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[Car] Add control to change use mode when ai driving #302

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[Car] Add control to change use mode when ai driving #302

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1716296
Add control to change use mode when ai driving
viandoxdev Jul 1, 2023
46373f1
Try to fix to older donkeycar version before TS 2.9
Benvii Jul 1, 2023
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2 changes: 1 addition & 1 deletion ansible/roles/donkeycar/tasks/main.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@
dest: /home/pi/projects/
force: yes
single_branch: yes
version: main
version: eedd7eddbfb209006066bb716eb8e68d5d68d3a5

- name: Create python3 virtual environment & install tensorflow
become: yes
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6 changes: 4 additions & 2 deletions ansible/roles/mycar/files/custom/car/parts/car_manager_part.py
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,8 @@ def run_threaded(self,
controller_x_pressed: Optional[bool]=False,
inverted: Optional[bool]=False,
scale: Optional[float]=0.5,
cam_image_array: Optional[Any] = None
cam_image_array: Optional[Any] = None,
use_pilot_angle: Optional[bool] = None
) -> Tuple[float, str, bool, bool, float, float, str]:
"""
:param user_throttle: User throttle value
Expand Down Expand Up @@ -143,7 +144,8 @@ def run_threaded(self,
laptimer_last_lap_end_date_time,
laptimer_laps_total,
controller_x_pressed,
cam_image_array
cam_image_array,
use_pilot_angle
)
return res

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3 changes: 2 additions & 1 deletion ansible/roles/mycar/files/custom/car/services/jobs/job.py
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Expand Up @@ -55,7 +55,8 @@ def run_threaded(self,
laptimer_last_lap_end_date_time: Optional[datetime] = None,
laptimer_laps_total: Optional[int] = None,
controller_x_pressed: Optional[bool] = False,
cam_image_array: Optional[Any] = None
cam_image_array: Optional[Any] = None,
use_pilot_angle: Optional[bool] = None
) -> Tuple[float, str, bool, bool]:
"""
Part run threaded, is call with all donekcarmanacer I/O.
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8 changes: 5 additions & 3 deletions ansible/roles/mycar/files/custom/car/services/jobs/job_ai_assisted.py
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Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,8 @@ def run_threaded(self,
laptimer_last_lap_end_date_time: Optional[datetime] = None,
laptimer_laps_total: Optional[int] = None,
controller_x_pressed: Optional[bool] = False,
cam_image_array: Optional[Any] = None
cam_image_array: Optional[Any] = None,
use_pilot_angle: Optional[bool] = None
) -> Tuple[float, str, bool]:
"""
Part run_threaded call.
Expand All @@ -104,7 +105,8 @@ def run_threaded(self,
laptimer_last_lap_end_date_time,
laptimer_laps_total,
controller_x_pressed,
cam_image_array)
cam_image_array,
use_pilot_angle)

# Default values
user_throttle = 0.0
Expand All @@ -113,7 +115,7 @@ def run_threaded(self,
recording_state = False
pilot_angle = 0
pilote_throttle = 0
user_mode = 'auto_pilote'
user_mode = 'local_angle' if use_pilot_angle else 'local'

if self.drive_stage == JobAiAssistedStage.MODEL_DRIVING:
laptimer_reset_all = self.race_service.handle_laptimer_outputs(
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6 changes: 4 additions & 2 deletions ansible/roles/mycar/files/custom/car/services/jobs/job_drive.py
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Expand Up @@ -58,7 +58,8 @@ def run_threaded(self,
laptimer_last_lap_end_date_time: Optional[datetime] = None,
laptimer_laps_total: Optional[int] = None,
controller_x_pressed: Optional[bool] = False,
cam_image_array: Optional[Any] = None
cam_image_array: Optional[Any] = None,
use_pilot_angle: Optional[bool] = None
) -> Tuple[float, str, bool]:
"""
Part run_threaded call.
Expand All @@ -81,7 +82,8 @@ def run_threaded(self,
laptimer_last_lap_end_date_time,
laptimer_laps_total,
controller_x_pressed,
cam_image_array)
cam_image_array,
use_pilot_angle)
laptimer_reset_all = True

if self.drive_stage == JobDriveStage.USER_NOT_CONFIRMED: # user not confirmed yet
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6 changes: 4 additions & 2 deletions ansible/roles/mycar/files/custom/car/services/jobs/job_record.py
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Original file line number Diff line number Diff line change
Expand Up @@ -106,7 +106,8 @@ def run_threaded(self,
laptimer_last_lap_end_date_time: Optional[datetime] = None,
laptimer_laps_total: Optional[int] = None,
controller_x_pressed: Optional[bool] = False,
cam_image_array: Optional[Any] = None
cam_image_array: Optional[Any] = None,
use_pilot_angle: Optional[bool] = None
) -> Tuple[float, str, bool, bool]:
user_throttle, job_name, laptimer_reset_all, recording_state, pilote_angle, pilote_throttle, user_mode = super(JobRecord, self).run_threaded(
user_throttle,
Expand All @@ -117,7 +118,8 @@ def run_threaded(self,
laptimer_last_lap_end_date_time,
laptimer_laps_total,
controller_x_pressed,
cam_image_array)
cam_image_array,
use_pilot_angle)
job_name = 'RECORD'
user_mode = 'user'

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6 changes: 4 additions & 2 deletions ansible/roles/mycar/files/manage.py
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Original file line number Diff line number Diff line change
Expand Up @@ -253,7 +253,8 @@ def drive(cfg, model_path=None, use_joystick=False, model_type=None,
'recording',
'controller/x_pressed',
'controller/inverted',
'controller/scale'
'controller/scale',
'controller/use_pilot_angle'
],
threaded=True)

Expand Down Expand Up @@ -302,7 +303,8 @@ def drive(cfg, model_path=None, use_joystick=False, model_type=None,
'controller/x_pressed',
'controller/inverted',
'controller/scale',
'cam/image_array'
'cam/image_array',
'controller/use_pilot_angle'
],
outputs=[
'user/throttle',
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8 changes: 6 additions & 2 deletions ansible/roles/mycar/files/my_joystick.py
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Expand Up @@ -144,6 +144,7 @@ def __init__(self, *args, **kwargs):
self.inverted = False
super(MyJoystickController, self).__init__(*args, **kwargs)
self.state_x_button = False
self.use_pilot_angle = False
self.js = None

def init_js(self):
Expand Down Expand Up @@ -191,6 +192,9 @@ def forward_throttle(self):
def throttle_stop(self):
self.set_throttle(0)

def toggle_use_pilot_angle(self):
self.use_pilot_angle = not self.use_pilot_angle

def init_trigger_maps(self):
"""
init set of mapping from buttons to function calls
Expand All @@ -200,7 +204,7 @@ def init_trigger_maps(self):
'b_button': self.go_easy_mode,
'a_button': self.invert_controls,
'x_button': self.x_button_pressed,
'y_button': self.emergency_stop,
'y_button': self.toggle_use_pilot_angle,
'right_shoulder': self.increase_max_throttle,
'left_shoulder': self.decrease_max_throttle,
'options': self.toggle_constant_throttle,
Expand Down Expand Up @@ -298,7 +302,7 @@ def run_threaded(self, img_arr=None, mode=None, recording=None, manager_job_name
if o_x_pressed:
self.state_x_button = False # resetting it for next turns

return o_angle, o_throttle, o_mode, o_recording, o_x_pressed, self.inverted, self.throttle_scale
return o_angle, o_throttle, o_mode, o_recording, o_x_pressed, self.inverted, self.throttle_scale, self.use_pilot_angle

def update(self):
while True:
Expand Down