def drive(cfg, model_path=None, use_joystick=False, model_type=None,
camera_type='single', meta=[]):
"""
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.
"""
logger.info(f'PID: {os.getpid()}')
if cfg.DONKEY_GYM:
#the simulator will use cuda and then we usually run out of resources
#if we also try to use cuda. so disable for donkey_gym.
os.environ["CUDA_VISIBLE_DEVICES"]="-1"
if model_type is None:
if cfg.TRAIN_LOCALIZER:
model_type = "localizer"
elif cfg.TRAIN_BEHAVIORS:
model_type = "behavior"
else:
model_type = cfg.DEFAULT_MODEL_TYPE
#Initialize car
V = dk.vehicle.Vehicle()
#Initialize logging before anything else to allow console logging
if cfg.HAVE_CONSOLE_LOGGING:
logger.setLevel(logging.getLevelName(cfg.LOGGING_LEVEL))
ch = logging.StreamHandler()
ch.setFormatter(logging.Formatter(cfg.LOGGING_FORMAT))
logger.addHandler(ch)
if cfg.HAVE_MQTT_TELEMETRY:
from donkeycar.parts.telemetry import MqttTelemetry
tel = MqttTelemetry(cfg)
if cfg.HAVE_ODOM:
if cfg.ENCODER_TYPE == "GPIO":
from donkeycar.parts.encoder import RotaryEncoder
enc = RotaryEncoder(mm_per_tick=0.306096, pin = cfg.ODOM_PIN, debug = cfg.ODOM_DEBUG)
V.add(enc, inputs=['throttle'], outputs=['enc/speed'], threaded=True)
elif cfg.ENCODER_TYPE == "arduino":
from donkeycar.parts.encoder import ArduinoEncoder
enc = ArduinoEncoder()
V.add(enc, outputs=['enc/speed'], threaded=True)
else:
print("No supported encoder found")
logger.info("cfg.CAMERA_TYPE %s"%cfg.CAMERA_TYPE)
if camera_type == "stereo":
if cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
camA = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 0)
camB = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 1)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
camA = CvCam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 0)
camB = CvCam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 1)
else:
raise(Exception("Unsupported camera type: %s" % cfg.CAMERA_TYPE))
V.add(camA, outputs=['cam/image_array_a'], threaded=True)
V.add(camB, outputs=['cam/image_array_b'], threaded=True)
from donkeycar.parts.image import StereoPair
V.add(StereoPair(), inputs=['cam/image_array_a', 'cam/image_array_b'],
outputs=['cam/image_array'])
elif cfg.CAMERA_TYPE == "D435":
from donkeycar.parts.realsense435i import RealSense435i
cam = RealSense435i(
enable_rgb=cfg.REALSENSE_D435_RGB,
enable_depth=cfg.REALSENSE_D435_DEPTH,
enable_imu=cfg.REALSENSE_D435_IMU,
device_id=cfg.REALSENSE_D435_ID)
V.add(cam, inputs=[],
outputs=['cam/image_array', 'cam/depth_array',
'imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'],
threaded=True)
else:
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
inputs = []
outputs = ['cam/image_array']
threaded = True
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
#rbx
cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH, host=cfg.SIM_HOST, env_name=cfg.DONKEY_GYM_ENV_NAME, conf=cfg.GYM_CONF, record_location=cfg.SIM_RECORD_LOCATION, record_gyroaccel=cfg.SIM_RECORD_GYROACCEL, record_velocity=cfg.SIM_RECORD_VELOCITY, delay=cfg.SIM_ARTIFICIAL_LATENCY)
threaded = True
inputs = ['angle', 'throttle']
elif cfg.CAMERA_TYPE == "PICAM":
from donkeycar.parts.camera import PiCamera
cam = PiCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE, vflip=cfg.CAMERA_VFLIP, hflip=cfg.CAMERA_HFLIP)
elif cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
cam = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
cam = CvCam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CSIC":
from donkeycar.parts.camera import CSICamera
cam = CSICamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE, gstreamer_flip=cfg.CSIC_CAM_GSTREAMER_FLIP_PARM)
elif cfg.CAMERA_TYPE == "V4L":
from donkeycar.parts.camera import V4LCamera
cam = V4LCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE)
elif cfg.CAMERA_TYPE == "MOCK":
from donkeycar.parts.camera import MockCamera
cam = MockCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "IMAGE_LIST":
from donkeycar.parts.camera import ImageListCamera
cam = ImageListCamera(path_mask=cfg.PATH_MASK)
elif cfg.CAMERA_TYPE == "LEOPARD":
from donkeycar.parts.leopard_imaging import LICamera
cam = LICamera(width=cfg.IMAGE_W, height=cfg.IMAGE_H, fps=cfg.CAMERA_FRAMERATE)
else:
raise(Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
# add lidar
if cfg.USE_LIDAR:
from donkeycar.parts.lidar import RPLidar
if cfg.LIDAR_TYPE == 'RP':
print("adding RP lidar part")
lidar = RPLidar(lower_limit = cfg.LIDAR_LOWER_LIMIT, upper_limit = cfg.LIDAR_UPPER_LIMIT)
V.add(lidar, inputs=[],outputs=['lidar/dist_array'], threaded=True)
if cfg.LIDAR_TYPE == 'YD':
print("YD Lidar not yet supported")
# Donkey gym part will output position information if it is configured
if cfg.DONKEY_GYM:
if cfg.SIM_RECORD_LOCATION:
outputs += ['pos/pos_x', 'pos/pos_y', 'pos/pos_z', 'pos/speed', 'pos/cte']
if cfg.SIM_RECORD_GYROACCEL:
outputs += ['gyro/gyro_x', 'gyro/gyro_y', 'gyro/gyro_z', 'accel/accel_x', 'accel/accel_y', 'accel/accel_z']
if cfg.SIM_RECORD_VELOCITY:
outputs += ['vel/vel_x', 'vel/vel_y', 'vel/vel_z']
V.add(cam, inputs=inputs, outputs=outputs, threaded=threaded)
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController(port=cfg.WEB_CONTROL_PORT, mode=cfg.WEB_INIT_MODE)
V.add(ctr,
inputs=['cam/image_array', 'tub/num_records'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
if cfg.CONTROLLER_TYPE == "MM1":
from donkeycar.parts.robohat import RoboHATController
ctr = RoboHATController(cfg)
elif "custom" == cfg.CONTROLLER_TYPE:
#
# custom controller created with `donkey createjs` command
#
from my_joystick import MyJoystickController
ctr = MyJoystickController(
throttle_dir=cfg.JOYSTICK_THROTTLE_DIR,
throttle_scale=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
ctr.set_deadzone(cfg.JOYSTICK_DEADZONE)
else:
from donkeycar.parts.controller import get_js_controller
ctr = get_js_controller(cfg)
if cfg.USE_NETWORKED_JS:
from donkeycar.parts.controller import JoyStickSub
netwkJs = JoyStickSub(cfg.NETWORK_JS_SERVER_IP)
V.add(netwkJs, threaded=True)
ctr.js = netwkJs
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
#this throttle filter will allow one tap back for esc reverse
th_filter = ThrottleFilter()
V.add(th_filter, inputs=['user/throttle'], outputs=['user/throttle'])
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
class PilotCondition:
def run(self, mode):
if mode == 'user':
return False
else:
return True
V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
class LedConditionLogic:
def __init__(self, cfg):
self.cfg = cfg
def run(self, mode, recording, recording_alert, behavior_state, model_file_changed, track_loc):
#returns a blink rate. 0 for off. -1 for on. positive for rate.
if track_loc is not None:
led.set_rgb(*self.cfg.LOC_COLORS[track_loc])
return -1
if model_file_changed:
led.set_rgb(self.cfg.MODEL_RELOADED_LED_R, self.cfg.MODEL_RELOADED_LED_G, self.cfg.MODEL_RELOADED_LED_B)
return 0.1
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if recording_alert:
led.set_rgb(*recording_alert)
return self.cfg.REC_COUNT_ALERT_BLINK_RATE
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if behavior_state is not None and model_type == 'behavior':
r, g, b = self.cfg.BEHAVIOR_LED_COLORS[behavior_state]
led.set_rgb(r, g, b)
return -1 #solid on
if recording:
return -1 #solid on
elif mode == 'user':
return 1
elif mode == 'local_angle':
return 0.5
elif mode == 'local':
return 0.1
return 0
if cfg.HAVE_RGB_LED and not cfg.DONKEY_GYM:
from donkeycar.parts.led_status import RGB_LED
led = RGB_LED(cfg.LED_PIN_R, cfg.LED_PIN_G, cfg.LED_PIN_B, cfg.LED_INVERT)
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
V.add(LedConditionLogic(cfg), inputs=['user/mode', 'recording', "records/alert", 'behavior/state', 'modelfile/modified', "pilot/loc"],
outputs=['led/blink_rate'])
V.add(led, inputs=['led/blink_rate'])
def get_record_alert_color(num_records):
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
class RecordTracker:
def __init__(self):
self.last_num_rec_print = 0
self.dur_alert = 0
self.force_alert = 0
def run(self, num_records):
if num_records is None:
return 0
if self.last_num_rec_print != num_records or self.force_alert:
self.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
self.force_alert = 0
if self.dur_alert > 0:
self.dur_alert -= 1
if self.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
rec_tracker_part = RecordTracker()
V.add(rec_tracker_part, inputs=["tub/num_records"], outputs=['records/alert'])
if cfg.AUTO_RECORD_ON_THROTTLE and isinstance(ctr, JoystickController):
#then we are not using the circle button. hijack that to force a record count indication
def show_record_acount_status():
rec_tracker_part.last_num_rec_print = 0
rec_tracker_part.force_alert = 1
ctr.set_button_down_trigger('circle', show_record_acount_status)
#Sombrero
if cfg.HAVE_SOMBRERO:
from donkeycar.parts.sombrero import Sombrero
s = Sombrero()
#IMU
if cfg.HAVE_IMU:
from donkeycar.parts.imu import IMU
imu = IMU(sensor=cfg.IMU_SENSOR, dlp_setting=cfg.IMU_DLP_CONFIG)
V.add(imu, outputs=['imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'], threaded=True)
# Use the FPV preview, which will show the cropped image output, or the full frame.
if cfg.USE_FPV:
V.add(WebFpv(), inputs=['cam/image_array'], threaded=True)
#Behavioral state
if cfg.TRAIN_BEHAVIORS:
bh = BehaviorPart(cfg.BEHAVIOR_LIST)
V.add(bh, outputs=['behavior/state', 'behavior/label', "behavior/one_hot_state_array"])
try:
ctr.set_button_down_trigger('L1', bh.increment_state)
except:
pass
inputs = ['cam/image_array', "behavior/one_hot_state_array"]
#IMU
elif cfg.USE_LIDAR:
inputs = ['cam/image_array', 'lidar/dist_array']
elif cfg.HAVE_ODOM:
inputs = ['cam/image_array', 'enc/speed']
elif model_type == "imu":
assert(cfg.HAVE_IMU)
#Run the pilot if the mode is not user.
inputs=['cam/image_array',
'imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z']
elif cfg.USE_LIDAR:
inputs = ['cam/image_array', 'lidar/dist_array']
else:
inputs=['cam/image_array']
def load_model(kl, model_path):
start = time.time()
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)) )
def load_weights(kl, weights_path):
start = time.time()
try:
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)) )
except Exception as e:
print(e)
print('ERR>> problems loading weights', weights_path)
def load_model_json(kl, json_fnm):
start = time.time()
print('loading model json', json_fnm)
from tensorflow.python import keras
try:
with open(json_fnm, 'r') as handle:
contents = handle.read()
kl.model = keras.models.model_from_json(contents)
print('finished loading json in %s sec.' % (str(time.time() - start)) )
except Exception as e:
print(e)
print("ERR>> problems loading model json", json_fnm)
if model_path:
#When we have a model, first create an appropriate Keras part
kl = dk.utils.get_model_by_type(model_type, cfg)
model_reload_cb = None
if '.h5' in model_path or '.uff' in model_path or 'tflite' in model_path or '.pkl' in model_path:
#when we have a .h5 extension
#load everything from the model file
load_model(kl, model_path)
def reload_model(filename):
load_model(kl, filename)
model_reload_cb = reload_model
elif '.json' in model_path:
#when we have a .json extension
#load the model from there and look for a matching
#.wts file with just weights
load_model_json(kl, model_path)
weights_path = model_path.replace('.json', '.weights')
load_weights(kl, weights_path)
def reload_weights(filename):
weights_path = filename.replace('.json', '.weights')
load_weights(kl, weights_path)
model_reload_cb = reload_weights
else:
print("ERR>> Unknown extension type on model file!!")
return
#this part will signal visual LED, if connected
V.add(FileWatcher(model_path, verbose=True), outputs=['modelfile/modified'])
#these parts will reload the model file, but only when ai is running so we don't interrupt user driving
V.add(FileWatcher(model_path), outputs=['modelfile/dirty'], run_condition="ai_running")
V.add(DelayedTrigger(100), inputs=['modelfile/dirty'], outputs=['modelfile/reload'], run_condition="ai_running")
V.add(TriggeredCallback(model_path, model_reload_cb), inputs=["modelfile/reload"], run_condition="ai_running")
outputs=['pilot/angle', 'pilot/throttle']
if cfg.TRAIN_LOCALIZER:
outputs.append("pilot/loc")
V.add(kl, inputs=inputs,
outputs=outputs,
run_condition='run_pilot')
if cfg.STOP_SIGN_DETECTOR:
from donkeycar.parts.object_detector.stop_sign_detector import StopSignDetector
V.add(StopSignDetector(cfg.STOP_SIGN_MIN_SCORE, cfg.STOP_SIGN_SHOW_BOUNDING_BOX), inputs=['cam/image_array', 'pilot/throttle'], outputs=['pilot/throttle', 'cam/image_array'])
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode,
user_angle, user_throttle,
pilot_angle, pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle if pilot_angle else 0.0, user_throttle
else:
return pilot_angle if pilot_angle else 0.0, pilot_throttle * cfg.AI_THROTTLE_MULT if pilot_throttle else 0.0
V.add(DriveMode(),
inputs=['user/mode', 'user/angle', 'user/throttle',
'pilot/angle', 'pilot/throttle'],
outputs=['angle', 'throttle'])
#to give the car a boost when starting ai mode in a race.
aiLauncher = AiLaunch(cfg.AI_LAUNCH_DURATION, cfg.AI_LAUNCH_THROTTLE, cfg.AI_LAUNCH_KEEP_ENABLED)
V.add(aiLauncher,
inputs=['user/mode', 'throttle'],
outputs=['throttle'])
if isinstance(ctr, JoystickController):
ctr.set_button_down_trigger(cfg.AI_LAUNCH_ENABLE_BUTTON, aiLauncher.enable_ai_launch)
class AiRunCondition:
'''
A bool part to let us know when ai is running.
'''
def run(self, mode):
if mode == "user":
return False
return True
V.add(AiRunCondition(), inputs=['user/mode'], outputs=['ai_running'])
#Ai Recording
class AiRecordingCondition:
'''
return True when ai mode, otherwize respect user mode recording flag
'''
def run(self, mode, recording):
if mode == 'user':
return recording
return True
if cfg.RECORD_DURING_AI:
V.add(AiRecordingCondition(), inputs=['user/mode', 'recording'], outputs=['recording'])
#Drive train setup
if cfg.DONKEY_GYM or cfg.DRIVE_TRAIN_TYPE == "MOCK":
pass
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_ESC":
from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle
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'], threaded=True)
V.add(throttle, inputs=['throttle'], threaded=True)
elif cfg.DRIVE_TRAIN_TYPE == "DC_STEER_THROTTLE":
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
steering = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT, cfg.HBRIDGE_PIN_RIGHT)
throttle = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD, cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL":
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, Mini_HBridge_DC_Motor_PWM
left_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT_FWD, cfg.HBRIDGE_PIN_LEFT_BWD)
right_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_RIGHT_FWD, cfg.HBRIDGE_PIN_RIGHT_BWD)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL_L298N":
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, L298N_HBridge_DC_Motor
left_motor = L298N_HBridge_DC_Motor(cfg.HBRIDGE_L298N_PIN_LEFT_FWD, cfg.HBRIDGE_L298N_PIN_LEFT_BWD, cfg.HBRIDGE_L298N_PIN_LEFT_EN)
right_motor = L298N_HBridge_DC_Motor(cfg.HBRIDGE_L298N_PIN_RIGHT_FWD, cfg.HBRIDGE_L298N_PIN_RIGHT_BWD, cfg.HBRIDGE_L298N_PIN_RIGHT_EN)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_HBRIDGE_PWM":
from donkeycar.parts.actuator import ServoBlaster, PWMSteering
steering_controller = ServoBlaster(cfg.STEERING_CHANNEL) #really pin
#PWM pulse values should be in the range of 100 to 200
assert(cfg.STEERING_LEFT_PWM <= 200)
assert(cfg.STEERING_RIGHT_PWM <= 200)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD, cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'], threaded=True)
V.add(motor, inputs=["throttle"])
elif cfg.DRIVE_TRAIN_TYPE == "MM1":
from donkeycar.parts.robohat import RoboHATDriver
V.add(RoboHATDriver(cfg), inputs=['angle', 'throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "PIGPIO_PWM":
from donkeycar.parts.actuator import PWMSteering, PWMThrottle, PiGPIO_PWM
steering_controller = PiGPIO_PWM(cfg.STEERING_PWM_PIN, freq=cfg.STEERING_PWM_FREQ, inverted=cfg.STEERING_PWM_INVERTED)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PiGPIO_PWM(cfg.THROTTLE_PWM_PIN, freq=cfg.THROTTLE_PWM_FREQ, inverted=cfg.THROTTLE_PWM_INVERTED)
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'], threaded=True)
V.add(throttle, inputs=['throttle'], threaded=True)
# OLED setup
if cfg.USE_SSD1306_128_32:
from donkeycar.parts.oled import OLEDPart
auto_record_on_throttle = cfg.USE_JOYSTICK_AS_DEFAULT and cfg.AUTO_RECORD_ON_THROTTLE
oled_part = OLEDPart(cfg.SSD1306_128_32_I2C_BUSNUM, auto_record_on_throttle=auto_record_on_throttle)
V.add(oled_part, inputs=['recording', 'tub/num_records', 'user/mode'], outputs=[], threaded=True)
#add tub to save data
if cfg.USE_LIDAR:
inputs = ['cam/image_array', 'lidar/dist_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'nparray','float', 'float', 'str']
else:
inputs=['cam/image_array','user/angle', 'user/throttle', 'user/mode']
types=['image_array','float', 'float','str']
if cfg.USE_LIDAR:
inputs += ['lidar/dist_array']
types += ['nparray']
if cfg.HAVE_ODOM:
inputs += ['enc/speed']
types += ['float']
if cfg.TRAIN_BEHAVIORS:
inputs += ['behavior/state', 'behavior/label', "behavior/one_hot_state_array"]
types += ['int', 'str', 'vector']
if cfg.CAMERA_TYPE == "D435" and cfg.REALSENSE_D435_DEPTH:
inputs += ['cam/depth_array']
types += ['gray16_array']
if cfg.HAVE_IMU or (cfg.CAMERA_TYPE == "D435" and cfg.REALSENSE_D435_IMU):
inputs += ['imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z']
types +=['float', 'float', 'float',
'float', 'float', 'float']
# rbx
if cfg.DONKEY_GYM:
if cfg.SIM_RECORD_LOCATION:
inputs += ['pos/pos_x', 'pos/pos_y', 'pos/pos_z', 'pos/speed', 'pos/cte']
types += ['float', 'float', 'float', 'float', 'float']
if cfg.SIM_RECORD_GYROACCEL:
inputs += ['gyro/gyro_x', 'gyro/gyro_y', 'gyro/gyro_z', 'accel/accel_x', 'accel/accel_y', 'accel/accel_z']
types += ['float', 'float', 'float', 'float', 'float', 'float']
if cfg.SIM_RECORD_VELOCITY:
inputs += ['vel/vel_x', 'vel/vel_y', 'vel/vel_z']
types += ['float', 'float', 'float']
if cfg.RECORD_DURING_AI:
inputs += ['pilot/angle', 'pilot/throttle']
types += ['float', 'float']
if cfg.HAVE_PERFMON:
from donkeycar.parts.perfmon import PerfMonitor
mon = PerfMonitor(cfg)
perfmon_outputs = ['perf/cpu', 'perf/mem', 'perf/freq']
inputs += perfmon_outputs
types += ['float', 'float', 'float']
V.add(mon, inputs=[], outputs=perfmon_outputs, threaded=True)
# do we want to store new records into own dir or append to existing
tub_path = TubHandler(path=cfg.DATA_PATH).create_tub_path() if \
cfg.AUTO_CREATE_NEW_TUB else cfg.DATA_PATH
tub_writer = TubWriter(tub_path, inputs=inputs, types=types, metadata=meta)
V.add(tub_writer, inputs=inputs, outputs=["tub/num_records"], run_condition='recording')
# Telemetry (we add the same metrics added to the TubHandler
if cfg.HAVE_MQTT_TELEMETRY:
telem_inputs, _ = tel.add_step_inputs(inputs, types)
V.add(tel, inputs=telem_inputs, outputs=["tub/queue_size"], threaded=True)
if cfg.PUB_CAMERA_IMAGES:
from donkeycar.parts.network import TCPServeValue
from donkeycar.parts.image import ImgArrToJpg
pub = TCPServeValue("camera")
V.add(ImgArrToJpg(), inputs=['cam/image_array'], outputs=['jpg/bin'])
V.add(pub, inputs=['jpg/bin'])
if type(ctr) is LocalWebController:
if cfg.DONKEY_GYM:
print("You can now go to http://localhost:%d to drive your car." % cfg.WEB_CONTROL_PORT)
else:
print("You can now go to <your hostname.local>:%d to drive your car." % cfg.WEB_CONTROL_PORT)
elif isinstance(ctr, JoystickController):
print("You can now move your joystick to drive your car.")
ctr.set_tub(tub_writer.tub)
ctr.print_controls()
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg,
model_path=None,
use_joystick=False,
model_type=None,
camera_type='single',
meta=[]):
'''
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.
'''
if cfg.DONKEY_GYM:
#the simulator will use cuda and then we usually run out of resources
#if we also try to use cuda. so disable for donkey_gym.
os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
if model_type is None:
if cfg.TRAIN_LOCALIZER:
model_type = "localizer"
elif cfg.TRAIN_BEHAVIORS:
model_type = "behavior"
else:
model_type = cfg.DEFAULT_MODEL_TYPE
#Initialize car
V = dk.vehicle.Vehicle()
if camera_type == "stereo":
if cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
camA = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=0)
camB = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=1)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
camA = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=0)
camB = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=1)
else:
raise (Exception("Unsupported camera type: %s" % cfg.CAMERA_TYPE))
V.add(camA, outputs=['cam/image_array_a'], threaded=True)
V.add(camB, outputs=['cam/image_array_b'], threaded=True)
from donkeycar.parts.image import StereoPair
V.add(StereoPair(),
inputs=['cam/image_array_a', 'cam/image_array_b'],
outputs=['cam/image_array'])
else:
print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
inputs = []
threaded = True
print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH,
env_name=cfg.DONKEY_GYM_ENV_NAME)
threaded = True
inputs = ['angle', 'throttle']
elif cfg.CAMERA_TYPE == "PICAM":
from donkeycar.parts.camera import PiCamera
cam = PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
cam = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
cam = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CSIC":
from donkeycar.parts.camera import CSICamera
cam = CSICamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE,
gstreamer_flip=cfg.CSIC_CAM_GSTREAMER_FLIP_PARM)
elif cfg.CAMERA_TYPE == "V4L":
from donkeycar.parts.camera import V4LCamera
cam = V4LCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE)
elif cfg.CAMERA_TYPE == "MOCK":
from donkeycar.parts.camera import MockCamera
cam = MockCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
else:
raise (Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
V.add(cam,
inputs=inputs,
outputs=['cam/image_array'],
threaded=threaded)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
from donkeycar.parts.controller import get_js_controller
ctr = get_js_controller(cfg)
if cfg.USE_NETWORKED_JS:
from donkeycar.parts.controller import JoyStickSub
netwkJs = JoyStickSub(cfg.NETWORK_JS_SERVER_IP)
V.add(netwkJs, threaded=True)
ctr.js = netwkJs
else:
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController()
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
#this throttle filter will allow one tap back for esc reverse
th_filter = ThrottleFilter()
V.add(th_filter, inputs=['user/throttle'], outputs=['user/throttle'])
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
class PilotCondition:
def run(self, mode):
if mode == 'user':
return False
else:
return True
V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
class LedConditionLogic:
def __init__(self, cfg):
self.cfg = cfg
def run(self, mode, recording, recording_alert, behavior_state,
model_file_changed, track_loc):
#returns a blink rate. 0 for off. -1 for on. positive for rate.
if track_loc is not None:
led.set_rgb(*self.cfg.LOC_COLORS[track_loc])
return -1
if model_file_changed:
led.set_rgb(self.cfg.MODEL_RELOADED_LED_R,
self.cfg.MODEL_RELOADED_LED_G,
self.cfg.MODEL_RELOADED_LED_B)
return 0.1
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if recording_alert:
led.set_rgb(*recording_alert)
return self.cfg.REC_COUNT_ALERT_BLINK_RATE
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if behavior_state is not None and model_type == 'behavior':
r, g, b = self.cfg.BEHAVIOR_LED_COLORS[behavior_state]
led.set_rgb(r, g, b)
return -1 #solid on
if recording:
return -1 #solid on
elif mode == 'user':
return 1
elif mode == 'local_angle':
return 0.5
elif mode == 'local':
return 0.1
return 0
if cfg.HAVE_RGB_LED and not cfg.DONKEY_GYM:
from donkeycar.parts.led_status import RGB_LED
led = RGB_LED(cfg.LED_PIN_R, cfg.LED_PIN_G, cfg.LED_PIN_B,
cfg.LED_INVERT)
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
V.add(LedConditionLogic(cfg),
inputs=[
'user/mode', 'recording', "records/alert", 'behavior/state',
'modelfile/modified', "pilot/loc"
],
outputs=['led/blink_rate'])
V.add(led, inputs=['led/blink_rate'])
def get_record_alert_color(num_records):
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
class RecordTracker:
def __init__(self):
self.last_num_rec_print = 0
self.dur_alert = 0
self.force_alert = 0
def run(self, num_records):
if num_records is None:
return 0
if self.last_num_rec_print != num_records or self.force_alert:
self.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
self.force_alert = 0
if self.dur_alert > 0:
self.dur_alert -= 1
if self.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
rec_tracker_part = RecordTracker()
V.add(rec_tracker_part,
inputs=["tub/num_records"],
outputs=['records/alert'])
if cfg.AUTO_RECORD_ON_THROTTLE and isinstance(ctr, JoystickController):
#then we are not using the circle button. hijack that to force a record count indication
def show_record_acount_status():
rec_tracker_part.last_num_rec_print = 0
rec_tracker_part.force_alert = 1
ctr.set_button_down_trigger('circle', show_record_acount_status)
#Sombrero
if cfg.HAVE_SOMBRERO:
from donkeycar.parts.sombrero import Sombrero
s = Sombrero()
#IMU
if cfg.HAVE_IMU:
from donkeycar.parts.imu import Mpu6050
imu = Mpu6050()
V.add(imu,
outputs=[
'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x',
'imu/gyr_y', 'imu/gyr_z'
],
threaded=True)
class ImgPreProcess():
'''
preprocess camera image for inference.
normalize and crop if needed.
'''
def __init__(self, cfg):
self.cfg = cfg
def run(self, img_arr):
return normalize_and_crop(img_arr, self.cfg)
if "coral" in model_type:
inf_input = 'cam/image_array'
else:
inf_input = 'cam/normalized/cropped'
V.add(ImgPreProcess(cfg),
inputs=['cam/image_array'],
outputs=[inf_input],
run_condition='run_pilot')
#Behavioral state
if cfg.TRAIN_BEHAVIORS:
bh = BehaviorPart(cfg.BEHAVIOR_LIST)
V.add(bh,
outputs=[
'behavior/state', 'behavior/label',
"behavior/one_hot_state_array"
])
try:
ctr.set_button_down_trigger('L1', bh.increment_state)
except:
pass
inputs = [inf_input, "behavior/one_hot_state_array"]
#IMU
elif model_type == "imu":
assert (cfg.HAVE_IMU)
#Run the pilot if the mode is not user.
inputs = [
inf_input, 'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x',
'imu/gyr_y', 'imu/gyr_z'
]
else:
inputs = [inf_input]
def load_model(kl, model_path):
start = time.time()
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
def load_weights(kl, weights_path):
start = time.time()
try:
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
except Exception as e:
print(e)
print('ERR>> problems loading weights', weights_path)
def load_model_json(kl, json_fnm):
start = time.time()
print('loading model json', json_fnm)
from tensorflow.python import keras
try:
with open(json_fnm, 'r') as handle:
contents = handle.read()
kl.model = keras.models.model_from_json(contents)
print('finished loading json in %s sec.' %
(str(time.time() - start)))
except Exception as e:
print(e)
print("ERR>> problems loading model json", json_fnm)
if model_path:
#When we have a model, first create an appropriate Keras part
kl = dk.utils.get_model_by_type(model_type, cfg)
model_reload_cb = None
if '.h5' in model_path or '.uff' in model_path or 'tflite' in model_path or '.pkl' in model_path:
#when we have a .h5 extension
#load everything from the model file
load_model(kl, model_path)
def reload_model(filename):
load_model(kl, filename)
model_reload_cb = reload_model
elif '.json' in model_path:
#when we have a .json extension
#load the model from there and look for a matching
#.wts file with just weights
load_model_json(kl, model_path)
weights_path = model_path.replace('.json', '.weights')
load_weights(kl, weights_path)
def reload_weights(filename):
weights_path = filename.replace('.json', '.weights')
load_weights(kl, weights_path)
model_reload_cb = reload_weights
else:
print("ERR>> Unknown extension type on model file!!")
return
#this part will signal visual LED, if connected
V.add(FileWatcher(model_path, verbose=True),
outputs=['modelfile/modified'])
#these parts will reload the model file, but only when ai is running so we don't interrupt user driving
V.add(FileWatcher(model_path),
outputs=['modelfile/dirty'],
run_condition="ai_running")
V.add(DelayedTrigger(100),
inputs=['modelfile/dirty'],
outputs=['modelfile/reload'],
run_condition="ai_running")
V.add(TriggeredCallback(model_path, model_reload_cb),
inputs=["modelfile/reload"],
run_condition="ai_running")
outputs = ['pilot/angle', 'pilot/throttle']
if cfg.TRAIN_LOCALIZER:
outputs.append("pilot/loc")
V.add(kl, inputs=inputs, outputs=outputs, run_condition='run_pilot')
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle * cfg.AI_THROTTLE_MULT
V.add(DriveMode(),
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
#to give the car a boost when starting ai mode in a race.
aiLauncher = AiLaunch(cfg.AI_LAUNCH_DURATION, cfg.AI_LAUNCH_THROTTLE,
cfg.AI_LAUNCH_KEEP_ENABLED)
V.add(aiLauncher, inputs=['user/mode', 'throttle'], outputs=['throttle'])
if isinstance(ctr, JoystickController):
ctr.set_button_down_trigger(cfg.AI_LAUNCH_ENABLE_BUTTON,
aiLauncher.enable_ai_launch)
class AiRunCondition:
'''
A bool part to let us know when ai is running.
'''
def run(self, mode):
if mode == "user":
return False
return True
V.add(AiRunCondition(), inputs=['user/mode'], outputs=['ai_running'])
#Ai Recording
class AiRecordingCondition:
'''
return True when ai mode, otherwize respect user mode recording flag
'''
def run(self, mode, recording):
if mode == 'user':
return recording
return True
if cfg.RECORD_DURING_AI:
V.add(AiRecordingCondition(),
inputs=['user/mode', 'recording'],
outputs=['recording'])
#Drive train setup
if cfg.DONKEY_GYM:
pass
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_ESC":
from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle
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'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_STEER_THROTTLE":
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
steering = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT,
cfg.HBRIDGE_PIN_RIGHT)
throttle = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD,
cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL":
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, Mini_HBridge_DC_Motor_PWM
left_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT_FWD,
cfg.HBRIDGE_PIN_LEFT_BWD)
right_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_RIGHT_FWD,
cfg.HBRIDGE_PIN_RIGHT_BWD)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
elif cfg.DRIVE_TRAIN_TYPE == "SKID_STEER":
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, SBC_PiMotor
right_motor = SBC_PiMotor(1)
left_motor = SBC_PiMotor(2)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_HBRIDGE_PWM":
from donkeycar.parts.actuator import ServoBlaster, PWMSteering
steering_controller = ServoBlaster(cfg.STEERING_CHANNEL) #really pin
#PWM pulse values should be in the range of 100 to 200
assert (cfg.STEERING_LEFT_PWM <= 200)
assert (cfg.STEERING_RIGHT_PWM <= 200)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD,
cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(motor, inputs=["throttle"])
#add tub to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
if cfg.TRAIN_BEHAVIORS:
inputs += [
'behavior/state', 'behavior/label', "behavior/one_hot_state_array"
]
types += ['int', 'str', 'vector']
if cfg.HAVE_IMU:
inputs += [
'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x', 'imu/gyr_y',
'imu/gyr_z'
]
types += ['float', 'float', 'float', 'float', 'float', 'float']
if cfg.RECORD_DURING_AI:
inputs += ['pilot/angle', 'pilot/throttle']
types += ['float', 'float']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
if cfg.PUB_CAMERA_IMAGES:
from donkeycar.parts.network import TCPServeValue
from donkeycar.parts.image import ImgArrToJpg
pub = TCPServeValue("camera")
V.add(ImgArrToJpg(), inputs=['cam/image_array'], outputs=['jpg/bin'])
V.add(pub, inputs=['jpg/bin'])
if type(ctr) is LocalWebController:
print(
"You can now go to <your pis hostname.local>:8887 to drive your car."
)
elif isinstance(ctr, JoystickController):
print("You can now move your joystick to drive your car.")
#tell the controller about the tub
ctr.set_tub(tub)
if cfg.BUTTON_PRESS_NEW_TUB:
def new_tub_dir():
V.parts.pop()
tub = th.new_tub_writer(inputs=inputs,
types=types,
user_meta=meta)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
ctr.set_tub(tub)
ctr.set_button_down_trigger('cross', new_tub_dir)
ctr.print_controls()
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg,
model_path=None,
use_joystick=False,
model_type=None,
camera_type='single'):
'''
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.
'''
if model_type is None:
if cfg.TRAIN_BEHAVIORS:
model_type = "behavior"
else:
model_type = "categorical"
if model_type == "streamline":
camera_type = "streamline"
#Initialize car
V = dk.vehicle.Vehicle()
if camera_type == "stereo":
if cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
camA = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=0)
camB = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=1)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
camA = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=0)
camB = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=1)
else:
raise (Exception("Unsupported camera type: %s" % cfg.CAMERA_TYPE))
V.add(camA, outputs=['cam/image_array_a'], threaded=True)
V.add(camB, outputs=['cam/image_array_b'], threaded=True)
def stereo_pair(image_a, image_b):
'''
This will take the two images and combine them into a single image
One in red, the other in green, and diff in blue channel.
'''
if image_a is not None and image_b is not None:
width, height, _ = image_a.shape
grey_a = dk.utils.rgb2gray(image_a)
grey_b = dk.utils.rgb2gray(image_b)
grey_c = grey_a - grey_b
stereo_image = np.zeros([width, height, 3],
dtype=np.dtype('B'))
stereo_image[..., 0] = np.reshape(grey_a, (width, height))
stereo_image[..., 1] = np.reshape(grey_b, (width, height))
stereo_image[..., 2] = np.reshape(grey_c, (width, height))
else:
stereo_image = []
return np.array(stereo_image)
image_sterero_pair_part = Lambda(stereo_pair)
V.add(image_sterero_pair_part,
inputs=['cam/image_array_a', 'cam/image_array_b'],
outputs=['cam/image_array'])
#elif camera_type == "streamline":
# print("using grayscale pi cam")
# assert(cfg.CAMERA_TYPE == "PICAM")
# from donkeycar.parts.camera import PiCamera
# cam = PiCamera(image_w=cfg.STREAMLINE_IMAGE_W, image_h=cfg.STREAMLINE_IMAGE_H, image_d=1)
else:
print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
if cfg.CAMERA_TYPE == "PICAM":
from donkeycar.parts.camera import PiCamera
cam = PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
cam = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
cam = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
else:
raise (Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
V.add(cam, outputs=['cam/image_array'], threaded=True)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
from donkeycar.parts.controller import PS3JoystickController, PS4JoystickController
#cont_class = PS3JoystickController
cont_class = MyJoystickController
if cfg.CONTROLLER_TYPE == "ps4":
cont_class = PS4JoystickController
ctr = cont_class(throttle_scale=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
if cfg.USE_NETWORKED_JS:
from donkeycar.parts.controller import JoyStickSub
netwkJs = JoyStickSub(cfg.NETWORK_JS_SERVER_IP)
V.add(netwkJs, threaded=True)
ctr.js = netwkJs
else:
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController()
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
#this throttle filter will allow one tap back for esc reverse
th_filter = ThrottleFilter()
V.add(th_filter, inputs=['user/throttle'], outputs=['user/throttle'])
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
def pilot_condition(mode):
if mode == 'user':
return False
else:
return True
pilot_condition_part = Lambda(pilot_condition)
V.add(pilot_condition_part, inputs=['user/mode'], outputs=['run_pilot'])
def led_cond(mode, recording, recording_alert, behavior_state,
reloaded_model):
#returns a blink rate. 0 for off. -1 for on. positive for rate.
if reloaded_model:
led.set_rgb(cfg.MODEL_RELOADED_LED_R, cfg.MODEL_RELOADED_LED_G,
cfg.MODEL_RELOADED_LED_B)
return 0.1
else:
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
if recording_alert:
led.set_rgb(*recording_alert)
return cfg.REC_COUNT_ALERT_BLINK_RATE
else:
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
if behavior_state is not None and model_type == 'behavior':
r, g, b = cfg.BEHAVIOR_LED_COLORS[behavior_state]
led.set_rgb(r, g, b)
return -1 #solid on
if recording:
return -1 #solid on
elif mode == 'user':
return 1
elif mode == 'local_angle':
return 0.5
elif mode == 'local':
return 0.1
return 0
if cfg.HAVE_RGB_LED:
from donkeycar.parts.led_status import RGB_LED
led = RGB_LED(cfg.LED_PIN_R, cfg.LED_PIN_G, cfg.LED_PIN_B,
cfg.LED_INVERT)
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
led_cond_part = Lambda(led_cond)
V.add(led_cond_part,
inputs=[
'user/mode', 'recording', "records/alert", 'behavior/state',
'reloaded/model'
],
outputs=['led/blink_rate'])
V.add(led, inputs=['led/blink_rate'])
def get_record_alert_color(num_records):
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
def record_tracker(num_records):
if num_records is None:
return 0
if record_tracker.last_num_rec_print != num_records or record_tracker.force_alert:
record_tracker.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or record_tracker.force_alert:
record_tracker.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
record_tracker.force_alert = 0
if record_tracker.dur_alert > 0:
record_tracker.dur_alert -= 1
if record_tracker.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
record_tracker.last_num_rec_print = 0
record_tracker.dur_alert = 0
record_tracker.force_alert = 0
rec_tracker_part = Lambda(record_tracker)
V.add(rec_tracker_part,
inputs=["tub/num_records"],
outputs=['records/alert'])
if cfg.AUTO_RECORD_ON_THROTTLE and isinstance(ctr, JoystickController):
#then we are not using the circle button. hijack that to force a record count indication
def show_record_acount_status():
record_tracker.last_num_rec_print = 0
record_tracker.force_alert = 1
ctr.set_button_down_trigger('circle', show_record_acount_status)
#IMU
if cfg.HAVE_IMU:
imu = Mpu6050()
V.add(imu,
outputs=[
'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x',
'imu/gyr_y', 'imu/gyr_z'
],
threaded=True)
#Behavioral state
if cfg.TRAIN_BEHAVIORS:
bh = BehaviorPart(cfg.BEHAVIOR_LIST)
V.add(bh,
outputs=[
'behavior/state', 'behavior/label',
"behavior/one_hot_state_array"
])
try:
ctr.set_button_down_trigger('L1', bh.increment_state)
except:
pass
inputs = ['cam/image_array', "behavior/one_hot_state_array"]
#IMU
elif model_type == "imu":
assert (cfg.HAVE_IMU)
#Run the pilot if the mode is not user.
inputs = [
'cam/image_array', 'imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'
]
else:
inputs = ['cam/image_array']
def load_model(kl, model_path):
start = time.time()
try:
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
except:
print('problems loading model', model_path)
def load_weights(kl, weights_path):
start = time.time()
try:
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
except:
print('problems loading weights', weights_path)
def load_model_json(kl, json_fnm):
start = time.time()
print('loading model json', json_fnm)
import keras
with open(json_fnm, 'r') as handle:
contents = handle.read()
kl.model = keras.models.model_from_json(contents)
print('finished loading json in %s sec.' % (str(time.time() - start)))
if model_path:
#When we have a model, first create an appropriate Keras part
#if model_type == "streamline":
#kl = KerasStreamline()
#else:
kl = dk.utils.get_model_by_type(model_type, cfg)
if '.h5' in model_path:
#when we have a .h5 extension
#load everything from the model file
load_model(kl, model_path)
def reload_model(filename):
print(filename, "was changed!")
load_model(kl, filename)
fw_part = FileWatcher(model_path,
reload_model,
wait_for_write_stop=10.0)
V.add(fw_part, outputs=['reloaded/model'])
elif '.json' in model_path:
#when we have a .json extension
#load the model from their and look for a matching
#.wts file with just weights
load_model_json(kl, model_path)
weights_path = model_path.replace('.json', '.weights')
load_weights(kl, weights_path)
def reload_weights(filename):
print(filename, "was changed!")
weights_path = filename.replace('.json', '.weights')
load_weights(kl, weights_path)
fw_part = FileWatcher(model_path,
reload_weights,
wait_for_write_stop=1.0)
V.add(fw_part, outputs=['reloaded/model'])
else:
#previous default behavior
load_model(kl, model_path)
V.add(kl,
inputs=inputs,
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
#Choose what inputs should change the car.
def drive_mode(mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle
drive_mode_part = Lambda(drive_mode)
V.add(drive_mode_part,
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
#Drive train setup
if cfg.DRIVE_TRAIN_TYPE == "SERVO_ESC":
from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle
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'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_STEER_THROTTLE":
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
steering = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT,
cfg.HBRIDGE_PIN_RIGHT)
throttle = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD,
cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL":
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, Mini_HBridge_DC_Motor_PWM
left_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT_FWD,
cfg.HBRIDGE_PIN_LEFT_BWD)
right_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_RIGHT_FWD,
cfg.HBRIDGE_PIN_RIGHT_BWD)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_HBRIDGE_PWM":
from donkeycar.parts.actuator import ServoBlaster, PWMSteering
steering_controller = ServoBlaster(cfg.STEERING_CHANNEL) #really pin
#PWM pulse values should be in the range of 100 to 200
assert (cfg.STEERING_LEFT_PWM <= 200)
assert (cfg.STEERING_RIGHT_PWM <= 200)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD,
cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(motor, inputs=["throttle"])
#add tub to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
if cfg.TRAIN_BEHAVIORS:
inputs += [
'behavior/state', 'behavior/label', "behavior/one_hot_state_array"
]
types += ['int', 'str', 'vector']
if cfg.HAVE_IMU:
inputs += [
'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x', 'imu/gyr_y',
'imu/gyr_z'
]
types += ['float', 'float', 'float', 'float', 'float', 'float']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
if type(ctr) is LocalWebController:
print("You can now go to <your pi ip address>:8887 to drive your car.")
elif isinstance(ctr, JoystickController):
print("You can now move your joystick to drive your car.")
#tell the controller about the tub
ctr.set_tub(tub)
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg, model_path=None, model_path_1=None, use_joystick=False, model_type=None, camera_type='single', meta=[] ):
'''
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.
'''
if cfg.DONKEY_GYM:
#the simulator will use cuda and then we usually run out of resources
#if we also try to use cuda. so disable for donkey_gym.
os.environ["CUDA_VISIBLE_DEVICES"]="-1"
if model_type is None:
if cfg.TRAIN_LOCALIZER:
model_type = "localizer"
elif cfg.TRAIN_BEHAVIORS:
model_type = "behavior"
else:
model_type = cfg.DEFAULT_MODEL_TYPE
#Initialize car
V = dk.vehicle.Vehicle()
if camera_type == "stereo":
if cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
camA = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 0)
camB = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 1)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
camA = CvCam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 0)
camB = CvCam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 1)
else:
raise(Exception("Unsupported camera type: %s" % cfg.CAMERA_TYPE))
V.add(camA, outputs=['cam/image_array_a'], threaded=True)
V.add(camB, outputs=['cam/image_array_b'], threaded=True)
from donkeycar.parts.image import StereoPair
V.add(StereoPair(), inputs=['cam/image_array_a', 'cam/image_array_b'],
outputs=['cam/image_array'])
else:
inputs = []
threaded = True
print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH, env_name=cfg.DONKEY_GYM_ENV_NAME)
threaded = True
inputs = ['angle', 'throttle']
elif cfg.CAMERA_TYPE == "PICAM":
from donkeycar.parts.camera import PiCamera
cam = PiCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
cam = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
cam = CvCam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CSIC":
from donkeycar.parts.camera import CSICamera
cam = CSICamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE)
elif cfg.CAMERA_TYPE == "V4L":
from donkeycar.parts.camera import V4LCamera
cam = V4LCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE)
elif cfg.CAMERA_TYPE == "MOCK":
from donkeycar.parts.camera import MockCamera
cam = MockCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
else:
raise(Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
V.add(cam, inputs=inputs, outputs=['cam/image_array'], threaded=threaded)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
from donkeycar.parts.controller import get_js_controller
ctr = get_js_controller(cfg)
if cfg.USE_NETWORKED_JS:
from donkeycar.parts.controller import JoyStickSub
netwkJs = JoyStickSub(cfg.NETWORK_JS_SERVER_IP)
V.add(netwkJs, threaded=True)
ctr.js = netwkJs
else:
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController()
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording', 'switch_mod', 'taga', 'tagb', 'tagc', 'tagd'], #2020.10.24 by zmx
threaded=True)
#this throttle filter will allow one tap back for esc reverse
th_filter = ThrottleFilter()
V.add(th_filter, inputs=['user/throttle'], outputs=['user/throttle'])
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
class PilotCondition:
def run(self, mode):
if mode == 'user':
return False
else:
return True
V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
class LedConditionLogic:
def __init__(self, cfg):
self.cfg = cfg
def run(self, mode, recording, recording_alert, behavior_state, model_file_changed, track_loc):
#returns a blink rate. 0 for off. -1 for on. positive for rate.
if track_loc is not None:
led.set_rgb(*self.cfg.LOC_COLORS[track_loc])
return -1
if model_file_changed:
led.set_rgb(self.cfg.MODEL_RELOADED_LED_R, self.cfg.MODEL_RELOADED_LED_G, self.cfg.MODEL_RELOADED_LED_B)
return 0.1
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if recording_alert:
led.set_rgb(*recording_alert)
return self.cfg.REC_COUNT_ALERT_BLINK_RATE
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if behavior_state is not None and model_type == 'behavior':
r, g, b = self.cfg.BEHAVIOR_LED_COLORS[behavior_state]
led.set_rgb(r, g, b)
return -1 #solid on
if recording:
return -1 #solid on
elif mode == 'user':
return 1
elif mode == 'local_angle':
return 0.5
elif mode == 'local':
return 0.1
return 0
if cfg.HAVE_RGB_LED and not cfg.DONKEY_GYM:
from donkeycar.parts.led_status import RGB_LED
led = RGB_LED(cfg.LED_PIN_R, cfg.LED_PIN_G, cfg.LED_PIN_B, cfg.LED_INVERT)
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
V.add(LedConditionLogic(cfg), inputs=['user/mode', 'recording', "records/alert", 'behavior/state', 'modelfile/modified', "pilot/loc"],
outputs=['led/blink_rate'])
V.add(led, inputs=['led/blink_rate'])
def get_record_alert_color(num_records):
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
class RecordTracker:
def __init__(self):
self.last_num_rec_print = 0
self.dur_alert = 0
self.force_alert = 0
def run(self, num_records):
if num_records is None:
return 0
if self.last_num_rec_print != num_records or self.force_alert:
self.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
self.force_alert = 0
if self.dur_alert > 0:
self.dur_alert -= 1
if self.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
rec_tracker_part = RecordTracker()
V.add(rec_tracker_part, inputs=["tub/num_records"], outputs=['records/alert'])
class Detect():
def __init__(self, cfg):
self.cfg = cfg
def run(self,img):
#print('Adding part Detect')
#test=cv2.imread('/home/pi/mycar/picture/test1.jpg',1)
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
lower_green = np.array([35,100,46])
upper_green = np.array([77,255,255])
mask = cv2.inRange(hsv, lower_green, upper_green)
masked = cv2.bitwise_and(img,img, mask= mask)
template=cv2.imread('/home/pi/mycar/picture/flag1.jpg',1)
temp_b = cv2.cvtColor(template, cv2.COLOR_BGR2GRAY)
#template=cv2.cvtColor(template,COLOR_BGR2GRAY)
res=cv2.matchTemplate(mask,temp_b,cv2.TM_CCOEFF_NORMED)
min_val,max_val,min_loc,max_loc=cv2.minMaxLoc(res)
#print(max_val)
if max_val > 0.60:
print("match",max_val)
return 1
else:
print("no",max_val)
return 0
V.add(Detect(cfg),inputs=['cam/image_array'],outputs=['mypilot_mod'],run_condition='run_pilot')
#在自动驾驶模式下加入detect部分
if cfg.AUTO_RECORD_ON_THROTTLE and isinstance(ctr, JoystickController):
#then we are not using the circle button. hijack that to force a record count indication
def show_record_acount_status():
rec_tracker_part.last_num_rec_print = 0
rec_tracker_part.force_alert = 1
ctr.set_button_down_trigger('circle', show_record_acount_status)
#Sombrero
if cfg.HAVE_SOMBRERO:
from donkeycar.parts.sombrero import Sombrero
s = Sombrero()
#IMU
if cfg.HAVE_IMU:
from donkeycar.parts.imu import Mpu6050
imu = Mpu6050()
V.add(imu, outputs=['imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'], threaded=True)
#Behavioral state
if cfg.TRAIN_BEHAVIORS:
bh = BehaviorPart(cfg.BEHAVIOR_LIST)
V.add(bh, outputs=['behavior/state', 'behavior/label', "behavior/one_hot_state_array"])
try:
ctr.set_button_down_trigger('L1', bh.increment_state)
except:
pass
inputs = ['cam/image_array', "behavior/one_hot_state_array"]
#IMU
elif model_type == "imu":
assert(cfg.HAVE_IMU)
#Run the pilot if the mode is not user.
inputs=['cam/image_array',
'imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z']
else:
inputs=['cam/image_array']
def load_model(kl, model_path):
start = time.time()
try:
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)) )
except Exception as e:
print(e)
print('ERR>> problems loading model', model_path)
def load_weights(kl, weights_path):
start = time.time()
try:
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)) )
except Exception as e:
print(e)
print('ERR>> problems loading weights', weights_path)
def load_model_json(kl, json_fnm):
start = time.time()
print('loading model json', json_fnm)
from tensorflow.python import keras
try:
with open(json_fnm, 'r') as handle:
contents = handle.read()
kl.model = keras.models.model_from_json(contents)
print('finished loading json in %s sec.' % (str(time.time() - start)) )
except Exception as e:
print(e)
print("ERR>> problems loading model json", json_fnm)
if model_path:
#When we have a model, first create an appropriate Keras part
kl = dk.utils.get_model_by_type(model_type, cfg)
model_reload_cb = None
if '.h5' in model_path:
#when we have a .h5 extension
#load everything from the model file
load_model(kl, model_path)
def reload_model(filename):
load_model(kl, filename)
model_reload_cb = reload_model
elif '.json' in model_path:
#when we have a .json extension
#load the model from there and look for a matching
#.wts file with just weights
load_model_json(kl, model_path)
weights_path = model_path.replace('.json', '.weights')
load_weights(kl, weights_path)
def reload_weights(filename):
weights_path = filename.replace('.json', '.weights')
load_weights(kl, weights_path)
model_reload_cb = reload_weights
else:
print("ERR>> Unknown extension type on model file!!")
return
#by zmx 2020.11.30 试图添加第二个模型
if model_path_1:
#When we have a model, first create an appropriate Keras part
kl_1 = dk.utils.get_model_by_type(model_type, cfg)
model_reload_cb_1 = None
if '.h5' in model_path_1:
#when we have a .h5 extension
#load everything from the model file
load_model(kl_1, model_path_1)
def reload_model(filename):
load_model(kl_1, filename)
model_reload_cb_1 = reload_model
elif '.json' in model_path_1:
#when we have a .json extension
#load the model from there and look for a matching
#.wts file with just weights
load_model_json(kl_1, model_path_1)
weights_path_1 = model_path.replace('.json', '.weights')
load_weights(kl_1, weights_path_1)
def reload_weights(filename):
weights_path_1 = filename.replace('.json', '.weights')
load_weights(kl_1, weights_path_1)
model_reload_cb_1 = reload_weights
else:
print("ERR>> Unknown extension type on model file!!")
return
#this part will signal visual LED, if connected
V.add(FileWatcher(model_path, verbose=True), outputs=['modelfile/modified'])
#these parts will reload the model file, but only when ai is running so we don't interrupt user driving
V.add(FileWatcher(model_path), outputs=['modelfile/dirty'], run_condition="ai_running")
V.add(DelayedTrigger(100), inputs=['modelfile/dirty'], outputs=['modelfile/reload'], run_condition="ai_running")
V.add(TriggeredCallback(model_path, model_reload_cb), inputs=["modelfile/reload"], run_condition="ai_running")
outputs_0=['pilot/angle_0', 'pilot/throttle_0'] #by zmx 2020.11.30
outputs_1=['pilot/angle_1', 'pilot/throttle_1'] #by zmx 2020.11.30
if cfg.TRAIN_LOCALIZER:
outputs_0.append("pilot/loc")
outputs_1.append("pilot/loc")
V.add(kl, inputs=inputs,
outputs=outputs_0,
run_condition='run_pilot')
V.add(kl_1, inputs=inputs, #by zmx 2020.11.30 把模型的的输出更名为 _1 和 _0 在选择器(MyPilot)里选择
outputs=outputs_1,
run_condition='run_pilot')
class MySwitch:
def __init__(self):
self.pilot_state = 0 #by zmx 2020.10.24 到时候会改成int型
self.mode = 0
self.mode_switch = False
def run(self,mod_switch):
if (mod_switch):
#print("detected")
self.pilot_state = 1
else:
#print("not pushed")
self.pilot_state = 0
print("pushed : ",mod_switch,"\tmode : ",self.pilot_state)
return self.pilot_state
def update(self):
while(True):
self.pilot_state = self.run(self.mod_switch)
#V.add(MySwitch(), inputs=['switch_mod'], outputs=['web_switch'])
class MyButton:
def __init__(self):
self.button_in = [False,False,False,False]
self.state_out = [True,False,False,False] #by zmx 2020.12.7添加了4个状态量bool，其中默认0是默认状态
self.state_out1 = 1 #by zmx 2020.12.13 默认是n，接到后变化
def run(self,a,b,c,d):
if a:
self.state_out1 = 1
self.state_out = [True,False,False,False]
print("A triggered")
elif b:
self.state_out1 = 2
self.state_out = [False,True,False,False]
print("B triggered")
elif c:
self.state_out1 = 3
self.state_out = [False,False,True,False]
print("X triggered")
elif d:
self.state_out1 = 4
self.state_out = [False,False,False,True]
print("Y triggered")
#print(self.state_out1)
return self.state_out1
def update(self):
while(True):
a = self.button_in[0]
b = self.button_in[1]
c = self.button_in[2]
d = self.button_in[3]
self.state_out1 = self.run(a,b,c,d)
def run_threaded(self,taga,tagb,tagc,tagd):
self.button_in = [taga,tagb,tagc,tagd]
#print(self.state_out1,"---")
return self.state_out1
V.add(MyButton(),inputs=['taga','tagb','tagc','tagd'],outputs=['my_state'],run_condition='switch_mod')
class MyPilot:
def __init__(self):
self.angle = 0
self.throttle = 0
self.angle_0 = 0
self.angle_1 = 0
self.throttle_0 = 0
self.throttle_1 = 0
self.mode = 0
self.state = [False,False,False,False]
self.state1 = 0
def run_threaded(self,my_state,a0,t0,a1,t1):
self.angle_0 = a0
self.angle_1 = a1
self.throttle_0 = t0
self.throttle_1 = t1
#self.mode = mode
self.state1 = my_state
return self.angle, self.throttle
def update(self):
while True:
self.angle, self.throttle = self.run(self.state1,self.angle_0,self.angle_1,self.throttle_0,self.throttle_1)
#print(self.angle)
def run(self,state1,angle_0,throttle_0,angle_1,throttle_1):
print(state1,"---",angle_0,throttle_0,"------",angle_1,throttle_1)
if state1==1:
#print("mode:",pilot_mode," angle:",angle_0," throttle:",throttle_0)
return angle_0,throttle_0
elif state1==2:
#print("mode:",pilot_mode," angle:",angle_1," throttle:",throttle_1)
return angle_1,throttle_1
else:
return 0,0
V.add(MyPilot(), inputs=['my_state','pilot/angle_0', 'pilot/throttle_0','pilot/angle_1', 'pilot/throttle_1'], outputs=['mypilot/angle','mypilot/throttle'],run_condition='switch_mod')
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode,
user_angle, user_throttle,
mypilot_angle, mypilot_throttle):
#print("drivemode is running")
#print(taga,"!!!!!!!!",pilot_mode)
if mode == 'user':
#print(taga,"!!!!!!!!",pilot_mode)
return user_angle, user_throttle
elif mode == 'local_angle':
#print("local_angle")
return mypilot_angle, user_throttle
else:
#print("mode:",pilot_mode," angle:",mypilot_angle," throttle:",mypilot_throttle)
return(0.1,0.1)
#return mypilot_angle, mypilot_throttle * cfg.AI_THROTTLE_MULT
#return mypilot_angle, mypilot_throttle * cfg.AI_THROTTLE_MULT #by zmx 2020.11.30 临时的修改，把my的输出强加上去看看
V.add(DriveMode(),
inputs=['user/mode', 'user/angle', 'user/throttle',
'pilot/angle_0', 'mypilot/throttle'],
outputs=['angle', 'throttle'])
#to give the car a boost when starting ai mode in a race.
aiLauncher = AiLaunch(cfg.AI_LAUNCH_DURATION, cfg.AI_LAUNCH_THROTTLE, cfg.AI_LAUNCH_KEEP_ENABLED)
V.add(aiLauncher,
inputs=['user/mode', 'throttle'],
outputs=['throttle'])
if isinstance(ctr, JoystickController):
ctr.set_button_down_trigger(cfg.AI_LAUNCH_ENABLE_BUTTON, aiLauncher.enable_ai_launch)
class AiRunCondition:
'''
A bool part to let us know when ai is running.
'''
def run(self, mode):
if mode == "user":
return False
return True
V.add(AiRunCondition(), inputs=['user/mode'], outputs=['ai_running'])
#Ai Recording
class AiRecordingCondition:
'''
return True when ai mode, otherwize respect user mode recording flag
'''
def run(self, mode, recording):
if mode == 'user':
return recording
return True
if cfg.RECORD_DURING_AI:
V.add(AiRecordingCondition(), inputs=['user/mode', 'recording'], outputs=['recording'])
#Drive train setup
if cfg.DONKEY_GYM:
pass
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_ESC":
from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle
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'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_STEER_THROTTLE":
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
steering = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT, cfg.HBRIDGE_PIN_RIGHT)
throttle = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD, cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL":
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, Mini_HBridge_DC_Motor_PWM
left_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT_FWD, cfg.HBRIDGE_PIN_LEFT_BWD)
right_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_RIGHT_FWD, cfg.HBRIDGE_PIN_RIGHT_BWD)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_HBRIDGE_PWM":
from donkeycar.parts.actuator import ServoBlaster, PWMSteering
steering_controller = ServoBlaster(cfg.STEERING_CHANNEL) #really pin
#PWM pulse values should be in the range of 100 to 200
assert(cfg.STEERING_LEFT_PWM <= 200)
assert(cfg.STEERING_RIGHT_PWM <= 200)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD, cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(motor, inputs=["throttle"])
#add tub to save data
inputs=['cam/image_array',
'user/angle', 'user/throttle',
'user/mode'
]
types=['image_array',
'float', 'float',
'str'
]
if cfg.TRAIN_BEHAVIORS:
inputs += ['behavior/state', 'behavior/label', "behavior/one_hot_state_array"]
types += ['int', 'str', 'vector']
if cfg.HAVE_GAMEPAD:
inputs += ['my_state']
types += ['int']
if cfg.HAVE_IMU:
inputs += ['imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z']
types +=['float', 'float', 'float',
'float', 'float', 'float']
if cfg.RECORD_DURING_AI:
inputs += ['pilot/angle', 'pilot/throttle']
types += ['float', 'float']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub, inputs=inputs, outputs=["tub/num_records"], run_condition='recording')
if cfg.PUB_CAMERA_IMAGES:
from donkeycar.parts.network import TCPServeValue
from donkeycar.parts.image import ImgArrToJpg
pub = TCPServeValue("camera")
V.add(ImgArrToJpg(), inputs=['cam/image_array'], outputs=['jpg/bin'])
V.add(pub, inputs=['jpg/bin'])
if type(ctr) is LocalWebController:
print("You can now go to <your pi ip address>:8887 to drive your car.")
elif isinstance(ctr, JoystickController):
print("You can now move your joystick to drive your car.")
#tell the controller about the tub
ctr.set_tub(tub)
if cfg.BUTTON_PRESS_NEW_TUB:
def new_tub_dir():
V.parts.pop()
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub, inputs=inputs, outputs=["tub/num_records"], run_condition='recording')
ctr.set_tub(tub)
ctr.set_button_down_trigger('cross', new_tub_dir)
ctr.print_controls()
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ,
max_loop_count=cfg.MAX_LOOPS)
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub, inputs=inputs, outputs=["tub/num_records"], run_condition='recording')
if cfg.PUB_CAMERA_IMAGES:
from donkeycar.parts.network import TCPServeValue
from donkeycar.parts.image import ImgArrToJpg
pub = TCPServeValue("camera")
V.add(ImgArrToJpg(), inputs=['cam/image_array'], outputs=['jpg/bin'])
V.add(pub, inputs=['jpg/bin'])
if type(ctr) is LocalWebController:
print("You can now go to <your pis hostname.local>:8887 to drive your car.")
elif isinstance(ctr, JoystickController):
print("You can now move your joystick to drive your car.")
#tell the controller about the tub
ctr.set_tub(tub)
if cfg.BUTTON_PRESS_NEW_TUB:
def new_tub_dir():
V.parts.pop()
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub, inputs=inputs, outputs=["tub/num_records"], run_condition='recording')
ctr.set_tub(tub)
ctr.set_button_down_trigger('cross', new_tub_dir)
ctr.print_controls()
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ,
max_loop_count=cfg.MAX_LOOPS)
def drive(cfg,
model_path=None,
use_joystick=False,
use_trt=False,
use_half=False,
model_type=None):
# --------------------------------
# 1. Initialize car
# --------------------------------
V = dk.vehicle.Vehicle()
# --------------------------------
# 2. Add camera
# --------------------------------
cam = CSICamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
framerate=cfg.CAMERA_FRAMERATE,
crop_top=cfg.ROI_CROP_TOP,
crop_bottom=cfg.ROI_CROP_BOTTOM)
V.add(cam, inputs=[], outputs=['cam/image_array'], threaded=True)
if cfg.USE_FPV:
V.add(WebFpv(), inputs=['cam/image_array'],
threaded=True) # send the FPV image through network at port 8890
# --------------------------------
# 3. Add gamepad or webpage controller
# --------------------------------
if model_path:
cfg.WEB_INIT_MODE = "local"
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
from donkeycar.parts.controller import get_js_controller
ctr = get_js_controller(cfg)
V.add(
ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
else:
# This web controller will create a web server that is capable of managing steering, throttle, and modes, and more.
ctr = LocalWebController(port=cfg.WEB_CONTROL_PORT,
mode=cfg.WEB_INIT_MODE)
V.add(
ctr,
inputs=['cam/image_array', 'tub/num_records'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
V = add_basic_modules(V, cfg) # e.g., record tracker
# --------------------------------
# 4. Configure the AI neural network model
# --------------------------------
if model_path:
print('loading the self-driving model, model_path:', model_path)
t0 = time.time()
import torch
device = torch.device('cuda')
if not use_trt:
if model_type == 'linear':
drive_model = LinearModel().to(device)
elif model_type == 'resnet18':
drive_model = LinearResModel().to(device)
elif model_type == 'rnn':
drive_model = RNNModel().to(device)
drive_model.load_state_dict(
torch.load(model_path,
map_location=lambda storage, loc: storage))
if use_half:
drive_model.eval().half()
else:
drive_model.eval()
else:
from torch2trt import TRTModule
drive_model = TRTModule()
drive_model.load_state_dict(torch.load(
model_path)) # no need to move to device if using torch2trt
print('model loaded, time cost: %.2f s' % (time.time() - t0))
drive_class = DriveClass(cfg,
model_type,
drive_model,
device,
cam=cam,
half=use_half)
outputs = ['pilot/angle', 'pilot/throttle']
V.add(drive_class,
inputs=['cam/image_array'],
outputs=outputs,
run_condition='run_pilot',
threaded=False)
# if use threaded mode, the input image will not be used,
# because the thread will contineously read images from vehicle memory.
# --------------------------------
# 5. Choose which control command to use
# --------------------------------
out = ['angle', 'throttle']
if cfg.CONTROL_NOISE:
print(
'\n##########################################\nAdding Random Action Noise\n##########################################\n'
)
out += ['user/angle_noise', 'user/throttle_noise']
V.add(DriveMode(cfg),
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=out)
# --------------------------------
# 6. Configure the low-level controller that translates steering and throttle to PWM signals
# --------------------------------
V = add_control_modules(V, cfg)
# --------------------------------
# 7. Add tub to save data
# --------------------------------
V, tub = add_tub_save_data(V, cfg)
# --------------------------------
# 8. Print user guide
# --------------------------------
if type(ctr) is LocalWebController:
print("You can now go to <car_ip_address>:%d to drive your car." %
cfg.WEB_CONTROL_PORT)
elif isinstance(ctr, JoystickController):
print("You can now move your joystick to drive your car.")
#tell the controller about the tub
ctr.set_tub(tub)
ctr.print_controls()
# --------------------------------
# 9. press "Enter" to start if using AI mode, or else directly start the vehicle
# --------------------------------
if model_path:
enter = input("press ENTER to start racing")
if enter == '':
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS
) #run the vehicle for DRIVE_LOOP_HZ, e.g., 20 HZ
else:
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
