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Projet

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This commit is contained in:
Adrien Guatto
2025-11-03 10:30:00 +01:00
parent df36499be1
commit 7298fa66e1
108 changed files with 4452 additions and 0 deletions
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2
projet/AUTEURS Normal file
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nom1,prenom1,email1
nom2,prenom2,email2

73
projet/Makefile Normal file
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include Makefile.version
ASSET_DIR_PATH="\"$(shell pwd)/assets\""
CC?=gcc
CFLAGS=-Wall `pkg-config --cflags sdl2` -I `heptc -where`/c \
-D ASSET_DIR_PATH=$(ASSET_DIR_PATH) -D YEAR=$(ANNEE) \
-D VERSION=$(VERSION) -g -fsanitize=undefined
LDFLAGS=`pkg-config --libs sdl2` -lm -fsanitize=undefined
HEPTC?=heptc
HEPT_OBJ=\
src/challenge.o \
src/city.o \
src/globals.o \
src/vehicle.o \
src/control.o \
src/utilities.o \
src/challenge_types.o \
src/city_types.o \
src/globals_types.o \
src/vehicle_types.o \
src/control_types.o \
src/utilities_types.o
OBJ=$(HEPT_OBJ) \
src/buffer.o \
src/trace_lib.o \
src/trace.o \
src/debug.o \
src/mathext.o \
src/map.o \
src/cutils.o \
src/simulation_loop.o \
src/challenge.o \
src/main.o
TARGET=scontest
.SUFFIXES:
.PHONY: all clean test
.PRECIOUS: %.epci %.c %.h
.SUFFIXES:
all: $(TARGET)
clean:
rm -f $(OBJ) $(TARGET)
rm -f $(foreach ext, mls obc epci epo log, $(wildcard src/*.$(ext)))
rm -rf src/*_c
rm -f $(subst .o,.c,$(HEPT_OBJ))
rm -f $(subst .o,.h,$(HEPT_OBJ))
test: $(TARGET)
./$< -o logs.txt assets/00.map
$(TARGET): $(OBJ)
$(CC) $^ $(LDFLAGS) -o $@
%.o: %.c
$(CC) $(CFLAGS) -c $< -o $@
%_types.c %.c %.h %.epci : %.ept src/mathext.epci src/debug.epci src/trace.epci
cd `dirname $<` && $(HEPTC) -c -target c `basename $<`
cp $(foreach ext,c h,$(basename $<)_c/*.$(ext)) src
%.epci: %.epi
cd `dirname $<` && $(HEPTC) `basename $<`
src/vehicle.epci: src/globals.epci src/utilities.epci src/control.epci
src/utilities.epci: src/globals.epci
src/control.epci: src/globals.epci src/utilities.epci
src/city.epci: src/globals.epci src/utilities.epci src/vehicle.epci src/map.epci
src/map.epci: src/map.epi src/globals.epci
src/challenge.epci: src/globals.epci src/vehicle.epci src/city.epci src/map.epci
src/main.o src/map.o: src/globals.h src/globals_types.h
src/simulation_loop.o: src/globals.h src/globals_types.h src/challenge.h

2
projet/Makefile.version Normal file
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VERSION="\"1.1.0\""
ANNEE="\"2025-2026\""

6
projet/README.md Normal file
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# Projet de Programmation synchrone
Ce répertoire contient le projet du cours de Programmation synchrone du M2
Informatique de l'Université de Paris et de l'École d'Ingénieur Denis Diderot.
Le [sujet](sujet/sujet-projet.pdf) contient tous les détails.

2
projet/assets/00.iti Normal file
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go 20
stop 0.

17
projet/assets/00.map Normal file
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map "oneway_line"
graphics "map_00_oneway_line.bmp"
guide "b-00.bmp"
init 50. 50. 23.703
rd 1
line 1 30 50. 50. 550. 250.
wp 1
0 550. 250.
tl 0
st 0
obst 2
30. 30. 1. 10.
200. 200. 8. 30.
iti 2
go 20.
stop
end

8
projet/assets/01.iti Normal file
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@@ -0,0 +1,8 @@
go 20
turn 90.
go 20.
turn 90.
go 20.
turn 90.
go 20.
stop 0.

30
projet/assets/01.map Normal file
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@@ -0,0 +1,30 @@
map "oneway_square"
graphics "map_01_oneway_square.bmp"
guide "b-01.bmp"
init 550. 200. 90.
rd 4
line 1 30 50. 50. 550. 50.
line 1 20 550. 50. 550. 250.
line 1 30 550. 250. 50. 250.
line 1 20 50. 250. 50. 50.
wp 5
0 548. 50.
1 550. 148.
1 550. 248.
2 52. 250.
3 50. 52.
tl 0
st 0
obst 2
30. 30. 1. 10.
200. 200. 8. 30.
iti 8
go 20
turn 90.
go 20.
turn 90.
go 20.
turn 90.
go 20.
stop 0.
end

2
projet/assets/02.iti Normal file
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@@ -0,0 +1,2 @@
go 20
stop 0.

20
projet/assets/02.map Normal file
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@@ -0,0 +1,20 @@
map "oneway_olympic"
graphics "map_02_oneway_olympic.bmp"
guide "b-02.bmp"
init 480. 100. 0.
rd 4
line 1 30 100. 100. 500. 100.
arc 1 20 500. 150. 50. -90. 90.
line 1 30 500. 200. 100. 200.
arc 1 20 100. 150. 50. 90. 270.
wp 1
0 449. 100.
tl 0
st 0
obst 2
30. 30. 1. 10.
200. 200. 8. 30.
iti 2
go 20
stop 0.
end

5
projet/assets/03.iti Normal file
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@@ -0,0 +1,5 @@
go 20
go 15.
turn -44.
go 25.
stop 0.

29
projet/assets/03.map Normal file
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@@ -0,0 +1,29 @@
map "oneway_ea"
graphics "map_03_oneway_ea.bmp"
guide "b-03.bmp"
init 20. 20. 35.
rd 5
line 1 20 5. 5. 100. 100.
line 1 20 100. 100. 160. 130.
line 1 20 160. 130. 230. 130.
arc 1 20 230. 230. 100. -90. 0.
line 1 20 230. 130. 330. 30.
wp 4
0 100. 100.
2 229. 130.
3 330. 230.
4 329. 31.
tl 2
0 60. 50. 5 3 5 7
2 220. 120. 5 3 5 10
st 2
0 0 50. 50.
2 1 220. 130.
obst 0
iti 5
go 20
go 15.
turn -44.
go 25.
stop 0.
end

6
projet/assets/04.iti Normal file
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@@ -0,0 +1,6 @@
go 10
turn 90.
go 20.
turn 90.
go 10.
stop 0.

27
projet/assets/04.map Normal file
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@@ -0,0 +1,27 @@
map "olympic_cut"
graphics "map_04_olympic_cut.bmp"
guide "b-04.bmp"
init 10. 150. 0.
rd 5
line 1 10 5. 150. 500. 150.
arc 1 20 100. 150. 50. 270. 90.
line 1 30 100. 200. 400. 200.
arc 1 20 400. 150. 50. 90. -90.
line 1 30 400. 100. 100. 100.
wp 4
0 48. 150.
0 448. 150.
0 498. 150.
3 449. 152.
tl 0
st 0
obst 0
iti 6
go 10
turn 90.
go 20.
turn 90.
go 10.
stop 0.
end

13
projet/assets/05.iti Normal file
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@@ -0,0 +1,13 @@
go 10
turn 90.
go 20.
turn -90.
go 20.
go 30.
turn -90.
go 20
turn -90.
go 10
go 10
go 10
stop 0.

42
projet/assets/05.map Normal file
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@@ -0,0 +1,42 @@
map "olympic_cut_tl"
graphics "map_05_olympic_cut_tl.bmp"
guide "b-05.bmp"
init 10. 150. 0.
rd 6
line 1 10 5. 150. 500. 150.
arc 1 20 100. 150. 50. 270. 90.
line 1 30 100. 200. 400. 200.
arc 1 20 400. 150. 50. 90. -90.
line 1 30 400. 100. 100. 100.
line 1 20 250. 200. 250. 100.
wp 8
0 48. 150.
0 448. 150.
0 498. 150.
3 450. 152.
2 248. 200.
5 250. 102.
5 250. 152.
0 248. 150.
tl 2
5 245. 160. 5 3 5 3
0 240. 145. 5 3 5 8
st 2
5 0 250. 160.
0 1 240. 150.
obst 0
iti 12
go 10
turn 90.
go 20.
turn -90.
go 20.
go 25.
turn -90.
go 20
turn -90.
go 10
go 10
go 10
stop 0.
end

13
projet/assets/06.iti Normal file
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@@ -0,0 +1,13 @@
go 20.
turn -90.
go 10.
go 10.
go 10.
turn -90.
go 30.
turn -90.
go 10.
turn 90.
go 25.
stop 0.

44
projet/assets/06.map Normal file
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@@ -0,0 +1,44 @@
map "roundabout"
graphics "map_06_roundabout.bmp"
guide "b-06.bmp"
init 60. 150. 0.
rd 10
line 1 20 50. 150. 100. 150.
arc 1 10 150. 150. 50. 180. 270.
line 1 30 150. 100. 150. 50.
arc 1 10 150. 150. 50. -90. 0.
line 1 30 200. 150. 250. 150.
arc 1 10 150. 150. 50. 0. 90.
line 1 30 150. 200. 150. 250.
arc 1 20 150. 150. 75. 0. -90.
arc 1 20 150. 150. 75. 90. 0.
arc 1 10 150. 150. 50. 90. 180.
wp 11
0 98. 150.
1 148. 100.4
2 150. 77.
2 150. 52.
3 199.9 148.
4 248. 150.
5 152. 199.9
6 150. 223.
6 150. 248.
8 224.8 153.
7 153. 75.2
tl 0
st 0
obst 0
iti 12
go 20.
turn -90.
go 10.
go 10.
go 10.
turn -90.
go 25.
turn -90.
go 10.
turn 90.
go 25.
stop 0.
end

13
projet/assets/07.iti Normal file
View File

@@ -0,0 +1,13 @@
go 20.
turn -90.
go 10.
go 10.
go 10.
turn -90.
go 30.
turn -90.
go 10.
turn 90.
go 20.
stop 0.

53
projet/assets/07.map Normal file
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@@ -0,0 +1,53 @@
map "roundabout_tl"
graphics "map_07_roundabout_tl.bmp"
guide "b-07.bmp"
init 60. 150. 0.
rd 10
line 1 20 50. 150. 100. 150.
arc 1 10 150. 150. 50. 180. 270.
line 1 30 150. 100. 150. 50.
arc 1 10 150. 150. 50. -90. 0.
line 1 30 200. 150. 250. 150.
arc 1 10 150. 150. 50. 0. 90.
line 1 30 150. 200. 150. 250.
arc 1 20 150. 150. 75. 0. -90.
arc 1 20 150. 150. 75. 90. 0.
arc 1 10 150. 150. 50. 90. 180.
wp 11
0 98. 150.
1 148. 100.4
2 150. 77.
2 150. 52.
3 199.9 148.
4 223. 150.
4 248. 150.
5 152. 199.9
6 150. 223.
6 150. 248.
8 224.8 153.
7 153. 75.2
tl 4
2 145. 85. 5 3 5 3
7 165. 70.9 5 3 5 8
4 215. 145. 5 3 5 3
8 218.5 164.9 5 3 5 8
st 4
2 0 150. 85.
7 1 165. 76.5
4 2 215. 150.
8 3 223.5 164.9
obst 0
iti 12
go 20.
turn -90.
go 10.
go 10.
go 10.
turn -90.
go 25.
turn -90.
go 10.
turn 90.
go 20.
stop 0.
end

12
projet/assets/08.iti Normal file
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@@ -0,0 +1,12 @@
go 10.
turn -90.
go 30.
turn 90.
go 20.
go 10.
turn -90.
go 20.
turn 90.
go 25.
go 20.
stop 0.

72
projet/assets/08.map Normal file
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@@ -0,0 +1,72 @@
map "nycity"
graphics "map_08_nycity.bmp"
guide "b-08.bmp"
init 20. 250. 0.
rd 20
line 1 30 5. 250. 50. 250.
line 1 30 50. 250. 150. 250.
line 1 30 150. 250. 200. 250.
line 1 20 50. 250. 50. 150.
line 1 20 150. 250. 150. 150.
line 1 20 200. 250. 200. 150.
line 1 30 50. 150. 150. 150.
line 1 30 150. 150. 200. 150.
line 1 20 50. 150. 50. 50.
line 1 20 150. 150. 150. 50.
line 1 20 200. 150. 200. 50.
line 1 30 50. 50. 150. 50.
line 1 30 150. 50. 200. 50.
line 1 30 250. 50. 275. 50.
line 1 30 200. 250. 250. 250.
line 1 20 250. 250. 250. 150.
line 1 30 200. 150. 250. 150.
line 1 20 250. 150. 250. 100.
line 1 20 250. 150. 250. 50.
line 1 30 200. 50. 250. 50.
wp 20
0 48. 250.
1 148. 250.
2 198. 250.
3 50. 152.
4 150. 152.
5 200. 152.
6 148. 150.
7 198. 150.
8 50. 52.
9 150. 52.
10 200. 52.
11 148. 50.
12 198. 50.
13 273. 50.
14 248. 250.
15 250. 152.
16 248. 150.
17 250. 102.
18 250. 52.
19 248. 50.
tl 0
st 0
obst 0
iti 12
go 10.
turn -90.
go 25.
turn 90.
go 20.
go 10.
turn -90.
go 20.
turn 90.
go 25.
go 20.
stop 0.
end

14
projet/assets/09.iti Normal file
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@@ -0,0 +1,14 @@
go 20.
go 20.
go 20.
go 20.
turn -90.
go 10.
go 20.
turn -90.
go 10.
turn 30.
go 20.
turn 100.
go 10.
stop 0.

105
projet/assets/09.map Normal file
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@@ -0,0 +1,105 @@
map "paris"
graphics "map_09_paris.bmp"
guide "b-09.bmp"
init 40. 275. 0.
rd 31
line 1 30 25. 275. 100. 275.
line 1 20 100. 275. 175. 275.
line 1 30 175. 275. 250. 275.
line 1 20 250. 275. 400. 275.
line 1 30 400. 275. 475. 275.
line 1 20 50. 225. 25. 275.
line 1 20 100. 275. 100. 225.
line 1 20 175. 275. 175. 225.
line 1 20 250. 275. 250. 225.
line 1 20 400. 275. 400. 175.
line 1 30 100. 225. 50. 225.
line 1 30 175. 225. 100. 225.
line 1 20 250. 225. 175. 225.
line 1 20 400. 175. 250. 225.
line 1 30 475. 175. 400. 175.
line 1 20 50. 225. 175. 100.
line 1 30 100. 225. 100. 175.
line 1 30 175. 225. 175. 100.
line 1 30 250. 225. 250. 100.
line 1 30 400. 175. 400. 100.
line 1 20 250. 100. 175. 100.
line 1 20 400. 100. 250. 100.
line 1 30 450. 100. 400. 100.
line 1 20 175. 100. 225. 50.
line 1 20 325. 100. 225. 50.
line 1 20 400. 100. 400. 75.
line 1 20 400. 75. 325. 50.
line 1 20 400. 75. 450. 25.
line 1 30 325. 50. 225. 50.
line 1 10 225. 50. 175. 25.
line 1 10 225. 50. 250. 25.
wp 32
0 98. 275.
1 173. 275.
2 248. 275.
3 398. 275.
4 473. 275.
5 23. 273.
6 100. 227.
7 175. 227.
8 250. 227.
9 400. 177.
10 52. 225.
11 102. 225.
12 177. 225.
13 260. 223.
14 402. 175.
15 173. 102.
16 100. 177.
17 175. 102.
18 250. 102.
19 400. 102.
20 177. 100.
21 252. 100.
21 327. 100.
22 402. 100.
23 223. 52.
24 227. 51.
25 400. 77.
26 340. 55.
27 448. 27.
28 235. 50.
29 187. 30.
30 240. 35.
tl 6
15 165. 105. 5 3 5 3
17 170. 115. 5 3 5 8
20 185. 105. 5 3 5 13
23 215. 55. 5 3 5 3
24 240. 60. 5 3 5 8
28 240. 53. 5 3 5 13
st 6
15 0 165. 110.
17 1 175. 115.
20 2 185. 100.
23 3 215. 60.
24 4 245. 60.
28 5 240. 50.
obst 0
iti 14
go 20.
go 20.
go 20.
go 20.
turn -90.
go 10.
go 20.
turn -90.
go 10.
turn 30.
go 20.
turn 100.
go 10.
stop 0.
end

20
projet/assets/11.iti Normal file
View File

@@ -0,0 +1,20 @@
go 30.
turn 90.
go 30.
turn 45.
go 30.
turn -45.
go 30.
turn -70.
go 20.
turn 120.
go 20.
turn -110.
go 20.
turn -45.
go 30.
turn -45.
go 30.
turn 135.
go 20.
stop 0.

40
projet/assets/11.map Normal file
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@@ -0,0 +1,40 @@
map "hamburg"
rd 14
line 1 20 15. 270. 30. 210.
arc 1 20 120. 210. 90. 180. 270.
line 1 20 120. 120. 60. 60.
line 1 20 60. 60. 15. 60.
line 1 20 120. 120. 300. 90.
line 1 20 300. 90. 480. 120.
arc 1 20 360. 120. 120. 0. 90.
line 1 20 360. 240. 240. 240.
arc 1 20 240. 120. 120. 90. 180.
line 1 20 240. 240. 120. 120.
arc 1 20 360. 150. 90. 90. 180.
line 1 20 270. 150. 300. 90.
line 1 20 410. 280. 360. 240.
line 1 20 480. 120. 585. 120.
wp 11
1 118. 120.9
2 62. 62.
3 20. 60.
5 478. 119.3
6 362. 239.1
7 242. 240.
8 120.9 122.
9 122. 122.
11 299. 92.
12 362. 241.6
13 570. 120.
tl 1
12 365. 248. 5 3 5 7
st 1
12 0 370. 248.
end

21
projet/assets/12.iti Normal file
View File

@@ -0,0 +1,21 @@
go 30.
go 20.
turn -45.
go 30.
turn -45.
go 30.
turn -90.
go 30.
turn -60.
go 20.
turn 120.
go 20.
turn -110.
go 20.
turn -45.
go 30.
turn -45.
go 30.
turn 135.
go 20.
stop 0.

42
projet/assets/12.map Normal file
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@@ -0,0 +1,42 @@
map "PRG"
rd 14
line 1 30 585. 60. 480. 120.
line 1 30 480. 120. 420. 180.
line 1 20 420. 180. 300. 240.
line 1 20 300. 240. 300. 120.
line 1 20 300. 120. 180. 120.
line 1 20 300. 240. 180. 240.
line 1 20 180. 120. 180. 240.
line 1 20 180. 120. 120. 60.
line 1 20 180. 30. 120. 60.
line 1 20 120. 60. 60. 120.
arc 1 10 180. 120. 120. 90. 180.
line 1 20 60. 120. 15. 30.
line 1 20 180. 240. 180. 290.
line 1 20 300. 290. 300. 240.
wp 11
2 302. 238.5
3 300. 122.
4 182. 120.
5 182. 240.
6 180. 238.
7 122. 62.
8 122. 59.
9 62. 118.
11 20. 40.
12 180. 280.
13 300. 242.
tl 2
2 310. 240. 5 3 5 7
13 295. 250. 8 3 5 7
st 2
2 0 310. 235.
13 1 300. 250.
end

12
projet/assets/13.iti Normal file
View File

@@ -0,0 +1,12 @@
go 20.
turn 15.
go 20.
turn 90.
go 20.
go 20.
turn 45.
go 20.
go 20.
turn -45.
go 20.
stop.

52
projet/assets/13.map Normal file
View File

@@ -0,0 +1,52 @@
map "PRD"
rd 18
line 1 20 300.0 60.0 300.0 15.0
line 1 20 180.0 15.0 180.0 60.0
line 1 20 300.0 60.0 585.0 60.0
line 1 20 30.0 20.0 120.0 180.0
line 1 20 180.0 60.0 120.0 60.0
line 1 20 180.0 60.0 300.0 60.0
line 1 20 300.0 60.0 300.0 120.0
line 1 20 120.0 180.0 300.0 60.0
line 1 20 300.0 120.0 480.0 240.0
line 1 20 300.0 120.0 210.0 180.0
line 1 20 210.0 180.0 120.0 180.0
line 1 20 15.0 180.0 120.0 180.0
line 1 20 120.0 60.0 120.0 180.0
line 1 20 70.0 280.0 120.0 180.0
line 1 20 120.0 180.0 120.0 280.0
line 1 20 120.0 180.0 210.0 240.0
line 1 20 210.0 240.0 480.0 240.0
line 1 20 480.0 240.0 585.0 240.0
wp 16
0 300. 20.
1 180. 56.
2 570. 60.
3 117.75 176.
4 124. 60.
5 296. 60.
6 300. 116.
7 297. 62.
8 477 238.
10 124. 180.
11 116. 180.
12 120. 176.
13 118. 184.
14 120. 260.
15 206. 238.
17 570. 240.
tl 1
16 465. 235. 5 3 5 7
st 1
16 0 465. 240.
end

12
projet/assets/14.iti Normal file
View File

@@ -0,0 +1,12 @@
go 30.
turn 120.
go 20.
turn -90.
go 20.
turn 45.
go 20.
turn -90.
go 20.
turn 130.
go 20.
stop.

61
projet/assets/14.map Normal file
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@@ -0,0 +1,61 @@
map "seine"
rd 22
line 1 20 420. 10. 300. 70.
line 1 20 300. 70. 180. 70.
line 1 20 180. 70. 100. 10.
line 1 20 300. 70. 300. 10.
line 1 20 180. 70. 180. 10.
line 1 20 300. 70. 300. 120.
line 1 20 180. 70. 180. 120.
line 1 20 580. 30. 300. 120.
line 1 20 300. 120. 180. 120.
line 1 20 180. 120. 120. 120.
line 1 20 120. 120. 120. 240.
line 1 20 120. 240. 300. 120.
line 1 20 210. 240. 120. 240.
line 1 20 300. 180. 210. 240.
line 1 20 300. 120. 300. 180.
line 1 20 300. 180. 500. 280.
line 1 20 120. 240. 160. 280.
line 1 20 100. 280. 120. 240.
line 1 20 20. 240. 120. 240.
line 1 20 20. 40. 120. 240.
line 1 20 120. 240. 120. 280.
line 1 20 120. 120. 20. 40.
wp 20
0 304. 67.
1 176. 70.
2 108. 16.
3 300. 20.
4 180. 20.
5 300. 116.
6 180. 116.
7 304. 118.
9 124. 120.
10 210. 236.
11 297. 122.
12 124. 240.
14 300. 176.
15 490. 275.
16 155. 275.
17 118. 244.
18 116. 240.
19 118. 236.
20 120. 270.
21 30. 48.
tl 2
5 295. 110. 5 3 5 8
11 285. 125. 5 3 5 13
st 2
5 0 300. 110.
11 1 285. 130.
end

8
projet/assets/15.iti Normal file
View File

@@ -0,0 +1,8 @@
go 20.
go 30.
go 10.
turn -15.
go 20.
turn 75.
stop 0.

47
projet/assets/15.map Normal file
View File

@@ -0,0 +1,47 @@
map "scade"
rd 22
line 1 30 20. 20. 70. 20.
arc 1 20 70. 80. 60. -90. 90.
arc 1 20 70. 200. 60. 270. 90.
line 1 30 70. 260. 200. 260.
line 1 30 200. 260. 300. 260.
line 1 30 200. 240. 300. 240.
arc 1 20 200. 210. 50. 180. 90.
arc 1 20 200. 210. 30. 180. 90.
line 1 30 150. 110. 150. 210.
line 1 30 170. 110. 170. 210.
arc 1 20 200. 110. 50. 270. 180.
arc 1 20 200. 110. 30. 270. 180.
line 1 30 250. 60. 200. 60.
line 1 30 250. 80. 200. 80.
arc 1 20 300. 210. 50. 90. 0.
arc 1 20 300. 210. 30. 90. 0.
line 1 30 350. 210. 413.3 20.
line 1 30 330. 210. 380. 60.
arc 1 30 350. 140. 120. 90. -50.
line 1 30 300. 260. 550. 260.
line 1 30 413.3 20. 550. 20.
line 1 30 470. 140. 550. 140.
wp 11
3 115. 260.
4 290. 260.
16 412.3 23.
17 372. 84.
18 469.9 142.5
18 434.85 56.15
19 305. 260.
19 359. 260.
19 520. 260.
20 520. 20.
21 520. 140.
tl 0
st 0
end

10
projet/assets/16.iti Normal file
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go 20.
turn -34.
go 30.
turn 146.
go 20.
turn -56.
go 30.
turn -34.
go 20.
stop 0.

15
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go 20.
turn 47.
go 20.
turn -90.
go 20.
turn 90.
go 20.
turn 124.
go 30.
turn 124.
go 20.
turn -60.
go 30.
stop 0.

8
projet/assets/18.iti Normal file
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@@ -0,0 +1,8 @@
go 20.
turn -34.
go 30.
turn -146.
go 20.
turn -51.
go 20.
stop 0.

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#include "buffer.h"
#include <assert.h>
#include <stddef.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#define max(a, b) ((a) <= (b) ? (a) : (b))
void *malloc_checked(size_t size) {
void *result = malloc(size);
if (!result) {
perror("malloc()");
exit(EXIT_FAILURE);
}
return result;
}
char *strdup_checked(const char *s) {
char *result = strdup(s);
if (!result) {
perror("strdup()");
exit(EXIT_FAILURE);
}
return result;
}
buffer_t *buffer_alloc(size_t initial_size) {
buffer_t *buff = malloc_checked(sizeof *buff);
buff->data = malloc_checked(initial_size * sizeof *buff->data);
buff->size = initial_size;
buff->occupancy = 0;
return buff;
}
void buffer_free(buffer_t *buffer) {
assert (buffer);
free(buffer->data);
free(buffer);
}
void buffer_resize(buffer_t *buff, size_t new_size) {
assert (buff);
assert (new_size >= buff->size);
unsigned char *new_data = malloc_checked(new_size);
memcpy(new_data, buff->data, buff->occupancy);
free(buff->data);
buff->data = new_data;
buff->size = new_size;
}
void buffer_write(buffer_t *buff, void *data, size_t data_size) {
assert (buff);
if (buff->occupancy + data_size > buff->size)
buffer_resize(buff, max(buff->size + data_size, 2 * buff->size));
memcpy(buff->data + buff->occupancy, data, data_size);
buff->occupancy += data_size;
}

27
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#ifndef BUFFER_H
#define BUFFER_H
#include <sys/types.h>
/* A simple type of append-only buffers. */
typedef struct buffer {
unsigned char *data;
size_t size;
size_t occupancy;
} buffer_t;
void *malloc_checked(size_t size);
char *strdup_checked(const char *);
buffer_t *buffer_alloc(size_t initial_size);
void buffer_free(buffer_t *buff);
void buffer_write(buffer_t *buff, void *data, size_t data_size);
#define buffer_foreach(ty, var, buffer) \
for (ty *var = (ty *)buffer->data; \
var < (ty *)(buffer->data + buffer->occupancy); \
var++)
#endif /* BUFFER_H */

21
projet/src/challenge.ept Normal file
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open Globals
node the_challenge(initial_ph : phase; top : bool)
returns (ph : phase; sta : status; sign : sign; evt : event;
scoreA, scoreB : int; time : float)
var itr : interrupt; ini_sens, sens : sensors;
let
ini_sens = { s_road = { red = 128; green = 128; blue = 128 };
s_front = { red = 128; green = 128; blue = 128 };
s_sonar = cSONARFAR };
(ph, sta) = Vehicle.simulate(Map.read_itinerary(),
ini_sens fby sens,
Ok fby itr,
initial_ph,
top);
(sign, itr, sens, evt) = City.simulate(ph, time);
() = Map.soundEffects(Utilities.event_edge(evt), sta);
scoreA = City.scoringA(evt, sta);
time = City.wallclock(sta);
scoreB = City.scoringB(ph);
tel

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open Globals
open Utilities
(* Utilities *)
node wallclock(rstatus : status) returns (time : float)
var cpt : int;
let
cpt = (if rstatus = Running then 1 else 0) + (0 fby cpt);
time = timestep *. Mathext.float(cpt);
tel
fun lookup_phase(ph : phase) returns (data : map_data)
let
data = Map.lookup_pos(ph.ph_pos);
tel
(* Event detection *)
fun light(lights : traflights; ph : phase)
returns (light_run : bool)
var data : map_data;
let
data = lookup_phase(ph);
light_run = ph.ph_vel >. 0.01 and data.tl_required
and (lights[> data.tl_number <]).tl_color = Red;
tel
fun speed(ph : phase) returns (speed_excess : bool)
let
speed_excess = ph.ph_vel >. Mathext.float((lookup_phase(ph)).max_speed);
tel
fun exited_aux(pos : position; acc : bool) returns (accnew : bool)
let
accnew = acc and (Map.lookup_pos(pos)).on_road;
tel
fun exited(ph : phase) returns (exit_road : bool)
var positions : position^2; dummy : phase^2;
let
(positions, dummy) =
map<<2>> Vehicle.car_geometry(ph^2, [[-. cDELTA, cB /. 2.0],
[-. cDELTA, -. cB /. 2.0]]);
exit_road = not fold<<2>> exited_aux(positions, true);
tel
node collision_aux(ph : phase; obst : obstacle; acc : bool)
returns (accnew : bool)
var ang, angle, dist, distobst : float; close : bool;
let
(ang, dist) = angle_dist(ph.ph_pos, obst.o_pos);
angle = (pi /. 180.0) *. abs(normalize(ph.ph_head -. ang));
accnew = acc or (obst.o_pres and (dist <=. cROBST or close));
distobst = dist -. cROBST;
close = Mathext.sin(angle) *. distobst <=. cSB
and Mathext.cos(angle) *. distobst <=. cSA
and Mathext.cos(angle) *. distobst >=. -. cSC;
tel
node collision(ph : phase; obstacles : obstacles)
returns (collision_event : bool)
let
collision_event = fold<<obstnum>> collision_aux(ph^obstnum,
obstacles,
false);
tel
node wrong_dir(ph : phase) returns (wrong : bool)
var data : map_data; error : float; ang : float;
let
data = lookup_phase(ph);
ang = ph.ph_head *. (pi /. 180.0);
error = data.dir_x *. Mathext.cos(ang) +. data.dir_y *. Mathext.sin(ang);
wrong = error <. -. 0.5;
tel
fun aggregate_events(lightRun, speedExcess, exitRoad, collisionEvent,
wrong : bool)
returns (o : event; itr : interrupt)
let
o = { lightRun = lightRun;
speedExcess = speedExcess;
exitRoad = exitRoad;
collisionEvent = collisionEvent;
dirEvent = wrong };
itr = if exitRoad then Halt else Ok;
tel
node event_detection(sign : sign; ph : phase)
returns (itr : interrupt; evts : event)
let
(evts, itr) = aggregate_events (light(sign.si_tlights, ph),
speed(ph),
exited(ph),
collision(ph, sign.si_obstacles),
wrong_dir(ph));
tel
(* Sensor aggregation *)
fun ground_color_detection(ph : phase) returns (road_color : color)
let
road_color = (lookup_phase(ph)).color;
tel
fun traffic_light_detection(ph : phase; traflights : traflights)
returns (tlight_color : color)
let
tlight_color = Utilities.encode_color(
(traflights.[(lookup_phase(ph)).tl_number]
default { tl_pos = { x = 0.0; y = 0.0 }; tl_color = Other })
.tl_color
);
tel
fun obstacles_detection_aux(ph : phase; obst : obstacle; acc : int)
returns (accnew : int)
var a, d, d1 : float; sonar : int;
let
(a, d) = Utilities.angle_dist(ph.ph_pos, obst.o_pos);
d1 = d -. cROBST;
sonar = if Utilities.abs(Utilities.normalize(ph.ph_head -. a)) <=. 30.0
and d1 <=. 100.0 and obst.o_pres
then Mathext.int(d1)
else cSONARFAR;
accnew = Utilities.min_int(sonar, acc);
tel
node obstacle_detection(ph : phase; obstacles : obstacles)
returns (sonar : int)
let
sonar = fold<<obstnum>> obstacles_detection_aux(ph^obstnum,
obstacles,
cSONARFAR);
tel
node robot_sensors(ph : phase; sign : sign) returns (sens : sensors)
let
sens = { s_road = ground_color_detection(ph);
s_front = traffic_light_detection(ph, sign.si_tlights);
s_sonar = obstacle_detection(ph, sign.si_obstacles) }
tel
(* The city *)
fun traffic_lights_aux(p : param_tlight; time : float) returns (tl : traflight)
var cpt, period : int; light : colorQ;
let
period = Utilities.max_int(1, p.ptl_amber + p.ptl_green + p.ptl_red);
cpt = Mathext.modulo(Mathext.int(time) + p.ptl_phase, period);
if cpt < p.ptl_green then light = Green
else if cpt < p.ptl_amber + p.ptl_green then light = Amber
else light = Red
end
end;
tl = { tl_pos = p.ptl_pos; tl_color = light };
tel
fun traffic_lights(time : float) returns (all_lights : traflights)
var lights : param_tlights;
let
lights = Map.read_traffic_lights();
all_lights = map<<trafnum>> traffic_lights_aux(lights, time^trafnum);
tel
fun all_obstacles_aux(po : param_obst; time : float) returns (o : obstacle)
let
o = { o_pos = po.pot_pos;
o_pres = po.pot_since <=. time and time <=. po.pot_till };
tel
fun all_obstacles(time : float) returns (obstacles : obstacles)
let
obstacles = map<<obstnum>> all_obstacles_aux(Map.read_obstacles(),
time^obstnum);
tel
node simulate(ph : phase; time : float)
returns (sign : sign; itr : interrupt; sens : sensors; evt : event)
let
sign = { si_tlights = traffic_lights(time);
si_obstacles = all_obstacles(time) };
(itr, evt) = event_detection(sign, ph);
sens = robot_sensors(ph, sign);
tel
(* Scoring *)
node scoringA(e : event; rstatus : status) returns (score : int)
var penalty : int; collision_count : int;
let
score = (10000 fby score)
+ if Utilities.rising_edge(rstatus = Arrived) then 1000 else 0
+ if rstatus = Running then penalty else 0;
penalty = (if Utilities.rising_edge(e.lightRun) then -500 else 0)
+ (if Utilities.rising_edge(e.speedExcess) then -100 else 0)
+ (if e.speedExcess then -2 else 0)
+ (if Utilities.rising_edge(e.exitRoad) then -5000 else 0)
+ (if Utilities.rising_edge(e.dirEvent) then -2000 else 0)
+ (if collision_count = 0 then -500 else 0)
+ (if collision_count < 0 then 10 else 0);
collision_count = Utilities.countdown(not e.collisionEvent, 20);
tel
node scoringB(ph : phase) returns (score : int)
var v : float;
let
v = Utilities.variation(ph.ph_vel >=. 1.0, ph.ph_head, timestep)
/. (1.0 +. Utilities.uptime(ph.ph_vel, timestep));
score = Mathext.int(1000.0 -. v);
tel

9
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open Globals
node controller(sens : sensors; iti : itielts)
returns (rspeed : wheels; arriving : bool)
let
rspeed = { left = 0.0; right = 0.0 };
arriving = false;
tel

88
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/* This file is part of SyncContest.
Copyright (C) 2017-2020 Eugene Asarin, Mihaela Sighireanu, Adrien Guatto. */
#include "cutils.h"
#include <assert.h>
#include <stdarg.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
log_verbosity_level level = LOG_INFO;
FILE *f = NULL;
char *filename = NULL;
void log_set_verbosity_level(log_verbosity_level l) {
level = l;
}
void log_message_v(log_verbosity_level msg_level, const char *fmt, va_list va) {
va_list vb;
FILE *out = msg_level == LOG_INFO ? stdout : stderr;
if (msg_level > level)
return;
va_copy(vb, va);
if (f != NULL) {
vfprintf(f, fmt, va);
}
vfprintf(out, fmt, vb);
fflush(out);
}
void log_message(log_verbosity_level msg_level, const char *fmt, ...) {
va_list va;
va_start(va, fmt);
log_message_v(msg_level, fmt, va);
va_end(va);
}
void log_fatal(const char *fmt, ...) {
va_list va;
va_start(va, fmt);
log_message_v(LOG_FATAL, fmt, va);
va_end(va);
exit(EXIT_FAILURE);
}
void log_info(const char *fmt, ...) {
va_list va;
va_start(va, fmt);
log_message_v(LOG_INFO, fmt, va);
va_end(va);
}
void log_debug(const char *fmt, ...) {
va_list va;
va_start(va, fmt);
log_message_v(LOG_DEBUG, fmt, va);
va_end(va);
}
void log_init(const char *fn) {
if (!fn) {
log_info("[log] initializing, not saving to file\n");
return;
}
filename = strdup(fn);
assert (filename);
f = fopen(filename, "w");
if (!f)
log_fatal("[log] could not open log file %s (fopen)", filename);
log_info("[log] logging to %s\n", filename);
}
void log_shutdown() {
if (f) {
log_info("[log] shutting down, closing %s\n", filename);
fclose(f);
free(filename);
} else {
log_info("[log] shutting down\n");
}
}

30
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/* This file is part of SyncContest.
Copyright (C) 2017-2020 Eugene Asarin, Mihaela Sighireanu, Adrien Guatto. */
#ifndef CUTILS_H
#define CUTILS_H
#include <stdarg.h>
typedef enum {
LOG_FATAL = 0,
LOG_INFO = 1,
LOG_DEBUG = 2,
} log_verbosity_level;
/* Calling `log_init(fn)` initializes the logging subsystem, asking it to save
log messages to the file `fn`. This pointer may be NULL, in which case the
messages are not saved. */
void log_init(const char *filename);
void log_shutdown();
void log_set_verbosity_level(log_verbosity_level level);
void log_message_v(log_verbosity_level level, const char *fmt, va_list);
void log_message(log_verbosity_level level, const char *fmt, ...);
void log_fatal(const char *fmt, ...);
void log_info(const char *fmt, ...);
void log_debug(const char *fmt, ...);
#endif /* CUTILS_H */

39
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#include "debug.h"
#include "cutils.h"
void Debug__dbg_step(char *msg, Debug__dbg_out *o) {
log_info("%s\n", msg);
}
void Debug__dbg_bool_step(char *msg, bool x, Debug__dbg_bool_out *o) {
log_info("%s %d\n", msg, x);
}
void Debug__dbg_int_step(char *msg, int x, Debug__dbg_int_out *o) {
log_info("%s %d\n", msg, x);
}
void Debug__dbg_float_step(char *msg, float x, Debug__dbg_float_out *o) {
log_info("%s %f\n", msg, x);
}
void Debug__d_init_step(Debug__d_init_out *o) {
/* Empty by design */
}
void Debug__d_string_step(Debug__world _w, char *s, Debug__d_string_out *o) {
log_info("%s", s);
}
void Debug__d_bool_step(Debug__world _w, bool b, Debug__d_bool_out *o) {
log_info("%d", b);
}
void Debug__d_int_step(Debug__world _w, int i, Debug__d_int_out *o) {
log_info("%d", i);
}
void Debug__d_float_step(Debug__world _w, float f, Debug__d_float_out *o) {
log_info("%f", f);
}

11
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external fun dbg(msg : string) returns ()
external fun dbg_bool(msg : string; x : bool) returns ()
external fun dbg_int(msg : string; x : int) returns ()
external fun dbg_float(msg : string; x : float) returns ()
type world
external fun d_init() returns (n : world)
external fun d_string(w : world; string) returns (n : world)
external fun d_bool(w : world; bool) returns (n : world)
external fun d_int(w : world; int) returns (n : world)
external fun d_float(w : world; float) returns (n : world)

23
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#ifndef DEBUG_H
#define DEBUG_H
#include "stdbool.h"
#include "assert.h"
#include "pervasives.h"
#include "hept_ffi.h"
DECLARE_HEPT_FUN(Debug, dbg, (char *),);
DECLARE_HEPT_FUN(Debug, dbg_bool, (char *, bool),);
DECLARE_HEPT_FUN(Debug, dbg_int, (char *, int),);
DECLARE_HEPT_FUN(Debug, dbg_float, (char *, float),);
typedef struct { } Debug__world;
DECLARE_HEPT_FUN_NULLARY(Debug, d_init, Debug__world n);
DECLARE_HEPT_FUN(Debug, d_string, (Debug__world, char *), Debug__world n);
DECLARE_HEPT_FUN(Debug, d_bool, (Debug__world, bool), Debug__world n);
DECLARE_HEPT_FUN(Debug, d_int, (Debug__world, int), Debug__world n);
DECLARE_HEPT_FUN(Debug, d_float, (Debug__world, float), Debug__world n);
#endif /* DEBUG_H */

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#ifndef DEBUG_TYPES_H
#define DEBUG_TYPES_H
#endif /* DEBUG_TYPES_H */

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(* Types *)
const obstnum : int = 10
const trafnum : int = 6
const itinum : int = 50
type color = { red : int; green : int; blue : int }
type colorQ = Red | Green | Amber | Other
type position = { x : float; y : float }
type interrupt = Wait | Halt | Ok
type status = Preparing | Running | Arrived | Stopped
type event = {
lightRun : bool;
speedExcess : bool;
exitRoad : bool;
collisionEvent : bool;
dirEvent : bool
}
type obstacle = { o_pos : position; o_pres : bool }
type obstacles = obstacle^obstnum
type traflight = { tl_pos : position; tl_color : colorQ }
type traflights = traflight^trafnum
type sign = { si_tlights : traflights; si_obstacles : obstacles }
type phase = { ph_pos : position; ph_vel : float; ph_head : float }
type sensors = { s_road : color; s_front : color; s_sonar : int }
type action = Go | Turn | Stop
type itielt = { act : action; param : float }
type itielts = itielt^itinum
type wheels = { left : float; right : float }
(* information on one point on the map *)
type map_data = { on_road : bool; (* is it on the road? *)
color : color; (* road color *)
max_speed : int; (* maximum allowed speed *)
tl_number : int; (* which traffic light is visible? *)
tl_required : bool; (* should we stop on red traffic light? *)
dir_x : float; (* directing vector, abscissa *)
dir_y : float (* directing vector, ordinate *) }
(* information on one obstacle *)
type param_obst = { pot_pos : position; (* position of the obstacle *)
pot_since : float; (* appearance time *)
pot_till : float (* disappearance time *) }
type param_obsts = param_obst^obstnum
type param_tlight = { ptl_pos : position; (* traffic light position *)
ptl_green : int; (* time on green (s) *)
ptl_amber : int; (* time on amber (s) *)
ptl_red : int; (* time on red (s) *)
ptl_phase : int (* initial phase (s) *) }
type param_tlights = param_tlight^trafnum
(* Constants *)
const pi : float = 3.1415926
const red : color = { red = 255; green = 0; blue = 0 }
const green : color = { red = 0; green = 255; blue = 0 }
const blue : color = { red = 0; green = 0; blue = 255 }
const amber : color = { red = 255; green = 191; blue = 0 }
const cyan : color = { red = 0; green = 255; blue = 255 }
const gray : color = { red = 128; green = 128; blue = 128 }
const magenta : color = { red = 255; green = 0; blue = 255 }
const cB : float = 6.0
const cD : float = 5.5
const cDELTA : float = 0.0
const cMAXWHEEL : float = 500.0
const cMAXSPEED : float = 25.0
const cSONARFAR : int = 1000
const cROBST : float = 1.5
const cSA : float = 3.0
const cSB : float = 3.0
const cSC : float = 7.0
const idlew : wheels = { left = 0.0; right = 0.0 }
const timestep : float = 0.01 (* in seconds *)
(* Debugging *)
(* TODO: define d_position *)
fun dbg_position(msg : string; p : position) returns ()
var w0, w1, w2, w3, w4, w5 : Debug.world;
let
w0 = Debug.d_string(Debug.d_init(), msg);
w1 = Debug.d_string(w0, "{ x = ");
w2 = Debug.d_float(w1, p.x);
w3 = Debug.d_string(w2, "; y = ");
w4 = Debug.d_float(w3, p.y);
w5 = Debug.d_string(w4, " }\n");
tel
fun dbg_phase(msg : string; ph : phase) returns ()
var w0, w1, w2, w3, w4, w5, w6, w7, w8, w9 : Debug.world;
let
w0 = Debug.d_string(Debug.d_init(), msg);
w1 = Debug.d_string(w0, "{ x = ");
w2 = Debug.d_float(w1, ph.ph_pos.x);
w3 = Debug.d_string(w2, "; y = ");
w4 = Debug.d_float(w3, ph.ph_pos.y);
w5 = Debug.d_string(w4, "; head = ");
w6 = Debug.d_float(w5, ph.ph_head);
w7 = Debug.d_string(w6, "; vel = ");
w8 = Debug.d_float(w7, ph.ph_vel);
w9 = Debug.d_string(w8, " }\n");
tel
fun dbg_interrupt(msg : string; itr : interrupt) returns ()
var w0, w1, w2 : Debug.world;
let
w0 = Debug.d_string(Debug.d_init(), msg);
switch itr
| Wait do w1 = Debug.d_string(w0, "Wait");
| Halt do w1 = Debug.d_string(w0, "Halt");
| Ok do w1 = Debug.d_string(w0, "Ok");
end;
w2 = Debug.d_string(w1, "\n");
tel
fun dbg_status(msg : string; sta : status) returns ()
var w0, w1, w2 : Debug.world;
let
w0 = Debug.d_string(Debug.d_init(), msg);
switch sta
| Preparing do w1 = Debug.d_string(w0, "Preparing");
| Running do w1 = Debug.d_string(w0, "Running");
| Arrived do w1 = Debug.d_string(w0, "Arrived");
| Stopped do w1 = Debug.d_string(w0, "Stopped");
end;
w2 = Debug.d_string(w1, "\n");
tel
fun dbg_wheels(msg : string; wh : wheels) returns ()
var w0, w1, w2, w3, w4, w5 : Debug.world;
let
w0 = Debug.d_string(Debug.d_init(), msg);
w1 = Debug.d_string(w0, "{ left = ");
w2 = Debug.d_float(w1, wh.left);
w3 = Debug.d_string(w2, "; right = ");
w4 = Debug.d_float(w3, wh.right);
w5 = Debug.d_string(w4, " }\n");
tel
fun dbg_action(msg : string; act : action) returns ()
var w0, w1, w2 : Debug.world;
let
w0 = Debug.d_string(Debug.d_init(), msg);
switch act
| Go do w1 = Debug.d_string(w0, "Go");
| Turn do w1 = Debug.d_string(w0, "Turn");
| Stop do w1 = Debug.d_string(w0, "Stop");
end;
w2 = Debug.d_string(w1, "\n");
tel
fun d_color(w0 : Debug.world; c : color)
returns (w7 : Debug.world)
var w1, w2, w3, w4, w5, w6 : Debug.world;
let
w1 = Debug.d_string(w0, "{ red = ");
w2 = Debug.d_int(w1, c.red);
w3 = Debug.d_string(w2, "; green = ");
w4 = Debug.d_int(w3, c.green);
w5 = Debug.d_string(w4, "; blue = ");
w6 = Debug.d_int(w5, c.blue);
w7 = Debug.d_string(w6, " }");
tel
fun dbg_color(msg : string; c : color) returns ()
var w0, w1, w2 : Debug.world;
let
w0 = Debug.d_string(Debug.d_init(), msg);
w1 = d_color(w0, c);
w2 = Debug.d_string(w1, "\n");
tel
fun dbg_colorq(msg : string; c : colorQ) returns ()
var w0, w1, w2 : Debug.world;
let
w0 = Debug.d_string(Debug.d_init(), msg);
switch c
| Red do w1 = Debug.d_string(w0, "Red");
| Green do w1 = Debug.d_string(w0, "Green");
| Amber do w1 = Debug.d_string(w0, "Amber");
| Other do w1 = Debug.d_string(w0, "Other");
end;
w2 = Debug.d_string(w1, "\n");
tel
fun dbg_sensors(msg : string; s : sensors) returns ()
var w0, w1, w2, w3, w4, w5, w6, w7 : Debug.world;
let
w0 = Debug.d_string(Debug.d_init(), msg);
w1 = Debug.d_string(w0, "{ s_road = ");
w2 = d_color(w1, s.s_road);
w3 = Debug.d_string(w2, "; s_front = ");
w4 = d_color(w3, s.s_front);
w5 = Debug.d_string(w4, "; s_sonar = ");
w6 = Debug.d_int(w5, s.s_sonar);
w7 = Debug.d_string(w6, " }\n");
tel

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#ifndef HEPT_FFI_H
#define HEPT_FFI_H
#define UNPAREN(...) __VA_ARGS__
#define DECLARE_HEPT_FUN(module, name, inputs, outputs) \
typedef struct { outputs; } module ## __ ## name ## _out; \
void module ## __ ## name ##_step(UNPAREN inputs, \
module ## __ ## name ## _out *)
#define DECLARE_HEPT_FUN_NULLARY(module, name, outputs) \
typedef struct { outputs; } module ## __ ## name ## _out; \
void module ## __ ## name ##_step(module ## __ ## name ## _out *)
#define DEFINE_HEPT_FUN(module, name, inputs) \
void module ## __ ## name ##_step(UNPAREN inputs, \
module ## __ ## name ## _out *out)
#define DEFINE_HEPT_FUN_NULLARY(module, name, inputs) \
void module ## __ ## name ##_step(module ## __ ## name ## _out *out)
#define DECLARE_HEPT_NODE(module, name, inputs, outputs, state) \
typedef struct { outputs; } module ## __ ## name ## _out; \
typedef struct { state; } module ## __ ## name ## _mem; \
void module ## __ ## name ##_step(UNPAREN inputs, \
module ## __ ## name ## _out *, \
module ## __ ## name ## _mem *); \
void module ## __ ## name ##_reset(module ## __ ## name ## _mem *)
#define DECLARE_HEPT_NODE_NULLARY(module, name, outputs, state) \
typedef struct { outputs; } module ## __ ## name ## _out; \
typedef struct { state; } module ## __ ## name ## _mem; \
void module ## __ ## name ##_step(module ## __ ## name ## _out *, \
module ## __ ## name ## _mem *); \
void module ## __ ## name ##_reset(module ## __ ## name ## _mem *)
#define DEFINE_HEPT_NODE_RESET(module, name) \
void module ## __ ## name ##_reset(module ## __ ## name ## _mem *mem)
#define DEFINE_HEPT_NODE_STEP(module, name, inputs) \
void module ## __ ## name ##_step(UNPAREN inputs, \
module ## __ ## name ## _out *out, \
module ## __ ## name ## _mem *mem)
#define DEFINE_HEPT_NODE_NULLARY_STEP(module, name, inputs) \
void module ## __ ## name ##_step(module ## __ ## name ## _out *out, \
module ## __ ## name ## _mem *mem)
/* FIXME remove when Heptagon's pervasives.h has been fixed. */
typedef char * string;
#endif /* HEPT_FFI */

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/* This file is part of SyncContest.
Copyright (C) 2017-2020 Eugene Asarin, Mihaela Sighireanu, Adrien Guatto. */
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include "trace.h"
#include "cutils.h"
#include "map.h"
#include "simulation_loop.h"
void usage() {
fprintf(stderr, "Usage: scontest [OPTIONS] file.map\n");
fprintf(stderr, "Options:\n");
fprintf(stderr, " -v Be verbose\n");
fprintf(stderr, " -g Show graphics\n");
fprintf(stderr, " -t Start racing immediately\n");
fprintf(stderr, " -s <fps> Simulation step/s (default: 60)\n");
fprintf(stderr, " -o <file> Save log messages to <file>\n");
fprintf(stderr, " -w Run in headless mode\n");
fprintf(stderr, " -m <ticks> Run at most <ticks> synchronous steps\n");
fprintf(stderr, " -a Enable audio\n");
fprintf(stderr, " -e Enable obstacles\n");
fprintf(stderr, " -h Display this message\n");
}
int main(int argc, char **argv) {
bool show_guide = true, headless = false, audio = false, obstacles = false;
int initial_top = false, opt;
char *log_filename = NULL;
size_t max_synchronous_steps = 0;
float sps = 60.f;
hept_trace_init();
/* Parse command line. */
while ((opt = getopt(argc, argv, "vgtf:o:wm:hae")) != -1) {
switch (opt) {
case 'v':
log_set_verbosity_level(LOG_DEBUG);
break;
case 'g':
show_guide = false;
break;
case 't':
initial_top = true;
break;
case 's':
sps = atof(optarg);
break;
case 'h':
usage();
return EXIT_SUCCESS;
case 'o':
log_filename = optarg;
break;
case 'w':
headless = true;
break;
case 'm':
max_synchronous_steps = atoi(optarg);
break;
case 'a':
audio = true;
break;
case 'e':
obstacles = true;
break;
default:
usage();
return EXIT_FAILURE;
}
}
if (optind >= argc) {
usage();
return EXIT_FAILURE;
}
/* Initialize logging system. */
log_init(log_filename);
/* Load the map. */
const char *filename = argv[optind];
map_load(filename);
/* Mark all obstacles as absent if they have been disabled. */
if (!obstacles) {
for (size_t i = 0; i < map->obst_sz; i++)
map->obst_arr[i].pot_since = map->obst_arr[i].pot_till = -1.f;
}
/* Run the simulation loop. */
race_result_t r =
simulation_loop(show_guide,
initial_top,
sps,
headless,
audio,
max_synchronous_steps);
switch (r) {
case RACE_SUCCESS:
log_info("[simulation] race succeeded\n");
break;
case RACE_TIMEOUT:
log_info("[simulation] race quit before finishing\n");
break;
case RACE_CRASH:
log_info("[simulation] car crashed\n");
break;
}
/* Free the map, shutdown logs, and return. */
map_destroy();
log_shutdown();
hept_trace_quit();
/* Return the race result as an exit code. */
return r;
}

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#include "map.h"
#include <string.h>
#include "mymath.h"
#include "cutils.h"
map_t *map;
/*
* =========================================================================
* Geometry
* =========================================================================
*/
/** Euclidian distance betwen two points (xa,ya) and (xb,yb) */
float distance(float xa, float ya, float xb, float yb)
{
/* use of math.h function */
return hypotf(xa - xb, ya - yb);
}
/** Convert angle from radian to degree */
float todegree(float a)
{
return (a * 180.0) / M_PI;
}
/** Convert angle from degree to radian */
float toradian(float a)
{
return (a * M_PI) / 180.0;
}
/** Get the cadran of the angle (in degree) */
int tocadran(float a) {
if ((0 <= a && a < 90) ||
(-360 <= a && a < -270))
return 1;
if ((90 <= a && a < 180) ||
(-270 <= a && a < -180))
return 2;
if ((180 <= a && a < 270) ||
(-180 <= a && a < -90))
return 3;
return 4;
}
/** Angle (in degree) of a segment */
float lineAngle(float x1, float y1, float x2, float y2)
{
/* use of math.h function for arctan */
return todegree(atan2(y2-y1,x2-x1));
}
/** Angle inside an arc delimited by (from,to) */
bool isInArc(float a, float from, float to)
{
if (from < to) {
// trigo direction
return (from <= a && a <= to) || (from <= (a+360) && (a+360) <= to);
}
else {
// clock direction
return (to <= a && a <= from) || (to <= (a+360) && (a+360) <= from);
}
}
/** Angles in ordred inside an arc delimited by (from,to) */
bool fourAnglesInOrder(float from,float x,float y, float to)
{
if (from < to) {
// trigo direction
return
(from<=x && x<=y && y<=to) ||
(from<=x+360 && x+360<=y+360 && y+360<=to) ||
(from<=x && x<=y+360 && y+360<=to) ||
(from<=x+360 && x+360<=y && y<=to);
} else {
// clock direction
return (to <= y && y<=x && x <= from) ||
(to <= y+360 && y+360<=x+360 && x+360 <= from) ||
(to <= y+360 && y+360<=x && x <= from) ||
(to <= y && y<=x+360 && x+360 <= from);
}
}
/** Product of two vectors for directions */
float dirProd(float dir1x, float dir1y, float dir2x, float dir2y)
{
return dir1x * dir2x + dir1y * dir2y;
}
float dirVProd(float dir1x, float dir1y, float dir2x, float dir2y)
{
return dir1x * dir2y - dir1y * dir2x;
}
/** Size of a direction vector */
float dirNorm(float dir1x, float dir1y)
{
/* use of math.h function */
return hypot(dir1x, dir1y);
}
/** Cos of directions */
float dirCos(float dir1x, float dir1y, float dir2x, float dir2y)
{
return dirProd(dir1x, dir1y, dir2x, dir2y)
/ (dirNorm(dir1x, dir1y) * dirNorm(dir2x, dir2y));
}
/** Project point (x,y) on line d(p1,p2) and
* return result on (px, py)
*/
void
dirProjPoint( /* IN */ float x, float y, position_t * p1, position_t * p2,
/* OUT */ float *px, float *py)
{
//compute direction vector for d(p1, p2)
float dir_x = p2->x - p1->x;
float dir_y = p2->y - p1->y;
float dirn = dirNorm(dir_x, dir_y);
//compute P1 - H
float p1h = ((x - p1->x) * dir_x + (y - p1->y) * dir_y) / dirn;
//compute h
(*px) = p1->x + (p1h * dir_x) / dirn;
(*py) = p1->y + (p1h * dir_y) / dirn;
return;
}
/*
* =========================================================================
* Parsing
* =========================================================================
*/
typedef void (*map_segment_line_loader)(FILE *, /* file to read */
const char *, /* file name */
void *, /* pointer to the element
to be filled */
size_t); /* line number */
void map_load_segment(FILE *f,
const char *filename,
map_segment_line_loader loader,
const char *segment_name,
void *psegment,
int *segment_size,
size_t element_size,
size_t segment_max_size,
size_t *pline) {
assert (f);
assert (filename);
assert (segment_name);
assert (psegment);
assert (segment_size);
assert (pline);
char kword[15], **segment = (char **)psegment;
int rcode;
/* read until "segment_name" encountered */
while (true) {
rcode = fscanf(f, "%14s", kword);
(*pline)++;
if ((rcode == EOF) || (strcmp(kword, "end") == 0))
log_fatal("[map %s] could not find segment %s\n", filename, segment_name);
if (strcmp(kword, segment_name) == 0)
break;
}
/* "segment_name" has been read, now read item number */
rcode = fscanf(f, "%d", segment_size);
if (rcode == EOF)
log_fatal("[map %s] reached end of file while looking"
" for element count in segment %s (line %zu)\n",
filename, segment_name, *pline);
if ((*segment_size < 0) || (*segment_size > segment_max_size))
log_fatal("[map %s] too many (%d) elements in "
"segment %s (should be <= %d) (line %zu)\n",
filename, *segment_size, segment_name, segment_max_size, *pline);
(*pline)++;
/* allocate enough elements */
*segment = calloc(*segment_size, element_size);
assert(*segment);
log_info("[map %s] starting to read segment %s of size %zu\n",
filename, segment_name, *segment_size);
for (size_t i = 0; i < *segment_size; i++, (*pline)++)
loader(f, filename, &(*segment)[i * element_size], *pline);
log_info("[map %s] finished reading segment %s\n", filename, segment_name);
}
void rd_segment_line_loader(FILE *f,
const char *filename,
void *p,
size_t line) {
assert (f);
assert (filename);
assert (p);
char kword[15];
road_t *rd = (road_t *)p;
int rcode = fscanf(f, "%14s", kword);
if (rcode == EOF)
log_fatal("[map %s] 'line|arc' expected (line %zu)\n", filename, line);
if (strcmp(kword, "line") == 0) {
int nbdir = 0;
/* read "line <dir> <max_speed> <startX> <startY> <endX> <endY>" */
rcode = fscanf(f, "%d %d %f %f %f %f",
&nbdir, &rd->max_speed,
&rd->u.line.startp.x, &rd->u.line.startp.y,
&rd->u.line.endp.x, &rd->u.line.endp.y);
if ((rcode == EOF) ||
(nbdir < 1) ||
(nbdir > 2) ||
(rd->max_speed <= 0) ||
(rd->max_speed >= SPEED_MAX) ||
(rd->u.line.startp.x <= MIN_X) ||
(rd->u.line.startp.x >= MAX_X) ||
(rd->u.line.endp.x <= MIN_X) ||
(rd->u.line.endp.x >= MAX_X) ||
(rd->u.line.startp.y <= MIN_Y) ||
(rd->u.line.startp.y >= MAX_Y) ||
(rd->u.line.endp.y <= MIN_Y) ||
(rd->u.line.endp.y >= MAX_Y))
log_fatal("[map_read %s]: 'line' format error (line %zu)\n",
filename, line);
rd->color = COL_ROADLINE;
rd->kind = (nbdir == 1) ? RD_LINE_1 : RD_LINE_2;
rd->dir_x = (rd->u.line.endp.x - rd->u.line.startp.x);
rd->dir_y = (rd->u.line.endp.y - rd->u.line.startp.y);
} else if (strcmp(kword, "arc") == 0) {
int nbdir = 0;
/* read "arc <dir> <max_speed> <centerX> <centerY>
<radius> <start_angle> <end_angle>" */
rcode = fscanf(f, "%d %d %f %f %f %f %f",
&nbdir, &rd->max_speed,
&rd->u.arc.center.x, &rd->u.arc.center.y,
&rd->u.arc.radius,
&rd->u.arc.start_angle,
&rd->u.arc.end_angle);
if ((rcode == EOF) ||
(nbdir != 1) ||
(rd->max_speed <= 0) ||
(rd->max_speed >= SPEED_MAX) ||
(rd->u.arc.center.x <= MIN_X) ||
(rd->u.arc.center.x >= MAX_X) ||
(rd->u.arc.center.y <= MIN_Y) ||
(rd->u.arc.center.y >= MAX_Y) ||
(rd->u.arc.radius <= 0) ||
(rd->u.arc.start_angle < -180.0) ||
(rd->u.arc.start_angle >= 360.0) ||
(rd->u.arc.end_angle < -180.0) ||
(rd->u.arc.end_angle >= 360.0))
log_fatal("[map %s]: 'arc' format error (line %zu)\n",
filename, line);
rd->color = COL_ROADLINE;
rd->kind = RD_ARC;
rd->dir_x = 0.0;
rd->dir_y = (rd->u.arc.start_angle < rd->u.arc.end_angle) ? -1.0 : 1.0;
} else {
log_fatal("[map %s] unknown road type %s (line %zu)\n",
filename, kword, line);
}
}
void wayp_segment_line_loader(FILE *f,
const char *filename,
void *p,
size_t line) {
assert (f);
assert (filename);
assert (p);
int rcode;
waypoint_t *wp = (waypoint_t *)p;
/* read <road> <X> <Y> */
rcode = fscanf(f, "%d %f %f", &wp->road, &wp->position.x, &wp->position.y);
if ((rcode == EOF) ||
(wp->road < 0) ||
(wp->road >= map->road_sz) ||
(wp->position.x <= MIN_X) ||
(wp->position.x >= MAX_X) ||
(wp->position.y <= MIN_Y) ||
(wp->position.y >= MAX_Y)) {
log_fatal("[map %s] waypoint format error (line %zu)\n", filename, line);
}
}
void tl_segment_line_loader(FILE *f,
const char *filename,
void *p,
size_t line) {
assert (f);
assert (filename);
assert (p);
int rcode;
tlight_t *tl = (tlight_t *)p;
/* read <road> <X> <Y> <delayR> <delayA> <delayG> <dephase> */
rcode = fscanf(f, "%d %f %f %d %d %d %d",
&tl->road,
&tl->tl.ptl_pos.x, &tl->tl.ptl_pos.y,
&tl->tl.ptl_red, &tl->tl.ptl_amber, &tl->tl.ptl_green,
&tl->tl.ptl_phase);
if ((rcode == EOF) ||
(tl->road < 0) ||
(tl->road >= map->road_sz) ||
(tl->tl.ptl_pos.x <= MIN_X) ||
(tl->tl.ptl_pos.x >= MAX_X) ||
(tl->tl.ptl_pos.y <= MIN_Y) ||
(tl->tl.ptl_pos.y >= MAX_Y))
log_fatal("[map %s] traffic light format error (line %zu)\n",
filename, line);
}
void st_segment_line_loader(FILE *f,
const char *filename,
void *p,
size_t line) {
assert (f);
assert (filename);
assert (p);
int rcode;
stop_t *st = (stop_t *)p;
/* read <road> <tlight> <X> <Y> */
rcode = fscanf(f, "%d %d %f %f",
&st->road, &st->sema,
&st->position.x, &st->position.y);
if ((rcode == EOF) ||
(st->road < 0) ||
(st->road >= map->road_sz) ||
(st->sema < 0) ||
(st->sema >= map->tlight_sz) ||
(st->position.x <= MIN_X) ||
(st->position.x >= MAX_X) ||
(st->position.y <= MIN_Y) ||
(st->position.y >= MAX_Y))
log_fatal("[map %s] stop format error (line %zu)\n", filename, line);
}
void obst_segment_line_loader(FILE *f,
const char *filename,
void *p,
size_t line) {
assert (f);
assert (filename);
assert (p);
int rcode;
obst_t *obst = (obst_t *)p;
rcode = fscanf(f, "%f %f %f %f", &obst->pot_pos.x, &obst->pot_pos.y,
&obst->pot_since, &obst->pot_till);
if ((rcode == EOF) ||
(obst->pot_pos.x <= MIN_X) ||
(obst->pot_pos.x >= MAX_X) ||
(obst->pot_pos.y <= MIN_Y) ||
(obst->pot_pos.y >= MAX_Y))
log_fatal("[map %s] obstacle format error (line %zu)\n", filename, line);
}
void iti_segment_line_loader(FILE *f,
const char *filename,
void *p,
size_t line) {
assert (f);
assert (filename);
assert (p);
char kword[15];
iti_t *iti = (iti_t *)p;
int rcode = fscanf(f, "%14s %f", kword, &iti->param);
if (strcmp(kword, "go") == 0) {
iti->act = Globals__Go;
if ((rcode == EOF) || (iti->param <= 0.f) || (iti->param > SPEED_MAX))
log_fatal("[map %s] itinerary format error (action Go, line %zu)\n",
filename, line);
} else if (strcmp(kword, "turn") == 0) {
iti->act = Globals__Turn;
if ((rcode == EOF) || (iti->param < -180.0) || (iti->param >= 360.0))
log_fatal("[map %s] itinerary format error (action Turn, line %zu)\n",
filename, line);
} else if (strcmp(kword, "stop") == 0) {
iti->act = Globals__Stop;
iti->param = 0.f; /* Dummy */
} else {
log_fatal("[map %s] itinerary format error (unknown action %s, line %zu)\n",
filename, kword, line);
}
}
void map_read_string_line(FILE *f, const char *filename,
const char *expected_kw, char *buff, size_t *pline) {
char kword[15];
int rcode = fscanf(f, "%14s %249s", kword, buff);
if ((rcode == EOF) || (strcmp(kword, expected_kw) != 0))
log_fatal("[map %s] could not read %s (line %zu)\n",
filename, expected_kw, *pline);
if (buff[0] != '"' || buff[strlen(buff) - 1] != '"')
log_fatal("[map %s] string after %s should be between double quotes"
" (line %zu)\n",
filename, expected_kw, *pline);
(*pline)++;
/* Remove surrounding double quotes. */
memmove(buff, buff + 1, strlen(buff) - 2);
buff[strlen(buff) - 2] = 0;
log_info("[map %s] read %s: %s\n", filename, expected_kw, buff);
}
void map_load(const char *filename) {
map = malloc(sizeof *map);
assert(map);
bzero(map, sizeof *map);
size_t line = 1;
FILE *f = fopen(filename, "r");
if (!f)
log_fatal("[map %s] could not open file\n", filename);
map_read_string_line(f, filename, "map", map->name, &line);
map_read_string_line(f, filename, "graphics", map->graphics, &line);
map_read_string_line(f, filename, "guide", map->guide, &line);
char kword[15];
int rcode = fscanf(f, "%14s %f %f %f", kword,
&map->init_phase.ph_pos.x,
&map->init_phase.ph_pos.y,
&map->init_phase.ph_head);
if ((rcode == EOF) || (strcmp(kword, "init") != 0))
log_fatal("[map %s] could not read init (line %zu)\n", filename, line);
line++;
log_info("[map %s] read init: x = %f, y = %f, head = %f\n",
filename,
map->init_phase.ph_pos.x,
map->init_phase.ph_pos.y,
map->init_phase.ph_head);
/* Read the roads. */
map_load_segment(f, filename, rd_segment_line_loader, "rd",
&map->road_arr, &map->road_sz, sizeof *map->road_arr,
MAX_ROAD_COUNT, &line);
/* Read the waypoints. */
map_load_segment(f, filename, wayp_segment_line_loader, "wp",
&map->wayp_arr, &map->wayp_sz, sizeof *map->wayp_arr,
MAX_WAYP_COUNT, &line);
/* Read the traffic lights. */
map_load_segment(f, filename, tl_segment_line_loader, "tl",
&map->tlight_arr, &map->tlight_sz, sizeof *map->tlight_arr,
MAX_TL_COUNT, &line);
/* Read the stops. */
map_load_segment(f, filename, st_segment_line_loader, "st",
&map->stop_arr, &map->stop_sz, sizeof *map->stop_arr,
MAX_STOP_COUNT, &line);
/* Read the obstacles. */
map_load_segment(f, filename, obst_segment_line_loader, "obst",
&map->obst_arr, &map->obst_sz, sizeof *map->obst_arr,
MAX_OBST_COUNT, &line);
/* Read the obstacles. */
map_load_segment(f, filename, iti_segment_line_loader, "iti",
&map->iti_arr, &map->iti_sz, sizeof *map->iti_arr,
MAX_ITI_COUNT, &line);
/* Close file and return. */
fclose(f);
}
void map_destroy() {
if (!map)
return;
/* Fields have been initialized to NULL, it is safe to call free() on them. */
free(map->road_arr);
free(map->wayp_arr);
free(map->tlight_arr);
free(map->stop_arr);
free(map->obst_arr);
free(map);
map = NULL;
}
void Map__read_obstacles_step(Map__read_obstacles_out *o) {
/* TODO very inefficient */
memcpy(o->obst, map->obst_arr, map->obst_sz * sizeof *o->obst);
/* The map file might contain fewer obstacles than Globals__obstnum. */
for (size_t i = map->obst_sz; i < MAX_OBST_COUNT; i++) {
o->obst[i].pot_pos.x = 0.f;
o->obst[i].pot_pos.y = 0.f;
o->obst[i].pot_since = -1.f;
o->obst[i].pot_till = -1.f;
}
}
void Map__read_itinerary_step(Map__read_itinerary_out *o) {
/* TODO very inefficient */
memcpy(o->iti, map->iti_arr, map->iti_sz * sizeof *o->iti);
/* The map file might contain fewer itinerary steps than Globals__itinum. */
for (size_t i = map->iti_sz; i < MAX_ITI_COUNT; i++) {
o->iti[i].act = Globals__Stop;
o->iti[i].param = 0.f;
}
}
void Map__read_traffic_lights_step(Map__read_traffic_lights_out *o) {
assert (map->tlight_sz <= Globals__trafnum);
for (size_t i = 0; i < map->tlight_sz; i++)
o->tlights[i] = map->tlight_arr[i].tl;
for (size_t i = map->tlight_sz; i < MAX_TL_COUNT; i++)
o->tlights[i] = (Globals__param_tlight){ {-100, -100}, 0, 0, 0, 0 };
}
bool colors_equal(const Globals__color *a, const Globals__color *b) {
return a->red == b->red && a->green == b->green && a->blue == b->blue;
}
bool isOnRoadLine1(road_t *rd, float x, float y,
Globals__color *col, double *d, float *dir_x, float *dir_y) {
//test that may be inside road area
// -compute projection on line
float px = 0.0;
float py = 0.0;
dirProjPoint(x, y, &(rd->u.line.startp), &(rd->u.line.endp), &px, &py);
//-compare with ends of the segment
if ((px <= fmax(rd->u.line.startp.x, rd->u.line.endp.x)+EPS) &&
(px >= fmin(rd->u.line.startp.x, rd->u.line.endp.x)-EPS) &&
(py <= fmax(rd->u.line.startp.y, rd->u.line.endp.y)+EPS) &&
(py >= fmin(rd->u.line.startp.y, rd->u.line.endp.y)-EPS))
//the projection is inside, compute distance to rd
(*d) = distance(x, y, px, py);
else
//the projection is outside the segment
// let us test the extremities:
(*d) = fmin(distance(x,y,rd->u.line.startp.x,rd->u.line.startp.y),
distance(x,y,rd->u.line.endp.x,rd->u.line.endp.y));
//-compare with the width of the road
if ((*d) >= RD_SIZE_HALF_WIDTH) {
log_debug("[geometry] (%.2f, %.2f) is too far from road %p (dist. %.2f)!\n",
x, y, rd, *d);
return false;
}
(*col) = rd->color;
(*dir_x) = rd->u.line.endp.x - rd->u.line.startp.x;
(*dir_y) = rd->u.line.endp.y - rd->u.line.startp.y;
if ((*d) < RD_SIZE_LINE) {
//distance less than width of the road line,
//then on road with one color
//log_debug("Position on road line: %f!\n", *d);
}
else {
//otherwise, compute the side of the road
// left or right using direction(x, y)->(px, py)
double dirPX = px - x; /* -b where b = x1 - x2 */
double dirPY = py - y; /* a where a = y2 - y1 */
double sinDir = dirVProd(*dir_x, *dir_y, dirPX, dirPY);
if (sinDir < 0) {
//on left
(*col) = COL_ROADLEFT;
#ifndef MAP_BMP
if ((*d) <= RD_SIZE_LINE2)
col->green = (unsigned int)(255.*((*d)-1.0));
#endif
} else {
//on right
(*col) = COL_ROADRIGHT;
#ifndef MAP_BMP
if ((*d) <= RD_SIZE_LINE2)
col->red = (unsigned int)(255.*((*d)-1.0));
#endif
}
//log_debug("Position on road: %f!\n", *d);
}
return true;
}
bool isOnRoadLine2(road_t *rd, float x, float y,
Globals__color *col, double *d, float *dir_x, float *dir_y) {
/* TODO missing from original project */
return false;
}
bool isOnRoadArc(/* IN */
road_t *rd, float x, float y,
/* OUT */
Globals__color *col, double *d,
float *dir_x, float *dir_y)
{
//center
double cx = rd->u.arc.center.x;
double cy = rd->u.arc.center.y;
//compute angle(in degrees) from center
double a = lineAngle(cx, cy, x, y);
//compute signed distance to the circle c
double dist_c = distance(cx, cy, x, y) - rd->u.arc.radius;
if (isInArc(a, rd->u.arc.start_angle,rd->u.arc.end_angle)) {
//within the angle
(*d) = fabs(dist_c);
}
else {
//Point outside road angles,
// consider the distance to extremities
(*d) = fmin(distance(x,y,
cx+rd->u.arc.radius*cos(toradian(rd->u.arc.start_angle)),
cy+rd->u.arc.radius*sin(toradian(rd->u.arc.start_angle))),
distance(x,y,
cx+rd->u.arc.radius*cos(toradian(rd->u.arc.end_angle)),
cy+rd->u.arc.radius*sin(toradian(rd->u.arc.end_angle))));
}
if ((*d) >= RD_SIZE_HALF_WIDTH) {
//log_debug("Position too far from road: %f!\n", (*d));
return false;
}
(*col) = rd->color;
//direction is normal to d(c, (x, y))
//its sign depends on rotation
if (rd->u.arc.start_angle < rd->u.arc.end_angle){//counterclockwise
(*dir_x) = cy - y;
(*dir_y) = x - cx;
}
else {//clockwise
(*dir_x) = y - cy; /* a where a = y2 - y1 */
(*dir_y) = cx - x; /* b where b = x1 - x2 */
}
if ((*d) < RD_SIZE_LINE) {
//distance less than width of the road line,
//then on road with one color
//log_debug("Point on road line: %f!\n", *d);
} else {
//otherwise, compute the side of the road
// left or right using the sense(trigo or clock) of the road
if (((rd->u.arc.start_angle < rd->u.arc.end_angle) //trigo dir
&& dist_c < 0) ||
((rd->u.arc.start_angle > rd->u.arc.end_angle) // clock dir
&& dist_c > 0)) {
(*col) = COL_ROADLEFT;
#ifndef MAP_BMP
if ((*d) <= RD_SIZE_LINE2)
col->green = (unsigned int)(255.*((*d)-1.0));
#endif
} else {
(*col) = COL_ROADRIGHT;
#ifndef MAP_BMP
if ((*d) <= RD_SIZE_LINE2)
col->red = (unsigned int)(255.*((*d)-1.0));
#endif
}
}
//log_debug("Point on road: %f!\n", *d);
return true;
}
int isOnTLight(int x, int y, int rd, float dir_x, float dir_y)
{
if (map->tlight_arr == NULL ||
map->tlight_sz <= 0)
return -1;
//no traffic light
for (int i = 0; i < map->tlight_sz; i++) {
tlight_t *tl = &map->tlight_arr[i];
if (tl->road != rd)
continue;
double d = distance(x, y, tl->tl.ptl_pos.x, tl->tl.ptl_pos.y);
/* double cosdir = dirCos(tl->tl.ptl_pos.y - y, x - tl->tl.ptl_pos.x,
dir_x, dir_y); */ //MS
double cosdir = dirCos(tl->tl.ptl_pos.x-x, tl->tl.ptl_pos.y-y,
dir_x, dir_y); //EA
if (d < TL_VIEW && cosdir > TL_COSDIR)
return i;
}
return -1;
}
bool isAfterStop(int x, int y, int rid, float dir_x, float dir_y, int* tl)
{
(*tl) = -1;
if (map->stop_arr == NULL ||
map->stop_sz <= 0)
return false;
//no stop points
for (int i = 0; i < map->stop_sz; i++) {
stop_t *sp = &map->stop_arr[i];
if (sp->road != rid)
continue;
// check the distance to the point
road_t *rd = &map->road_arr[sp->road];
if (rd->kind == RD_LINE_1 ||
rd->kind == RD_LINE_2) {
// line
// - compute projection on roadline
float px = 0.0;
float py = 0.0;
dirProjPoint(x, y, &(rd->u.line.startp), &(rd->u.line.endp), &px, &py);
// - compare with the bounds of the stop point
double dsp = distance(px, py, sp->position.x, sp->position.y);
double dir_x = px - sp->position.x;
double dir_y = py - sp->position.y;
if (dsp >= (RD_SIZE_STOP-EPS) &&
dsp <= (STP_AFTER+RD_SIZE_STOP+EPS) &&
(dirProd(rd->dir_x, rd->dir_y, dir_x, dir_y) >= 0))
{
log_debug("[geometry] (%d, %d) is after stop %d (dist %.2f)\n",
x, y, i, dsp);
(*tl) = sp->sema;
return true;
}
else
{
log_debug("Position too far/not AFTER point on line: %lf!\n", dsp);
log_debug("rd->dir(%lf,%lf) <> dir(%lf,%lf)\n", rd->dir_x, rd->dir_y,
dir_x, dir_y);
}
}
else {
// arc
// -compute angle of point in degrees
double apoint = lineAngle(rd->u.arc.center.x, rd->u.arc.center.y,
sp->position.x, sp->position.y);
double apos = lineAngle(rd->u.arc.center.x, rd->u.arc.center.y, x, y);
double dsp = toradian(fabs(apoint - apos))*rd->u.arc.radius;
if (dsp >= (RD_SIZE_STOP-EPS) &&
dsp <= (STP_AFTER+RD_SIZE_STOP+EPS)) {
// - check that the direction is AFTER
if (fourAnglesInOrder(rd->u.arc.start_angle,
apoint, apos,
rd->u.arc.end_angle))
{
log_debug("Position AFTER point on arc: %lf!\n", apos);
(*tl) = sp->sema;
return true;
}
else
{
log_debug("Position too far/not AFTER point on arc: %lf!\n", apos);
return false;
}
}
else {
log_debug("Position too far/not AFTER point on arc: %lf degrees!\n", apos);
}
}
}
return false;
}
bool
isPositionOnPoint(float x, float y, road_t* rd, position_t* p, double pWidth)
{
if (rd->kind == RD_LINE_1 ||
rd->kind == RD_LINE_2) { // line
// - compute projection on road line
float px = 0.0;
float py = 0.0;
position_t startp = {0, 0};
position_t endp = {0, 0};
startp = (rd->u.line.startp);
endp = (rd->u.line.endp);
dirProjPoint(x, y, &(startp), &(endp), &px, &py);
// - compare with the bounds of the waypoint
double dwp = distance(px, py, p->x, p->y);
if (dwp <= pWidth) {
log_debug("Position near point on line: %lf!\n", dwp);
return true;
}
else {
//log_debug("Position too far from point on line: %lf!\n", dwp);
return false;
}
}
else {
// arc
// - compute angle of point in degrees
double apoint = lineAngle(rd->u.arc.center.x, rd->u.arc.center.y, p->x, p->y);
double apos = lineAngle(rd->u.arc.center.x, rd->u.arc.center.y, x, y);
double dwp = toradian(fabs(apoint - apos))*rd->u.arc.radius;
if (dwp <= pWidth) {
log_debug("Position near point on arc: %lf!\n", dwp);
return true;
}
else {
log_debug("Position too far from point on arc: %lf!\n", dwp);
return false;
}
}
}
Globals__color getColorPoint(int rid, float x, float y) {
// first go through waypoints
log_debug("[geometry] looking for waypoints at (%.2f, %.2f) on road %d\n",
x, y, rid);
for (int i = 0; i < map->wayp_sz; i++) {
waypoint_t *wp = &map->wayp_arr[i];
if (wp->road != rid)
{
log_debug("Waypoint not on road %d!\n", rid);
continue;
}
road_t *rd = &map->road_arr[wp->road];
// waitpoints are ruban
if (isPositionOnPoint(x, y, rd, &(wp->position), RD_SIZE_WAYPOINT)) {
return COL_WAYPOINT;
//one waypoint by position
}
}
log_debug("[geometry] finished walking waypoints\n");
// then go to stop points
log_debug("[geometry] looking for stops at (%.2f, %.2f) on road %d\n",
x, y, rid);
for (int i = 0; i < map->stop_sz; i++) {
stop_t *sp = &map->stop_arr[i];
if (sp->road != rid) {
log_debug("Stop not on road %d!\n", rid);
continue;
}
road_t *rd = &map->road_arr[sp->road];
// stop points are ruban
if (isPositionOnPoint(x, y, rd, &sp->position, RD_SIZE_STOP)) {
log_debug("[geometry] (%.2f, %.2f) at stop %d\n", x, y, i);
return COL_STOP;
//one stop by position
}
}
log_debug("[geometry] finished walking stops\n");
return COL_OUT;
}
DEFINE_HEPT_FUN(Map, lookup_pos, (Globals__position pos)) {
float x = pos.x, y = pos.y;
out->data.on_road = false;
out->data.color = COL_OUT;
out->data.max_speed = SPEED_MIN;
out->data.tl_number = -1;
out->data.tl_required = false;
out->data.dir_x = -1.0;
out->data.dir_y = 0.0;
log_debug("[geometry] querying pos (%.2f, %.2f)\n", x, y);
if (map == NULL)
log_fatal("[geometry] map has not been initialized\n");
int min_rd = -1;
double min_d = 700.;
for (int rid = 0; rid < map->road_sz; rid++) {
road_t *rd = &map->road_arr[rid];
double d = 0.;
Globals__color col = COL_OUT;
bool onRoad = false;
float dir_X = 0.0;
float dir_Y = 0.0;
switch (rd->kind) {
case RD_LINE_1:
onRoad = isOnRoadLine1(rd, x, y, &col, &d, &dir_X, &dir_Y);
break;
case RD_LINE_2:
onRoad = isOnRoadLine2(rd, x, y, &col, &d, &dir_X, &dir_Y);
break;
case RD_ARC:
onRoad = isOnRoadArc(rd, x, y, &col, &d, &dir_X, &dir_Y);
break;
case RD_OTHER:
break;
}
if (onRoad && (d < min_d)) {
min_d = d;
min_rd = rid;
out->data.color = col;
out->data.dir_x = dir_X;
out->data.dir_y = dir_Y;
out->data.max_speed = map->road_arr[min_rd].max_speed;
/* Update color when a waypoint or stop. */
col = getColorPoint(rid, x, y);
if (colors_equal(&col, &COL_OUT))
out->data.color = out->data.color;
else if (colors_equal(&col, &COL_STOP)) {
/* TODO: update red color */
out->data.color = col;
}
else {
/* TODO: update green color */
out->data.color = col;
}
}
}
/* Compute the return type. */
if (min_rd >= 0) {
log_debug("[geometry] (%.2f, %.2f) is on road %d\n", x, y, min_rd);
out->data.on_road = true;
int tl = -1;
out->data.tl_number =
isOnTLight(x, y, min_rd, out->data.dir_x, out->data.dir_y);
out->data.tl_required = isAfterStop(x, y, min_rd,
out->data.dir_x, out->data.dir_y, &tl);
if(out->data.tl_required) {
if (tl != out->data.tl_number) {
log_debug("Warning: on TL %ld != ", out->data.tl_number);
log_debug("after TL %d!\n", tl);
}
out->data.tl_number = tl;
}
}
/* Log the result. */
log_debug("[geometry] { on_road = %d; color = (%d, %d, %d);"
" dir = (%2.2f, %2.2f); tl = (%d, %d); }\n",
out->data.on_road,
out->data.color.red, out->data.color.green, out->data.color.blue,
out->data.dir_x, out->data.dir_y,
out->data.tl_number, out->data.tl_required);
}
void play_asset_wav(SDL_AudioDeviceID audio_device, asset_wav_t *wav) {
if (!audio_device) {
log_info("[sdl] no audio device\n");
return;
}
if (SDL_QueueAudio(audio_device, wav->buffer, wav->size))
log_fatal("[sdl] could not queue audio\n");
}
asset_wav_t collision, wrong_dir, exit_road, light_run, speed_excess;
SDL_AudioDeviceID audio_device = 0;
DEFINE_HEPT_FUN(Map, soundEffects, (Globals__event evt, Globals__status sta)) {
if (sta == Globals__Preparing)
return;
if (evt.exitRoad) {
play_asset_wav(audio_device, &exit_road);
log_info("[audio] car left the road\n");
} else if (evt.collisionEvent) {
play_asset_wav(audio_device, &collision);
log_info("[audio] car has collided with an obstacle\n");
} else if (evt.dirEvent) {
play_asset_wav(audio_device, &wrong_dir);
log_info("[audio] car goes in the wrong direction\n");
} else if (evt.lightRun) {
play_asset_wav(audio_device, &light_run);
log_info("[audio] car has run a red light\n");
} else if (evt.speedExcess) {
play_asset_wav(audio_device, &speed_excess);
log_info("[audio] car is going too fast\n");
}
}

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open Globals
external fun read_obstacles() returns (obst : param_obsts)
external fun read_itinerary() returns (iti : itielts)
external fun read_traffic_lights() returns (tlights : param_tlights)
external fun lookup_pos(pos : position) returns (data : map_data)
external fun soundEffects(evt : event; sta : status) returns ()

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#ifndef MAP_H
#define MAP_H
#include <assert.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <SDL.h>
#include "pervasives.h"
#include "hept_ffi.h"
#include "globals_types.h"
#define MAX_ROAD_COUNT 50 /* maximum number of roads */
#define MAX_WAYP_COUNT 50 /* maximum number of waypoints */
#define MAX_TL_COUNT Globals__trafnum /* maximum number of traffic lights */
#define MAX_STOP_COUNT 50 /* maximum number of stops */
#define MAX_OBST_COUNT Globals__obstnum /* maximum number of obstacles */
#define MAX_ITI_COUNT Globals__itinum /* maximum number of itinerary steps */
/*
* =========================================================================
* Reference system
* =========================================================================
*/
/** Size of the Carthesian space (in cm) */
#define MIN_X 0
#define MIN_Y 0
#define MAX_X 600
#define MAX_Y 300
/** Precision of comparison between points */
#define EPS 0.001
/** Type of points used, in a Carthesian space */
/** see @code{positionTy} in kcg_types.h */
float toradian(float);
/*
* =========================================================================
* Car size
* =========================================================================
*/
/**
* Car plan with o-point is the position of camera
*
* +---------------+
* | SC |SB |
* |----------o----| SA
* | |SD |
* +---------------+
*
* Dimensions defined as constants in kcg_const.h
* #define SA (kcg_lit_float64(3.0))
* #define SB (kcg_lit_float64(3.0))
* #define SD (kcg_lit_float64(3.0))
* #define SC (kcg_lit_float64(7.0))
*/
#define CAR_WIDTH (SB+SD)
#define CAR_HALF_WIDTH SB
/*
* =========================================================================
* Colors
* =========================================================================
*/
/** Color type @code{colorTy} defined in @see{kcg_types.h} */
/** True colors used
* defined in @see{kcg_const.h} as constants of SCADE
*
* extern const colorTy AMBER;
* extern const colorTy GRAY;
* extern const colorTy CYAN;
* extern const colorTy MAGENTA;
* extern const colorTy YELLOW;
* extern const colorTy BLUE;
* extern const colorTy GREEN;
* extern const colorTy RED;
*/
/** Symbolic colors used for road, points, etc */
#define COL_ROADLINE Globals__blue
#define COL_ROADLEFT Globals__cyan
#define COL_ROADRIGHT Globals__magenta
#define COL_WAYPOINT Globals__green
#define COL_STOP Globals__red
#define COL_OUT Globals__gray
/** String colors used to print */
#define STR_ROADLINE "blue"
#define STR_ROADLEFT "cyan"
#define STR_ROADRIGHT "magenta"
#define STR_WAYPOINT "yellow"
#define STR_STOP "red"
#define STR_TLIGHT "orange"
#define STR_OUT "gray"
/*
* =========================================================================
* Road segments and points
* =========================================================================
*/
/** Kind of road segments */
typedef enum {
RD_LINE_1 = 0, /* linear road, one direction */
RD_LINE_2, /* linear road, two directions */
RD_ARC, /* arc road, one direction */
RD_OTHER /* INTERNAL USE ONLY */
} road_kind_t;
/** Dimensions used for road (in cm) */
#define RD_SIZE_LINE 1.0
#define RD_SIZE_LINE2 2.0
#define RD_SIZE_HALF_WIDTH 10.0 /* 10.0 in simulator version */
#define RD_SIZE_WAYPOINT 1.0 /* the size of the half of the ruban */
#define RD_SIZE_STOP 1.0
/** Dimensions for traffic lights (in cm) */
#define TL_NUMBER 5
#define TL_VIEW 50.0
#define TL_COSDIR 0.5
#define STP_AFTER 3.0
/** Speeds */
#define SPEED_MIN 20
#define SPEED_MAX 40
typedef Globals__phase phase_t;
/** Road segment */
typedef struct {
road_kind_t kind; /* kind to select informations */
Globals__color color; /* color used on the middle line */
float dir_x, dir_y; /* direction vector/sense for line/arc (x) */
int max_speed; /* maximal speed */
union {
struct { /* parameters for a linear road */
Globals__position startp; /* on the middle line */
Globals__position endp; /* on the middle line */
} line;
struct { /* parameters for a arc road */
Globals__position center; /* the circle center */
float radius; /* the circle radius (in cm) */
float start_angle; /* start and stop angles */
float end_angle;
} arc;
} u;
} road_t;
/** Waypoint used to consult the map */
typedef struct {
int road; /* road identifier */
Globals__position position; /* on the middle line of the road */
} waypoint_t;
/** Stop point used to signal a traffic light */
typedef struct {
int road; /* road identifier */
int sema; /* traffic light identifier */
Globals__position position; /* on the middle line of a road */
} stop_t;
/** Traffic lights: added road reference to type
* @code{paramTLTy_City} defined in @see{kcg_tpes.h} */
typedef struct {
Globals__param_tlight tl;
int road; /* road identifier that the tlight controls */
} tlight_t;
typedef Globals__param_obst obst_t;
typedef Globals__itielt iti_t;
typedef Globals__position position_t;
/*
* =========================================================================
* Maps
* =========================================================================
*/
/** One map contains roads, waypoints, traffic lights and stop points */
typedef struct {
char name[255]; /* Name of the map */
char graphics[255]; /* Path to graphics file (bmp) */
char guide[255]; /* Path to guide file (bmp) */
phase_t init_phase; /* Initial phase of the robot */
road_t *road_arr; /* Roads */
int tlight_sz; /* Road count */
waypoint_t *wayp_arr; /* Waypoints */
int road_sz; /* Waypoint count */
tlight_t *tlight_arr; /* Traffic lights */
int wayp_sz; /* Traffic light count */
stop_t *stop_arr; /* Stops */
int stop_sz; /* Stop count */
obst_t *obst_arr; /* Obstacles */
int obst_sz; /* Obstacle count */
iti_t *iti_arr; /* Itinerary */
int iti_sz; /* Itinerary step count */
} map_t;
extern map_t *map;
void map_load(const char *); /* parse and load global map file */
void map_destroy(); /* free the map loaded via load_map() */
/*
* =========================================================================
* Functions exported to the Heptagon side
* =========================================================================
*/
typedef struct asset_wav {
SDL_AudioSpec spec;
Uint8 *buffer;
Uint32 size;
} asset_wav_t;
extern asset_wav_t collision, wrong_dir, exit_road, light_run, speed_excess;
extern SDL_AudioDeviceID audio_device;
DECLARE_HEPT_FUN_NULLARY(Map,
read_obstacles,
Globals__param_obsts obst);
DECLARE_HEPT_FUN_NULLARY(Map,
read_traffic_lights,
Globals__param_tlights tlights);
DECLARE_HEPT_FUN_NULLARY(Map,
read_itinerary,
Globals__itielts iti);
DECLARE_HEPT_FUN(Map,
lookup_pos,
(Globals__position),
Globals__map_data data);
DECLARE_HEPT_FUN(Map,
soundEffects,
(Globals__event, Globals__status),);
#endif /* MAP_H */

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#ifndef MAP_TYPES_H
#define MAP_TYPES_H
#endif /* MAP_TYPES_H */

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#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "mymath.h"
#include "mathext.h"
void Mathext__float_step(int x, Mathext__float_out *o) {
o->o = (float)x;
}
void Mathext__int_step(float x, Mathext__int_out *o) {
o->o = (int)x;
}
void Mathext__floor_step(float x, Mathext__floor_out *o) {
o->o = floorf(x);
}
void Mathext__sin_step(float x, Mathext__sin_out *o) {
o->o = sinf(x);
}
void Mathext__cos_step(float x, Mathext__cos_out *o) {
o->o = cosf(x);
}
void Mathext__atan2_step(float y, float x, Mathext__atan2_out *o) {
o->o = atan2f(y, x);
}
void Mathext__hypot_step(float x, float y, Mathext__hypot_out *o) {
o->o = hypotf(x, y);
}
void Mathext__sqrt_step(float x2, Mathext__sqrt_out *o) {
o->o = sqrtf(x2);
}
void Mathext__modulo_step(int x, int y, Mathext__modulo_out *o) {
o->o = x % y;
}

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external fun float(x : int) returns (o : float)
external fun int(x : float) returns (o : int)
external fun floor(x : float) returns (o : float)
external fun sin(x : float) returns (o : float)
external fun cos(x : float) returns (o : float)
external fun atan2(y : float; x : float) returns (o : float)
external fun hypot(x : float; y : float) returns (o : float)
external fun sqrt(x2 : float) returns (o : float)
external fun modulo(x : int; y : int) returns (o : int)

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#ifndef MATHEXT_H
#define MATHEXT_H
#include "stdbool.h"
#include "assert.h"
#include "pervasives.h"
#include "hept_ffi.h"
DECLARE_HEPT_FUN(Mathext, float, (int), float o);
DECLARE_HEPT_FUN(Mathext, int, (float), int o);
DECLARE_HEPT_FUN(Mathext, floor, (float), float o);
DECLARE_HEPT_FUN(Mathext, sin, (float), float o);
DECLARE_HEPT_FUN(Mathext, cos, (float), float o);
DECLARE_HEPT_FUN(Mathext, atan2, (float, float), float o);
DECLARE_HEPT_FUN(Mathext, hypot, (float, float), float o);
DECLARE_HEPT_FUN(Mathext, sqrt, (float), float o);
DECLARE_HEPT_FUN(Mathext, modulo, (int, int), int o);
#endif /* MATHEXT_H */

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#ifndef MATHEXT_TYPES_H
#define MATHEXT_TYPES_H
#endif /* MATHEXT_TYPES_H */

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#ifndef MYMATH_H
#define MYMATH_H
/* Avoid Heptagon's math.h. */
#ifndef __APPLE__
#include </usr/include/math.h>
#endif
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#endif /* MYMATH_H */

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/* This file is part of SyncContest.
Copyright (C) 2017-2020 Eugene Asarin, Mihaela Sighireanu, Adrien Guatto. */
#include "simulation_loop.h"
#include <SDL.h>
#include "mymath.h"
#include "challenge.h"
#include "cutils.h"
#include "map.h"
#ifndef ASSET_DIR_PATH
#define ASSET_DIR_PATH "./assets"
#endif
void find_absolute_asset_path(char *path, size_t path_size,
const char *filename) {
snprintf(path, path_size, "%s/%s", ASSET_DIR_PATH, filename);
}
void load_asset_wav(const char *filename, asset_wav_t *wav) {
assert (filename);
assert (wav);
char filepath[512];
find_absolute_asset_path(filepath, sizeof filepath, filename);
if (!SDL_LoadWAV(filepath, &wav->spec, &wav->buffer, &wav->size))
log_fatal("[sdl] could not open WAV file %s (%s)\n",
filepath, SDL_GetError());
}
void free_asset_wav(asset_wav_t *wav) {
assert (wav);
SDL_FreeWAV(wav->buffer);
wav->buffer = NULL;
}
SDL_Surface *load_asset_bmp_surface(const char *filename) {
SDL_Surface *r;
char filepath[512];
find_absolute_asset_path(filepath, sizeof filepath, filename);
if ((r = SDL_LoadBMP(filepath)) == NULL)
log_fatal("[sdl] could not load %s\n", filepath);
return r;
}
SDL_Texture *load_asset_bmp_texture(const char *filename, SDL_Renderer *r,
int *texture_width, int *texture_height) {
SDL_Surface *s = load_asset_bmp_surface(filename);
SDL_Texture *t = SDL_CreateTextureFromSurface(r, s);
if (!t)
log_fatal("[sdl] could not load texture from surface %s (%s)\n",
filename, SDL_GetError());
SDL_FreeSurface(s);
if (texture_width && texture_height
&& SDL_QueryTexture(t, NULL, NULL, texture_width, texture_height))
log_fatal("[sdl] could not query texture %s (%s)\n",
filename, SDL_GetError());
log_info("[sdl] loaded texture %s\n", filename);
return t;
}
/* Our simulation assumes the origin is on the bottom-left corner of the window,
unlike SDL which assumes it is on the top-left corner. The function below
transforms a point from geometric space into SDL space. */
void sdl_space_of_position(Globals__position *position, int *x, int *y) {
*x = position->x;
*y = MAX_Y - position->y;
}
void sdl_point_of_position(Globals__position *position, SDL_Point *point) {
sdl_space_of_position(position, &point->x, &point->y);
}
int draw_point(SDL_Renderer *rd, Globals__position *p) {
int x, y;
sdl_space_of_position(p, &x, &y);
return SDL_RenderDrawPoint(rd, x, y);
}
int draw_line(SDL_Renderer *rd,
Globals__position *startp, Globals__position *endp) {
int x1, y1, x2, y2;
sdl_space_of_position(startp, &x1, &y1);
sdl_space_of_position(endp, &x2, &y2);
return SDL_RenderDrawLine(rd, x1, y1, x2, y2);
}
void draw_rectangle(SDL_Renderer *rd, Globals__position *center, size_t l,
uint32_t r, uint32_t g, uint32_t b) {
SDL_Rect rect = (SDL_Rect){ 0, 0, l, l };
/* Compute coordinates. */
sdl_space_of_position(center, &rect.x, &rect.y);
rect.x -= l / 2;
rect.y -= l / 2;
/* Render rectangle. */
SDL_SetRenderDrawColor(rd, r, g, b, 0x00);
if (SDL_RenderFillRect(rd, &rect) < 0)
log_fatal("[sdl] could not draw rectangle (%s)\n", SDL_GetError());
SDL_SetRenderDrawColor(rd, 0xFF, 0xFF, 0xFF, 0);
if (draw_point(rd, center) < 0)
log_fatal("[sdl] could not draw point (%s)\n", SDL_GetError());
}
void draw_tile(SDL_Renderer *rd,
SDL_Texture *texture,
Globals__position *p,
double angle,
int w,
int h) {
SDL_Rect dst_rect = { 0, 0, w, h };
Globals__position center = { p->x - w / 2, p->y + h / 2 };
sdl_space_of_position(&center, &dst_rect.x, &dst_rect.y);
SDL_RenderCopyEx(rd, /* renderer */
texture, /* texture */
NULL, /* entire texture */
&dst_rect, /* destination */
angle, /* angle (cw) */
NULL, /* center dst_rec */
SDL_FLIP_NONE); /* no flipping */
}
race_result_t simulation_loop(bool show_guide,
int initial_top,
float sps,
bool headless,
bool audio,
size_t max_synchronous_steps) {
SDL_Window *w;
bool quit = false; /* Shall we quit? */
race_result_t res = RACE_TIMEOUT; /* Did we complete the race? */
int top = initial_top; /* Has the race started? */
bool verbose = false, debug = false;
int car_w, car_h, obs_w, obs_h;
SDL_Texture *bg, *car, *obs;
SDL_Renderer *r;
size_t current_tick = 0;
/* Initialize SDL and acquire resources. */
if (!headless) {
if (SDL_Init(SDL_INIT_VIDEO | SDL_INIT_AUDIO) < 0)
log_fatal("[sdl] could not initialize SDL library (%s)\n",
SDL_GetError());
if ((w = SDL_CreateWindow("Synchronous Contest " YEAR " v" VERSION,
SDL_WINDOWPOS_UNDEFINED,
SDL_WINDOWPOS_UNDEFINED,
MAX_X,
MAX_Y,
SDL_WINDOW_SHOWN)) == NULL)
log_fatal("[sdl] could not open window (%s)\n", SDL_GetError());
r = SDL_CreateRenderer(w, -1, SDL_RENDERER_ACCELERATED);
if (!r)
log_fatal("[sdl] could not create renderer (%s)\n", SDL_GetError());
if (!r)
log_fatal("[sdl] could not create renderer (%s)\n", SDL_GetError());
bg = load_asset_bmp_texture(show_guide ? map->guide : map->graphics,
r,
NULL,
NULL);
car = load_asset_bmp_texture("orange.bmp",
r,
&car_w,
&car_h);
obs = load_asset_bmp_texture("obst.bmp",
r,
&obs_w,
&obs_h);
/* Load sounds and setup audio device. */
load_asset_wav("collision.wav", &collision);
load_asset_wav("direction.wav", &wrong_dir);
load_asset_wav("exit.wav", &exit_road);
load_asset_wav("light.wav", &light_run);
load_asset_wav("speed.wav", &speed_excess);
if (audio) {
if (!(audio_device =
SDL_OpenAudioDevice(NULL, 0, &collision.spec, NULL, 0))) {
log_info("[sdl] could not open audio device\n");
} else
SDL_PauseAudioDevice(audio_device, 0);
}
}
/* Initialize synchronous state. */
Challenge__the_challenge_out out;
Challenge__the_challenge_mem mem;
Challenge__the_challenge_reset(&mem);
/* Setup time counters. */
const uint32_t sync_dt_ms = 1000.f * Globals__timestep;
const uint32_t simulation_dt_ms = (1. / (double)sps) * 1000.;
uint32_t time_budget_ms = sync_dt_ms; /* Enough to do one initial step. */
log_info("[simulation] starting (%zu ms/cycle)\n", simulation_dt_ms);
while (!quit
&& (!max_synchronous_steps || current_tick < max_synchronous_steps)) {
SDL_Event e;
uint32_t start_time_ms = SDL_GetTicks();
/* Perform as many synchronous steps as possible within our budget. */
while (time_budget_ms >= sync_dt_ms
&& (!max_synchronous_steps
|| current_tick < max_synchronous_steps)) {
time_budget_ms -= sync_dt_ms;
Challenge__the_challenge_step(map->init_phase, top, &out, &mem);
current_tick++;
/* Check robot status once simulation has started. */
if (top) {
switch (out.sta) {
case Globals__Preparing:
case Globals__Running:
break;
case Globals__Arrived:
log_info("[simulation %08zu] race finished\n", current_tick);
res = RACE_SUCCESS;
quit = true;
break;
case Globals__Stopped:
log_info("[simulation %08zu] car stopped\n", current_tick);
res = RACE_CRASH;
quit = true;
break;
}
}
if (!debug && !verbose && !quit) {
printf("\e[?25l"); /* Disable cursor */
printf("H %06.2f\tV %06.2f\tT %06.2f\tS %09d\r",
out.ph.ph_head, out.ph.ph_vel, out.time, out.scoreA);
printf("\e[?25h"); /* Re-enable cursor */
}
}
if (!headless) {
/* Process events, including key presses. */
while (SDL_PollEvent(&e) != 0) {
switch (e.type) {
case SDL_QUIT:
quit = true;
break;
case SDL_KEYDOWN:
switch (e.key.keysym.sym) {
case SDLK_q:
quit = true;
break;
case SDLK_t:
top = true;
break;
case SDLK_d:
debug = !debug;
break;
case SDLK_v:
if (verbose)
log_set_verbosity_level(LOG_INFO);
else
log_set_verbosity_level(LOG_DEBUG);
verbose = !verbose;
break;
case SDLK_UP:
map->init_phase.ph_head += 2;
break;
case SDLK_DOWN:
map->init_phase.ph_head -= 2;
break;
}
break;
}
}
/* Render the scene, which includes the background as well as the car. */
SDL_SetRenderDrawColor(r, 0xFF, 0xFF, 0xFF, 0xFF);
SDL_RenderClear(r);
SDL_RenderCopy(r, bg, NULL, NULL);
if (!debug)
draw_tile(r, car, &out.ph.ph_pos, 360.f - out.ph.ph_head, car_w, car_h);
else {
/* In debug mode, render the car as a plain square. */
Globals__phase *ph; Globals__position endp; float f = 20.0;
if (top) {
ph = &out.ph;
f *= ph->ph_vel / SPEED_MAX;
} else
ph = &map->init_phase;
draw_rectangle(r, &ph->ph_pos, 5, 0x00, 0x00, 0x00);
/* Draw direction vector. */
endp.x = ph->ph_pos.x + f * cos(ph->ph_head / 360. * 2. * M_PI);
endp.y = ph->ph_pos.y + f * sin(ph->ph_head / 360. * 2. * M_PI);
SDL_SetRenderDrawColor(r, 0x00, 0x00, 0x00, 0x00);
draw_line(r, &ph->ph_pos, &endp);
/* Draw detected map vector. */
Map__lookup_pos_out out;
Map__lookup_pos_step(ph->ph_pos, &out);
endp.x = ph->ph_pos.x + out.data.dir_x;
endp.y = ph->ph_pos.y + out.data.dir_y;
SDL_SetRenderDrawColor(r, 0xAE, 0xB4, 0xC0, 0x00);
draw_line(r, &ph->ph_pos, &endp);
/* Reset color. */
SDL_SetRenderDrawColor(r, 0xFF, 0xFF, 0xFF, 0);
}
/* We draw the signalization info, when relevant. */
if (!debug) {
for (size_t i = 0; i < MAX_OBST_COUNT; i++) {
Globals__obstacle *o = &out.sign.si_obstacles[i];
if (o->o_pres)
draw_tile(r, obs, &o->o_pos, 0.f, obs_w, obs_h);
}
for (size_t i = 0; i < MAX_TL_COUNT; i++) {
Utilities__encode_color_out enc;
Globals__traflight *t = &out.sign.si_tlights[i];
Utilities__encode_color_step(t->tl_color, &enc);
draw_rectangle(r, &t->tl_pos, 10, enc.a.red, enc.a.green, enc.a.blue);
}
}
/* In debug mode, we also render the raw information coming from the
map. This is useful to understand the map file contents. */
if (debug) {
SDL_SetRenderDrawColor(r, 0x00, 0x00, 0xFF, 0xFF);
for (size_t i = 0; i < map->road_sz; i++) {
switch (map->road_arr[i].kind) {
case RD_LINE_1:
draw_line(r,
&map->road_arr[i].u.line.startp,
&map->road_arr[i].u.line.endp);
break;
default:
/* TODO draw curved roads. */
break;
}
}
/* Draw waypoints. */
for (size_t i = 0; i < map->wayp_sz; i++)
draw_rectangle(r, &map->wayp_arr[i].position,
10, 0xFF, 0x00, 0x00);
/* Draw traffic lights. */
for (size_t i = 0; i < map->tlight_sz; i++)
draw_rectangle(r, &map->tlight_arr[i].tl.ptl_pos,
10, 0x00, 0x00, 0xFF);
/* Draw stops. */
for (size_t i = 0; i < map->stop_sz; i++)
draw_rectangle(r, &map->stop_arr[i].position,
10, 0x84, 0x21, 0xFF);
/* Draw obstacles. */
for (size_t i = 0; i < map->obst_sz; i++)
draw_rectangle(r, &map->obst_arr[i].pot_pos,
10, 0x12, 0xAE, 0x00);
}
SDL_RenderPresent(r);
}
/* Sleep for our remaining per-simulation time. */
uint32_t stop_time_ms = SDL_GetTicks();
uint32_t frame_time_ms = stop_time_ms - start_time_ms;
if (frame_time_ms < simulation_dt_ms) {
log_debug("[simulation %08zu] %zu elapsed, sleeping for %zu ms\n",
current_tick, frame_time_ms, simulation_dt_ms - frame_time_ms);
SDL_Delay(simulation_dt_ms - frame_time_ms);
}
/* Accumulate time for the synchronous step. */
time_budget_ms += fmax(simulation_dt_ms, frame_time_ms);
}
log_info("[simulation %08zu] shutting down, score = %zu, time = %f\n",
current_tick, out.scoreA, out.time);
/* Wait for audio queue to be empty. */
if (audio_device) {
Uint32 audio_buffered;
while ((audio_buffered = SDL_GetQueuedAudioSize(audio_device)) != 0)
SDL_Delay(50);
}
free_asset_wav(&collision);
free_asset_wav(&wrong_dir);
free_asset_wav(&exit_road);
free_asset_wav(&light_run);
free_asset_wav(&speed_excess);
SDL_DestroyTexture(obs);
SDL_DestroyTexture(car);
SDL_DestroyTexture(bg);
SDL_DestroyRenderer(r);
SDL_DestroyWindow(w);
SDL_Quit();
return res;
}

23
projet/src/simulation_loop.h Normal file
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@@ -0,0 +1,23 @@
/* This file is part of SyncContest.
Copyright (C) 2017-2020 Eugene Asarin, Mihaela Sighireanu, Adrien Guatto. */
#ifndef SIMULATION_LOOP_H
#define SIMULATION_LOOP_H
#include <stdbool.h>
#include <stddef.h>
typedef enum {
RACE_SUCCESS,
RACE_CRASH,
RACE_TIMEOUT
} race_result_t;
race_result_t simulation_loop(bool show_guide,
int initial_top,
float sps,
bool headless,
bool audio,
size_t max_synchronous_steps);
#endif /* SIMULATION_LOOP_H */

70
projet/src/trace.c Normal file
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@@ -0,0 +1,70 @@
#include "trace.h"
#include <assert.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "trace_lib.h"
trace_file_t *trace = NULL;
#define HEPT_TRACE_ENV_VAR "HEPT_TRACE"
void hept_trace_init() {
if (trace || !getenv(HEPT_TRACE_ENV_VAR))
return;
trace = trace_file_alloc(TRACE_TIME_UNIT_S, 1);
}
void hept_trace_quit() {
if (trace) {
trace_file_write(trace, getenv(HEPT_TRACE_ENV_VAR));
trace_file_free(trace);
trace = NULL;
}
}
static inline void trace_samples(trace_signal_t **signal,
const char *name, trace_signal_type_t type,
void *samples, size_t count) {
if (!trace)
return;
if (!*signal) {
*signal = trace_file_lookup_signal(trace, name);
if (!*signal) {
*signal = trace_signal_alloc(name, type, 1 << 17);
if (!trace_file_add_signal(trace, *signal)) {
perror("trace_file_add_signal()\n");
exit(EXIT_FAILURE);
}
}
}
assert (*signal);
trace_add_samples(*signal, samples, count);
}
DEFINE_HEPT_NODE_RESET(Trace, trace_bool) {
mem->signal = NULL;
}
DEFINE_HEPT_NODE_STEP(Trace, trace_bool, (string name, int v)) {
trace_samples(&mem->signal, name, TRACE_SIGNAL_TYPE_BOOL, &v, 1);
}
DEFINE_HEPT_NODE_RESET(Trace, trace_int) {
mem->signal = NULL;
}
DEFINE_HEPT_NODE_STEP(Trace, trace_int, (string name, int v)) {
trace_samples(&mem->signal, name, TRACE_SIGNAL_TYPE_INT, &v, 1);
}
DEFINE_HEPT_NODE_RESET(Trace, trace_float) {
mem->signal = NULL;
}
DEFINE_HEPT_NODE_STEP(Trace, trace_float, (string name, float v)) {
trace_samples(&mem->signal, name, TRACE_SIGNAL_TYPE_FLOAT, &v, 1);
}

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