added .DS_Store to .gitignore for Mac development. Changed project.py to

.gitignore

@@ -1,2 +1,3 @@
 *.idea
 __pycache__/
+*.DS_Store

README.md

@@ -1,2 +1,20 @@
 # ARoboCarController
 Controller for ARoboCar simulator
+## Setup notes
+Please set OS environment variable called DATA_DIR to a directory where the controller will write the training and model hdf5 files. It needs to be fully qualified and not a relative path as h5py isn't able to deal with relative paths on Mac. 
+
+## Running it on Windows
+- Install Unreal engine if you haven't.
+- Install Cygwin (Cygwin.com) - default installation worked for me. We need this for some code to work.
+- Install Visual Studio 2017 if you haven't. (This is the environment I tried with and you need it to rebuild the project)
+- Clone git repos - ARoboCar and ARoboCarController (you will need git) - https://github.com/eastbayML/
+- Open ARoboCar directory in file explorer, choose ARoboCar.uproject and open with a text editor. Under plugins, set UnrealEnginePython plugin to false. Now, select ARoboCar.uproject, click right mouse button and you should see the option to generate Visual Studio Project files.
+- Open the Visual studio solution file and build the solution. It also shows the path to python interactive environment. You should note that in case you have to install hdpy.
+- Install UnrealEnginePython from https://github.com/20tab/UnrealEnginePython/. Just place the directory under Plugins directory of your project. 
+- Now open Epic Games, launch the Unreal Engine and open the project just to make sure you can. Re-enable UnrealEnginePython plugin and quit the engine.
+- Now go to a Cygwin terminal and set the required python environment e.g. "source activate root"
+- Open the project from commandline.  
+  "$PATH_TO_ENGINE/UE4Editor.exe path_to_uproject_file_in_windows_convention"  
+  Unreal engine doesn't seem to understand cygwin version of path so just use windows path
+- Next set your DATA_DIR environment variable, open your favorite python editor from commandline (in the cygwin environment). This is important for the communication to work between the two processes.
+

controller.py

@@ -15,5 +15,5 @@ def hook(config):
 
 while True:
     state=sim.get_state()
-    print("pathdistance {:7f} offset {:5f} distance {:7f} angle {:5.3f} dt={:5.4f}".format(state["pathdistance"], state["offset"], state["PIDthrottle"], state["PIDsteering"],state["delta_time"]))
+    print("pathdistance {:7f} offset {:5f} distance {:7f} angle {:5.3f} dt={:5.4f}".format(state["pathdistance"], state["pathoffset"], state["PIDthrottle"], state["PIDsteering"],state["delta_time"]))
     sim.send_cmd({"steering":state["PIDsteering"],'throttle':state["PIDthrottle"]})

deviating_controller.py

@@ -36,6 +36,7 @@
 deviating_cnt=0
 h5idx=0
 while True:
+  try:
     # get images and state from simulator
     # record images and steering,throttle
     state=sim.get_state()
@@ -72,5 +73,7 @@
         deviation_angle = steering + random.random() * steering_noise - (steering_noise / 2)
         print("** Begin Steering deviation {}".format(deviation_angle))
 
-
     sim.send_cmd({"steering":steering,'throttle':throttle})
+
+  except TypeError:
+    pass

project.py

@@ -1,2 +1,6 @@
-datadir="../data/"
-modeldir="../data/"
+import os
+#datadir="../data/"
+# VL: 6/23/17. have to do this because on the Mac h5py isn't able to deal with relative paths
+datadir=os.environ["DATA_DIR"]
+modeldir=datadir
+#modeldir="../data/"

simulator.py

@@ -27,7 +27,7 @@ def get_state(self):
         try:
             return pickle.load(self.fstate)
         except EOFError:
-            print("Connection closed")
+            #print("Connection closed")
             return None
 
     def send_cmd(self,command):
@@ -59,4 +59,4 @@ def reset(self):
             print("pausing")
             tmp=self.get_state()
             self.send_cmd({"steering": 0, "throttle": 0})
-        print("Done")
+        print("Done")