Support multiple torcs processes

autostart.sh

@@ -1,12 +1,20 @@
 #!/bin/bash
-xte 'key Return'
-xte 'usleep 100000'
-xte 'key Return'
-xte 'usleep 100000'
-xte 'key Up'
-xte 'usleep 100000'
-xte 'key Up'
-xte 'usleep 100000'
-xte 'key Return'
-xte 'usleep 100000'
-xte 'key Return'
+
+set -eu
+
+window=`xdotool search --name $1 | head -n 1`
+
+xdotool key --window $window Return
+sleep 0.1
+xdotool key --window $window Return
+sleep 0.1
+xdotool key --window $window Up
+sleep 0.1
+xdotool key --window $window Up
+sleep 0.1
+xdotool key --window $window Return
+sleep 0.1
+xdotool key --window $window Return
+# Uncomment for using vision as input
+# sleep 0.1
+# xdotool key --window $window F2

gym_torcs.py

@@ -7,7 +7,9 @@
 import copy
 import collections as col
 import os
+import subprocess
 import time
+import signal
 
 
 class TorcsEnv:
@@ -17,29 +19,38 @@ class TorcsEnv:
 
     initial_reset = True
 
+    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
+        window_title = str(self.port)
+        command = 'torcs -nofuel -nodamage -nolaptime -title {} -p {}'.format(window_title, self.port)
+        if self.vision is True:
+            command += ' -vision'
+        self.torcs_proc = subprocess.Popen([command], shell=True, preexec_fn=os.setsid)
+        time.sleep(0.5)
+        os.system('sh autostart.sh {}'.format(window_title))
+        time.sleep(0.5)
 
-    def __init__(self, vision=False, throttle=False, gear_change=False):
+    def __init__(self, vision=False, throttle=False, gear_change=False, port=3101):
        #print("Init")
         self.vision = vision
         self.throttle = throttle
         self.gear_change = gear_change
+        self.port = port
+        self.torcs_proc = None
 
         self.initial_run = True
 
         ##print("launch torcs")
-        os.system('pkill torcs')
         time.sleep(0.5)
-        if self.vision is True:
-            os.system('torcs -nofuel -nodamage -nolaptime  -vision &')
-        else:
-            os.system('torcs  -nofuel -nodamage -nolaptime &')
-        time.sleep(0.5)
-        os.system('sh autostart.sh')
+        self.start_torcs_process()
         time.sleep(0.5)
 
         """
         # Modify here if you use multiple tracks in the environment
-        self.client = snakeoil3.Client(p=3101, vision=self.vision)  # Open new UDP in vtorcs
+        self.client = snakeoil3.Client(p=3101)  # Open new UDP in vtorcs
         self.client.MAX_STEPS = np.inf
 
         client = self.client
@@ -180,7 +191,7 @@ def reset(self, relaunch=False):
                 print("### TORCS is RELAUNCHED ###")
 
         # Modify here if you use multiple tracks in the environment
-        self.client = snakeoil3.Client(p=3101, vision=self.vision)  # Open new UDP in vtorcs
+        self.client = snakeoil3.Client(self.start_torcs_process, p=self.port)  # Open new UDP in vtorcs
         self.client.MAX_STEPS = np.inf
 
         client = self.client
@@ -195,21 +206,16 @@ def reset(self, relaunch=False):
         return self.get_obs()
 
     def end(self):
-        os.system('pkill torcs')
+        os.killpg(os.getpgid(self.torcs_proc.pid), signal.SIGKILL)
 
     def get_obs(self):
         return self.observation
 
     def reset_torcs(self):
        #print("relaunch torcs")
-        os.system('pkill torcs')
-        time.sleep(0.5)
-        if self.vision is True:
-            os.system('torcs -nofuel -nodamage -nolaptime -vision &')
-        else:
-            os.system('torcs -nofuel -nodamage -nolaptime &')
+        self.torcs_proc.terminate()
         time.sleep(0.5)
-        os.system('sh autostart.sh')
+        self.start_torcs_process()
         time.sleep(0.5)
 
     def agent_to_torcs(self, u):

snakeoil3_gym.py

@@ -116,7 +116,7 @@ def bargraph(x,mn,mx,w,c='X'):
     return '[%s]' % (nnc+npc+ppc+pnc)
 
 class Client():
-    def __init__(self,H=None,p=None,i=None,e=None,t=None,s=None,d=None,vision=False):
+    def __init__(self,relaunch_torcs,H=None,p=None,i=None,e=None,t=None,s=None,d=None,vision=False):
         # If you don't like the option defaults,  change them here.
         self.vision = vision
 
@@ -128,7 +128,7 @@ def __init__(self,H=None,p=None,i=None,e=None,t=None,s=None,d=None,vision=False)
         self.stage= 3 # 0=Warm-up, 1=Qualifying 2=Race, 3=unknown <Default=3>
         self.debug= False
         self.maxSteps= 100000  # 50steps/second
-        self.parse_the_command_line()
+        self.relaunch_torcs = relaunch_torcs
         if H: self.host= H
         if p: self.port= p
         if i: self.sid= i
@@ -171,16 +171,7 @@ def setup_connection(self):
                 print("Waiting for server on %d............" % self.port)
                 print("Count Down : " + str(n_fail))
                 if n_fail < 0:
-                    print("relaunch torcs")
-                    os.system('pkill torcs')
-                    time.sleep(1.0)
-                    if self.vision is False:
-                        os.system('torcs -nofuel -nodamage -nolaptime &')
-                    else:
-                        os.system('torcs -nofuel -nodamage -nolaptime -vision &')
-
-                    time.sleep(1.0)
-                    os.system('sh autostart.sh')
+                    self.relaunch_torcs()
                     n_fail = 5
                 n_fail -= 1