y_nnn: launch learn when rlAgent ready, add thread attribut in networks to follow thread to avoid mem leak

deepQlearn_0/src/deepQlearning/learn_to_drive.c

@@ -77,6 +77,8 @@ struct networks_qlearning * create_nework_qlearning(
     tmpBest = tmpBest->next_layer;
   }
 
+	qnets->thread_learn = NULL;
+  
 
 
   return qnets; 
@@ -183,6 +185,9 @@ struct RL_agent * create_RL_agent (
   rlagent->pprint = pprint ;
   rlagent->qlearnParams = qlearnParams ;
 
+	rlagent->networks->thread_learn=malloc(sizeof(pthread_t));
+	pthread_create(rlagent->networks->thread_learn, NULL, learn_to_drive, (void*)rlagent);
+		
   return rlagent;
 }
 
@@ -191,6 +196,10 @@ void free_networks_qlearning (struct networks_qlearning * networks){
   free_neurons_TYPE_FLOAT(networks->target_net);
   free_neurons_TYPE_FLOAT(networks->best_net);
   free_config_layers(networks->config);
+	if(networks->thread_learn){
+		pthread_join(*(networks->thread_learn), NULL);
+		free(networks->thread_learn);
+	}
   free(networks);
 }
 void free_status_qlearning(struct status_qlearning *status_ql){

deepQlearn_0/src/deepQlearning/learn_to_drive.h

@@ -86,6 +86,7 @@ struct networks_qlearning {
   neurons_TYPE_FLOAT *main_net;
   neurons_TYPE_FLOAT *target_net;
   neurons_TYPE_FLOAT *best_net;
+	pthread_t *thread_learn;
 };
 
 struct RL_agent {

y_network_neural_network_/src/y_net_neur_net/y_nnn_manager.c

@@ -37,10 +37,17 @@ void y_nnn_manager_handle_input(char * buf, int len_buf, void *arg){
       kill_all_bash(bash_arg);
     }else if((strncmp(buf,"kill",4)==0) ||  (strncmp(buf,"stoplearn",9)==0)){
       kill_all_bash(bash_arg);
+
 			pthread_mutex_lock(rlAgent->status->mut_ending);
       rlAgent->status->ending=1;
       pthread_mutex_unlock(rlAgent->status->mut_ending);
 
+			pthread_join(*(rlAgent->networks->thread_learn), NULL);
+			// have to free here to not call pthread_join again when free networks 
+			free(rlAgent->networks->thread_learn);
+			// set NULL to avoid free again and call join!
+			rlAgent->networks->thread_learn = NULL;
+
     }else if(strncmp(buf,"stopprint",9)==0){
       pthread_mutex_lock(bash_arg->mut_bash_var);
       bash_arg->go_on=0;

y_network_neural_network_/test/is_good.c

@@ -383,8 +383,8 @@ 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);
+	//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();
@@ -405,7 +405,7 @@ struct status_qlearning *qlstatus = create_status_qlearning ();
 
 
   pthread_join(pollTh, NULL);
-	pthread_join(thread_learn, NULL);
+	//pthread_join(thread_learn, NULL);
   
   y_socket_free(argS);
   free_arg_var_(var);