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tanks/forftanks.c

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/*
* This software has been authored by an employee or employees of Los
* Alamos National Security, LLC, operator of the Los Alamos National
* Laboratory (LANL) under Contract No. DE-AC52-06NA25396 with the U.S.
* Department of Energy. The U.S. Government has rights to use,
* reproduce, and distribute this software. The public may copy,
* distribute, prepare derivative works and publicly display this
* software without charge, provided that this Notice and any statement
* of authorship are reproduced on all copies. Neither the Government
* nor LANS makes any warranty, express or implied, or assumes any
* liability or responsibility for the use of this software. If
* software is modified to produce derivative works, such modified
* software should be clearly marked, so as not to confuse it with the
* version available from LANL.
*/
#include <sys/types.h>
#include <unistd.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include "ctanks.h"
#include "forf.h"
#include "dump.h"
#define MAX_TANKS 50
#define ROUNDS 500
#define SPACING 150
#define LENV_SIZE 100
#define DSTACK_SIZE 200
#define CSTACK_SIZE 500
#define MEMORY_SIZE 10
struct forftank {
struct forf_env env;
int error_pos;
char color[8]; /* "#ff0088" */
char name[50];
char *path;
struct forf_stack _prog;
struct forf_value _progvals[CSTACK_SIZE];
struct forf_stack _cmd;
struct forf_value _cmdvals[CSTACK_SIZE];
struct forf_stack _data;
struct forf_value _datavals[DSTACK_SIZE];
struct forf_memory _mem;
long _memvals[MEMORY_SIZE];
};
#ifndef NODEBUG
void
forf_print_val(struct forf_value *val)
{
switch (val->type) {
case forf_type_number:
printf("%ld", val->v.i);
break;
case forf_type_proc:
printf("[proc %p]", val->v.p);
break;
case forf_type_stack_begin:
printf("{");
break;
case forf_type_stack_end:
printf("}");
break;
}
}
void
forf_print_stack(struct forf_stack *s)
{
size_t pos;
for (pos = 0; pos < s->top; pos += 1) {
forf_print_val(&(s->stack[pos]));
printf(" ");
}
}
void
forf_dump_stack(struct forf_stack *s)
{
printf("Stack at %p: ", s);
forf_print_stack(s);
printf("\n");
}
#endif
/*
*
* Forf API
*
*/
/** Has the turret recharged? */
void
forf_tank_fire_ready(struct forf_env *env)
{
struct tank *tank = (struct tank *)env->udata;
forf_push_num(env, tank_fire_ready(tank));
}
/** Fire! */
void
forf_tank_fire(struct forf_env *env)
{
struct tank *tank = (struct tank *)env->udata;
tank_fire(tank);
}
/** Set desired speed */
void
forf_tank_set_speed(struct forf_env *env)
{
struct tank *tank = (struct tank *)env->udata;
long right = forf_pop_num(env);
long left = forf_pop_num(env);
tank_set_speed(tank, left, right);
}
/** Get the current turret angle */
void
forf_tank_get_turret(struct forf_env *env)
{
struct tank *tank = (struct tank *)env->udata;
float angle = tank_get_turret(tank);
forf_push_num(env, rad2deg(angle));
}
/** Set the desired turret angle */
void
forf_tank_set_turret(struct forf_env *env)
{
struct tank *tank = (struct tank *)env->udata;
long angle = forf_pop_num(env);
tank_set_turret(tank, deg2rad(angle));
}
/** Is a sensor active? */
void
forf_tank_get_sensor(struct forf_env *env)
{
struct tank *tank = (struct tank *)env->udata;
long sensor_num = forf_pop_num(env);
forf_push_num(env, tank_get_sensor(tank, sensor_num));
}
/** Set the LED state */
void
forf_tank_set_led(struct forf_env *env)
{
struct tank *tank = (struct tank *)env->udata;
long active = forf_pop_num(env);
tank_set_led(tank, active);
}
/** Pick a random number */
void
forf_proc_random(struct forf_env *env)
{
long max = forf_pop_num(env);
if (max < 1) {
forf_push_num(env, 0);
return;
}
forf_push_num(env, rand() % max);
}
/* Tanks lexical environment */
struct forf_lexical_env tanks_lenv_addons[] = {
{"fire-ready?", forf_tank_fire_ready},
{"fire!", forf_tank_fire},
{"set-speed!", forf_tank_set_speed},
{"get-turret", forf_tank_get_turret},
{"set-turret!", forf_tank_set_turret},
{"sensor?", forf_tank_get_sensor},
{"set-led!", forf_tank_set_led},
{"random", forf_proc_random},
{NULL, NULL}
};
/*
*
* Filesystem stuff
*
*/
int
ft_read_file(char *ptr, size_t size, char *dir, char *fn)
{
char path[256];
FILE *f = NULL;
int ret;
int success = 0;
do {
snprintf(path, sizeof(path), "%s/%s", dir, fn);
f = fopen(path, "r");
if (! f) break;
ret = fread(ptr, 1, size - 1, f);
ptr[ret] = '\0';
if (! ret) break;
success = 1;
} while (0);
if (f) fclose(f);
if (! success) {
return 0;
}
return 1;
}
void
ft_bricked_tank(struct tank *tank, void *ignored)
{
/* Do nothing, the tank is comatose */
}
void
ft_run_tank(struct tank *tank, struct forftank *ftank)
{
int ret;
/* Copy program into command stack */
forf_stack_copy(&ftank->_cmd, &ftank->_prog);
forf_stack_reset(&ftank->_data);
ret = forf_eval(&ftank->env);
if (! ret) {
fprintf(stderr, "Error in %s: %s\n",
ftank->name,
forf_error_str[ftank->env.error]);
}
}
int
ft_read_program(struct forftank *ftank,
struct tank *tank,
struct forf_lexical_env *lenv,
char *path)
{
char progpath[256];
FILE *f;
/* Open program */
snprintf(progpath, sizeof(progpath), "%s/program", path);
f = fopen(progpath, "r");
if (! f) return 0;
/* Parse program */
ftank->error_pos = forf_parse_file(&ftank->env, f);
fclose(f);
if (ftank->error_pos) {
return 0;
}
/* Back up the program so we can run it over and over without
needing to re-parse */
forf_stack_copy(&ftank->_prog, &ftank->_cmd);
tank_init(tank, (tank_run_func *)ft_run_tank, ftank);
return 1;
}
void
ft_tank_init(struct forftank *ftank,
struct tank *tank,
struct forf_lexical_env *lenv)
{
/* Set up forf environment */
forf_stack_init(&ftank->_prog, ftank->_progvals, CSTACK_SIZE);
forf_stack_init(&ftank->_cmd, ftank->_cmdvals, CSTACK_SIZE);
forf_stack_init(&ftank->_data, ftank->_datavals, DSTACK_SIZE);
forf_memory_init(&ftank->_mem, ftank->_memvals, MEMORY_SIZE);
forf_env_init(&ftank->env,
lenv,
&ftank->_data,
&ftank->_cmd,
&ftank->_mem,
tank);
}
void
ft_read_sensors(struct tank *tank,
char *path)
{
int i;
for (i = 0; i < TANK_MAX_SENSORS; i += 1) {
int ret;
char fn[10];
char s[20];
char *p = s;
long range;
long angle;
long width;
long turret;
snprintf(fn, sizeof(fn), "sensor%d", i);
ret = ft_read_file(s, sizeof(s), path, fn);
if (! ret) {
s[0] = 0;
}
range = strtol(p, &p, 0);
angle = strtol(p, &p, 0);
width = strtol(p, &p, 0);
turret = strtol(p, &p, 0);
tank->sensors[i].range = min(range, TANK_SENSOR_RANGE);
tank->sensors[i].angle = deg2rad(angle % 360);
tank->sensors[i].width = deg2rad(width % 360);
tank->sensors[i].turret = (0 != turret);
}
}
int
ft_read_tank(struct forftank *ftank,
struct tank *tank,
struct forf_lexical_env *lenv,
char *path)
{
int ret;
ftank->path = path;
/* What is your name? */
ret = ft_read_file(ftank->name, sizeof(ftank->name), path, "name");
if (! ret) {
strncpy(ftank->name, path, sizeof(ftank->name));
}
/* What is your quest? */
ft_tank_init(ftank, tank, lenv);
ret = ft_read_program(ftank, tank, lenv, path);
if (ret) {
ft_read_sensors(tank, path);
} else {
/* Brick the tank */
tank_init(tank, ft_bricked_tank, NULL);
}
/* What is your favorite color? */
ret = ft_read_file(ftank->color, sizeof(ftank->color), path, "color");
if (! ret) {
strncpy(ftank->color, "#808080", sizeof(ftank->color));
}
return 1;
}
void
print_header(FILE *f,
struct tanks_game *game,
struct forftank *forftanks,
struct tank *tanks,
int ntanks)
{
int i, j;
fprintf(f, "[[%d,%d],[\n",
(int)game->size[0], (int)game->size[1]);
for (i = 0; i < ntanks; i += 1) {
fprintf(f, " [\"%s\",[", forftanks[i].color);
for (j = 0; j < TANK_MAX_SENSORS; j += 1) {
struct sensor *s = &(tanks[i].sensors[j]);
if (! s->range) {
fprintf(f, "0,");
} else {
fprintf(f, "[%d,%.2f,%.2f,%d],",
(int)(s->range),
s->angle,
s->width,
s->turret);
}
}
fprintf(f, "]],\n");
}
fprintf(f, "],[\n");
}
void
print_footer(FILE *f)
{
fprintf(f, "]]\n");
}
void
print_rounds(FILE *f,
struct tanks_game *game,
struct tank *tanks,
int ntanks)
{
int i;
int alive;
/* Run rounds */
alive = ntanks;
for (i = 0; (alive > 1) && (i < ROUNDS); i += 1) {
int j;
tanks_run_turn(game, tanks, ntanks);
fprintf(f, "[\n");
alive = ntanks;
for (j = 0; j < ntanks; j += 1) {
struct tank *t = &(tanks[j]);
int k;
int flags = 0;
int sensors = 0;
for (k = 0; k < TANK_MAX_SENSORS; k += 1) {
if (t->sensors[k].triggered) {
sensors |= (1 << k);
}
}
if (t->turret.firing) {
flags |= 1;
}
if (t->led) {
flags |= 2;
}
if (t->killer) {
alive -= 1;
flags |= 4;
}
fprintf(f, " [%d,%d,%.2f,%.2f,%d,%d],\n",
(int)t->position[0],
(int)(t->position[1]),
t->angle,
t->turret.current,
flags,
sensors);
}
fprintf(f, "],\n");
}
}
void
print_standings(FILE *f,
struct forftank *ftanks,
struct tank *tanks,
int ntanks)
{
int i;
for (i = 0; i < ntanks; i += 1) {
/* &tank path cause &killer parse_error_pos lasterr */
fprintf(f, "%p\t%s\t%s\t%p\t%d\t%s\n",
&(tanks[i]),
ftanks[i].path,
tanks[i].cause_death,
tanks[i].killer,
ftanks[i].error_pos,
forf_error_str[ftanks[i].env.error]);
}
}
int
main(int argc, char *argv[])
{
struct tanks_game game;
struct forftank myftanks[MAX_TANKS];
struct tank mytanks[MAX_TANKS];
struct forf_lexical_env lenv[LENV_SIZE];
int order[MAX_TANKS];
int ntanks = 0;
int i;
lenv[0].name = NULL;
lenv[0].proc = NULL;
if ((! forf_extend_lexical_env(lenv, forf_base_lexical_env, LENV_SIZE)) ||
(! forf_extend_lexical_env(lenv, tanks_lenv_addons, LENV_SIZE))) {
fprintf(stderr, "Unable to initialize lexical environment.\n");
return 1;
}
/* We only need slightly random numbers */
{
char *s = getenv("SEED");
int seed = atoi(s?s:"");
if (! seed) {
seed = getpid();
}
srand(seed);
fprintf(stdout, "// SEED=%d\n", seed);
}
/* Every argument is a tank directory */
for (i = 1; ntanks < MAX_TANKS && i < argc; i += 1) {
if (ft_read_tank(&myftanks[ntanks],
&mytanks[ntanks],
lenv,
argv[i])) {
ntanks += 1;
}
}
if (0 == ntanks) {
fprintf(stderr, "No usable tanks!\n");
return 1;
}
/* Calculate the size of the game board */
{
int x, y;
for (x = 1; x * x < ntanks; x += 1);
y = ntanks / x;
if (ntanks % x) {
y += 1;
}
game.size[0] = x * SPACING;
game.size[1] = y * SPACING;
}
/* Shuffle the order we place things on the game board */
for (i = 0; i < ntanks; i += 1) {
order[i] = i;
}
for (i = 0; i < ntanks; i += 1) {
int j = rand() % ntanks;
int n = order[j];
order[j] = order[i];
order[i] = n;
}
/* Position tanks */
{
int x = SPACING/2;
int y = SPACING/2;
for (i = 0; i < ntanks; i += 1) {
mytanks[order[i]].position[0] = (float)x;
mytanks[order[i]].position[1] = (float)y;
mytanks[order[i]].angle = deg2rad(rand() % 360);
mytanks[order[i]].turret.current = deg2rad(rand() % 360);
mytanks[order[i]].turret.desired = mytanks[order[i]].turret.current;
x += SPACING;
if (x > game.size[0]) {
x %= (int)(game.size[0]);
y += SPACING;
}
}
}
print_header(stdout, &game, myftanks, mytanks, ntanks);
print_rounds(stdout, &game, mytanks, ntanks);
print_footer(stdout);
/* Output standings to fd3.
*
* fd 3 is normally closed, so this won't normally do anything.
* To output to fd3 from the shell, you'll need to do something like this:
*
* ./run-tanks 3>standing
**/
{
FILE *standings = fdopen(3, "w");
if (standings) {
print_standings(standings, myftanks, mytanks, ntanks);
}
}
return 0;
}
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