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https://github.com/andre-wojtowicz/torcs-client-fuzzy-cpp
synced 2024-12-27 18:00:30 +01:00
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@ -234,3 +234,4 @@ _Pvt_Extensions
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# FAKE - F# Make
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.fake/
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torcs-client-fuzzy-cpp.VC.db
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@ -53,12 +53,12 @@ void FuzzyDriver::init(float *angles)
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void FuzzyDriver::onShutdown()
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{
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std::cout << "Bye bye!" << std::endl;
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std::cout << std::endl << "Bye bye!" << std::endl;
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}
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void FuzzyDriver::onRestart()
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{
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std::cout << "Restarting the race!" << std::endl;
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std::cout << std::endl << "Restarting the race!" << std::endl;
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}
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/* Gear Changing Constants*/
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90
src/main.cpp
90
src/main.cpp
@ -57,13 +57,14 @@ typedef struct sockaddr_in tSockAddrIn;
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class __DRIVER_CLASS__;
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typedef __DRIVER_CLASS__ tDriver;
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void parse_args(int argc, char *argv[], std::string &hostName, unsigned int &serverPort, std::string &id, unsigned int &maxEpisodes,
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unsigned int &maxSteps, std::string &trackName, BaseDriver::tstage &stage, std::string &fclFile)
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void parse_args(int argc, char *argv[], std::string &serverName, unsigned int &serverPort,
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std::string &driverId, std::string &trackName, BaseDriver::tstage &stage,
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unsigned int &maxEpisodes, unsigned int &maxSteps, std::string &fclFile)
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{
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// Set default values
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hostName = "localhost";
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serverName = "localhost";
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serverPort = 3001;
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id = "SCR_Fuzzy";
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driverId = "SCR_Fuzzy";
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trackName = "unknown";
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maxEpisodes = 0;
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maxSteps = 0;
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@ -76,13 +77,13 @@ void parse_args(int argc, char *argv[], std::string &hostName, unsigned int &ser
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while (i < argc)
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{
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if (args[i].find("host:") == 0)
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hostName = args[i].substr(5);
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serverName = args[i].substr(5);
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else if (args[i].find("port:") == 0)
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serverPort = std::stoi(args[i].substr(5));
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else if (args[i].find("id:") == 0)
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id = args[i].substr(3);
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driverId = args[i].substr(3);
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else if (args[i].find("maxEpisodes:") == 0)
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maxEpisodes = std::stoi(args[i].substr(12));
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@ -113,37 +114,42 @@ int main(int argc, char *argv[])
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{
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// ---------------------------- config init ----------------------------
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std::string hostName;
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std::string serverName;
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unsigned int serverPort;
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std::string id;
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unsigned int maxEpisodes;
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unsigned int maxSteps;
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std::string driverId;
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std::string trackName;
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BaseDriver::tstage stage;
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unsigned int maxEpisodes;
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unsigned int maxSteps;
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std::string fclFile;
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parse_args(argc, argv, hostName, serverPort, id, maxEpisodes, maxSteps, trackName, stage, fclFile);
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parse_args(argc, argv, serverName, serverPort, driverId, trackName, stage, maxEpisodes, maxSteps, fclFile);
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std::cout << "Config:" << std::endl;
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std::cout << "\thost: " << hostName << std::endl;
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std::cout << "\tport: " << serverPort << std::endl;
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std::cout << "\tid: " << id << std::endl;
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std::cout << "\tmax steps: " << maxSteps << std::endl;
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std::cout << "\tmax episodes: " << maxEpisodes << std::endl;
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std::cout << "\ttrack name: " << trackName << std::endl;
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std::cout << "\tstage: ";
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std::cout << " * server name: " << serverName << std::endl;
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std::cout << " * server port: " << serverPort << std::endl;
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std::cout << " * driver id " << driverId << std::endl;
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std::cout << " * track name: " << trackName << std::endl;
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std::string switchStage;
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if (stage == BaseDriver::WARMUP)
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std::cout << "warm-up" << std::endl;
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else if (stage == BaseDriver::QUALIFYING)
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std::cout << "qualifying" << std::endl;
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else if (stage == BaseDriver::RACE)
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std::cout << "race" << std::endl;
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else
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std::cout << "unknown" << std::endl;
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switch (stage)
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{
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case BaseDriver::WARMUP:
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switchStage = "warm-up" ; break;
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case BaseDriver::QUALIFYING:
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switchStage = "qualifying"; break;
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case BaseDriver::RACE:
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switchStage = "race"; break;
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default:
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switchStage = "unknown";
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}
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std::cout << "\tfcl file: " << fclFile << std::endl << std::endl;
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std::cout << " * stage: " << switchStage << std::endl;;
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std::cout << " * max episodes: " << maxEpisodes << std::endl;
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std::cout << " * max steps: " << maxSteps << std::endl;
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std::cout << " * fcl file: " << fclFile << std::endl << std::endl;
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// ---------------------------- socket init ----------------------------
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@ -171,10 +177,10 @@ int main(int argc, char *argv[])
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}
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#endif
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hostInfo = gethostbyname(hostName.c_str());
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hostInfo = gethostbyname(serverName.c_str());
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if (hostInfo == NULL)
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{
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std::cerr << "Problem interpreting host: " << hostName << std::endl;
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std::cerr << "Problem interpreting server name: " << serverName << std::endl;
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exit(1);
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}
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@ -211,15 +217,19 @@ int main(int argc, char *argv[])
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{
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// Initialising driver on the server
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bool already_reconnecting = false;
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do
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{
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// Set angles of rangefinders
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float angles[19];
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d.init(angles);
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std::string initString = SimpleParser::stringify(std::string("init"), angles, 19);
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initString.insert(0, id);
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initString.insert(0, driverId);
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#ifdef _DEBUG
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std::cout << "Sending init: " << initString << std::endl;
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#endif
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if (sendto(socketDescriptor, initString.c_str(), (int)initString.length(), 0,
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(struct sockaddr *) &serverAddress,
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@ -243,18 +253,32 @@ int main(int argc, char *argv[])
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numRead = recv(socketDescriptor, buf, UDP_MSGLEN, 0);
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if (numRead < 0)
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{
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std::cerr << "Didn't get response from server. Reconnecting..." << std::endl;
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if (!already_reconnecting)
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{
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already_reconnecting = true;
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std::cerr << "Didn't get response from server. Reconnecting...";
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}
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else
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std::cerr << ".";
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std::this_thread::sleep_for(std::chrono::seconds(1));
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}
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else
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{
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if (already_reconnecting)
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std::cout << std::endl;
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if (std::string(buf) == "***identified***")
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{
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#ifdef _DEBUG
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std::cout << "Driver identified" << std::endl;
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#endif
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break;
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}
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#ifdef __UDP_CLIENT_VERBOSE__
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else
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std::cout << "Received: " << buf << std::endl;
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#endif
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}
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}
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@ -290,7 +314,9 @@ int main(int argc, char *argv[])
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if (std::string(buf) == "***shutdown***")
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{
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#ifdef _DEBUG
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std::cout << std::endl << "Client shutdown" << std::endl;
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#endif
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d.onShutdown();
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shutdownClient = true;
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@ -299,7 +325,9 @@ int main(int argc, char *argv[])
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if (std::string(buf) == "***restart***")
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{
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#ifdef _DEBUG
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std::cout << std::endl << "Client restart" << std::endl;
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#endif
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d.onRestart();
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break;
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