TORCS client without delay

EMADL2TORCS/resources/TORCSComponent/src/TORCSComponent/src/torcsclient.cpp

@@ -171,35 +171,42 @@ void TorcsClient::iterate()
 #pragma clang diagnostic push
 #pragma clang diagnostic ignored "-Wmissing-noreturn"
     bool firstRun = true;
-    shared->written = 0;
-    shared->pause = 1;
-    shared->control = 1;
+    bool firstShot = true;
+    bool readyForNewShot = true;
     while (true) {
-        while(shared->written == 0) {
+        if (firstRun) {
+            firstRun = false;
+            shared->written = 0;
             shared->pause = 1;
-            using namespace std::chrono_literals;
-            std::this_thread::sleep_for(1ms);
+            shared->control = 1;
         }
-        
-        auto screenshot = std::make_shared<DataContainer>();
-        memcpy(screenshot->data(), shared->data, screenshot->size());
-        shared->written = 0;
-        Affordance affordance;
-        affordance.populate(*shared); // ground truth affordance
-        publishCallback(screenshot, affordance);
-
-        if (shared->control == 1) {
-            shared->pause = 1;
-            while(!gotCommand) {
-                using namespace std::chrono_literals;
-                std::this_thread::sleep_for(5ms);
+        if (shared->written == 1) { // the new image data is ready to be read
+            if (!readyForNewShot)
+            {
+                shared->written = 0;
+            }
+            else
+            {
+                readyForNewShot = false;
+                auto screenshot = std::make_shared<DataContainer>();
+                memcpy(screenshot->data(), shared->data, screenshot->size());
+                shared->written = 0;
+                Affordance affordance;
+                affordance.populate(*shared); // ground truth affordance
+                publishCallback(screenshot, affordance);
+                firstShot = false;
             }
+        }
+        if (gotCommand)
+        {
             gotCommand = false;
+            readyForNewShot = true;
+            //shared->pause = 0;
+            //shared->control = 1;
             shared->accelCmd = command.accelCmd;
             shared->steerCmd = command.steerCmd;
             shared->brakeCmd = command.brakeCmd;
         }
-        shared->pause = 0;
     }
 #pragma clang diagnostic pop
 }