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drive.py
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drive.py
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import argparse
import base64
from datetime import datetime
import os
import shutil
import numpy as np
import socketio
import eventlet.wsgi
from PIL import Image
from flask import Flask
from io import BytesIO
import main
import utils
import cv2
sio = socketio.Server()
app = Flask(__name__)
model = None
prev_image_array = None
class SimplePIController:
def __init__(self, Kp, Ki):
self.Kp = Kp
self.Ki = Ki
self.set_point = 0.
self.error = 0.
self.integral = 0.
def set_desired(self, desired):
self.set_point = desired
def update(self, measurement):
# proportional error
self.error = self.set_point - measurement
# integral error
self.integral += self.error
return self.Kp * self.error + self.Ki * self.integral
controller = SimplePIController(0.1, 0.002)
set_speed = 6
controller.set_desired(set_speed)
@sio.on('telemetry')
def telemetry(sid, data):
if data:
# The current steering angle of the car
steering_angle = data["steering_angle"]
# The current throttle of the car
throttle = data["throttle"]
# The current speed of the car
speed = data["speed"]
# The current image from the center camera of the car
imgString = data["image"]
image = Image.open(BytesIO(base64.b64decode(imgString)))
image = np.asarray(image)
#image = np.swapaxes(image, 0, 1)
print(np.shape(image))
image = utils.crop(image, 60, 25)
image = utils.resize(image, 200, 66)
image = cv2.normalize(image, None, alpha=0, beta=1, norm_type=cv2.NORM_MINMAX, dtype=cv2.CV_32F)
steering_angle = float(model.predict(image[None, :, :, :], batch_size=1))
throttle = controller.update(float(speed))
print(steering_angle, throttle)
send_control(steering_angle, throttle)
# save frame
# if args.image_folder != '':
# timestamp = datetime.utcnow().strftime('%Y_%m_%d_%H_%M_%S_%f')[:-3]
# image_filename = os.path.join(args.image_folder, timestamp)
# image.save('{}.jpg'.format(image_filename))
else:
# NOTE: DON'T EDIT THIS.
sio.emit('manual', data={}, skip_sid=True)
@sio.on('connect')
def connect(sid, environ):
print("connect ", sid)
send_control(0, 0)
def send_control(steering_angle, throttle):
sio.emit(
"steer",
data={
'steering_angle': steering_angle.__str__(),
'throttle': throttle.__str__()
},
skip_sid=True)
if __name__ == '__main__':
checkpoint_path = '/media/aayush/Other/beta_simulator_linux/checkpoints/weights.11-0.09'
out_img_path = '/media/aayush/Other/beta_simulator_linux/output_images/'
model = main.build_model(1, 66, 200)
model.load_weights(checkpoint_path)
# if args.image_folder != '':
# print("Creating image folder at {}".format(args.image_folder))
# if not os.path.exists(args.image_folder):
# os.makedirs(args.image_folder)
# else:
# shutil.rmtree(args.image_folder)
# os.makedirs(args.image_folder)
# print("RECORDING THIS RUN ...")
# else:
# print("NOT RECORDING THIS RUN ...")
# wrap Flask application with engineio's middleware
app = socketio.Middleware(sio, app)
# deploy as an eventlet WSGI server
eventlet.wsgi.server(eventlet.listen(('', 4567)), app)