from torchvision import transforms
import torch.nn as nn
import numpy as np
from skimage import io
import torchvision.transforms.functional as F
import torch.nn.functional as f
from PIL import Image
import ardrone
import time
import pygame
from Pipeline.option import args
from Architecture.model import model
# from Data.data import trans
drone = ardrone.ARDrone()
drone.speed = 0.1
pygame.init()
W, H = 299, 299
screen = pygame.display.set_mode((W, H))
imsize = 299
threshold = 0.6
trans = transforms.Compose([
transforms.Resize(imsize),
transforms.CenterCrop(imsize),
transforms.ToTensor()
])
def main(win):
drone = ardrone.ARDrone()
pygame.init()
if drone == None:
print("not connect to drone")
return -1
datasource = dataSource.DataSource()
model = load_model()
drone.speed = 0.7
v = Video(screen=win, drone=drone)
running = True
eeg = False
while running:
#print(eeg)
temp = datasource.readData()
pre = np.argmax(model.predict(temp))
if eeg == True:
print(pre)
if pre == 1:
drone.move_forward()
elif pre == 2:
drone.turn_left()
elif pre == 3:
drone.turn_right()
v.video()
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
elif event.type == pygame.KEYUP:
drone.hover()
elif event.type == pygame.KEYDOWN:
k = pygame.key.get_pressed()
if k[pygame.K_t]:
if eeg == True:
eeg = False
else:
eeg = True
elif k[pygame.K_DELETE]:
running = False
elif k[pygame.K_ESCAPE]:
drone.reset()
running = False
# takeoff / land
elif k[pygame.K_q]:
drone.takeoff()
elif k[pygame.K_SPACE]:
drone.land()
elif k[pygame.K_BACKSPACE]:
drone.reset()
# forward / backward
elif k[pygame.K_w]:
drone.move_forward()
elif k[pygame.K_s]:
drone.move_backward()
# left / right
elif k[pygame.K_a]:
drone.move_left()
elif k[pygame.K_d]:
drone.move_right()
# up / down
elif k[pygame.K_UP]:
drone.move_up()
elif k[pygame.K_DOWN]:
drone.move_down()
# turn left / turn right
elif k[pygame.K_LEFT]:
drone.turn_left()
elif k[pygame.K_RIGHT]:
drone.turn_right()
print("Shutting down...")
drone.halt()
print("Ok.")
if len(sys.argv) != 1 and len(sys.argv) != 2:
print('usage: ' + sys.argv[0] + ' [host]')
sys.exit(1)
fd = sys.stdin.fileno()
oldterm = termios.tcgetattr(fd)
newattr = termios.tcgetattr(fd)
newattr[3] = newattr[3] & ~termios.ICANON & ~termios.ECHO
termios.tcsetattr(fd, termios.TCSANOW, newattr)
oldflags = fcntl.fcntl(fd, fcntl.F_GETFL)
fcntl.fcntl(fd, fcntl.F_SETFL, oldflags | os.O_NONBLOCK)
if len(sys.argv) >= 2:
drone = ardrone.ARDrone(sys.argv[1])
else:
drone = ardrone.ARDrone()
try:
while 1:
try:
c = sys.stdin.read(1).lower()
if c == 'q':
break
elif c == 'a':
drone.move_left()
elif c == 'd':
drone.move_right()
elif c == 'w':
import inspect
import ardrone
import sys
import time
import os
import re
import rosgraph
__topics__ = [topic for topic in rosgraph.Master('/rostopic').getSystemState()]
__topics__ = [topic[0] for item in __topics__ for topic in item]
__topics__ = filter(lambda u: re.match('/.*/navdata', u) is not None,
__topics__)
__dronenames__ = map(lambda u: os.path.dirname(u)[1:], __topics__)
__drones__ = {name: ardrone.ARDrone(name) for name in __dronenames__}
if len(__drones__) == 0:
print("I don't see any drones created")
quit()
__firstdrone__ = list(__drones__.values())[0]
__thismodule = sys.modules[__name__]
def exit():
"""Exit the prompt."""
raise EOFError
def quit():