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autonomousdriving
torcs_dl
Commits
65a5dcc4
Commit
65a5dcc4
authored
Jul 28, 2018
by
Svetlana Pavlitskaya
Browse files
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Plain Diff
Removed obsolete TORCS driver, fixed TORCS communication.
parent
8a147557
Changes
8
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8 changed files
with
11 additions
and
192 deletions
+11
-192
TorcsEMAMGenerator/src/main/resources/scripts/run_all.sh
TorcsEMAMGenerator/src/main/resources/scripts/run_all.sh
+0
-2
TorcsEMAMGenerator/src/main/resources/torcs/build.sh
TorcsEMAMGenerator/src/main/resources/torcs/build.sh
+0
-11
TorcsEMAMGenerator/src/main/resources/torcs/src/camera/src/main.cpp
...enerator/src/main/resources/torcs/src/camera/src/main.cpp
+4
-4
TorcsEMAMGenerator/src/main/resources/torcs/src/camera/src/torcsclient.cpp
...r/src/main/resources/torcs/src/camera/src/torcsclient.cpp
+7
-3
TorcsEMAMGenerator/src/main/resources/torcs/src/driver/CMakeLists.txt
...erator/src/main/resources/torcs/src/driver/CMakeLists.txt
+0
-12
TorcsEMAMGenerator/src/main/resources/torcs/src/driver/src/main.cpp
...enerator/src/main/resources/torcs/src/driver/src/main.cpp
+0
-27
TorcsEMAMGenerator/src/main/resources/torcs/src/driver/src/torcsclient.cpp
...r/src/main/resources/torcs/src/driver/src/torcsclient.cpp
+0
-59
TorcsEMAMGenerator/src/main/resources/torcs/src/driver/src/torcsclient.h
...tor/src/main/resources/torcs/src/driver/src/torcsclient.h
+0
-74
No files found.
TorcsEMAMGenerator/src/main/resources/scripts/run_all.sh
View file @
65a5dcc4
...
...
@@ -5,8 +5,6 @@ xterm -T ROSCORE -e roscore &
echo
"Waiting for ROSCORE to start..."
sleep
2
#xterm -T TORCSDriver -e torcs/src/driver/build/driver &
xterm
-T
TORCSCamera
-e
torcs/src/camera/build/camera &
xterm
-T
Mastercomponent
-e
Mastercomponent/build/coordinator/Coordinator_dp_mastercomponent &
TorcsEMAMGenerator/src/main/resources/torcs/build.sh
View file @
65a5dcc4
#!/bin/bash
#source devel/setup.bash#
#catkin_make
cd
src
cd
camera
...
...
@@ -11,11 +8,3 @@ cd build
cmake ..
make
-j
cd
../..
#cd driver
#mkdir -p build
#cd build
#cmake ..
#make -j
#cd ../..
TorcsEMAMGenerator/src/main/resources/torcs/src/camera/src/main.cpp
View file @
65a5dcc4
...
...
@@ -49,10 +49,10 @@ int main(int argc, char **argv)
cv
::
cvtColor
(
flippedImage
,
rgbImage
,
cv
::
COLOR_RGB2BGR
);
//Code for debugging: displays screenshot in a window and waits for a key stroke to close it and get new one
//
cv::namedWindow("Display Image 1", cv::WINDOW_AUTOSIZE );
// cv::imshow("Display Image 1", rgbI
mage);
//
cv::waitKey(0);
//
cv::destroyWindow("Display Image 1");
//
cv::namedWindow("Display Image 1", cv::WINDOW_AUTOSIZE );
//cv::imshow("Display Image 1", i
mage);
//
cv::waitKey(0);
//
cv::destroyWindow("Display Image 1");
std
::
vector
<
float
>
data
(
0
);
...
...
TorcsEMAMGenerator/src/main/resources/torcs/src/camera/src/torcsclient.cpp
View file @
65a5dcc4
...
...
@@ -35,7 +35,7 @@ TorcsClient::TorcsClient()
connected
=
true
;
//
std::cout << "Started shared memory at " << std::hex << shm << std::endl;
std
::
cout
<<
"Started shared memory at "
<<
std
::
hex
<<
shm
<<
std
::
endl
;
shared
=
(
struct
shared_use_st
*
)
shm
;
shared
->
written
=
0
;
// Equals 1 when screenshot data is written and can bea read
...
...
@@ -86,8 +86,7 @@ void TorcsClient::iterate(std::unique_ptr<DataContainer>& screenshot, float& spe
memcpy
(
screenshot
->
data
(),
shared
->
data
,
screenshot
->
size
());
speed
=
float
(
shared
->
speed
);
if
(
gotCommand
&&
shared
->
control
==
1
)
{
if
(
gotCommand
&&
shared
->
control
==
1
)
{
gotCommand
=
false
;
ROS_INFO
(
"Command acc: %f, brake: %f, steer: %f"
,
command
.
accelCmd
,
command
.
brakeCmd
,
command
.
steerCmd
);
shared
->
accelCmd
=
command
.
accelCmd
;
...
...
@@ -96,7 +95,12 @@ void TorcsClient::iterate(std::unique_ptr<DataContainer>& screenshot, float& spe
}
shared
->
written
=
0
;
shared
->
pause
=
0
;
break
;
}
else
{
if
(
shared
->
pause
!=
1
)
{
shared
->
pause
=
1
;
}
}
}
#pragma clang diagnostic pop
...
...
TorcsEMAMGenerator/src/main/resources/torcs/src/driver/CMakeLists.txt
deleted
100644 → 0
View file @
8a147557
cmake_minimum_required
(
VERSION 3.5
)
project
(
ROSDriver
)
set
(
CXX_STANDARD_REQUIRED 11
)
find_package
(
roscpp REQUIRED
)
find_package
(
std_msgs REQUIRED
)
add_executable
(
driver src/main.cpp src/torcsclient.cpp
)
set_property
(
TARGET driver PROPERTY CXX_STANDARD 14
)
target_link_libraries
(
driver
${
roscpp_LIBRARIES
}
${
std_msgs_LIBRARIES
}
)
target_include_directories
(
driver PUBLIC
${
CMAKE_CURRENT_SOURCE_DIR
}
${
roscpp_INCLUDE_DIRS
}
${
std_msgs_INCLUDE_DIRS
}
)
TorcsEMAMGenerator/src/main/resources/torcs/src/driver/src/main.cpp
deleted
100644 → 0
View file @
8a147557
#include "ros/ros.h"
#include "std_msgs/Float32MultiArray.h"
#include "torcsclient.h"
#include <memory>
std
::
unique_ptr
<
torcs
::
TorcsClient
>
client
;
void
chatterCallback
(
const
std_msgs
::
Float32MultiArray
::
ConstPtr
&
msg
)
{
ROS_INFO
(
"Received data"
);
client
->
sendCommand
(
torcs
::
Command
(
msg
->
data
[
0
],
msg
->
data
[
1
],
msg
->
data
[
2
]));
}
int
main
(
int
argc
,
char
**
argv
)
{
client
=
std
::
make_unique
<
torcs
::
TorcsClient
>
();
ros
::
init
(
argc
,
argv
,
"driver"
);
ros
::
NodeHandle
n
;
ros
::
Subscriber
sub
=
n
.
subscribe
(
"/commands"
,
1
,
chatterCallback
);
ros
::
spin
();
return
0
;
}
TorcsEMAMGenerator/src/main/resources/torcs/src/driver/src/torcsclient.cpp
deleted
100644 → 0
View file @
8a147557
#include "torcsclient.h"
#include <iostream>
#include <chrono>
#include <thread>
#include <cstring>
#include <sys/shm.h>
#include <assert.h>
#include <ros/console.h>
using
namespace
torcs
;
TorcsClient
::
TorcsClient
()
{
std
::
cout
<<
"TORCS Client!"
<<
std
::
endl
;
void
*
shm
=
NULL
;
int
shmid
;
shmid
=
shmget
((
key_t
)
4567
,
sizeof
(
struct
shared_use_st
),
0666
);
if
(
shmid
<
0
)
{
//std::cerr << "Failed to get shared memory!" << std::endl;
ROS_ERROR
(
"Failed to get shared memory!"
);
return
;
}
shm
=
shmat
(
shmid
,
0
,
0
);
if
(
shm
==
(
void
*
)
-
1
)
{
ROS_ERROR
(
"Failed to shmat()!"
);
//std::cerr << "Failed to shmat()!" << std::endl;
return
;
}
connected
=
true
;
//std::cout << "Started shared memory at " << std::hex << shm << std::endl;
shared
=
(
struct
shared_use_st
*
)
shm
;
}
void
TorcsClient
::
sendCommand
(
Command
cmd
)
{
assert
(
connected
);
while
(
shared
->
written
==
1
)
{
std
::
this_thread
::
sleep_for
(
std
::
chrono
::
milliseconds
(
100
));
}
ROS_INFO
(
"Command acc: %f, brake: %f, steer: %f"
,
cmd
.
accelCmd
,
cmd
.
brakeCmd
,
cmd
.
steerCmd
);
shared
->
accelCmd
=
cmd
.
accelCmd
;
shared
->
steerCmd
=
cmd
.
steerCmd
;
shared
->
brakeCmd
=
cmd
.
brakeCmd
;
shared
->
control
=
1
;
shared
->
written
=
1
;
}
TorcsEMAMGenerator/src/main/resources/torcs/src/driver/src/torcsclient.h
deleted
100644 → 0
View file @
8a147557
#pragma once
#include <cstdint>
#include <array>
#include <memory>
namespace
torcs
{
constexpr
auto
IMAGE_WIDTH
=
640
;
constexpr
auto
IMAGE_HEIGHT
=
480
;
constexpr
auto
IMAGE_CHANNELS
=
3
;
constexpr
auto
IMAGE_SIZE_BYTES
=
IMAGE_WIDTH
*
IMAGE_HEIGHT
*
IMAGE_CHANNELS
;
struct
shared_use_st
{
int
written
=
0
;
//a label, if 1: available to read, if 0: available to write
uint8_t
data
[
IMAGE_SIZE_BYTES
];
// image data field
int
control
=
0
;
int
pause
=
0
;
double
fast
=
0.0
;
double
dist_L
=
0.0
;
double
dist_R
=
0.0
;
double
toMarking_L
=
0.0
;
double
toMarking_M
=
0.0
;
double
toMarking_R
=
0.0
;
double
dist_LL
=
0.0
;
double
dist_MM
=
0.0
;
double
dist_RR
=
0.0
;
double
toMarking_LL
=
0.0
;
double
toMarking_ML
=
0.0
;
double
toMarking_MR
=
0.0
;
double
toMarking_RR
=
0.0
;
double
toMiddle
=
0.0
;
double
angle
=
0.0
;
double
speed
=
0.0
;
double
steerCmd
=
0.0
;
double
accelCmd
=
0.0
;
double
brakeCmd
=
0.0
;
};
struct
Command
{
Command
(
float
accel
,
float
steer
,
float
brakec
)
:
accelCmd
(
accel
),
steerCmd
(
steer
),
brakeCmd
(
brakec
)
{
}
float
accelCmd
;
float
steerCmd
;
float
brakeCmd
;
};
using
DataContainer
=
std
::
array
<
uint8_t
,
IMAGE_SIZE_BYTES
>
;
class
TorcsClient
{
public:
TorcsClient
();
void
sendCommand
(
Command
cmd
);
private:
struct
shared_use_st
*
shared
;
bool
connected
=
false
;
};
}
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