def post(self, *args):
eyes = Eyes()
if args[0] == 'verify':
result = eyes.get_order_by_id_number(self.get_argument("id_number"))
if result:
self.write(dict(code=200, info="OK"))
else:
self.write(dict(code=500, info="无法查询到该身份证号的预约记录！"))
def post(self, *args):
eyes = Eyes()
if args[0] == 'verify':
result = eyes.get_order_by_id_number(
self.get_argument("id_number"))
if result:
self.write(dict(code=200, info="OK"))
else:
self.write(dict(code=500, info="无法查询到该身份证号的预约记录！"))
def get(self, *args):
eyes = Eyes()
if args[0] == '':
self.render('eyes/index.html')
if args[0] == 'detail':
if not self.get_argument("id_number", None):
self.redirect('/eyes/')
result = eyes.get_order_by_id_number(self.get_argument("id_number"))
if not result:
self.redirect('/eyes/')
self.render('eyes/detail.html', result=result)
def get(self, *args):
eyes = Eyes()
if args[0] == '':
self.render('eyes/index.html')
if args[0] == 'detail':
if not self.get_argument("id_number", None):
self.redirect('/eyes/')
result = eyes.get_order_by_id_number(
self.get_argument("id_number"))
if not result:
self.redirect('/eyes/')
self.render('eyes/detail.html', result=result)
def post(self, *args):
eyes = Eyes()
if args[0] == "eyes":
new_order = {
"id_number": self.get_argument("id_number"),
"name": self.get_argument("name"),
"sex": self.get_argument("sex"),
"result": self.get_argument("result"),
"time": self.get_argument("time"),
"location": self.get_argument("location"),
"doctor": self.get_argument("doctor")
}
self.write(eyes.create_order(new_order))
def post(self, *args):
eyes = Eyes()
if args[0] == "eyes":
new_order = {
"id_number": self.get_argument("id_number"),
"name": self.get_argument("name"),
"sex": self.get_argument("sex"),
"result": self.get_argument("result"),
"time": self.get_argument("time"),
"location": self.get_argument("location"),
"doctor": self.get_argument("doctor")
}
self.write(eyes.create_order(new_order))
"""Beo's famous dance"""
from time import sleep
from Movements import Movements
from Eyes import Eyes
from Audio import Audio
from SensorTouch import SensorTouch
SENSORTOUCH = SensorTouch()
AUDIO = Audio()
EYES = Eyes()
MOVEMENTS = Movements()
def update_touch(dancing):
"""Checks to see if the sensor is being touched"""
SENSORTOUCH.update_status()
status = SENSORTOUCH.get_status()
if status == 1:
if dancing:
return False
else:
return True
else:
return False
DANCING = False
while True:
DANCING = update_touch(DANCING)
if DANCING:
def play_episode(policy_net, target_net, agent_obj, memory, world_state,
optimizer, cfg, device, i_episode):
print(i_episode)
skip_sec_frame = 2
reward_report = 0
init = True
action = 0
ttr = 0
time.sleep(1.5)
if i_episode % 7 == 0 or TEST_FLAG:
print("Testing best policy")
last_dis = 99999
print(i_episode)
eyes = Eyes()
while world_state.is_mission_running:
current_r = 0
reward_report += 1
try:
input_img_temp = get_img(world_state, agent_obj, eyes, device)
except:
import traceback
traceback.print_exc()
print("Skipped")
world_state = agent_obj.agent_host.getWorldState()
continue
state = input_img_temp
if i_episode % 7 == 0 or TEST_FLAG:
print("Testing")
policy_net.eval()
else:
policy_net.train()
action = select_action(policy_net, state, cfg, device,
len(agent_obj.get_act_list()), i_episode)
err = False
for error in world_state.errors:
print("Error:", error.text)
err = True
if err:
break
agent_obj.set_action(agent_obj.get_act_list()[action])
time.sleep(0.05)
world_state = agent_obj.agent_host.getWorldState()
for reward in world_state.rewards:
if reward.getValue() > 0:
print("D!")
if i_episode % 7 == 0:
if not TEST_FLAG:
torch.save(policy_net.state_dict(),
"./saved_params_final.wts")
else:
if i_episode > 35:
if not TEST_FLAG:
torch.save(policy_net.state_dict(),
"./saved_params_train_final.wts")
current_r += reward.getValue() + 0.0
current_r += 7.5
if action != 0:
current_r -= 4.5
ttr += current_r
try:
current_screen = get_img(world_state, agent_obj, eyes, device)
except:
continue
current_r = torch.tensor([current_r], device=device).float()
if world_state.is_mission_running:
next_state = current_screen
else:
next_state = None
if reward_report % 1 == 0:
print(current_r.item())
# if i_episode + 1 % 15 == 0:
# continue
memory.push(state.cpu(), action, next_state, current_r)
if i_episode % 7 == 0 or TEST_FLAG:
continue
else:
optimize_model(memory, device, cfg, policy_net, target_net,
optimizer)
#agent_obj.set_action(agent_obj.get_act_list()[random.randint(0, 4)])
time.sleep(0.01)
REWARDS.append(ttr)
if i_episode % cfg.TARGET_UPDATE == 0:
print("Target Updated.")
target_net.load_state_dict(policy_net.state_dict())
print("R=", ttr)
with open("./data_saved.txt", "w") as f:
f.write(str(REWARDS) + "\n" + str(LOSS))
def pickup(cfg):
"""
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
"""
V = dk.vehicle.Vehicle()
# clock = Timestamp()
# V.add(clock, outputs=['timestamp'])
cam = PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
# for Emily's setup we need to flip the camera and change the shutter speed
cam.camera.hflip = True
cam.camera.vflip = True
cam.camera.shutter_speed = 5000
V.add(cam, inputs=[], outputs=['image'], threaded=True)
inputs = []
threaded = True
from donkeycar.parts.camera import PiCamera
cam = PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
V.add(cam, inputs=inputs, outputs=['image'], threaded=threaded)
#
# # get eyes
model = Eyes(cfg.MODEL_CFG, cfg.MODEL_WEIGHTS, cfg.IMAGE_W, cfg.IMAGE_H)
V.add(model, inputs=['image'], outputs=['bboxes'])
#
# get strategy
strategy = Brains(pic_to_reality_csv=cfg.MAP_PATH)
V.add(strategy,
inputs=['bboxes'],
outputs=[
'angle', 'throttle', 'runtime', 'waittime', 'emily', 'emil', 'x',
'y', 'emil3', 'emil3rest'
])
print('steering channel ', cfg.STEERING_CHANNEL, ' throttle channel ',
cfg.THROTTLE_CHANNEL)
steering_controller = PCA9685(cfg.STEERING_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'], outputs=[], run_condition='emily')
V.add(throttle, inputs=['throttle'], outputs=[], run_condition='emily')
# # add the stopper
runner = Runner()
V.add(runner, inputs=['runtime'], outputs=['throttle2'])
#
# # add second throttle
throttle2 = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(throttle2, inputs=['throttle2'], outputs=[], run_condition='emily')
#
# # add the stopper
runner2 = Runner()
V.add(runner2, inputs=['waittime'], outputs=['throttle2'])
#
# # get Emil
# emil = Emil([0,1,2,3], cfg.PCA9685_I2C_ADDR, busnum=cfg.PCA9685_I2C_BUSNUM)
emil3_controller = PCA9685(3,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
emil3 = Emil(emil3_controller, 1.0)
V.add(emil3, inputs=['emil3'], outputs=[], run_condition='emil')
V.add(emil3, inputs=['emil3rest'], outputs=[], run_condition='emil')
#
if cfg.PUB_CAMERA_IMAGES:
pub = TCPServeValue("camera")
V.add(ImgArrToJpg(), inputs=['image'], outputs=['jpg/bin'])
V.add(pub, inputs=['jpg/bin'], outputs=[])
#
# # add tub to save data
inputs = ['image', 'angle', 'throttle']
types = ['image_array', 'float', 'float']
#
# # multiple tubs
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
#
# # single tub
# # tub = TubWriter(path=cfg.TUB_PATH, inputs=inputs, types=types)
V.add(tub, inputs=inputs, outputs=["tub/num_records"])
#
# run the vehicle
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
"""Activates arm mirror, changes eyes and says a short sentence every few seconds"""
from time import sleep
from random import randint
import subprocess
import threading
from Movements import Movements
from Audio import Audio
from Eyes import Eyes
MOVEMENTS = Movements()
AUDIO = Audio()
EYES = Eyes()
def arm_mirror():
"""Makes the angle of beo's left arm match the angle of beo's right arm"""
MOVEMENTS.disable_all_joints()
while True:
for i in range(3):
angle = MOVEMENTS.get_raw_angle(i * 2)
MOVEMENTS.set_raw_angle(i * 2 + 1, angle)
sleep(0.01)
def eye_change():
"""Changes beo's eye expressions every few seconds"""
expressions = ['wink', 'shut', 'sad', 'mad', 'default']
while True:
for i in expressions:
EYES.set_expression(i)
sleep(20)