プログラマ専用SNS ミクプラ

コード:

#include "driver.h"
#include<iostream>
using namespace std;

// Static variables.
Cardata *Driver::cardata = NULL;
double Driver::currentsimtime;


Driver::Driver(int index)
{
	INDEX = index;
}


Driver::~Driver()
{
	delete opponents;
	delete pit;
	delete [] radius;
	delete learn;
	delete strategy;
	if (cardata != NULL) {
		delete cardata;
		cardata = NULL;
	}
}

void Driver::drive(tSituation *s)
{
	memset(&car->ctrl, 0, sizeof(tCarCtrl));

	update(s);
	

	//pit->setPitstop(true);

	if (isStuck())//車がスタックしている場合
	{
		car->_steerCmd  = -mycardata->getCarAngle() / car->_steerLock;
		car->_gearCmd   = -1;		// Reverse gear.
		car->_accelCmd  = 1.0f;	// 100% accelerator pedal.
		car->_brakeCmd  = 0.0f;	// No brakes.
		car->_clutchCmd = 0.0f;	// Full clutch (gearbox connected with engine).
	}
	else //通常時
	{
		car->_steerCmd = filterSColl(getSteer());
		car->_gearCmd  = getGear();
		car->_brakeCmd = filterABS(filterBrakeSpeed(filterBColl(filterBPit(getBrake()))));
		if (car->_brakeCmd == 0.0f) 
		{
			car->_accelCmd = filterTCL(filterTrk(filterOverlap(getAccel())));
		}
		else 
		{
			car->_accelCmd = 0.0f;
  		}
		car->_clutchCmd = getClutch();

	}
	
	//ブレーキの位置とそのときかけているブレーキ量
	/*if(car->_brakeCmd != 0.0f)
	 {
		cout << car->_pos_X << ' '<< car->_pos_Y << ' '<< car->_brakeCmd <<endl;
	 }else
	 {
		cout << "0.0\n" << endl;
	 }*/

	float temp=car->_steerCmd;
	value[i]=temp;
	
	//cout<< value[i] << ' ' << i <<endl;
	i++;
}

コード:

#ifdef _WIN32
#include <windows.h>
#endif

#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <iostream>
using namespace std;

#include <tgf.h>
#include <track.h>
#include <car.h>
#include <raceman.h>
#include <robottools.h>
#include <robot.h>

#include "driver.h"

#define NBBOTS 10

static const char* botname[NBBOTS] = {
	"bt 1", "bt 2", "bt 3", "bt 4", "bt 5",
	"bt 6", "bt 7", "bt 8", "bt 9", "bt 10"
};

static const char* botdesc[NBBOTS] = {
	"bt 1", "bt 2", "bt 3", "bt 4", "bt 5",
	"bt 6", "bt 7", "bt 8", "bt 9", "bt 10"
};

static Driver *driver[NBBOTS];

static void initTrack(int index, tTrack* track, void *carHandle, void **carParmHandle, tSituation *s);
static void newRace(int index, tCarElt* car, tSituation *s);
static void drive(int index, tCarElt* car, tSituation *s);
static int pitcmd(int index, tCarElt* car, tSituation *s);
static void shutdown(int index, float data[]);
static int InitFuncPt(int index, void *pt);
static void endRace(int index, tCarElt *car, tSituation *s);
static void filewrite(float data[]);

static int InitFuncPt(int index, void *pt)
{
	tRobotItf *itf = (tRobotItf *)pt;

	// Create robot instance for index.
	driver[index] = new Driver(index);
	itf->rbNewTrack = initTrack;	// Give the robot the track view called.
	itf->rbNewRace  = newRace;		// Start a new race.
	itf->rbDrive    = drive;		// Drive during race.
	itf->rbPitCmd   = pitcmd;		// Pit commands.
	itf->rbEndRace  = endRace;		// End of the current race.
	itf->rbShutdown = shutdown;		// Called before the module is unloaded.
	itf->index      = index;		// Index used if multiple interfaces.
	return 0;
}


//File write
static void filewrite(float data[])
{
	FILE *fp;
	char *fname = "dataset.csv";
    char *s1    = "steer";
	fp = fopen( fname, "w" );
	
    if( fp == NULL )
	{
		printf( "%sファイルが開けません\n", fname );
	}
	else
	{
		int datasize = sizeof(data);
		for(int i=0; i<datasize; i++)
		{
			fprintf( fp, "%f\n", data[i]);
		}
		printf( "%sファイル書き込みが終わりました\n", fname );
	}
	fclose( fp );
}

static void drive(int index, tCarElt* car, tSituation *s)
{
	driver[index]->drive(s);
}

// Called before the module is unloaded.
static void shutdown(int index, float data[])
{
	cout << "################レース終了###################"<< endl;
	
	//FileWrite(value);
	cout << data << endl;
	for(int i=0; i<sizeof(data);i++)
	{
		cout << data[i] << endl;
	}

	delete driver[index];

}