/*
* Function
* main
*
* Description
* LINUX entry point of TORCS
*
* Parameters
*
*
* Return
*
*
* Remarks
*
*/
int
main(int argc, char *argv[])
{
init_args(argc, argv);
/*** kswe ***/
signal(SIGTERM, signal_handler);
signal(SIGINT, signal_handler);
user_input = (float*)init_shared_mem(&shmid_input, SHMEM, sizeof(float), size_user_input, shared_memory_input); // shm start (input)
torcs_output = (float*)init_shared_mem(&shmid_output, SHMEM2, sizeof(float), size_torcs_output, shared_memory_output);
for(int i = 0; i < size_user_input; i++)
user_input[i] = 0.0;
for(int i = 0; i < size_torcs_output; i++)
torcs_output[i] = 0.0;
user_input[STEER_MODE] = 1.0; // steering mode: lane keeping
/************/
LinuxSpecInit(); /* init specific linux functions */
GfScrInit(argc, argv); /* init screen */
TorcsEntry(); /* launch TORCS */
glutMainLoop(); /* event loop of glut */
return 0; /* just for the compiler, never reached */
}
int main(int argc, char **argv)
{
init_args(argc, argv);
glutInit(&argc, argv);
glutCreateWindow(argv[1]);
ssgInit();
#ifndef WIN32
LinuxSpecInit();
#else
WindowsSpecInit();
#endif
Generate();
return 0;
}
/*
* Function
* main
*
* Description
* LINUX entry point of TORCS
*
* Parameters
*
*
* Return
*
*
* Remarks
*
*/
int
main(int argc, char *argv[])
{
const char *raceconfig = "";
init_args(argc, argv, &raceconfig);
LinuxSpecInit(); /* init specific linux functions */
if(strlen(raceconfig) == 0) {
GfScrInit(argc, argv); /* init screen */
TorcsEntry(); /* launch TORCS */
glutMainLoop(); /* event loop of glut */
} else {
// Run race from console, no Window, no OpenGL/OpenAL etc.
// Thought for blind scripted AI training
ReRunRaceOnConsole(raceconfig);
}
return 0; /* just for the compiler, never reached */
}
int
main(int argc, char *argv[])
{
//////////////////////////////////////////// by Chenyi
struct shared_use_st *shared = NULL;
int shmid;
// establish memory sharing
shmid = shmget((key_t)4567, sizeof(struct shared_use_st), 0666|IPC_CREAT);
if(shmid == -1)
{
fprintf(stderr, "shmget failed\n");
exit(EXIT_FAILURE);
}
shm = shmat(shmid, 0, 0);
if(shm == (void*)-1)
{
fprintf(stderr, "shmat failed\n");
exit(EXIT_FAILURE);
}
printf("\n********** Memory sharing started, attached at %X **********\n \n", shm);
// set up shared memory
shared = (struct shared_use_st*)shm;
shared->written = 0;
shared->control = 0;
shared->pause = 0;
shared->fast = 0.0;
shared->dist_L = 0.0;
shared->dist_R = 0.0;
shared->toMarking_L = 0.0;
shared->toMarking_M = 0.0;
shared->toMarking_R = 0.0;
shared->dist_LL = 0.0;
shared->dist_MM = 0.0;
shared->dist_RR = 0.0;
shared->toMarking_LL = 0.0;
shared->toMarking_ML = 0.0;
shared->toMarking_MR = 0.0;
shared->toMarking_RR = 0.0;
shared->toMiddle = 0.0;
shared->angle = 0.0;
shared->speed = 0.0;
shared->steerCmd = 0.0;
shared->accelCmd = 0.0;
shared->brakeCmd = 0.0;
pwritten=&shared->written;
pdata=shared->data;
pcontrol=&shared->control;
ppause=&shared->pause;
psteerCmd_ghost=&shared->steerCmd;
paccelCmd_ghost=&shared->accelCmd;
pbrakeCmd_ghost=&shared->brakeCmd;
pspeed_ghost=&shared->speed;
ptoMiddle_ghost=&shared->toMiddle;
pangle_ghost=&shared->angle;
pfast_ghost=&shared->fast;
pdist_L_ghost=&shared->dist_L;
pdist_R_ghost=&shared->dist_R;
ptoMarking_L_ghost=&shared->toMarking_L;
ptoMarking_M_ghost=&shared->toMarking_M;
ptoMarking_R_ghost=&shared->toMarking_R;
pdist_LL_ghost=&shared->dist_LL;
pdist_MM_ghost=&shared->dist_MM;
pdist_RR_ghost=&shared->dist_RR;
ptoMarking_LL_ghost=&shared->toMarking_LL;
ptoMarking_ML_ghost=&shared->toMarking_ML;
ptoMarking_MR_ghost=&shared->toMarking_MR;
ptoMarking_RR_ghost=&shared->toMarking_RR;
/////////////////////////////////////////// by Chenyi
const char *raceconfig = "";
init_args(argc, argv, &raceconfig);
LinuxSpecInit(); /* init specific linux functions */
if(strlen(raceconfig) == 0) {
GfScrInit(argc, argv); /* init screen */
TorcsEntry(); /* launch TORCS */
glutMainLoop(); /* event loop of glut */
} else {
// Run race from console, no Window, no OpenGL/OpenAL etc.
// Thought for blind scripted AI training
ReRunRaceOnConsole(raceconfig);
}
return 0; /* just for the compiler, never reached */
}
