Running the simulator

Yes, you should see the lights in the image on the top left.
I have attached an image below with the green lights on.

From memory the simulation has not been tested on a Mac.
It would probably help if you can attach an image of what the simulation screen looks like on your machine.

As a temporary measure you can get the code to skip waiting for lights.
First open RaceCodeFunctions.py and look for this line:

        ImageProcessor.SetImageMode(ImageProcessor.WAIT_FOR_LIGHTS)

and change it to .

        ImageProcessor.SetImageMode(ImageProcessor.FIRST_STRAIGHT)

Just remember to undo the change before uploading your code!

I'm having the same problems as topshed in that I'm getting the following exception:

Exception in thread "main-AWTAnimator#00" com.jogamp.opengl.util.AnimatorBase$UncaughtAnimatorException: java.lang.RuntimeException: com.jogamp.opengl.GLException: Caught GLException: Method "glActiveTexture" not available on thread AWT-EventQueue-0
at com.jogamp.opengl.util.AWTAnimatorImpl.display(AWTAnimatorImpl.java:92)
at com.jogamp.opengl.util.AnimatorBase.display(AnimatorBase.java:452)
at com.jogamp.opengl.util.Animator$MainLoop.run(Animator.java:204)
at java.lang.Thread.run(Unknown Source)


The trouble is, when I try and run GLView it crashes. Graphics drivers all seem up to date. Anybody got a good solution, or is running a VM the only way to go?

Hi,
I have worked for the past 3 monster borg series EVERYTIME on a Mac normally without any problems. But recently in the summer 2018 series my MacBook Pro needs a battery replacement.

They gave me an exchange device (a MacBook Pro Late 2011 with Java 1.8.0_181 and MacOs 10.12.6) and there I notice the same problem. Start light not there. But it seems to me that there are even more minor problems. So I could do only basic simulation testing.

On my Mac (MBP early 2013) I have used MacOS 10.12 and 10.13 versions without any problems and always with Java 1.8.0_xxx.

My nephew uses a Mac Mini (old but still current version, same MacOS and Java) and he has no problems too.

Thomas

I've tried 5 platforms (below) and none work. I've been at this for days. This is extremely frustrating.

Any other suggestions?

Hardware: Mid-2010 iMac 27", macOS 10.13 (High Sierra), ATI Radeon HD 5670 (OpenGL 4.1)

OSX El Capitan, macOS High Sierra, latest JDK

Guest OS
Windows 10, Java(TM) SE Runtime Environment (build 1.8.0_191-b12), DirectX 9.0c (June 2010), OpenGL 1.1

VirtualBox on El Capitan, VMWare Fusion 11 on High Sierra

Hardware: Lenovo ThinkPad X120e, Ubuntu 16.04, OpenGL 3.1

Right pane renders, left pane all white. Errors generally complain about OpenGL / jogl support, either stating the version is too low, or possibly saying some function name is unavailable. High Sierra didn't have any errors at all, it just didn't render the left pane.

Ran it from the repo folder.

I'll go through it again this weekend and report the specific errors. No errors on High Sierra is odd. VMWare Fusion 11 said my iMac is too old for its 3D support and I can't find a Fusion 10 distro. It sounds like VBox simply won't support this due to demands (or lack there of) from their user base. I found a forum comment on JOGL (Linux) suggesting a known problem with a fix in a patch but I don't know when the next version (2.3.3) will be released and I *really* don't want to get in to building a custom library to pull in the patch.

6th time is a charm. I dug up an old Intel NUC out of the basement and installed Win10.

I have lights, I have action, and a prompt crash on the Pi - my car drives straight through the wall at the first turn.

The Pi gets the light changes, but maybe doesn't get any frames once the race starts?

SimulationFull.py:

pi@tart:~/formulapi $ ./SimulationFull.py
Libraries loaded
Running script in directory "."
Error reading team colour
Colour: 1.00, 1.00, 1.00
>>> LED: 1.0 1.0 1.0
Image processor and Race Code Functions loaded
=== NEW SETTINGS ===

[Image setup]
Camera 160 x 120 at 30 fps
X cropped from 0 to 160
Y cropped from 60 to 120
Image processing threads: 4

[Startup]
Initial mode: 1

[Y scan lines]
60 (0)
63 (3)
66 (6)
69 (9)
72 (12)
75 (15)
78 (18)
81 (21)
84 (24)
87 (27)
90 (30)
93 (33)
96 (36)
99 (39)
102 (42)
105 (45)
108 (48)
111 (51)
114 (54)
117 (57)

[Colour identification]
Black limit: 90 100 50
Green gain: 1.10
Blue gain: 1.45
Target level for auto-gain: 200
Erosion factor for colour channels: 2
Final colour minimums: 1 1 1

[Line correction]
Colour edge gap: 32 pixels
Lane gap: 100 pixels
Offset Y calculation target 0: (15)
Corrective gain for derivative: 4.600

[Start marker detection]
Levels: Min Red = 45, Max Green = 60, Max Blue = 60
Start minimum match ratio: 90.0 %
Start crossed delay 0.10 s (3 frames)
Start re-detection delay: 10.0 s
Start detection zone X limits: 64 to 96
Start detection zone Y position: 40
[PID values]
P0: 0.100000 I0:0.000000 D0: 0.100000
P1: 0.055000 I1:0.000000 D1: 0.055000
P2: 0.000000 I2:0.000000 D2: 0.000000

[FIR filter]
Taps: 3

[Drive settings]
Maximum output: 100.0 %
Steering -200.0 % to +200.0 % (central +0.0 %)
Missing frames before stopping: 15

[Override settings]
Stuck detection threshold: 2.00
Stuck detection time: 1.00 s (30 frames)
Stuck reversing time: 0.70 s (21 frames)
Stuck hunting time: 0.40 s (12 frames)
Stuck colour detection at 80 x 48
Wrong way detection threshold: 10
Wrong way spin time: 0.80 s (24 frames)
Robot in front detection threshold: 36
Overtaking lane shift: 1.00
Overtaking time: 3.00 s (90 frames)

====================

Setup stream processor threads
06:57:06.792598 Processor thread 1 started with idle time of 0.27s

06:57:06.794833 Processor thread 2 started with idle time of 0.27s

06:57:06.796997 Processor thread 3 started with idle time of 0.27s

06:57:06.799387 Processor thread 4 started with idle time of 0.27s

Setup control loop
06:57:06.820124 Control loop thread started with idle time of 0.07s

Start Race.py
Start simulation capture thread
Press CTRL+C to quit
./SimulationFull.py:253: FutureWarning: comparison to `None` will result in an elementwise object comparison in the future.
if frame == None:
/home/pi/formulapi/ImageProcessor.py:800: RuntimeWarning: divide by zero encountered in divide
adjustment = 255.0 / maximum
/home/pi/formulapi/ImageProcessor.py:874: RuntimeWarning: divide by zero encountered in divide
autoGainR = Settings.targetLevel / rAll.max()
/home/pi/formulapi/ImageProcessor.py:875: RuntimeWarning: divide by zero encountered in divide
autoGainG = Settings.targetLevel / gAll.max()
/home/pi/formulapi/ImageProcessor.py:876: RuntimeWarning: divide by zero encountered in divide
autoGainB = Settings.targetLevel / bAll.max()
/home/pi/formulapi/ImageProcessor.py:878: RuntimeWarning: invalid value encountered in multiply
red = (red - dropR) * Settings.redGain * autoGainR
/home/pi/formulapi/ImageProcessor.py:879: RuntimeWarning: invalid value encountered in multiply
green = (green - dropG) * Settings.greenGain * autoGainG
/home/pi/formulapi/ImageProcessor.py:880: RuntimeWarning: invalid value encountered in multiply
blue = (blue - dropB) * Settings.blueGain * autoGainB
06:57:07.445893 StartDetailedLoging()

06:57:07.468794 StartUserLog()

06:57:07.487113 WaitForGo()

22.1 FPS
30.0 FPS
31.0 FPS
29.3 FPS
31.0 FPS
30.4 FPS
30.4 FPS
31.4 FPS
29.6 FPS
30.0 FPS
30.0 FPS
30.8 FPS
30.9 FPS
29.4 FPS
29.7 FPS
31.0 FPS
30.7 FPS
30.9 FPS
29.2 FPS
30.9 FPS
29.4 FPS
30.8 FPS
30.2 FPS
30.5 FPS
30.1 FPS
29.8 FPS
31.1 FPS
29.9 FPS
30.3 FPS
31.6 FPS
29.3 FPS
06:57:38.334440 Lights: 1 - Green

31.0 FPS
29.2 FPS
06:57:40.266100 Lights: 2 - Red

32.2 FPS
29.5 FPS
06:57:41.924138 Lights: 3 - Green

06:57:41.954405 Lights: GO

06:57:42.057935 WaitForWaypoint(2)

06:57:42.069890 WaitForDistance(3.470)

06:57:42.118356 LapCount()

06:57:42.149509 GetDistance()

06:57:42.161210 GetDistance()

06:57:42.432389 LapCount()

30.7 FPS
06:57:42.475629 GetDistance()

./SimulationFull.py:340: FutureWarning: comparison to `None` will result in an elementwise object comparison in the future.
if Globals.displayFrame != None:

(Processed:25916): Gtk-WARNING **: cannot open display:
Segmentation fault
pi@tart:~/formulapi $

Finally got it all working.

Thanks for the help.