Replace subprocess.run(capture_output=True) with Popen + line-by-line
iteration so every line from multitrack_runner.py appears in the nohup
log immediately rather than only after the trial completes (~35-90 min).
- stdout/stderr merged via stderr=STDOUT
- line-buffered (bufsize=1)
- deadline-based timeout replaces subprocess timeout kwarg
- output accumulated in list for parse_runner_output() as before
Agent: pi
Tests: 30 passed
Tests-Added: 0
TypeScript: N/A
Warren track surface is green carpet (not outdoor road), and the
episode-done condition (|CTE| > max_cte) does not fire when the car
crosses the INSIDE boundary. Car can drive off-track and bump into
chairs indefinitely, making scores meaningless as a test metric.
Changes:
- multitrack_runner.py: TEST_TRACKS now mini_monaco only
- wave3_controller.py: drop warren_reward from parse/save/champion paths
- tests/test_wave3.py: update assertions to match single test track
- All 83 tests pass
Track classification (final):
TRAIN : generated_road, generated_track, mountain_track
TEST : mini_monaco (outdoor, proper road, correct done condition)
SKIP : warren, warehouse, robo_racing_league, waveshare, circuit_launch
SKIP : avc_sparkfun (orange markings)
ADR-010 to be updated.
Agent: pi
Tests: 83 passed
Tests-Added: 0
TypeScript: N/A
Bug: send_exit_scene_raw() opened a NEW TCP connection, creating a second
phantom vehicle. The sim sent exit_scene to the phantom, leaving the real
training connection stuck on generated_road for the entire run.
Fix: _send_exit_scene() now calls env.unwrapped.viewer.exit_scene() on the
EXISTING TCP connection that the training env already holds. This is the
only reliable way to switch scenes mid-session (matches track_switcher.py).
Also:
- Removed send_exit_scene_raw() import from multitrack_runner.py
- Simplified initial connection (no spurious exit_scene at startup)
- Reduced search space: total_timesteps 80k-400k -> 30k-150k
- Reduced seed params: 150k/300k -> 45k/90k (~35-45 min per trial)
- Added test: test_close_and_switch_uses_viewer_not_raw_socket
83 tests passing
Agent: pi
Tests: 83 passed
Tests-Added: 1
TypeScript: N/A
Paul Huliganga