def __init__(self, donkey_name, mqtt_broker, sensor_size=(120, 160, 3)):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % donkey_name,
broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % donkey_name,
broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.sensor_size = sensor_size
def __init__(self, car="kari", mqtt_broker="mqtt.eclipse.org"):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % car, broker=mqtt_broker)
self.state_sub = MQTTValueSub("donkey/%s/state" % car, broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % car, broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.img = np.zeros((40, 40))
self.state = None
self.speed = 0
def update(self):
import select
from donkeycar.parts.image import JpgToImgArr
self.init_video()
jpg_conv = JpgToImgArr()
while self.running:
# Wait for the device to fill the buffer.
select.select((self.video, ), (), ())
image_data = self.video.read_and_queue()
self.frame = jpg_conv.run(image_data)
class DonkeyRemoteContoller:
def __init__(self, donkey_name, mqtt_broker, sensor_size=(120, 160, 3)):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % donkey_name,
broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % donkey_name,
broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.sensor_size = sensor_size
def get_sensor_size(self):
return self.sensor_size
def wait_until_connected(self):
pass
def take_action(self, action):
self.controller_pub.run(action)
def quit(self):
self.camera_sub.shutdown()
self.controller_pub.shutdown()
def get_original_image(self):
return self.img
def observe(self):
jpg = self.camera_sub.run()
self.img = self.jpgToImg.run(jpg)
return self.img
class DonkeyRemoteContoller:
def __init__(self, donkey_name, mqtt_broker, sensor_size=(120, 160, 3)):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % donkey_name, broker=mqtt_broker)#, def_value=(np.zeros((40, 40)), {"cte": 0}))
self.controller_pub = MQTTValuePub("donkey/%s/controls" % donkey_name, broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.sensor_size = sensor_size
def get_sensor_size(self):
return self.sensor_size
def wait_until_connected(self):
pass
def take_action(self, action):
self.controller_pub.run(action)
def quit(self):
self.camera_sub.shutdown()
self.controller_pub.shutdown()
def get_original_image(self):
return self.img
def observe(self):
jpg = self.camera_sub.run()
#data = self.camera_sub.run()
# #print("State: {}".format(state))
# #jpg, info = state
self.img = self.jpgToImg.run(jpg)
# return self.img#, info
return self.img
def __init__(self,
car_name="Kari",
mqtt_broker="mqtt.eclipse.org",
realsense=False,
env_type="DonkeyCar"):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % car_name,
broker=mqtt_broker)
if realsense:
self.state_sub = MQTTValueSub("donkey/%s/state" % car_name,
broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % car_name,
broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.img = np.zeros((40, 40))
self.state = None
self.speed = 0
self.realsense = realsense
self.sim = env_type != "DonkeyCar"
from docopt import docopt
import donkeycar as dk
import cv2
from donkeycar.parts.cv import CvImageView, ImgBGR2RGB, ImgRGB2BGR, ImageScale, ImgWriter, ArrowKeyboardControls
from donkeycar.parts.salient import SalientVis
from donkeycar.parts.network import MQTTValuePub, MQTTValueSub
from donkeycar.parts.transform import Lambda
from donkeycar.parts.image import JpgToImgArr
V = dk.vehicle.Vehicle()
args = docopt(__doc__)
print(args)
V.add(MQTTValueSub(name="donkey/%s/camera" % args["--name"], broker=args["--broker"]), outputs=["jpg"])
V.add(JpgToImgArr(), inputs=["jpg"], outputs=["img_arr"])
V.add(ImgBGR2RGB(), inputs=["img_arr"], outputs=["rgb"])
V.add(ImageScale(4.0), inputs=["rgb"], outputs=["lg_img"])
V.add(CvImageView(), inputs=["lg_img"])
V.add(ArrowKeyboardControls(), outputs=["control"])
V.add(MQTTValuePub(name="donkey/%s/controls" % args["--name"]), inputs=["control"])
record_path = args["--record"]
if record_path is not None:
class ImageSaver:
def __init__(self, path):
self.index = 0
self.path = path
def run(self, img_arr):
class DonkeyCarSpeed:
def __init__(self, car="kari", mqtt_broker="mqtt.eclipse.org"):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % car, broker=mqtt_broker)
self.state_sub = MQTTValueSub("donkey/%s/state" % car, broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % car, broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.img = np.zeros((40, 40))
self.state = None
self.speed = 0
def observe(self):
self.img = self.jpgToImg.run(self.camera_sub.run())
self.state = self.state_sub.run()
def reset(self):
self.controller_pub.run([0, 0])
self.observe()
time.sleep(1)
return self.img
def step(self, control, step_length):
self.controller_pub.run(control)
time.sleep(step_length)
self.observe()
v = self.state["v"]
self.speed = (v[0]**2 + v[1]**2 + v[2]**2)**0.5
done = self.is_dead()
return self.img, done
def is_dead(self):
crop_height = 20
crop_width = 20
threshold = 70
pixels_percentage = 0.10
pixels_required = (self.img.shape[1] - 2 * crop_width) * crop_height * pixels_percentage
#(im[:,:,0] > threshold) & (im[:,:,1] < 150) & (im[:,:,1] < 150)
crop = self.img[-crop_height:, crop_width:-crop_width]
#gs = np.dot(crop, [0.299, 0.587, 0.114])
r = crop[:,:,0] < threshold
g = crop[:,:,1] < threshold
b = crop[:,:,2] < threshold
pixels = (r & g & b).sum()
#im = self.state[-crop_height:, crop_width:-crop_width]
#gs = (im[:,:,0] > 150) & (im[:,:,1] < 150) & (im[:,:,1] < 150)
#pixels = len(gs[gs])
#pixels = len(gs[gs < threshold])
print("Pixels: {}, Required: {}".format(pixels, pixels_required))
return pixels < pixels_required
def __init__(self, donkey_name, mqtt_broker):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % donkey_name,
broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % donkey_name,
broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
class DonkeyRemoteEnv:
def __init__(self,
car_name="Kari",
mqtt_broker="mqtt.eclipse.org",
realsense=False,
env_type="DonkeyCar"):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % car_name,
broker=mqtt_broker)
if realsense:
self.state_sub = MQTTValueSub("donkey/%s/state" % car_name,
broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % car_name,
broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.img = np.zeros((40, 40))
self.state = None
self.speed = 0
self.realsense = realsense
self.sim = env_type != "DonkeyCar"
def observe(self):
self.img = self.jpgToImg.run(self.camera_sub.run())
if self.realsense:
self.state = self.state_sub.run()
v = self.state["v"]
self.speed = (v[0]**2 + v[1]**2 + v[2]**2)**0.5
def reset(self):
self.controller_pub.run([0, 0])
self.observe()
time.sleep(2)
return self.img
def step(self, control, step_length):
print(control)
self.controller_pub.run(control)
time.sleep(step_length)
self.observe()
done = self.is_dead_sim() if self.sim else self.is_dead_real()
return self.img, done
def is_dead_real(self):
crop_height = 20
crop_width = 20
threshold = 70
pixels_percentage = 0.10
pixels_required = (self.img.shape[1] -
2 * crop_width) * crop_height * pixels_percentage
crop = self.img[-crop_height:, crop_width:-crop_width]
r = crop[:, :, 0] < threshold
g = crop[:, :, 1] < threshold
b = crop[:, :, 2] < threshold
pixels = (r & g & b).sum()
print("Pixels: {}, Required: {}".format(pixels, pixels_required))
return pixels < pixels_required
def is_dead_sim(self):
crop_height = 40
required = 0.8
cropped = self.img[-crop_height:]
rgb = cropped[:, :, 0] > cropped[:, :, 2]
return rgb.sum() / (crop_height * 160) > required
import donkeycar as dk
from donkeycar.parts.cv import CvImageView, ImgBGR2RGB, ImgRGB2BGR, ImageScale, ImgWriter
from donkeycar.parts.salient import SalientVis
from donkeycar.parts.network import ZMQValueSub, UDPValueSub, TCPClientValue
from donkeycar.parts.transform import Lambda
from donkeycar.parts.image import JpgToImgArr
V = dk.vehicle.Vehicle()
args = docopt(__doc__)
cfg = dk.load_config(args['--config'])
model_path = args['--model']
model_type = args['--type']
ip = args['--ip']
if model_type is None:
model_type = "categorical"
model = dk.utils.get_model_by_type(model_type, cfg)
model.load(model_path)
V.add(TCPClientValue(name="camera", host=ip), outputs=["packet"])
V.add(JpgToImgArr(), inputs=["packet"], outputs=["img"])
V.add(ImgBGR2RGB(), inputs=["img"], outputs=["img"])
V.add(SalientVis(model), inputs=["img"], outputs=["img"])
V.add(ImageScale(4.0), inputs=["img"], outputs=["lg_img"])
V.add(CvImageView(), inputs=["lg_img"])
V.start(rate_hz=1)