&t->telemetry);
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r = sqrt(v.x*v.x + v.y*v.y);
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if (r < 4) return; /* done */
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xpot = v.x/r;
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ypot = v.y/r;
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xpot = 0.2 * v.x/r;
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ypot = 0.2 * v.y/r;
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for (guint i = 0; i < tm->objects->len; i++) {
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object *o = &g_array_index(tm->objects, object, i);
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@ -36,20 +36,21 @@ void godown(trial *t) {
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switch (o->type) {
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case BOLDER:
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sigma = 2 * o->rad;
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sigma = 2;
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h = 1;
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break;
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case CRATER:
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sigma = 2 * o->rad;
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h = 3;
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sigma = 4;
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h = 1;
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break;
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case MARTIAN:
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sigma = 4 * o->rad;
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sigma = 8;
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h = 1;
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break;
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}
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r = sqrt( (o->x - v.x) * (o->x - v.x) + (o->y - v.y) * (o->y - v.y) );
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r = sqrt( (o->x - v.x) * (o->x - v.x) + (o->y - v.y) * (o->y - v.y) ) - o->rad;
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// r = r*r*r * 10;
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r = C1 * h / (sigma*sigma) / exp (r / (2*sigma) );
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xpot += (o->x - v.x) * r;
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ypot += (o->y - v.y) * r;
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@ -70,10 +71,11 @@ void godown(trial *t) {
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vehicle_left(t);
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}
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}
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fprintf(stderr, "Angle: %f, objects: %u\n", angle, tm->objects->len);
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angle = abs(angle);
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if (angle > 60) {
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vehicle_break(t);
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} else if (angle > 30) {
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} else if (angle > 50) {
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vehicle_roll(t);
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} else {
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vehicle_accel(t);
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35
src/simulate.c
Normal file
35
src/simulate.c
Normal file
@ -0,0 +1,35 @@
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#include "control.h"
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#include <math.h>
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#define LATENCY 20
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static double fixdir(double a) {
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if (a < 0) a += 360;
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else if (a > 360) a -= 360;
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return a;
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}
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void simulate(trial *t) {
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double move, angle;
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timestamp now = getcurts(t) + LATENCY, diff = now - t->sim.ts;
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if (diff < 20) return;
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/* move = t->sim.vehicle.speed / 1000 * diff;
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angle = t->sim.vehicle.dir*M_PI/180;
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t->sim.vehicle.x += cos(angle)*move;
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t->sim.vehicle.y += sin(angle)*move;*/
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/* switch (t->sim.vehicle.turn) {
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case TURN_HARD_LEFT : t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir + t->map.max_hard_turn); break;
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case TURN_LEFT : t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir + t->map.max_turn); break;
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case TURN_STRAIGHT : break;
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case TURN_RIGHT : t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir - t->map.max_turn); break;
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case TURN_HARD_RIGHT: t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir - t->map.max_hard_turn); break;
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}
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t->sim.vehicle.accel = t->vehicle.accel;
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t->sim.vehicle.turn = t->vehicle.turn;*/
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}
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@ -9,6 +9,7 @@ main_source = '''
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control_parser.c
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path.c
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potential.c
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simulate.c
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'''
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def build(bld):
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