improve train speed and add speed constrain

scripts/commons/Server.py

@@ -9,7 +9,7 @@ class Server():
             self.check_running_servers(psutil, first_server_p, first_monitor_p, n_servers)
         except ModuleNotFoundError:
             print("Info: Cannot check if the server is already running, because the psutil module was not found")
-            
+
         self.first_server_p = first_server_p
         self.n_servers = n_servers
         self.rcss_processes = []
@@ -18,29 +18,38 @@ class Server():
         # makes it easier to kill test servers without affecting train servers
         cmd = "rcssservermj"
         for i in range(n_servers):
+            port = first_server_p + i
+            mport = first_monitor_p + i
+
+            server_cmd = f"{cmd} --aport {port} --mport {mport} --no-render  --no-realtime"
+
             self.rcss_processes.append(
-                subprocess.Popen((f"{cmd} --aport {first_server_p+i} --mport {first_monitor_p+i}").split(),
-                stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT, start_new_session=True)
+                subprocess.Popen(
+                    server_cmd.split(),
+                    stdout=subprocess.DEVNULL,
+                    stderr=subprocess.STDOUT,
+                    start_new_session=True
+                )
             )
 
     def check_running_servers(self, psutil, first_server_p, first_monitor_p, n_servers):
         ''' Check if any server is running on chosen ports '''
         found = False
         p_list = [p for p in psutil.process_iter() if p.cmdline() and "rcssservermj" in " ".join(p.cmdline())]
-        range1 = (first_server_p, first_server_p  + n_servers)
-        range2 = (first_monitor_p,first_monitor_p + n_servers)
+        range1 = (first_server_p, first_server_p + n_servers)
+        range2 = (first_monitor_p, first_monitor_p + n_servers)
         bad_processes = []
 
-        for p in p_list:  
+        for p in p_list:
             # currently ignoring remaining default port when only one of the ports is specified (uncommon scenario)
             ports = [int(arg) for arg in p.cmdline()[1:] if arg.isdigit()]
             if len(ports) == 0:
-                ports = [60000,60100] # default server ports (changing this is unlikely)
+                ports = [60000, 60100]  # default server ports (changing this is unlikely)
 
             conflicts = [str(port) for port in ports if (
-                (range1[0] <= port < range1[1]) or (range2[0] <= port < range2[1]) )]
+                    (range1[0] <= port < range1[1]) or (range2[0] <= port < range2[1]))]
 
-            if len(conflicts)>0:
+            if len(conflicts) > 0:
                 if not found:
                     print("\nThere are already servers running on the same port(s)!")
                     found = True
@@ -55,9 +64,8 @@ class Server():
                     for p in bad_processes:
                         p.kill()
                     return
-            
 
     def kill(self):
         for p in self.rcss_processes:
             p.kill()
-        print(f"Killed {self.n_servers} rcssservermj processes starting at {self.first_server_p}")
+        print(f"Killed {self.n_servers} rcssservermj processes starting at {self.first_server_p}")