void
ReCarsManageCar(tCarElt *car, bool& bestLapChanged)
{
char msg[64];
int i;
int xx;
tTrackSeg *sseg;
tdble wseg;
static const float ctrlMsgColor[] = {0.0, 0.0, 1.0, 1.0};
tSituation *s = ReInfo->s;
tReCarInfo *info = &(ReInfo->_reCarInfo[car->index]);
// Update top speeds.
if (car->_speed_x > car->_topSpeed)
car->_topSpeed = car->_speed_x;
// (practice and qualification only).
if (car->_speed_x > info->topSpd)
info->topSpd = car->_speed_x;
if (car->_speed_x < info->botSpd)
info->botSpd = car->_speed_x;
// Pitstop management.
if (car->_pit) {
// If the driver can ask for a pit, update control messages whether slot occupied or not.
if (car->ctrl.raceCmd & RM_CMD_PIT_ASKED) {
// Pit already occupied?
if (car->_pit->pitCarIndex == TR_PIT_STATE_FREE)
snprintf(car->ctrl.msg[2], RM_CMD_MAX_MSG_SIZE, "Can Pit");
else
snprintf(car->ctrl.msg[2], RM_CMD_MAX_MSG_SIZE, "Pit Occupied");
car->ctrl.msg[2][RM_CMD_MAX_MSG_SIZE-1] = 0; // Some snprintf implementations fail to do so.
memcpy(car->ctrl.msgColor, ctrlMsgColor, sizeof(car->ctrl.msgColor));
}
// If pitting, check if pitting delay over, and end up with pitting process if so.
if (car->_state & RM_CAR_STATE_PIT) {
car->ctrl.raceCmd &= ~RM_CMD_PIT_ASKED; // clear the flag.
// Note: Due to asynchronous behaviour of the main updater and the situation updater,
// we have to wait for car->_scheduledEventTime being set to smthg > 0.
if (car->_scheduledEventTime > 0.0) {
if (car->_scheduledEventTime < s->currentTime) {
car->_state &= ~RM_CAR_STATE_PIT;
car->_pit->pitCarIndex = TR_PIT_STATE_FREE;
snprintf(msg, sizeof(msg), "%s pit stop %.1f s", car->_name, info->totalPitTime);
msg[sizeof(msg)-1] = 0; // Some snprintf implementations fail to do so.
ReSituation::self().setRaceMessage(msg, 5);
GfLogInfo("%s exiting pit (%.1f s elapsed).\n", car->_name, info->totalPitTime);
} else {
snprintf(car->ctrl.msg[2], RM_CMD_MAX_MSG_SIZE, "In pits %.1f s",
s->currentTime - info->startPitTime);
car->ctrl.msg[2][RM_CMD_MAX_MSG_SIZE-1] = 0; // Some snprintf implementations fail to do so.
}
}
// If the driver asks for a pit, check if the car is in the right conditions
// (position, speed, ...) and start up pitting process if so.
} else if ((car->ctrl.raceCmd & RM_CMD_PIT_ASKED) &&
car->_pit->pitCarIndex == TR_PIT_STATE_FREE &&
(s->_maxDammage == 0 || car->_dammage <= s->_maxDammage)) {
snprintf(car->ctrl.msg[2], RM_CMD_MAX_MSG_SIZE, "Pit request");
car->ctrl.msg[2][RM_CMD_MAX_MSG_SIZE-1] = 0; // Some snprintf implementations fail to do so.
tdble lgFromStart = car->_trkPos.seg->lgfromstart;
switch (car->_trkPos.seg->type) {
case TR_STR:
lgFromStart += car->_trkPos.toStart;
break;
default:
lgFromStart += car->_trkPos.toStart * car->_trkPos.seg->radius;
break;
}
if ((lgFromStart > car->_pit->lmin) && (lgFromStart < car->_pit->lmax)) {
int side;
tdble toBorder;
if (ReInfo->track->pits.side == TR_RGT) {
side = TR_SIDE_RGT;
toBorder = car->_trkPos.toRight;
} else {
side = TR_SIDE_LFT;
toBorder = car->_trkPos.toLeft;
}
sseg = car->_trkPos.seg->side[side];
wseg = RtTrackGetWidth(sseg, car->_trkPos.toStart);
if (sseg->side[side]) {
sseg = sseg->side[side];
wseg += RtTrackGetWidth(sseg, car->_trkPos.toStart);
}
if (((toBorder + wseg) < (ReInfo->track->pits.width - car->_dimension_y / 2.0)) &&
(fabs(car->_speed_x) < 1.0) && (fabs(car->_speed_y) < 1.0))
{
// All conditions fullfilled => enter pitting process
car->_state |= RM_CAR_STATE_PIT;
car->_scheduledEventTime = 0.0; // Pit will really start when set to smthg > 0.
car->_nbPitStops++;
for (i = 0; i < car->_pit->freeCarIndex; i++) {
if (car->_pit->car[i] == car) {
car->_pit->pitCarIndex = i;
break;
}
}
info->startPitTime = s->currentTime;
snprintf(msg, sizeof(msg), "%s in pits", car->_name);
msg[sizeof(msg)-1] = 0; // Some snprintf implementations fail to do so.
ReSituation::self().setRaceMessage(msg, 5);
GfLogInfo("%s entering in pit slot.\n", car->_name);
if (car->robot->rbPitCmd(car->robot->index, car, s) == ROB_PIT_MENU) {
// the pit cmd is modified by menu.
reCarsSchedulePitMenu(car);
} else {
ReCarsUpdateCarPitTime(car);
}
}
else
{ // The cars speed or offset is out of accepted range
// Show the user/developer/robot the reason of the issue
tTeamDriver* TeamDriver = RtTeamDriverByCar(car);
if (TeamDriver)
{
TeamDriver->StillToGo = 0.0;
TeamDriver->MoreOffset = 0.0;
TeamDriver->TooFastBy = 0.0;
}
float Offset = (float) ((toBorder + wseg) - (ReInfo->track->pits.width - car->_dimension_y / 2.0));
if (Offset >= 0.0)
{
// The car's position across the track is out of accepted range
snprintf(car->ctrl.msg[2], RM_CMD_MAX_MSG_SIZE, "Offset: %.02f",Offset);
car->ctrl.msg[2][RM_CMD_MAX_MSG_SIZE-1] = 0; // Some snprintf implementations fail to do so.
if (TeamDriver)
TeamDriver->MoreOffset = Offset;
}
float TooFastBy = MAX(fabs(car->_speed_x),fabs(car->_speed_y));
if (TooFastBy >= 1.0)
{
// The car's speed is out of accepted range
snprintf(car->ctrl.msg[2], RM_CMD_MAX_MSG_SIZE, "Speed: %.02f",TooFastBy);
car->ctrl.msg[2][RM_CMD_MAX_MSG_SIZE-1] = 0; // Some snprintf implementations fail to do so.
if (TeamDriver)
TeamDriver->TooFastBy = TooFastBy;
}
}
}
else
{ // The car's position along the track is out of accepted range
// Show the user/developer/robot the reason of the issue
tTeamDriver* TeamDriver = RtTeamDriverByCar(car);
if (TeamDriver)
{
TeamDriver->StillToGo = 0.0;
TeamDriver->MoreOffset = 0.0;
TeamDriver->TooFastBy = 0.0;
}
if (car->_pit->lmin > lgFromStart)
{
float StillToGo = car->_pit->lmin - lgFromStart;
snprintf(car->ctrl.msg[2], RM_CMD_MAX_MSG_SIZE, "Still to go: %0.2f m" ,StillToGo);
car->ctrl.msg[2][RM_CMD_MAX_MSG_SIZE-1] = 0; // Some snprintf implementations fail to do so.
if (TeamDriver)
TeamDriver->StillToGo = StillToGo;
}
else if (car->_pit->lmax < lgFromStart)
{
float StillToGo = lgFromStart - car->_pit->lmax;
snprintf(car->ctrl.msg[2], RM_CMD_MAX_MSG_SIZE, "Overrun: %0.2f m" ,StillToGo);
car->ctrl.msg[2][RM_CMD_MAX_MSG_SIZE-1] = 0; // Some snprintf implementations fail to do so.
if (TeamDriver)
TeamDriver->StillToGo = -StillToGo;
}
}
}
}
/* Check if it is in a new sector */
while (true)
{
if (car->_currentSector < ReInfo->track->numberOfSectors - 1 && car->_laps > 0 && info->lapFlag == 0)
{
/* Must pass at least one sector before the finish */
if (RtGetDistFromStart(car) > ReInfo->track->sectors[car->_currentSector])
{
/* It is in a new sector : update split time */
car->_curSplitTime[car->_currentSector] = car->_curLapTime;
++car->_currentSector;
continue;
}
}
break;
}
/* Start Line Crossing */
if (info->prevTrkPos.seg != car->_trkPos.seg) {
if ((info->prevTrkPos.seg->raceInfo & TR_LAST)
&& (car->_trkPos.seg->raceInfo & TR_START)) {
if (info->lapFlag == 0) {
// If the car has not yet finished the race :
if (!(car->_state & RM_CAR_STATE_FINISH)) {
// 1 more lap completed
// (Note: lap with index 0 finishes when the car crosses the start line the 1st time,
// and is thus considered a real lap, whereas it is not).
car->_laps++;
/*if (NetGetNetwork())
NetGetNetwork()->SendLapStatusPacket(car);*/
car->_remainingLaps--;
if (car->_pos == 1 && s->currentTime < s->_totTime
&& s->_raceType == RM_TYPE_RACE)
{
/* First car passed finish time before the time ends: increase the number of laps for everyone */
for (xx = 0; xx < s->_ncars; ++xx)
++ReInfo->s->cars[xx]->_remainingLaps;
++s->_totLaps;
}
car->_currentSector = 0;
if (car->_laps > 1) {
car->_lastLapTime = s->currentTime - info->sTime;
if (car->_bestLapTime != 0) {
car->_deltaBestLapTime = car->_lastLapTime - car->_bestLapTime;
}
if ((car->_lastLapTime < car->_bestLapTime) || (car->_bestLapTime == 0)) {
car->_bestLapTime = car->_lastLapTime;
memcpy(car->_bestSplitTime, car->_curSplitTime, sizeof(double)*(ReInfo->track->numberOfSectors - 1) );
if (s->_raceType != RM_TYPE_RACE && s->_ncars > 1)
{
/* Best lap time is made better : update times behind leader */
bestLapChanged = true;
car->_timeBehindLeader = car->_bestLapTime - s->cars[0]->_bestLapTime;
if (car->_pos > 1)
{
car->_timeBehindPrev = car->_bestLapTime - s->cars[car->_pos - 1]->_bestLapTime;
}
else
{
/* New best time for the leader : update the differences */
for (xx = 1; xx < s->_ncars; ++xx)
{
if (s->cars[xx]->_bestLapTime > 0.0f)
s->cars[xx]->_timeBehindLeader = s->cars[xx]->_bestLapTime - car->_bestLapTime;
}
}
if (car->_pos + 1 < s->_ncars && s->cars[car->_pos+1]->_bestLapTime > 0.0f)
car->_timeBeforeNext = s->cars[car->_pos + 1]->_bestLapTime - car->_bestLapTime;
else
car->_timeBeforeNext = 0;
}
}
}
if (car->_laps > 0) {
car->_curTime += s->currentTime - info->sTime;
if (car->_pos != 1 && s->_raceType == RM_TYPE_RACE) {
car->_timeBehindLeader = car->_curTime - s->cars[0]->_curTime;
car->_lapsBehindLeader = s->cars[0]->_laps - car->_laps;
car->_timeBehindPrev = car->_curTime - s->cars[car->_pos - 2]->_curTime;
s->cars[car->_pos - 2]->_timeBeforeNext = car->_timeBehindPrev;
} else if (s->_raceType == RM_TYPE_RACE) {
car->_timeBehindLeader = 0;
car->_lapsBehindLeader = 0;
car->_timeBehindPrev = 0;
}
info->sTime = (tdble)s->currentTime;
if (ReInfo->s->_raceType == RM_TYPE_PRACTICE &&
(car->_laps > 1 || s->_totLaps == 0))
ReSavePracticeLap(car);
}
if (ReInfo->_displayMode == RM_DISP_MODE_NONE)
{
switch(s->_raceType)
{
case RM_TYPE_PRACTICE:
ReUpdatePracticeCurRes(car);
break;
case RM_TYPE_QUALIF:
ReUpdateQualifCurRes(car);
break;
case RM_TYPE_RACE:
ReUpdateRaceCurRes();
break;
default:
break;
}
}
info->topSpd = car->_speed_x;
info->botSpd = car->_speed_x;
if ((car->_remainingLaps < 0 && s->currentTime > s->_totTime) || (s->_raceState == RM_RACE_FINISHING)) {
car->_state |= RM_CAR_STATE_FINISH;
s->_raceState = RM_RACE_FINISHING;
if (ReInfo->s->_raceType == RM_TYPE_RACE) {
if (car->_pos == 1) {
snprintf(msg, sizeof(msg), "Winner %s", car->_name);
msg[sizeof(msg)-1] = 0; // Some snprintf implementations fail to do so.
ReSituation::self().setRaceMessage(msg, 10, /*big=*/true);
if (NetGetServer())
{
NetGetServer()->SetFinishTime(s->currentTime+FINISHDELAY);
}
} else {
const char *numSuffix = "th";
if (abs(12 - car->_pos) > 1) { /* leave suffix as 'th' for 11 to 13 */
switch (car->_pos % 10) {
case 1:
numSuffix = "st";
break;
case 2:
numSuffix = "nd";
break;
case 3:
numSuffix = "rd";
break;
default:
break;
}
}
snprintf(msg, sizeof(msg), "%s finished %d%s", car->_name, car->_pos, numSuffix);
msg[sizeof(msg)-1] = 0; // Some snprintf implementations fail to do so.
ReSituation::self().setRaceMessage(msg, 5);
}
}
}
// Notify the UI when a lap is completed (by the leader)
// and race results have been updated.
if (car->_pos == 1)
ReUI().onLapCompleted(car->_laps - 1);
} else {
// Prevent infinite looping of cars around track,
// allowing one lap after finish for the first car, but no more
for (i = 0; i < s->_ncars; i++) {
s->cars[i]->_state |= RM_CAR_STATE_FINISH;
}
return;
}
} else {
info->lapFlag--;
}
}
if ((info->prevTrkPos.seg->raceInfo & TR_START)
&& (car->_trkPos.seg->raceInfo & TR_LAST)) {
/* going backward through the start line */
info->lapFlag++;
}
} // Start Line Crossing
// Apply race rules (penalties if enabled).
reCarsApplyRaceRules(car);
// Update misc car info.
info->prevTrkPos = car->_trkPos;
car->_curLapTime = s->currentTime - info->sTime;
car->_distFromStartLine = car->_trkPos.seg->lgfromstart +
(car->_trkPos.seg->type == TR_STR ? car->_trkPos.toStart : car->_trkPos.toStart * car->_trkPos.seg->radius);
car->_distRaced = (car->_laps - 1) * ReInfo->track->length + car->_distFromStartLine;
}
//==========================================================================*
// State (Sequential logic system)
//--------------------------------------------------------------------------*
void TSimpleStrategy::CheckPitState(float PitScaleBrake)
{
if (oPit == NULL) // No Pit no service
return;
if (!oPit->HasPits())
return;
double TrackPos = RtGetDistFromStart(oCar); // Distance to pit
switch(oState) // Check state
{
case PIT_NONE:
// We are somewhere on the track, nothing has happend yet
if ((!oPit->oPitLane[0].InPitSection(TrackPos)) && oGoToPit)
{ // if we are not parallel to the pits and get the flag,
// let's stop in the pits.
oState = PIT_BEFORE;
}
break;
case PIT_BEFORE:
// We are somewhere on the track and got the flag to go to pit
if (oFuelChecked && oGoToPit)
{ // If we reache pit entry and flag is still set
// switch to the pitlane
oState = PIT_PREPARE;
}
break;
case PIT_PREPARE:
// We are near the pit entry on the track and got the flag to go to pit
if (oPit->oPitLane[0].InPitSection(TrackPos) && oGoToPit)
{ // If we reache pit entry and flag is still set
// switch to the pitlane
oState = PIT_ENTER;
}
break;
case PIT_ENTER:
// We are on the pitlane and drive to our pit
if (!oPit->oPitLane[0].CanStop(TrackPos))
{ // We have to wait, till we reached the point to stop
if (oDriver->CurrSpeed() < 3)
{
CarAccelCmd = // a little throttle
MAX(0.05f,CarAccelCmd);
CarBrakeCmd = 0.0; // Start braking
LogSimplix.debug("#PIT_ENTER: Wait %g (%g)\n",TrackPos,oDriver->CurrSpeed());
}
else
LogSimplix.debug("#PIT_ENTER: Wait %g\n",TrackPos);
break;
}
// We reached the poit to stopp
oState = PIT_ASKED;
LogSimplix.debug("#PIT_ENTER: %g\n",TrackPos);
// falls through...
case PIT_ASKED:
// We are still going to the pit
if (oPit->oPitLane[0].CanStop(TrackPos))
{ // If we can stop a this position we start pit procedure
LogSimplix.debug("#PIT_ASKED: CanStop %g (%g)\n",TrackPos,oDriver->CurrSpeed());
oDriver->oStanding = true; // For motion survey!
oPitTicker = 0; // Start service timer
CarAccelCmd = 0; // release throttle
CarBrakeCmd = 1.0; // Start braking
CarRaceCmd = RM_CMD_PIT_ASKED; // Tell TORCS to service us! To test oPitTicker comment out
oState = PIT_SERVICE;
}
else
{ // We can't stop here (to early or to late)
if (oPit->oPitLane[0].Overrun(TrackPos))
{ // if to late
LogSimplix.debug("#Overrun 1: %g\n",TrackPos);
PitRelease();
oState = PIT_EXIT_WAIT;
// pit stop finished, need to exit pits now.
}
else
{
LogSimplix.debug("#ToShort 1: %g\n",TrackPos);
if (oDriver->CurrSpeed() < 3)
{
CarAccelCmd = // a little throttle
MAX(0.05f,CarAccelCmd);
CarBrakeCmd = 0.0; // Start braking
}
}
}
break;
case PIT_SERVICE:
// Wait to reach standstill to get service from TORCS
oDriver->oStanding = true; // Keep motion survey quiet
oPitTicker++; // Check time to start service
if (oPitTicker > 10) // Check Timer
{ // If we have to wait
LogSimplix.debug("#oPitTicker: %d\n",oPitTicker);
tTeamDriver* TeamDriver = RtTeamDriverByCar(oCar);
short int Major = RtTeamManagerGetMajorVersion();
short int Minor = RtTeamManagerGetMinorVersion();
if ((TeamDriver)
&& ((Major > NEEDED_MAJOR_VERSION)
|| ((Major = NEEDED_MAJOR_VERSION) && (Minor >= NEEDED_MINOR_VERSION))))
{
LogSimplix.debug("#Pitting issues %s\n",oDriver->GetBotName());
LogSimplix.debug("#StillToGo : %.2f m\n",TeamDriver->StillToGo);
LogSimplix.debug("#MoreOffset: %.2f m\n",TeamDriver->MoreOffset);
LogSimplix.debug("#TooFastBy : %.2f m/s\n",TeamDriver->TooFastBy);
// Learn from the response
if (fabs(TeamDriver->StillToGo) > 0.0)
{
//CarSteerCmd = 0.0; // Straight on
if (fabs(CarSpeedLong) < 1.0)
{
CarAccelCmd = // a little throttle
MAX(0.005f,CarAccelCmd);
CarBrakeCmd = 0.0; // No braking
LogSimplix.debug("#Accel : %.2f\n",CarAccelCmd);
}
else
{
CarBrakeCmd = 0.1f; // Braking
LogSimplix.debug("#Brake : %.2f\n",CarBrakeCmd);
}
CarClutchCmd = 0.5; // Press clutch
if (TeamDriver->StillToGo > 0)
CarGearCmd = 1; // First gear
else
CarGearCmd = -1; // reverse gear
}
else
{
// LogSimplix.debug("#Stopped\n");
CarAccelCmd = 0.0; // Stop throttle
CarBrakeCmd = 1.0; // Lock brake
CarClutchCmd = 0.0; // Release clutch
CarGearCmd = 1; // First gear
}
}
if (oPitTicker > 300) // Check Timer
{ // If we have to wait too long
PitRelease(); // Something went wrong, we have
oState = PIT_EXIT_WAIT; // to leave and release pit for teammate
}
}
else if (oPit->oPitLane[0].Overrun(TrackPos))
{ // If we couldn't stop in place
LogSimplix.debug("#Overrun 2: %g\n",TrackPos);
PitRelease(); // We have to release the pit
oState = PIT_EXIT_WAIT; // for teammate
}
else
{ // There is nothing that hampers TORCS to service us
LogSimplix.debug("#PIT_SERVICE: %g (%g)\n",TrackPos,oDriver->CurrSpeed());
CarLightCmd = 0; // No lights on
CarAccelCmd = 0; // No throttle
CarBrakeCmd = 1.0; // Still braking
CarRaceCmd = RM_CMD_PIT_ASKED; // Tell TORCS to service us! To test oPitTicker comment out
// oState is set to next state in PitRepair()!
// If TORCS doesn't service us, no call to PitRepair() is done!
// We run into timeout! (oPitTicker)
oPitStartTicker = 600;
}
break;
case PIT_EXIT_WAIT:
// We are still in the box
oDriver->oStanding = true; // Keep motion survey quiet
if ((oMinTimeSlot < 7) // If start slot to short
|| ((oMinDistBack > -7) // or cars aside
&& (oMinDistBack < 5))) // we have to wait
{
oPitStartTicker--;
if (oPitStartTicker < 0)
{
LogSimplix.debug("#PIT_EXIT: mts%g (mdb%gm)\n",oMinTimeSlot,oMinDistBack);
oState = PIT_EXIT;
}
CarLightCmd = RM_LIGHT_HEAD2; // Only small lights on
CarAccelCmd = 0.0;
CarBrakeCmd = 1.0;
}
else
{
CarLightCmd = RM_LIGHT_HEAD1; // Only big lights on
oState = PIT_EXIT;
}
break;
case PIT_EXIT:
// We are still in the box
oDriver->oStanding = true; // Keep motion survey quiet
oGoToPit = false; // Service is finished, lets go
CarAccelCmd = 0.5; // Press throttle
CarBrakeCmd = 0; // Release brake
PitRelease(); // Release pit for teammate
if (oDriver->CurrSpeed() > 5)
oState = PIT_GONE;
break;
case PIT_GONE:
// We are on our path back to the track
if (!oPit->oPitLane[0].InPitSection(TrackPos))
{ // If we reached the end of the pitlane
CarLightCmd = RM_LIGHT_HEAD1 | // All lights on
RM_LIGHT_HEAD2;
oState = PIT_NONE; // Switch to default mode
}
break;
}
}
