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araffin / learning-to-drive-in-5-minutes

Implementation of reinforcement learning approach to make a car learn to drive smoothly in minutes
https://towardsdatascience.com/learning-to-drive-smoothly-in-minutes-450a7cdb35f4
MIT License
284 stars 88 forks source link

Cannot control car in Teleoperation mode #16

Closed srs3 closed 4 years ago

srs3 commented 4 years ago

Hi,

I am attempting to train the VAE. However, I cannot control the car in teleoperation mode, it remains still at the start line. Examining the images captured, they are all the same. When I exit the simulation and force quit the application from running in my terminal, I get a message that says "the current event queue and the main event queue are not the same".

Log:

(base) Surajs-MacBook-Pro:DDPGDonkey suraj$ python -m teleop.teleop_client --record-folder /logs/ddpg 
pygame 1.9.6
Hello from the pygame community. https://www.pygame.org/contribute.html
Starting DonkeyGym env
Donkey subprocess started
Binding to ('0.0.0.0', 9091)
Waiting for sim to start...if the simulation is running, press EXIT to go back to the menu
2019-07-28 11:08:19.114 donkey_sim[5468:423087] Could not find image named 'ScreenSelector'.
Waiting for sim to start...if the simulation is running, press EXIT to go back to the menu
Waiting for sim to start...if the simulation is running, press EXIT to go back to the menu
2019-07-28 11:08:25.212 donkey_sim[5468:423087] S22D300 preferred device: AMD Radeon Pro 560 (high power)
2019-07-28 11:08:25.212 donkey_sim[5468:423087] Metal devices available: 2
2019-07-28 11:08:25.213 donkey_sim[5468:423087] 0: AMD Radeon Pro 560 (high power)
2019-07-28 11:08:25.213 donkey_sim[5468:423087] 1: Intel(R) HD Graphics 630 (low power)
2019-07-28 11:08:25.213 donkey_sim[5468:423087] Using device AMD Radeon Pro 560 (high power)
Waiting for sim to start...if the simulation is running, press EXIT to go back to the menu
Got a new client ('127.0.0.1', 51347)
Scene Selection Ready
Connection dropped
Got a new client ('127.0.0.1', 51348)
Recorder current idx: 0
2019-07-28 11:08:31.487 python[5462:423543] WARNING: nextEventMatchingMask should only be called from the Main Thread! This will throw an exception in the future.
2019-07-28 11:08:31.531 python[5462:423543] WARNING: NSWindow drag regions should only be invalidated on the Main Thread! This will throw an exception in the future. Called from (
    0   AppKit                              0x00007fff2bfda607 -[NSWindow(NSWindow_Theme) _postWindowNeedsToResetDragMarginsUnlessPostingDisabled] + 378
    1   AppKit                              0x00007fff2bfd79f7 -[NSWindow _initContent:styleMask:backing:defer:contentView:] + 1479
    2   AppKit                              0x00007fff2bfd742a -[NSWindow initWithContentRect:styleMask:backing:defer:] + 45
    3   libSDL-1.2.0.dylib                  0x000000011a277611 -[SDL_QuartzWindow initWithContentRect:styleMask:backing:defer:] + 276
    4   libSDL-1.2.0.dylib                  0x000000011a274fcd QZ_SetVideoMode + 1150
    5   libSDL-1.2.0.dylib                  0x000000011a26c50e SDL_SetVideoMode + 911
    6   display.cpython-37m-darwin.so       0x000000011a31099c pg_set_mode + 348
    7   python                              0x000000010ba3a1b8 _PyMethodDef_RawFastCallKeywords + 392
    8   python                              0x000000010bb76e42 call_function + 306
    9   python                              0x000000010bb74aec _PyEval_EvalFrameDefault + 46092
    10  python                              0x000000010ba398d5 function_code_fastcall + 117
    11  python                              0x000000010ba3cce2 method_call + 130
    12  python                              0x000000010ba3a752 PyObject_Call + 130
    13  python                              0x000000010bb74d58 _PyEval_EvalFrameDefault + 46712
    14  python                              0x000000010ba398d5 function_code_fastcall + 117
    15  python                              0x000000010bb76dc7 call_function + 183
    16  python                              0x000000010bb74a56 _PyEval_EvalFrameDefault + 45942
    17  python                              0x000000010ba398d5 function_code_fastcall + 117
    18  python                              0x000000010bb76dc7 call_function + 183
    19  python                              0x000000010bb74a56 _PyEval_EvalFrameDefault + 45942
    20  python                              0x000000010ba398d5 function_code_fastcall + 117
    21  python                              0x000000010ba3cce2 method_call + 130
    22  python                              0x000000010ba3a752 PyObject_Call + 130
    23  python                              0x000000010bc588cb t_bootstrap + 123
    24  python                              0x000000010bbdf707 pythread_wrapper + 39
    25  libsystem_pthread.dylib             0x00007fff5aaad2eb _pthread_body + 126
    26  libsystem_pthread.dylib             0x00007fff5aab0249 _pthread_start + 66
    27  libsystem_pthread.dylib             0x00007fff5aaac40d thread_start + 13
)
^CConnection dropped
^CTraceback (most recent call last):
  File "//anaconda3/lib/python3.7/runpy.py", line 193, in _run_module_as_main
    "__main__", mod_spec)
  File "//anaconda3/lib/python3.7/runpy.py", line 85, in _run_code
    exec(code, run_globals)
  File "/DDPGDonkey/teleop/teleop_client.py", line 481, in <module>
    env.exit()
  File "/DDPGDonkey/teleop/teleop_client.py", line 191, in exit
    self.env.reset()
  File "DDPGDonkey/teleop/recorder.py", line 36, in reset
    obs = self.env.reset()
  File "DDPGDonkey/donkey_gym/envs/vae_env.py", line 208, in reset
    observation, reward, done, info = self.observe()
  File "DDPGDonkey/donkey_gym/envs/vae_env.py", line 234, in observe
    observation, reward, done, info = self.viewer.observe()
  File "DDPGDonkey/donkey_gym/envs/donkey_sim.py", line 74, in observe
    return self.handler.observe()
  File "DDPGDonkey/donkey_gym/envs/donkey_sim.py", line 201, in observe
    time.sleep(1.0 / 120.0)
KeyboardInterrupt
2019-07-28 11:12:54.344 python[5462:422958] !!! BUG: The current event queue and the main event queue are not the same. Events will not be handled correctly. This is probably because _TSGetMainThread was called for the first time off the main thread.
2019-07-28 11:12:54.348 python[5462:422958] pid(5462)/euid(501) is calling TIS/TSM in non-main thread environment, ERROR : This is NOT allowed. Please call TIS/TSM in main thread!!!

I also get a further message from the terminal:

2019-07-28 11:12:54.360 python[5462:422958] *** Assertion failure in void assertRunningOnAppKitThread(void)(), /BuildRoot/Library/Caches/com.apple.xbs/Sources/ViewBridge/ViewBridge-401.1/ViewBridgeUtilities.m:912
2019-07-28 11:12:54.361 python[5462:422958] *** Terminating app due to uncaught exception 'NSInternalInconsistencyException', reason: 'not running on AppKit (main) thread'
*** First throw call stack:
(
    0   CoreFoundation                      0x00007fff2ea1a2fd __exceptionPreprocess + 256
    1   libobjc.A.dylib                     0x00007fff590eba17 objc_exception_throw + 48
    2   CoreFoundation                      0x00007fff2ea35016 +[NSException raise:format:arguments:] + 98
    3   Foundation                          0x00007fff30d23135 -[NSAssertionHandler handleFailureInFunction:file:lineNumber:description:] + 166
    4   ViewBridge                          0x00007fff56415c37 __26+[NSRemoteView initialize]_block_invoke + 15
    5   libdispatch.dylib                   0x00007fff5a86b5f8 _dispatch_call_block_and_release + 12
    6   libdispatch.dylib                   0x00007fff5a86c63d _dispatch_client_callout + 8
    7   libdispatch.dylib                   0x00007fff5a87768d _dispatch_main_queue_callback_4CF + 1135
    8   CoreFoundation                      0x00007fff2e9642d7 __CFRUNLOOP_IS_SERVICING_THE_MAIN_DISPATCH_QUEUE__ + 9
    9   CoreFoundation                      0x00007fff2e963a01 __CFRunLoopRun + 2289
    10  CoreFoundation                      0x00007fff2e962ebe CFRunLoopRunSpecific + 455
    11  HIToolbox                           0x00007fff2dbc21ab RunCurrentEventLoopInMode + 292
    12  HIToolbox                           0x00007fff2dbc1ee5 ReceiveNextEventCommon + 603
    13  HIToolbox                           0x00007fff2dbc1c76 _BlockUntilNextEventMatchingListInModeWithFilter + 64
    14  AppKit                              0x00007fff2bf5a79d _DPSNextEvent + 1135
    15  AppKit                              0x00007fff2bf5948b -[NSApplication(NSEvent) _nextEventMatchingEventMask:untilDate:inMode:dequeue:] + 1361
    16  libSDL-1.2.0.dylib                  0x000000011a272ee8 QZ_PumpEvents + 231
    17  libSDL-1.2.0.dylib                  0x000000011a251dbb SDL_PumpEvents + 35
    18  libSDL-1.2.0.dylib                  0x000000011a251fa6 SDL_EventState + 211
    19  libSDL-1.2.0.dylib                  0x000000011a271878 SDL_JoystickEventState + 41
    20  joystick.cpython-37m-darwin.so      0x000000011a4c604b joy_autoquit + 75
    21  base.cpython-37m-darwin.so          0x000000011a242ee4 _pg_quit + 308
    22  base.cpython-37m-darwin.so          0x000000011a242989 pg_quit + 9
    23  python                              0x000000010ba391bc _PyMethodDef_RawFastCallDict + 140
    24  python                              0x000000010ba3a8fd PyCFunction_Call + 61
    25  python                              0x000000010bc50a4d atexit_callfuncs + 141
    26  python                              0x000000010bbbeef3 Py_FinalizeEx + 67
    27  python                              0x000000010bbf8314 pymain_main + 7060
    28  python                              0x000000010ba0c66d main + 125
    29  libdyld.dylib                       0x00007fff5a8b93d5 start + 1
)
libc++abi.dylib: terminating with uncaught exception of type NSException
Abort trap: 6
srs3 commented 4 years ago

It appears as though the issue is with pygame. Mac OS does not allow pygame to run on a separate thread, which is what the code in the teleop_client.py appears to do.

I am a little stuck on how to resolve this, any suggestion would be massively appreciated.

Thanks!

srs3 commented 4 years ago

My above suspicion was correct - temporarily resolved the issue by running the main_loop without assigning it to a thread.