Controlling TORCS car via messages received from the mastercomponent

TorcsEMAMGenerator/src/main/resources/torcs/src/camera/src/torcsclient.cpp

@@ -81,54 +81,3 @@ std::unique_ptr<DataContainer> TorcsClient::getScreenshot()
     return result;
 }
 
-void TorcsClient::sendCommand(Command cmd)
-{
-    assert(connected);
-
-    while (shared->control == 0) {
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    }
-
-    shared->accelCmd = cmd.accelCmd;
-    shared->steerCmd = cmd.steerCmd;
-    shared->brakeCmd = cmd.brakeCmd;
-
-    shared->control = 0;
-    //shared->accelCmd = 10.0;
-    //shared->steerCmd = 1.0;
-}
-
-/*void writeScreenshot(shared_use_st* shared, unsigned int& num)
-{
-    std::cout << "Read image." << std::endl;
-
-    FIBITMAP* newShot = FreeImage_Allocate(IMAGE_WIDTH, IMAGE_HEIGHT, 24);
-    if (!newShot)
-    {
-        std::cerr << "Failed to allocate freeimage file." << std::endl;
-        FreeImage_Unload(newShot);
-        return;
-    }
-
-    BYTE *bits = (BYTE*)FreeImage_GetBits(newShot);
-
-    for (int h = 0; h < IMAGE_HEIGHT; h++) {
-        BYTE *pixel = (BYTE*)bits;
-
-        for (int w = 0; w < IMAGE_WIDTH; w++) {
-            pixel[FI_RGBA_RED] = shared->data[((h)*IMAGE_WIDTH+w)*3+0];
-            pixel[FI_RGBA_GREEN] = shared->data[((h)*IMAGE_WIDTH+w)*3+1];
-            pixel[FI_RGBA_BLUE] = shared->data[((h)*IMAGE_WIDTH+w)*3+2];
-            pixel += 3;
-        }
-        bits += 3*IMAGE_WIDTH;
-    }
-
-    FreeImage_Save(FIF_BMP, newShot, (std::string("shot-")+std::to_string(num)).c_str());
-    FreeImage_Unload(newShot);
-
-    shared->control = 0;
-    shared->written = 0;
-    std::this_thread::sleep_for(std::chrono::seconds(2));std::cout << "Read image." << std::endl;
-}*/
-

TorcsEMAMGenerator/src/main/resources/torcs/src/camera/src/torcsclient.h

@@ -7,8 +7,8 @@
 namespace torcs
 {
 
-constexpr auto IMAGE_WIDTH = 280;
-constexpr auto IMAGE_HEIGHT = 210;
+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;
 
@@ -63,7 +63,6 @@ class TorcsClient
 {
 public:
     TorcsClient();
-    std::unique_ptr<DataContainer> getScreenshot();
     void sendCommand(Command cmd);
 
 private:

TorcsEMAMGenerator/src/main/resources/torcs/src/driver/src/torcsclient.cpp

@@ -65,27 +65,11 @@ TorcsClient::TorcsClient()
     shared->brakeCmd = 0.0;
 }
 
-std::unique_ptr<DataContainer> TorcsClient::getScreenshot()
-{
-    assert(connected);
-
-    while(shared->written == 0)
-    {
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    }
-
-    auto result = std::make_unique<DataContainer>();
-    memcpy(result->data(), shared->data, result->size());
-    shared->written = 0;
-
-    return result;
-}
-
 void TorcsClient::sendCommand(Command cmd)
 {
     assert(connected);
 
-    while (shared->control == 0) {
+    while (shared->control == 1) {
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
 
@@ -94,41 +78,5 @@ void TorcsClient::sendCommand(Command cmd)
     shared->brakeCmd = cmd.brakeCmd;
 
     shared->control = 0;
-    //shared->accelCmd = 10.0;
-    //shared->steerCmd = 1.0;
 }
 
-/*void writeScreenshot(shared_use_st* shared, unsigned int& num)
-{
-    std::cout << "Read image." << std::endl;
-
-    FIBITMAP* newShot = FreeImage_Allocate(IMAGE_WIDTH, IMAGE_HEIGHT, 24);
-    if (!newShot)
-    {
-        std::cerr << "Failed to allocate freeimage file." << std::endl;
-        FreeImage_Unload(newShot);
-        return;
-    }
-
-    BYTE *bits = (BYTE*)FreeImage_GetBits(newShot);
-
-    for (int h = 0; h < IMAGE_HEIGHT; h++) {
-        BYTE *pixel = (BYTE*)bits;
-
-        for (int w = 0; w < IMAGE_WIDTH; w++) {
-            pixel[FI_RGBA_RED] = shared->data[((h)*IMAGE_WIDTH+w)*3+0];
-            pixel[FI_RGBA_GREEN] = shared->data[((h)*IMAGE_WIDTH+w)*3+1];
-            pixel[FI_RGBA_BLUE] = shared->data[((h)*IMAGE_WIDTH+w)*3+2];
-            pixel += 3;
-        }
-        bits += 3*IMAGE_WIDTH;
-    }
-
-    FreeImage_Save(FIF_BMP, newShot, (std::string("shot-")+std::to_string(num)).c_str());
-    FreeImage_Unload(newShot);
-
-    shared->control = 0;
-    shared->written = 0;
-    std::this_thread::sleep_for(std::chrono::seconds(2));std::cout << "Read image." << std::endl;
-}*/
-

TorcsEMAMGenerator/src/main/resources/torcs/src/driver/src/torcsclient.h

@@ -7,8 +7,8 @@
 namespace torcs
 {
 
-constexpr auto IMAGE_WIDTH = 280;
-constexpr auto IMAGE_HEIGHT = 210;
+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;
 
@@ -63,7 +63,6 @@ class TorcsClient
 {
 public:
     TorcsClient();
-    std::unique_ptr<DataContainer> getScreenshot();
     void sendCommand(Command cmd);
 
 private:

assemble.sh

-#!bin/bash
-