def create_sample_tub(path, records=128):
inputs = [
'cam/image_array', 'user/angle', 'user/throttle',
'location/one_hot_state_array'
]
types = ['image_array', 'float', 'float', 'vector']
t = Tub(path, inputs=inputs, types=types)
cam = SquareBoxCamera()
tel = MovingSquareTelemetry()
num_loc = 10
for _ in range(records):
x, y = tel.run()
img_arr = cam.run(x, y)
loc = [0 for i in range(num_loc)]
loc[1] = 1.0
t.put_record({
'cam/image_array': img_arr,
'user/angle': x,
'user/throttle': y,
'location/one_hot_state_array': loc
})
global temp_tub_path
temp_tub_path = t
print("setting temp tub path to:", temp_tub_path)
return t
def create_sample_tub(path, records=10):
inputs = ['cam/image_array', 'angle', 'throttle']
types = ['image_array', 'float', 'float']
t = Tub(path, inputs=inputs, types=types)
cam = SquareBoxCamera()
tel = MovingSquareTelemetry()
for _ in range(records):
x, y = tel.run()
img_arr = cam.run(x, y)
t.put_record({'cam/image_array': img_arr, 'angle': x, 'throttle': y})
return t
class TestSquareBoxCamera(unittest.TestCase):
def setUp(self):
self.cam = SquareBoxCamera()
def test_run_types(self):
arr = self.cam.run(50, 50)
assert type(arr) == np.ndarray
def create_sample_tub(path, records=128):
inputs = ['cam/image_array', 'user/angle', 'user/throttle']
types = ['image_array', 'float', 'float']
t = Tub(path, inputs=inputs, types=types)
cam = SquareBoxCamera()
tel = MovingSquareTelemetry()
for _ in range(records):
x, y = tel.run()
img_arr = cam.run(x, y)
t.put_record({
'cam/image_array': img_arr,
'user/angle': x,
'user/throttle': y
})
global temp_tub_path
temp_tub_path = t
print("setting temp tub path to:", temp_tub_path)
return t
def drive(cfg, model_path=None):
V = dk.vehicle.Vehicle()
V.mem.put(['square/angle', 'square/throttle'], (100, 100))
# display square box given by cooridantes.
cam = SquareBoxCamera(resolution=cfg.CAMERA_RESOLUTION)
V.add(cam,
inputs=['square/angle', 'square/throttle'],
outputs=['cam/image_array'])
# display the image and read user values from a local web controller
ctr = LocalWebController()
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle',
'user/mode', 'recording'],
threaded=True)
# See if we should even run the pilot module.
# This is only needed because the part run_contion 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'])
# Run the pilot if the mode is not user.
kl = KerasCategorical()
if model_path:
kl.load(model_path)
V.add(kl, inputs=['cam/image_array'],
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
# See if we should even run the pilot module.
def drive_mode(mode,
user_angle, user_throttle,
pilot_angle, pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'pilot_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'])
clock = Timestamp()
V.add(clock, outputs=['timestamp'])
# transform angle and throttle values to coordinate values
def f(x):
return int(x * 100 + 100)
l = Lambda(f)
V.add(l, inputs=['user/angle'], outputs=['square/angle'])
V.add(l, inputs=['user/throttle'], outputs=['square/throttle'])
# add tub to save data
inputs=['cam/image_array',
'user/angle', 'user/throttle',
'pilot/angle', 'pilot/throttle',
'square/angle', 'square/throttle',
'user/mode',
'timestamp']
types=['image_array',
'float', 'float',
'float', 'float',
'float', 'float',
'str',
'str']
#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, run_condition='recording')
# run the vehicle for 20 seconds
V.start(rate_hz=50, max_loop_count=10000)
def create_sample_record():
cam = SquareBoxCamera()
tel = MovingSquareTelemetry()
x, y = tel.run()
img_arr = cam.run(x, y)
return {'cam/image_array': img_arr, 'angle': x, 'throttle':y}
def setUp(self):
self.cam = SquareBoxCamera()