y_nnn: debug pthread leak valgrind by adding pthread_t attibute in arg_bash to follow thread created

y_network_neural_network_/include/y_net_neur_net/y_nnn_screen_manager.h

@@ -53,6 +53,8 @@ struct arg_bash{
   int fd_current_bash_pid;
  
   pthread_t *thread_launch;
+  pthread_t *thread_run_newbash;
+  pthread_t *thread_run_waitbash;
 
   pthread_mutex_t *mut_bash_var;
   pthread_cond_t *cond_bash_var;

y_network_neural_network_/src/y_net_neur_net/y_nnn_manager.c

@@ -43,14 +43,17 @@ void y_nnn_manager_handle_input(char * buf, int len_buf, void *arg){
       kill_all_bash(bash_arg);
     }else if(strncmp(buf,"startprintnewbash",17)==0){
       run_newbash(bash_arg);
-      pthread_t thread_run;
+			bash_arg->thread_run_newbash=malloc(sizeof(pthread_t));
-      pthread_create(&thread_run, NULL, runBashPrint, arg);
+      pthread_create(bash_arg->thread_run_newbash, NULL, runBashPrint, arg);
+      //pthread_t thread_run;
+      //pthread_create(&thread_run, NULL, runBashPrint, arg);
       //Sleep(2);
       
     }else if(strncmp(buf,"startprintwaitbash",18)==0){
-      
+      bash_arg->thread_run_waitbash=malloc(sizeof(pthread_t));
-      pthread_t thread_run;
+      pthread_create(bash_arg->thread_run_waitbash, NULL, run_sleep_wait_bash_and_print, arg);
-      pthread_create(&thread_run, NULL, run_sleep_wait_bash_and_print, arg);
+      //pthread_t thread_run;
+      //pthread_create(&thread_run, NULL, run_sleep_wait_bash_and_print, arg);
 
     }else if(strncmp(buf,"stopprintbash",13)==0){
       pthread_mutex_lock(bash_arg->mut_bash_var);
@@ -106,11 +109,12 @@ void* runBashPrint(void *arg){
           pthread_mutex_lock(&(car->mut_coord));
           bash_print_vehicle_n_path(car, pprint->scale_x, pprint->scale_y,bash_arg);
           pthread_mutex_unlock(&(car->mut_coord));
+
           //pthread_mutex_unlock(&(pprint->mut_printed));
           ////printf("%s ",pprint->string_space);
           len_buf=sprintf(buf,"%s ",pprint->string_space);
           BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
-
+#if 0
           ////printf("ep: %ld ",qlStatus->index_episode);
           len_buf=sprintf(buf,"ep: %ld\n",qlStatus->index_episode);
           BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
@@ -142,13 +146,15 @@ void* runBashPrint(void *arg){
           ////printf("[%ld] %s ", rlAgent->car->status->cumulative_reward, pprint->string_space);
           len_buf=sprintf(buf,"[%ld] %s ", rlAgent->car->status->cumulative_reward, pprint->string_space);
           BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
-
+#endif
     }
           Sleep(pprint->delay->delay_between_games);
           ++count_print;
           if(count_print > 20){
             count_print = 0;
-            clear_screen();
+            ////clear_screen();
+						len_buf=sprintf(buf,"\e[2J\e[H");
+          	BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
           }
   }
   printf("debug: end runBashPrint\n");

y_network_neural_network_/src/y_net_neur_net/y_nnn_screen_manager.c

@@ -111,6 +111,9 @@ struct arg_bash *create_arg_bash(){
   b_arg->go_on=1;
   b_arg->thread_launch=NULL;
 
+	b_arg->thread_run_newbash=NULL;
+  b_arg->thread_run_waitbash=NULL;
+
   return b_arg;
 }
 
@@ -136,7 +139,21 @@ void free_arg_bash(struct arg_bash *arg){
     free(arg->thread_launch);
   }
 
+	if(arg->thread_launch){
+		pthread_join(*(arg->thread_launch),NULL);
+		free(arg->thread_launch);
+	}
+	if(arg->thread_run_newbash){
+		pthread_join(*(arg->thread_run_newbash),NULL);
+		free(arg->thread_run_newbash);
+	}
+	if(arg->thread_run_waitbash){
+		pthread_join(*(arg->thread_run_waitbash),NULL);
+		free(arg->thread_run_waitbash);
+	}
+
   free(arg);
+
 }
 
 int new_bash_exist(struct arg_bash *bash_arg){
@@ -151,27 +168,31 @@ void* run_newbash(void* argg){
 if(arg->new_bash_pid == arg->old_bash_pid){
   pid_t pid=fork();
   if(pid<0){
-    perror("fork");
+    ////perror("fork run_newbash");
+		fprintf(stderr, "fork run_newbash error\n");
   }
   else if(pid==0){/* child */
+    usleep(200000);
     char *cmdbash[]={"/usr/bin/gnome-terminal",NULL};
     execvp(cmdbash[0], cmdbash);
+		//printf("debug: new terminal created\n");
+    arg->new_bash_pid = pidof("bash",NULL);
   }else{
     wait(NULL);
 
-    usleep(20000);
+    //usleep(200000);
 
     pthread_mutex_lock(arg->mut_bash_var);
-    arg->new_bash_pid = pidof("bash",NULL);
-    arg->fd_new_bash_pid = open_duplicate_bash(arg->new_bash_pid);
     while(arg->new_bash_pid == arg->old_bash_pid)
     {
-      printf("debug: create new terminal: %d vs %d\n",arg->new_bash_pid,arg->old_bash_pid);
-      getchar();
     	arg->new_bash_pid = pidof("bash",NULL);
-      arg->fd_new_bash_pid = open_duplicate_bash(arg->new_bash_pid);
+      printf("debug: create new terminal: %d vs %d: forkpid=%d\n",arg->new_bash_pid,arg->old_bash_pid,pid);
-      //usleep(2000);
+      //getchar();
+      //arg->new_bash_pid = pidof("bash",NULL);
+      //arg->fd_new_bash_pid = open_duplicate_bash(arg->new_bash_pid);
+      usleep(2000000);
     }
+   	 	arg->fd_new_bash_pid = open_duplicate_bash(arg->new_bash_pid);
     
     pthread_mutex_unlock(arg->mut_bash_var);
     pthread_cond_signal(arg->cond_bash_var);
@@ -198,6 +219,22 @@ void kill_all_bash(struct arg_bash *arg){
     arg->fd_current_bash_pid=-1;
   }
   pthread_mutex_unlock(arg->mut_bash_var);
+	if(arg->thread_run_newbash){
+		pthread_join(*(arg->thread_run_newbash),NULL);
+		free(arg->thread_run_newbash);
+		arg->thread_run_newbash=NULL;
+	}
+	if(arg->thread_run_waitbash){
+		pthread_join(*(arg->thread_run_waitbash),NULL);
+		free(arg->thread_run_waitbash);
+		arg->thread_run_waitbash=NULL;
+	}
+	if(arg->thread_launch){
+		pthread_join(*(arg->thread_launch),NULL);
+		free(arg->thread_launch);
+		arg->thread_launch=NULL;
+	}
+
 }
 
 int check_go_on_bash(struct arg_bash *arg){
@@ -376,7 +413,10 @@ void bash_print_vehicle_n_path(struct vehicle *v, float scale_x, float scale_y,
     int i=0;
     for(i=0; i<w.ws_col+1; ++i) pad[i]=' ';
     pad[i]='\0';
-    for(i=0; i<w.ws_row / 2 ; ++i) printf("%s\n",pad);;
+    for(int j=0; j<w.ws_row / 2 ; ++j) {
+			////printf("%s\n",pad);
+			BASH_WRITE_IF_EXIST(bash_arg, pad, i);
+		}
 
   }
     //goto_xy(0,w.ws_row - lines);

y_network_neural_network_/test/is_good.c

@@ -302,57 +302,6 @@ TEST(first_learn_vehicle_50__9){
 
 
 
-/*
-
-  copy_coordinate(path->lower_bound_block[4], (float[]){0,0});
-  copy_coordinate(path->upper_bound_block[4], (float[]){150,250});
-  copy_coordinate(path->lower_bound_block[3], (float[]){150,40});
-  copy_coordinate(path->upper_bound_block[3], (float[]){250,150});
-  copy_coordinate(path->lower_bound_block[2], (float[]){250,80});
-  copy_coordinate(path->upper_bound_block[2], (float[]){360,200});
-  copy_coordinate(path->lower_bound_block[1], (float[]){360,70});
-  copy_coordinate(path->upper_bound_block[1], (float[]){600,150});
-  copy_coordinate(path->lower_bound_block[0], (float[]){600,90});
-  copy_coordinate(path->upper_bound_block[0], (float[]){760,300});
-  copy_coordinate(path->lower_bound_block[6], (float[]){260,300});
-  copy_coordinate(path->upper_bound_block[6], (float[]){760,360});
-  copy_coordinate(path->lower_bound_block[5], (float[]){0,250});
-  copy_coordinate(path->upper_bound_block[5], (float[]){410,300});
-
-
-  copy_coordinate(path->lower_bound_block[0], (float[]){0,0});
-  copy_coordinate(path->upper_bound_block[0], (float[]){100,250});
-  copy_coordinate(path->lower_bound_block[1], (float[]){100,0});
-  copy_coordinate(path->upper_bound_block[1], (float[]){250,80});
-  copy_coordinate(path->lower_bound_block[2], (float[]){250,0});
-  copy_coordinate(path->upper_bound_block[2], (float[]){360,140});
-  copy_coordinate(path->lower_bound_block[3], (float[]){360,70});
-  copy_coordinate(path->upper_bound_block[3], (float[]){600,140});
-  copy_coordinate(path->lower_bound_block[4], (float[]){600,90});
-  copy_coordinate(path->upper_bound_block[4], (float[]){720,300});
-  copy_coordinate(path->lower_bound_block[5], (float[]){300,300});
-  copy_coordinate(path->upper_bound_block[5], (float[]){720,350});
-  copy_coordinate(path->lower_bound_block[6], (float[]){0,250});
-  copy_coordinate(path->upper_bound_block[6], (float[]){410,300});
- 
-
-
-
-  copy_coordinate(path->lower_bound_block[0], (float[]){0,300});
-  copy_coordinate(path->upper_bound_block[0], (float[]){400,700});
-  copy_coordinate(path->lower_bound_block[1], (float[]){100,0});
-  copy_coordinate(path->upper_bound_block[1], (float[]){1000,300});
-  copy_coordinate(path->lower_bound_block[2], (float[]){1000,50});
-  copy_coordinate(path->upper_bound_block[2], (float[]){1400,500});
-  copy_coordinate(path->lower_bound_block[3], (float[]){1400,200});
-  copy_coordinate(path->upper_bound_block[3], (float[]){1800,700});
-  copy_coordinate(path->lower_bound_block[4], (float[]){1100,700});
-  copy_coordinate(path->upper_bound_block[4], (float[]){1700,1000});
-  copy_coordinate(path->lower_bound_block[5], (float[]){800,600});
-  copy_coordinate(path->upper_bound_block[5], (float[]){1100,975});
-  copy_coordinate(path->lower_bound_block[6], (float[]){100,700});
-  copy_coordinate(path->upper_bound_block[6], (float[]){800,975});
- */
 
 #else 
 
@@ -415,7 +364,8 @@ struct status_qlearning *qlstatus = create_status_qlearning ();
     20/*long int nb_training_before_update_weight_in_target*/,
     10000/*size_t number_episodes*/
   );
-/*   UPDATE_ATTRIBUTE_NEURONE_IN_ALL_LAYERS(TYPE_FLOAT, nnetworks->main_net, d_f_act , df );
+/*   
+ 	 UPDATE_ATTRIBUTE_NEURONE_IN_ALL_LAYERS(TYPE_FLOAT, nnetworks->main_net, d_f_act , df );
    UPDATE_ATTRIBUTE_NEURONE_IN_ALL_LAYERS(TYPE_FLOAT, nnetworks->main_net, f_act, f );
    UPDATE_ATTRIBUTE_NEURONE_IN_ALL_LAYERS(TYPE_FLOAT, nnetworks->target_net, d_f_act , df );
    UPDATE_ATTRIBUTE_NEURONE_IN_ALL_LAYERS(TYPE_FLOAT, nnetworks->target_net, f_act , f );
@@ -433,6 +383,10 @@ struct status_qlearning *qlstatus = create_status_qlearning ();
     qlparams/*struct qlearning_params *qlearnParams*/
   );
 	
+	pthread_t thread_learn;
+	pthread_create(&thread_learn, NULL, learn_to_drive, (void*)rlAgent);
+ 	//learn_to_drive(rlAgent);
+  
 	struct arg_bash *bash_arg= create_arg_bash();
 
   struct arg_run_qlearn_bprint *argQL_BP =   create_arg_run_qlearn_bprint(bash_arg, rlAgent);
@@ -440,17 +394,18 @@ struct status_qlearning *qlstatus = create_status_qlearning ();
   struct arg_var_ * var = create_arg_var_(y_nnn_manager_handle_input, argQL_BP);
   struct y_socket_t *argS = y_socket_create("1600", 2, 3, var);
  
+
   pthread_t pollTh;
   pthread_create(&pollTh, NULL, y_socket_poll_fds, (void*)argS);
 
 
 
 
-  learn_to_drive(rlAgent);
 
 
 
   pthread_join(pollTh, NULL);
+	pthread_join(thread_learn, NULL);
   
   y_socket_free(argS);
   free_arg_var_(var);