def start_torcs_process(self):
if self.torcs_proc is not None:
os.killpg(os.getpgid(self.torcs_proc.pid), signal.SIGKILL)
time.sleep(0.5)
self.torcs_proc = None
self.test_torcs_server_port()
if self._config.traffic:
self.traffic_manager = traffic.MadrasTrafficManager(
self.torcs_server_port, 1, self._config.traffic)
TorcsEnv.__init__(self,
vision=self._config.vision,
throttle=self._config.throttle,
gear_change=self._config.gear_change,
visualise=self._config.visualise,
no_of_visualisations=self._config.no_of_visualisations,
torcs_server_port=self.torcs_server_port)
command = None
rank = MPI.COMM_WORLD.Get_rank()
self.torcs_server_config.generate_torcs_server_config()
self.madras_agent_port = self.torcs_server_port + self.torcs_server_config.num_traffic_cars
if rank < self._config.no_of_visualisations and self._config.visualise:
command = 'export TORCS_PORT={} && vglrun torcs -t 10000000 -nolaptime'.format(self.torcs_server_port)
else:
command = 'export TORCS_PORT={} && torcs -t 10000000 -r ~/.torcs/config/raceman/quickrace.xml -nolaptime'.format(self.torcs_server_port)
if self._config.vision is True:
command += ' -vision'
if self._config.noisy_observations:
command += ' -noisy'
self.torcs_proc = subprocess.Popen([command], shell=True, preexec_fn=os.setsid)
time.sleep(1)
def __init__(self,
vision=False,
throttle=True,
gear_change=False,
port=60934,
pid_assist=False,
CLIENT_MAX_STEPS=np.inf,
visualise=True,
no_of_visualisations=1):
# If `visualise` is set to False torcs simulator will run in headless mode
"""Init Method."""
self.torcs_proc = None
self.pid_assist = pid_assist
if self.pid_assist:
self.action_dim = 2 # LanePos, Velocity
else:
self.action_dim = 3 # Accel, Steer, Brake
TorcsEnv.__init__(self,
vision=False,
throttle=True,
gear_change=False,
visualise=visualise,
no_of_visualisations=no_of_visualisations)
self.state_dim = 29 # No. of sensors input
self.env_name = 'Madras_Env'
self.port = port
self.visualise = visualise
self.no_of_visualisations = no_of_visualisations
self.CLIENT_MAX_STEPS = CLIENT_MAX_STEPS
self.client_type = 0 # Snakeoil client type
self.initial_reset = True
self.early_stop = True
if self.pid_assist:
self.PID_latency = 10
else:
self.PID_latency = 1
self.accel_PID = PID(np.array([10.5, 0.05, 2.8])) # accel PID
self.steer_PID = PID(np.array([5.1, 0.001, 0.000001])) # steer PID
self.prev_lane = 0
self.prev_angle = 0
self.prev_vel = 0
self.prev_dist = 0
self.ob = None
self.track_len = 7014.6
self.seed()
self.start_torcs_process()