def __init__(self, model_path):
# Load configuration
self.car_mapping = cm.CarMapping()
self.dir_center_label = round(len(self.car_mapping.label_to_raw_dir_mapping) / 2)
# Init label for debug mode
self.meta_label = None
self.l_label = {}
# Racing_status
self.racing = False
self.pause = False
# Load model
self.model = load_model(model_path)
# Init engines
self.pwm = Adafruit_PCA9685.PCA9685()
self.pwm.set_pwm_freq(50)
# Create a *threaded *video stream, allow the camera sensor to warm_up
self.video_stream = PiVideoStream().start()
time.sleep(2)
# self.video_stream.test()
self.frame = self.video_stream.read()
self.buffer = None
# Debug and print
self.start_time = 0
self.elapsed_time = 0
self.nb_pred = 0
self.sampling = 0
self.debug = 0
print("RaceOn initialized")
def __init__(self, delay, output_dir, pwm_freq=50):
# Setup Camera
self.camera, self.rawCapture = init_cam()
self.delay = float(delay)
self.label = [-1, 2]
self.buffer = []
self.car_mapping = cm.CarMapping()
# set controls
self.x_cursor = 0
self.trigger = 0
self.pwm = Adafruit_PCA9685.PCA9685()
self.pwm.set_pwm_freq(pwm_freq)
# Init speed direction
self.speed = self.car_mapping.label_to_raw_speed_mapping[0]
self.direction = (MAX_DIRECTION_RIGHT + MAX_DIRECTION_LEFT) / 2
self.head = HEAD_DOWN
# Set head down
self.pwm.set_pwm(2, 0, self.head)
# Setup xbox pad
self.joy = xbox.Joystick()
# Init Label
self.meta_label = label_handler.Label(picture_dir=output_dir, camera_position=self.head,
car_mapping=self.car_mapping)
def __init__(self,
picture_dir=None,
camera_position="unknown",
car_mapping=None,
raise_error=True):
self._template = {}
self.picture_dir = picture_dir
self.car_mapping = cm.CarMapping(
) if car_mapping is None else car_mapping
self.init_label_template(camera_position, raise_error=raise_error)
def test_car_mapping_get_normalized_speed_min():
car_mapping = cm.CarMapping()
speed = STOP_SPEED
assert 0 == car_mapping.get_normalized_speed(speed)
def test_car_mapping_get_raw_speed_from_label_1():
car_mapping = cm.CarMapping()
raw_speed = LABEL_TO_RAW_SPEED_MAPPING[1]
assert raw_speed == car_mapping.get_raw_speed_from_label(1)
def test_car_mapping_get_raw_direction_from_label_1():
car_mapping = cm.CarMapping()
raw_dir = LABEL_TO_RAW_DIR_MAPPING[1]
assert raw_dir == car_mapping.get_raw_dir_from_label(1)
def test_car_mapping_get_normalized_dir_left():
car_mapping = cm.CarMapping()
direction = MAX_DIRECTION_LEFT
assert -1 == car_mapping.get_normalized_direction(direction)
def test_car_mapping_linear_joystick_full_right():
car_mapping = cm.CarMapping()
direction = car_mapping.get_raw_dir_from_xbox_joystick(1)
assert direction == MAX_DIRECTION_RIGHT
def test_car_mapping_get_normalized_dir_center():
car_mapping = cm.CarMapping()
direction = (MAX_DIRECTION_RIGHT + MAX_DIRECTION_LEFT) / 2
assert 0 == car_mapping.get_normalized_direction(direction)
def test_car_mapping_get_normalized_dir_right():
car_mapping = cm.CarMapping()
direction = MAX_DIRECTION_RIGHT
assert 1 == car_mapping.get_normalized_direction(direction)
def test_car_mapping_get_raw_speed_from_label_outofrange():
car_mapping = cm.CarMapping()
i = len(car_mapping.label_to_raw_speed_mapping) + 1
with pytest.raises(IndexError):
raw_speed = car_mapping.get_raw_speed_from_label(i)
def test_car_mapping_get_normalized_speed_max():
car_mapping = cm.CarMapping()
speed = MAX_SPEED
assert 1 == car_mapping.get_normalized_speed(speed)
def test_car_mapping_get_normalized_speed_middle():
car_mapping = cm.CarMapping()
speed = (MAX_SPEED + STOP_SPEED) / 2
assert 0.5 == car_mapping.get_normalized_speed(speed)
def test_car_mapping_linear_trigger_middle():
car_mapping = cm.CarMapping()
speed = car_mapping.get_raw_speed_from_xbox_trigger(0.5)
assert speed == round((MAX_SPEED + STOP_SPEED) / 2)
def test_car_mapping_linear_trigger_max():
car_mapping = cm.CarMapping()
speed = car_mapping.get_raw_speed_from_xbox_trigger(1)
assert speed == MAX_SPEED
def test_car_mapping_linear_trigger_min():
car_mapping = cm.CarMapping()
speed = car_mapping.get_raw_speed_from_xbox_trigger(0)
assert speed == STOP_SPEED
def test_car_mapping_linear_joystick_center():
car_mapping = cm.CarMapping()
direction = car_mapping.get_raw_dir_from_xbox_joystick(0)
assert direction == round((MAX_DIRECTION_LEFT + MAX_DIRECTION_RIGHT) / 2)
