def __init__(self, configurator, motors_object):
print('Initializing ProximityManager..')
#Check configurazione
if configurator is None:
raise Exception('No configuration received')
return
#Check istanza classe Motors
if motors_object is None:
raise Exception('Motors object cannot be null')
return
#Reference istanza oggetto classe Motors
self.motors_object = motors_object
#Inizializzazione oggetto classe Proximity
self.proximity = Proximity(configurator)
print('Initializing proximity sensors..')
def menu_item_selected(self):
"""Select the current menu item"""
# If ANYTHING selected, we gracefully
# kill any challenge threads open
self.stop_threads()
if self.menu[self.menu_state]=="Remote Control":
# Start the remote control
logging.info("Entering into Remote Control Mode")
self.challenge = rc.rc(self.drive, self.wiimote)
# Create and start a new thread running the remote control script
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Three Point Turn":
# Start the three point turn challenge
logging.info("Starting Three Point Turn Challenge")
self.challenge = ThreePointTurn(self.drive)
# Create and start a new thread running the remote control script
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Straight Line Speed":
# Start the straight line speed challenge
logging.info("Starting Straight Line Speed Challenge")
self.challenge = StraightLineSpeed(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Line Following":
# Start the Line Following challenge
logging.info("Starting Line Following Challenge")
self.challenge = LineFollowing(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Proximity":
# Start the Proximity challenge
logging.info("Starting Proximity Challenge")
self.challenge = Proximity(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Quit Challenge":
# Reset menu item back to top of list
self.menu_state = 0
logging.info("No Challenge Challenge Thread")
elif self.menu[self.menu_state]=="Power Off Pi":
# Power off the raspberry pi safely
# by sending shutdown command to terminal
logging.info("Shutting Down Pi")
os.system("sudo shutdown -h now")
self.shutting_down = True
class launcher:
def __init__(self):
# Need a state set for this launcher.
self.menu = ["Remote Control"]
self.menu += ["Three Point Turn"]
self.menu += ["Straight Line Speed"]
self.menu += ["Line Following"]
self.menu += ["Proximity"]
self.menu += ["Quit Challenge"]
self.menu += ["Power Off Pi"]
self.menu_quit_challenge = 3
# default menu item is remote control
self.menu_state = 0
self.menu_button_pressed = False
self.drive = None
self.wiimote = None
# Current Challenge
self.challenge = None
self.challenge_name = ""
GPIO.setwarnings(False)
self.GPIO = GPIO
# LCD Display
self.lcd = Adafruit_CharLCD( pin_rs=25, pin_e=24, pins_db=[23, 17, 27, 22], GPIO=self.GPIO )
self.lcd.begin(16, 1)
self.lcd.clear()
self.lcd.message('Initiating...')
self.lcd_loop_skip = 5
# Shutting down status
self.shutting_down = False
def menu_item_selected(self):
"""Select the current menu item"""
# If ANYTHING selected, we gracefully
# kill any challenge threads open
self.stop_threads()
if self.menu[self.menu_state]=="Remote Control":
# Start the remote control
logging.info("Entering into Remote Control Mode")
self.challenge = rc.rc(self.drive, self.wiimote)
# Create and start a new thread running the remote control script
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Three Point Turn":
# Start the three point turn challenge
logging.info("Starting Three Point Turn Challenge")
self.challenge = ThreePointTurn(self.drive)
# Create and start a new thread running the remote control script
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Straight Line Speed":
# Start the straight line speed challenge
logging.info("Starting Straight Line Speed Challenge")
self.challenge = StraightLineSpeed(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Line Following":
# Start the Line Following challenge
logging.info("Starting Line Following Challenge")
self.challenge = LineFollowing(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Proximity":
# Start the Proximity challenge
logging.info("Starting Proximity Challenge")
self.challenge = Proximity(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Quit Challenge":
# Reset menu item back to top of list
self.menu_state = 0
logging.info("No Challenge Challenge Thread")
elif self.menu[self.menu_state]=="Power Off Pi":
# Power off the raspberry pi safely
# by sending shutdown command to terminal
logging.info("Shutting Down Pi")
os.system("sudo shutdown -h now")
self.shutting_down = True
def set_neutral(self, drive, wiimote):
"""Simple method to ensure motors are disabled"""
if drive:
drive.set_neutral()
drive.disable_drive()
if wiimote is not None:
# turn on leds on wii remote
wiimote.led = 2
def set_drive(self, drive, wiimote):
"""Simple method to highlight that motors are enabled"""
if wiimote is not None:
# turn on leds on wii remote
#turn on led to show connected
drive.enable_drive()
wiimote.led = 1
def stop_threads(self):
"""Method neatly closes any open threads started by this class"""
if self.challenge:
self.challenge.stop()
self.challenge = None
self.challenge_thread = None
logging.info("Stopping Challenge Thread")
else:
logging.info("No Challenge Challenge Thread")
# Safety setting
self.set_neutral(self.drive, self.wiimote)
def run(self):
""" Main Running loop controling bot mode and menu state """
# Tell user how to connect wiimote
self.lcd.clear()
self.lcd.message( 'Press 1+2 \n' )
self.lcd.message( 'On Wiimote' )
# Initiate the drivetrain
self.drive = drivetrain.DriveTrain(pwm_i2c=0x40)
self.wiimote = None
try:
self.wiimote = Wiimote()
except WiimoteException:
logging.error("Could not connect to wiimote. please try again")
if not self.wiimote:
# Tell user how to connect wiimote
self.lcd.clear()
self.lcd.message( 'Wiimote \n' )
self.lcd.message( 'Not Found' + '\n' )
# Constantly check wiimote for button presses
loop_count = 0
while self.wiimote:
buttons_state = self.wiimote.get_buttons()
nunchuk_buttons_state = self.wiimote.get_nunchuk_buttons()
joystick_state = self.wiimote.get_joystick_state()
# logging.info("joystick_state: {0}".format(joystick_state))
# logging.info("button state {0}".format(buttons_state))
# Always show current menu item
# logging.info("Menu: " + self.menu[self.menu_state])
if loop_count >= self.lcd_loop_skip:
# Reset loop count if over
loop_count = 0
self.lcd.clear()
if self.shutting_down:
# How current menu item on LCD
self.lcd.message( 'Shutting Down Pi' + '\n' )
else:
# How current menu item on LCD
self.lcd.message( self.menu[self.menu_state] + '\n' )
# If challenge is running, show it on line 2
if self.challenge:
self.lcd.message( '[' + self.challenge_name + ']' )
# Increment Loop Count
loop_count = loop_count + 1
# Test if B button is pressed
if joystick_state is None or (buttons_state & cwiid.BTN_B) or (nunchuk_buttons_state & cwiid.NUNCHUK_BTN_Z):
# No nunchuk joystick detected or B or Z button
# pressed, must go into neutral for safety
logging.info("Neutral")
self.set_neutral(self.drive, self.wiimote)
else:
# Enable motors
self.set_drive(self.drive, self.wiimote)
if ((buttons_state & cwiid.BTN_A)
or (buttons_state & cwiid.BTN_UP)
or (buttons_state & cwiid.BTN_DOWN)):
# Looking for state change only
if not self.menu_button_pressed and (buttons_state & cwiid.BTN_A):
# User wants to select a menu item
self.menu_item_selected()
elif not self.menu_button_pressed and (buttons_state & cwiid.BTN_UP):
# Decrement menu index
self.menu_state = self.menu_state - 1
if self.menu_state < 0:
# Loop back to end of list
self.menu_state = len(self.menu)-1
logging.info("Menu item: {0}".format(self.menu[self.menu_state]))
elif not self.menu_button_pressed and (buttons_state & cwiid.BTN_DOWN):
# Increment menu index
self.menu_state = self.menu_state + 1
if self.menu_state >= len(self.menu):
# Loop back to start of list
self.menu_state = 0
logging.info("Menu item: {0}".format(self.menu[self.menu_state]))
# Only change button state AFTER we have used it
self.menu_button_pressed = True
else:
# No menu buttons pressed
self.menu_button_pressed = False
time.sleep(0.05)
def main():
torch.manual_seed(args.seed)
os.environ['CUDA_VISIBLE_DEVICES'] = args.gpu
use_gpu = torch.cuda.is_available()
if args.use_cpu: use_gpu = False
sys.stdout = Logger(
osp.join(args.save_dir, 'log_' + 'CIFAR-10_PC_Loss' + '.txt'))
if use_gpu:
print("Currently using GPU: {}".format(args.gpu))
cudnn.benchmark = True
torch.cuda.manual_seed_all(args.seed)
else:
print("Currently using CPU")
# Data Load
num_classes = 10
print('==> Preparing dataset')
transform_train = transforms.Compose([
transforms.RandomCrop(32, padding=4),
transforms.RandomHorizontalFlip(),
transforms.ToTensor(),
transforms.Normalize((0.4914, 0.4822, 0.4465),
(0.2023, 0.1994, 0.2010)),
])
transform_test = transforms.Compose([
transforms.ToTensor(),
transforms.Normalize((0.4914, 0.4822, 0.4465),
(0.2023, 0.1994, 0.2010)),
])
trainset = torchvision.datasets.CIFAR10(root='./data/cifar10',
train=True,
download=True,
transform=transform_train)
trainloader = torch.utils.data.DataLoader(trainset,
batch_size=args.train_batch,
pin_memory=True,
shuffle=True,
num_workers=args.workers)
testset = torchvision.datasets.CIFAR10(root='./data/cifar10',
train=False,
download=True,
transform=transform_test)
testloader = torch.utils.data.DataLoader(testset,
batch_size=args.test_batch,
pin_memory=True,
shuffle=False,
num_workers=args.workers)
# Loading the Model
model = resnet(num_classes=num_classes, depth=110)
if True:
model = nn.DataParallel(model).cuda()
criterion_xent = nn.CrossEntropyLoss()
criterion_prox_1024 = Proximity(num_classes=num_classes,
feat_dim=1024,
use_gpu=use_gpu)
criterion_prox_256 = Proximity(num_classes=num_classes,
feat_dim=256,
use_gpu=use_gpu)
criterion_conprox_1024 = Con_Proximity(num_classes=num_classes,
feat_dim=1024,
use_gpu=use_gpu)
criterion_conprox_256 = Con_Proximity(num_classes=num_classes,
feat_dim=256,
use_gpu=use_gpu)
optimizer_model = torch.optim.SGD(model.parameters(),
lr=args.lr_model,
weight_decay=1e-04,
momentum=0.9)
optimizer_prox_1024 = torch.optim.SGD(criterion_prox_1024.parameters(),
lr=args.lr_prox)
optimizer_prox_256 = torch.optim.SGD(criterion_prox_256.parameters(),
lr=args.lr_prox)
optimizer_conprox_1024 = torch.optim.SGD(
criterion_conprox_1024.parameters(), lr=args.lr_conprox)
optimizer_conprox_256 = torch.optim.SGD(criterion_conprox_256.parameters(),
lr=args.lr_conprox)
filename = 'Models_Softmax/CIFAR10_Softmax.pth.tar'
checkpoint = torch.load(filename)
model.load_state_dict(checkpoint['state_dict'])
optimizer_model.load_state_dict = checkpoint['optimizer_model']
start_time = time.time()
for epoch in range(args.max_epoch):
adjust_learning_rate(optimizer_model, epoch)
adjust_learning_rate_prox(optimizer_prox_1024, epoch)
adjust_learning_rate_prox(optimizer_prox_256, epoch)
adjust_learning_rate_conprox(optimizer_conprox_1024, epoch)
adjust_learning_rate_conprox(optimizer_conprox_256, epoch)
print("==> Epoch {}/{}".format(epoch + 1, args.max_epoch))
train(model, criterion_xent, criterion_prox_1024, criterion_prox_256,
criterion_conprox_1024, criterion_conprox_256, optimizer_model,
optimizer_prox_1024, optimizer_prox_256, optimizer_conprox_1024,
optimizer_conprox_256, trainloader, use_gpu, num_classes, epoch)
if args.eval_freq > 0 and (epoch + 1) % args.eval_freq == 0 or (
epoch + 1) == args.max_epoch:
print("==> Test") #Tests after every 10 epochs
acc, err = test(model, testloader, use_gpu, num_classes, epoch)
print("Accuracy (%): {}\t Error rate (%): {}".format(acc, err))
state_ = {
'epoch': epoch + 1,
'state_dict': model.state_dict(),
'optimizer_model': optimizer_model.state_dict(),
'optimizer_prox_1024': optimizer_prox_1024.state_dict(),
'optimizer_prox_256': optimizer_prox_256.state_dict(),
'optimizer_conprox_1024': optimizer_conprox_1024.state_dict(),
'optimizer_conprox_256': optimizer_conprox_256.state_dict(),
}
torch.save(state_, 'Models_PCL/CIFAR10_PCL.pth.tar')
elapsed = round(time.time() - start_time)
elapsed = str(datetime.timedelta(seconds=elapsed))
print("Finished. Total elapsed time (h:m:s): {}".format(elapsed))
class ProximityManager:
#Oggetto classe Proximity
proximity = None
#Variabili direzionali
front_availability = None
left_availability = None
right_availability = None
#Reference all'istanza della classe Motors
motors_object = None
#Dizionario misurazioni
measurements = {}
#Distanze ostacoli
out_of_range_distance = float(150) #1,5m
critical_distance = float(20) #20 cm
def getMeasurements(self):
return self.measurements
def getFrontAvailability(self):
return self.front_availability
def getLeftAvailability(self):
return self.left_availability
def getRightAvailability(self):
return self.right_availability
def getFrontStopDistance(self):
return self.front_stop_distance
def getLeftStopDistance(self):
return self.left_stop_distance
def getRightStopDistance(self):
return self.right_stop_distance
def setFrontAvailability(self, value):
self.front_availability = value
def setLeftAvailability(self, value):
self.left_availability = value
def setRightAvailability(self, value):
self.right_availability = value
def setFrontStopDistance(self, value):
self.front_stop_distance = value
def setLeftStopDistance(self, value):
self.left_stop_distance = value
def setRightStopDistance(self, value):
self.right_stop_distance = value
def getAvailability(self):
directions_availability = {
'LEFT': self.left_availability,
'FRONT': self.front_availability,
'RIGHT': self.right_availability
}
return directions_availability
def getStringifyMeasurements(self):
if self.measurements is None:
return
return str(self.measurements.get('LEFT')) + ', ' + str(
self.measurements.get('FRONT')) + ', ' + str(
self.measurements.get('RIGHT'))
def __init__(self, configurator, motors_object):
print('Initializing ProximityManager..')
#Check configurazione
if configurator is None:
raise Exception('No configuration received')
return
#Check istanza classe Motors
if motors_object is None:
raise Exception('Motors object cannot be null')
return
#Reference istanza oggetto classe Motors
self.motors_object = motors_object
#Inizializzazione oggetto classe Proximity
self.proximity = Proximity(configurator)
print('Initializing proximity sensors..')
def retrieveProximityData(self):
print('Getting measurements for all directions..')
self.measurements = self.proximity.getDistance()
print('Measurements: ' + str(self.measurements))
#Check caso di errore
if self.measurements is None:
print('Error while getting measurements')
raise proximityMeasurementErrorException(
'Error while getting proximity measurements')
self.front_availability = False
self.left_availability = False
self.right_availability = False
else:
if self.measurements.get('FRONT') is None:
self.front_availability = False
#Check caso in cui la direzione motori sia FORWARD e direzione FRONT bloccata
if self.motors_object.getMotorsStatus(
) == self.motors_object.FORWARD:
print('Stopping front measurement None')
self.motors_object.stop()
raise proximityMeasurementErrorException('FRONT measure None')
elif self.measurements.get('FRONT') > self.critical_distance:
self.front_availability = True
elif self.measurements.get('FRONT') <= self.critical_distance:
self.front_availability = False
#Check caso in cui la direzione motori sia FORWARD e direzione FRONT bloccata
if self.motors_object.getMotorsStatus(
) == self.motors_object.FORWARD:
print('ProximityManager stopping motors..')
self.motors_object.stop()
#print('ninetyDegreesRotation..')
#self.motors_object.rotation('CLOCKWISE', False, True)
if self.measurements.get('LEFT') is None:
self.left_availability = False
raise proximityMeasurementErrorException('LEFT measure None')
elif self.measurements.get('LEFT') > self.critical_distance:
self.left_availability = True
elif self.measurements.get('LEFT') <= self.critical_distance:
self.left_availability = False
#Check caso in cui il robot sia in movimento e abbia raggiunto la distanza critica
if self.motors_object.getMotorsStatus(
) != self.motors_object.STOPPED:
print('ProximityManager stopping motors..')
self.motors_object.stop()
if self.measurements.get('RIGHT') is None:
self.right_availability = False
raise proximityMeasurementErrorException('RIGHT measure None')
elif self.measurements.get('RIGHT') > self.critical_distance:
self.right_availability = True
elif self.measurements.get('RIGHT') <= self.critical_distance:
self.right_availability = False
#Check caso in cui il robot sia in movimento e abbia raggiunto la distanza critica
if self.motors_object.getMotorsStatus(
) != self.motors_object.STOPPED:
print('ProximityManager stopping motors..')
self.motors_object.stop()
def proximityRotation(self, from_dir, to_dir):
print('proximityRotation start..')
if from_dir is None:
raise Exception('Parameter "from_dir" cannot be None')
if to_dir is None:
raise Exception('Parameter "to_dir" cannot be None')
#TODO checl from_dir == FRONT, LEFT, RIGHT
#TODO checl to_dir == FRONT, LEFT, RIGHT
#TODO check che from_dir e to_dir non siano uguali
#Check caso in cui robot non sia fermo
if self.motors_object.getMotorsStatus() != self.motors_object.STOPPED:
print('Stopping motors 2..')
self.motors_object.stop()
#Check parametro distanza "from_dir"
if self.measurements.get(from_dir) is None:
print('Distance from obastacle not found')
return
#raise Exception('None value distance for ' + str(from_dir) + ' direction, cannot use it as reference')
#Check presenza effettiva ostacolo
if self.measurements.get(from_dir) > self.critical_distance:
raise Exception('No obastacle found in ' + str(from_dir) +
' direction to use as reference')
if from_dir == 'FRONT':
if to_dir == 'LEFT':
#Rotazione senso orario
self.motors_object.rotation('CLOCKWISE')
elif to_dir == 'RIGHT':
#Rotazione senso antiorario
self.motors_object.rotation('COUNTERCLOCKWISE')
elif from_dir == 'LEFT':
if to_dir == 'FRONT':
#Rotazione senso antiorario
self.motors_object.rotation('COUNTERCLOCKWISE')
elif to_dir == 'RIGHT':
#Rotazione senso antiorario
self.motors_object.rotation('COUNTERCLOCKWISE')
elif from_dir == 'RIGHT':
if to_dir == 'FRONT':
#Rotazione senso orario
self.motors_object.rotation('CLOCKWISE')
elif to_dir == 'LEFT':
#Rotazione senso orario
self.motors_object.rotation('CLOCKWISE')
time.sleep(0.4)
print('Motors stop..')
self.motors_object.stop()
def stop(self):
print('Stopping ProximityManager..')
self.motors_object.stop()
if self.proximity is not None:
self.proximity.cancel()
import datetime
import pwm
import os
import signal
import sys
import select
from proximity import Proximity
pwm.enable()
__prox = Proximity()
__prox.attach("P9_16", "48")
__prox.start()
#fd = os.open("/sys/class/gpio/gpio48/value", os.O_RDONLY | os.O_NONBLOCK)
#READ_ONLY = select.POLLPRI
#poller = select.poll()
#poller.register(fd, READ_ONLY)
#def signal_handler(signal, frame):
# print 'cleaning up'
# __prox.detach()
# open("/sys/class/gpio/unexport", 'w').write("48")
# fd.close()
# sys.exit(0)
#toggle = 0
#pre = 0
import datetime
import pwm
import os
import signal
import sys
import select
from proximity import Proximity
pwm.enable()
__prox = Proximity()
__prox.attach("P9_16", "48")
__prox.start()
#fd = os.open("/sys/class/gpio/gpio48/value", os.O_RDONLY | os.O_NONBLOCK)
#READ_ONLY = select.POLLPRI
#poller = select.poll()
#poller.register(fd, READ_ONLY)
#def signal_handler(signal, frame):
# print 'cleaning up'
# __prox.detach()
# open("/sys/class/gpio/unexport", 'w').write("48")
# fd.close()
# sys.exit(0)
#toggle = 0
def menu_item_selected(self):
"""Select the current menu item"""
# If ANYTHING selected, we gracefully
# kill any challenge threads open
self.stop_threads()
if self.menu[self.menu_state] == "Remote Control":
# Start the remote control
logging.info("Entering into Remote Control Mode")
self.challenge = rc.rc(self.drive, self.wiimote)
# Create and start a new thread running the remote control script
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Three Point Turn":
# Start the three point turn challenge
logging.info("Starting Three Point Turn Challenge")
self.challenge = ThreePointTurn(self.drive)
# Create and start a new thread running the remote control script
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Straight Line Speed":
# Start the straight line speed challenge
logging.info("Starting Straight Line Speed Challenge")
self.challenge = StraightLineSpeed(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Line Following":
# Start the Line Following challenge
logging.info("Starting Line Following Challenge")
self.challenge = LineFollowing(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Proximity":
# Start the Proximity challenge
logging.info("Starting Proximity Challenge")
self.challenge = Proximity(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Quit Challenge":
# Reset menu item back to top of list
self.menu_state = 0
logging.info("No Challenge Challenge Thread")
elif self.menu[self.menu_state] == "Power Off Pi":
# Power off the raspberry pi safely
# by sending shutdown command to terminal
logging.info("Shutting Down Pi")
os.system("sudo shutdown -h now")
self.shutting_down = True
class launcher:
def __init__(self):
# Need a state set for this launcher.
self.menu = ["Remote Control"]
self.menu += ["Three Point Turn"]
self.menu += ["Straight Line Speed"]
self.menu += ["Line Following"]
self.menu += ["Proximity"]
self.menu += ["Quit Challenge"]
self.menu += ["Power Off Pi"]
self.menu_quit_challenge = 3
# default menu item is remote control
self.menu_state = 0
self.menu_button_pressed = False
self.drive = None
self.wiimote = None
# Current Challenge
self.challenge = None
self.challenge_name = ""
GPIO.setwarnings(False)
self.GPIO = GPIO
# LCD Display
self.lcd = Adafruit_CharLCD(pin_rs=25,
pin_e=24,
pins_db=[23, 17, 27, 22],
GPIO=self.GPIO)
self.lcd.begin(16, 1)
self.lcd.clear()
self.lcd.message('Initiating...')
self.lcd_loop_skip = 5
# Shutting down status
self.shutting_down = False
def menu_item_selected(self):
"""Select the current menu item"""
# If ANYTHING selected, we gracefully
# kill any challenge threads open
self.stop_threads()
if self.menu[self.menu_state] == "Remote Control":
# Start the remote control
logging.info("Entering into Remote Control Mode")
self.challenge = rc.rc(self.drive, self.wiimote)
# Create and start a new thread running the remote control script
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Three Point Turn":
# Start the three point turn challenge
logging.info("Starting Three Point Turn Challenge")
self.challenge = ThreePointTurn(self.drive)
# Create and start a new thread running the remote control script
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Straight Line Speed":
# Start the straight line speed challenge
logging.info("Starting Straight Line Speed Challenge")
self.challenge = StraightLineSpeed(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Line Following":
# Start the Line Following challenge
logging.info("Starting Line Following Challenge")
self.challenge = LineFollowing(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Proximity":
# Start the Proximity challenge
logging.info("Starting Proximity Challenge")
self.challenge = Proximity(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Quit Challenge":
# Reset menu item back to top of list
self.menu_state = 0
logging.info("No Challenge Challenge Thread")
elif self.menu[self.menu_state] == "Power Off Pi":
# Power off the raspberry pi safely
# by sending shutdown command to terminal
logging.info("Shutting Down Pi")
os.system("sudo shutdown -h now")
self.shutting_down = True
def set_neutral(self, drive, wiimote):
"""Simple method to ensure motors are disabled"""
if drive:
drive.set_neutral()
drive.disable_drive()
if wiimote is not None:
# turn on leds on wii remote
wiimote.led = 2
def set_drive(self, drive, wiimote):
"""Simple method to highlight that motors are enabled"""
if wiimote is not None:
# turn on leds on wii remote
#turn on led to show connected
drive.enable_drive()
wiimote.led = 1
def stop_threads(self):
"""Method neatly closes any open threads started by this class"""
if self.challenge:
self.challenge.stop()
self.challenge = None
self.challenge_thread = None
logging.info("Stopping Challenge Thread")
else:
logging.info("No Challenge Challenge Thread")
# Safety setting
self.set_neutral(self.drive, self.wiimote)
def run(self):
""" Main Running loop controling bot mode and menu state """
# Tell user how to connect wiimote
self.lcd.clear()
self.lcd.message('Press 1+2 \n')
self.lcd.message('On Wiimote')
# Initiate the drivetrain
self.drive = drivetrain.DriveTrain(pwm_i2c=0x40)
self.wiimote = None
try:
self.wiimote = Wiimote()
except WiimoteException:
logging.error("Could not connect to wiimote. please try again")
if not self.wiimote:
# Tell user how to connect wiimote
self.lcd.clear()
self.lcd.message('Wiimote \n')
self.lcd.message('Not Found' + '\n')
# Constantly check wiimote for button presses
loop_count = 0
while self.wiimote:
buttons_state = self.wiimote.get_buttons()
nunchuk_buttons_state = self.wiimote.get_nunchuk_buttons()
joystick_state = self.wiimote.get_joystick_state()
# logging.info("joystick_state: {0}".format(joystick_state))
# logging.info("button state {0}".format(buttons_state))
# Always show current menu item
# logging.info("Menu: " + self.menu[self.menu_state])
if loop_count >= self.lcd_loop_skip:
# Reset loop count if over
loop_count = 0
self.lcd.clear()
if self.shutting_down:
# How current menu item on LCD
self.lcd.message('Shutting Down Pi' + '\n')
else:
# How current menu item on LCD
self.lcd.message(self.menu[self.menu_state] + '\n')
# If challenge is running, show it on line 2
if self.challenge:
self.lcd.message('[' + self.challenge_name + ']')
# Increment Loop Count
loop_count = loop_count + 1
# Test if B button is pressed
if joystick_state is None or (buttons_state & cwiid.BTN_B) or (
nunchuk_buttons_state & cwiid.NUNCHUK_BTN_Z):
# No nunchuk joystick detected or B or Z button
# pressed, must go into neutral for safety
logging.info("Neutral")
self.set_neutral(self.drive, self.wiimote)
else:
# Enable motors
self.set_drive(self.drive, self.wiimote)
if ((buttons_state & cwiid.BTN_A) or (buttons_state & cwiid.BTN_UP)
or (buttons_state & cwiid.BTN_DOWN)):
# Looking for state change only
if not self.menu_button_pressed and (buttons_state
& cwiid.BTN_A):
# User wants to select a menu item
self.menu_item_selected()
elif not self.menu_button_pressed and (buttons_state
& cwiid.BTN_UP):
# Decrement menu index
self.menu_state = self.menu_state - 1
if self.menu_state < 0:
# Loop back to end of list
self.menu_state = len(self.menu) - 1
logging.info("Menu item: {0}".format(
self.menu[self.menu_state]))
elif not self.menu_button_pressed and (buttons_state
& cwiid.BTN_DOWN):
# Increment menu index
self.menu_state = self.menu_state + 1
if self.menu_state >= len(self.menu):
# Loop back to start of list
self.menu_state = 0
logging.info("Menu item: {0}".format(
self.menu[self.menu_state]))
# Only change button state AFTER we have used it
self.menu_button_pressed = True
else:
# No menu buttons pressed
self.menu_button_pressed = False
time.sleep(0.05)
def main():
# init model, ResNet18() can be also used here for training
# model = WideResNet().to(device)
if args.network == 'smallCNN':
model = SmallCNN().to(device)
elif args.network == 'wideResNet':
model = WideResNet().to(device)
elif args.network == 'resnet':
model = ResNet().to(device)
else:
model = VGG(args.network, num_classes=10).to(device)
sys.stdout = Logger(os.path.join(args.log_dir, args.log_file))
print(model)
criterion_prox = Proximity(10, args.feat_size, True)
criterion_conprox = Con_Proximity(10, args.feat_size, True)
optimizer_prox = optim.SGD(criterion_prox.parameters(), lr=args.lr_prox)
optimizer_conprox = optim.SGD(criterion_conprox.parameters(), lr=args.lr_conprox)
optimizer = optim.SGD(model.parameters(), lr=args.lr, momentum=args.momentum, weight_decay=args.weight_decay)
if args.fine_tune:
base_dir = args.base_dir
state_dict = torch.load("{}/{}_ep{}.pt".format(base_dir, args.base_model, args.checkpoint))
opt = torch.load("{}/opt-{}_ep{}.tar".format(base_dir, args.base_model, args.checkpoint))
model.load_state_dict(state_dict)
optimizer.load_state_dict(opt)
natural_acc = []
robust_acc = []
for epoch in range(1, args.epochs + 1):
# adjust learning rate for SGD
adjust_learning_rate(optimizer, epoch)
adjust_learning_rate(optimizer_prox, epoch)
adjust_learning_rate(optimizer_conprox, epoch)
start_time = time.time()
# adversarial training
train(model, device, train_loader, optimizer,
criterion_prox, optimizer_prox,
criterion_conprox, optimizer_conprox, epoch)
# evaluation on natural examples
print('================================================================')
print("Current time: {}".format(time.strftime("%Y-%m-%d %H:%M:%S", time.localtime())))
# eval_train(model, device, train_loader)
# eval_test(model, device, test_loader)
natural_err_total, robust_err_total = eval_adv_test_whitebox(model, device, test_loader)
with open(os.path.join(stats_dir, '{}.txt'.format(args.save_model)), "a") as f:
f.write("{} {} {}\n".format(epoch, natural_err_total, robust_err_total))
print('using time:', datetime.timedelta(seconds=round(time.time() - start_time)))
natural_acc.append(natural_err_total)
robust_acc.append(robust_err_total)
file_name = os.path.join(stats_dir, '{}_stat{}.npy'.format(args.save_model, epoch))
# np.save(file_name, np.stack((np.array(self.train_loss), np.array(self.test_loss),
# np.array(self.train_acc), np.array(self.test_acc),
# np.array(self.elasticity), np.array(self.x_grads),
# np.array(self.fgsms), np.array(self.pgds),
# np.array(self.cws))))
np.save(file_name, np.stack((np.array(natural_acc), np.array(robust_acc))))
# save checkpoint
if epoch % args.save_freq == 0:
torch.save(model.state_dict(),
os.path.join(model_dir, '{}_ep{}.pt'.format(args.save_model, epoch)))
torch.save(optimizer.state_dict(),
os.path.join(model_dir, 'opt-{}_ep{}.tar'.format(args.save_model, epoch)))
print("Ep{}: Model saved as {}.".format(epoch, args.save_model))
print('================================================================')
