andre
/
torcs-client-fuzzy-cpp
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Minor changes

This commit is contained in:
Andrzej Wójtowicz 2016-08-10 20:41:23 +02:00
parent 5cc2616ad0
commit 673fda542a
3 changed files with 62 additions and 33 deletions
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1
.gitignore vendored
View File

@ -234,3 +234,4 @@ _Pvt_Extensions
# FAKE - F# Make
.fake/
torcs-client-fuzzy-cpp.VC.db

4
src/FuzzyDriver.cpp
View File

@ -53,12 +53,12 @@ void FuzzyDriver::init(float *angles)
void FuzzyDriver::onShutdown()
{
std::cout << "Bye bye!" << std::endl;
std::cout << std::endl << "Bye bye!" << std::endl;
}
void FuzzyDriver::onRestart()
{
std::cout << "Restarting the race!" << std::endl;
std::cout << std::endl << "Restarting the race!" << std::endl;
}
/* Gear Changing Constants*/

90
src/main.cpp
View File

@ -57,13 +57,14 @@ typedef struct sockaddr_in tSockAddrIn;
class __DRIVER_CLASS__;
typedef __DRIVER_CLASS__ tDriver;
void parse_args(int argc, char *argv[], std::string &hostName, unsigned int &serverPort, std::string &id, unsigned int &maxEpisodes,
unsigned int &maxSteps, std::string &trackName, BaseDriver::tstage &stage, std::string &fclFile)
void parse_args(int argc, char *argv[], std::string &serverName, unsigned int &serverPort,
std::string &driverId, std::string &trackName, BaseDriver::tstage &stage,
unsigned int &maxEpisodes, unsigned int &maxSteps, std::string &fclFile)
{
// Set default values
hostName = "localhost";
serverName = "localhost";
serverPort = 3001;
id = "SCR_Fuzzy";
driverId = "SCR_Fuzzy";
trackName = "unknown";
maxEpisodes = 0;
maxSteps = 0;
@ -76,13 +77,13 @@ void parse_args(int argc, char *argv[], std::string &hostName, unsigned int &ser
while (i < argc)
{
if (args[i].find("host:") == 0)
hostName = args[i].substr(5);
serverName = args[i].substr(5);
else if (args[i].find("port:") == 0)
serverPort = std::stoi(args[i].substr(5));
else if (args[i].find("id:") == 0)
id = args[i].substr(3);
driverId = args[i].substr(3);
else if (args[i].find("maxEpisodes:") == 0)
maxEpisodes = std::stoi(args[i].substr(12));
@ -113,37 +114,42 @@ int main(int argc, char *argv[])
{
// ---------------------------- config init ----------------------------
std::string hostName;
std::string serverName;
unsigned int serverPort;
std::string id;
unsigned int maxEpisodes;
unsigned int maxSteps;
std::string driverId;
std::string trackName;
BaseDriver::tstage stage;
unsigned int maxEpisodes;
unsigned int maxSteps;
std::string fclFile;
parse_args(argc, argv, hostName, serverPort, id, maxEpisodes, maxSteps, trackName, stage, fclFile);
parse_args(argc, argv, serverName, serverPort, driverId, trackName, stage, maxEpisodes, maxSteps, fclFile);
std::cout << "Config:" << std::endl;
std::cout << "\thost: " << hostName << std::endl;
std::cout << "\tport: " << serverPort << std::endl;
std::cout << "\tid: " << id << std::endl;
std::cout << "\tmax steps: " << maxSteps << std::endl;
std::cout << "\tmax episodes: " << maxEpisodes << std::endl;
std::cout << "\ttrack name: " << trackName << std::endl;
std::cout << "\tstage: ";
std::cout << " * server name: " << serverName << std::endl;
std::cout << " * server port: " << serverPort << std::endl;
std::cout << " * driver id " << driverId << std::endl;
std::cout << " * track name: " << trackName << std::endl;
std::string switchStage;
if (stage == BaseDriver::WARMUP)
std::cout << "warm-up" << std::endl;
else if (stage == BaseDriver::QUALIFYING)
std::cout << "qualifying" << std::endl;
else if (stage == BaseDriver::RACE)
std::cout << "race" << std::endl;
else
std::cout << "unknown" << std::endl;
switch (stage)
{
case BaseDriver::WARMUP:
switchStage = "warm-up" ; break;
case BaseDriver::QUALIFYING:
switchStage = "qualifying"; break;
case BaseDriver::RACE:
switchStage = "race"; break;
default:
switchStage = "unknown";
}
std::cout << "\tfcl file: " << fclFile << std::endl << std::endl;
std::cout << " * stage: " << switchStage << std::endl;;
std::cout << " * max episodes: " << maxEpisodes << std::endl;
std::cout << " * max steps: " << maxSteps << std::endl;
std::cout << " * fcl file: " << fclFile << std::endl << std::endl;
// ---------------------------- socket init ----------------------------
@ -171,10 +177,10 @@ int main(int argc, char *argv[])
}
#endif
hostInfo = gethostbyname(hostName.c_str());
hostInfo = gethostbyname(serverName.c_str());
if (hostInfo == NULL)
{
std::cerr << "Problem interpreting host: " << hostName << std::endl;
std::cerr << "Problem interpreting server name: " << serverName << std::endl;
exit(1);
}
@ -211,15 +217,19 @@ int main(int argc, char *argv[])
{
// Initialising driver on the server
bool already_reconnecting = false;
do
{
// Set angles of rangefinders
float angles[19];
d.init(angles);
std::string initString = SimpleParser::stringify(std::string("init"), angles, 19);
initString.insert(0, id);
initString.insert(0, driverId);
#ifdef _DEBUG
std::cout << "Sending init: " << initString << std::endl;
#endif
if (sendto(socketDescriptor, initString.c_str(), (int)initString.length(), 0,
(struct sockaddr *) &serverAddress,
@ -243,18 +253,32 @@ int main(int argc, char *argv[])
numRead = recv(socketDescriptor, buf, UDP_MSGLEN, 0);
if (numRead < 0)
{
std::cerr << "Didn't get response from server. Reconnecting..." << std::endl;
if (!already_reconnecting)
{
already_reconnecting = true;
std::cerr << "Didn't get response from server. Reconnecting...";
}
else
std::cerr << ".";
std::this_thread::sleep_for(std::chrono::seconds(1));
}
else
{
if (already_reconnecting)
std::cout << std::endl;
if (std::string(buf) == "***identified***")
{
#ifdef _DEBUG
std::cout << "Driver identified" << std::endl;
#endif
break;
}
#ifdef __UDP_CLIENT_VERBOSE__
else
std::cout << "Received: " << buf << std::endl;
#endif
}
}
@ -290,7 +314,9 @@ int main(int argc, char *argv[])
if (std::string(buf) == "***shutdown***")
{
#ifdef _DEBUG
std::cout << std::endl << "Client shutdown" << std::endl;
#endif
d.onShutdown();
shutdownClient = true;
@ -299,7 +325,9 @@ int main(int argc, char *argv[])
if (std::string(buf) == "***restart***")
{
#ifdef _DEBUG
std::cout << std::endl << "Client restart" << std::endl;
#endif
d.onRestart();
break;