from dataloader import *
import torch
from torchvision import transforms
from R2D2 import *
from loss import *
from torch.utils.data import DataLoader
dataset = R2D2Dataset(
root_dir='/media/jhyeup/5666b044-8f1b-47ad-83f3-d0acf3c6ec52/r2d2data/')
# len(dataset) = 8406
image1, image2, meta = dataset.__getitem__(4)
r2d2 = R2D2()
r2d2.to(torch.device('cuda'))
#input = torch.cat([image1, image2])
#input = input.to(torch.device('cuda'))
"""
image1 = image1.to(torch.device('cuda'))
image2 = image2.to(torch.device('cuda'))
meta['grid'] = meta['grid'].to(torch.device('cuda'))
if 'mask' in meta :
meta['mask'] = meta['mask'].to(torch.device('cuda'))
d, rl, rp = r2d2.forward([image1, image2])
"""
cosimloss = CosimLoss().to(torch.device('cuda'))
for i in range(10):
image1, image2, meta = dataset.__getitem__(i)
image1 = image1.to(torch.device('cuda'))
image2 = image2.to(torch.device('cuda'))
import sys
import os
try:
caseid
except NameError:
print("input caseid id (3 digit)")
caseid = 0
caseid = input()
caseid = "d" + caseid.zfill(3)
datadir = "../run/" + caseid + "/data/"
pngdir = "../figs/" + caseid + "/ro_slice/"
os.makedirs(pngdir, exist_ok=True)
d = R2D2.R2D2_data(datadir)
for key in d.p:
exec('%s = %s%s%s' % (key, 'd.p["', key, '"]'))
try:
n0
except NameError:
n0 = 0
if n0 > nd_tau:
n0 = nd_tau
print("Maximum time step= ",nd_tau," time ="\
,dtout*float(nd)/3600./24.," [day]")
plt.close('all')
import Environment
import time
import R2D2
import random
num_episodes = 100000
env = Environment.Environment()
agent = R2D2.R2D2(env)
epsilon = 1
epsilon_decay = 0.99995
epsilon_min = 0.01
eps_count = 0
buffer_size = 10000
buffer = []
max_reward = 0
for e in range(num_episodes):
st = env.reset()
episode_reward = 0
t = 0
while True:
at = agent.getAction(st, epsilon)
st1, rt, done, debug = env.step(at)
episode_reward += rt
timestep = [st, at, rt, st1, done]
import R2D2
line1 = []
line2 = []
line3 = []
line4 = []
line5 = []
line6 = []
line7 = []
Driver = R2D2.Driver()
camara = R2D2.Vision()
try:
stream = R2D2.Stream(str(R2D2.config('IP')), int(R2D2.config('Port')), streamer=1)
except:
stream = None
LF = R2D2.LineFollower(collectData=True)
AI = R2D2.AI()
try:
while True:
frame = camara.getFrame('COLOR')
stream.Send(frame)
try:
stream.Send(frame)
except:
pass
_, _, sensorArray1, sensorArray2, sensorArray3, sensorArray4 = LF.getProcessedImage(frame)
if not line1:
from flask import Flask, request
from R2D2 import *
r2 = R2D2()
app = Flask(__name__)
@app.route("/")
def index():
return """<html>
<head>
<title>R2D2</title>
</head>
<body>
<a href="/set/dome/on">Dome On</a>
<a href="/set/dome/off">Dome Off</a>
<form action="" method="get">
<button name="dome" value="on">Dome On</button>
<button name="dome" value="off">Dome Off</button>
</form>
</body>
</html>"""
@app.route("/set/<setting>/<value>")
def set(setting, value):
if setting == "dome":
if value == "on":
r2.DomeLights.Enable()
elif value == "off":
elif 'J' in keys:
output[5] = 1
elif 'L' in keys:
output[6] = 1
elif 'K' in keys:
output[7] = 1
elif 'Y' in keys:
output[8] = 1
elif 'G' in keys:
output[9] = 1
else:
output[10] = 1
return output
collectData = bool(R2D2.config('CollectData'))
stream = R2D2.Stream(str(R2D2.config('IP')),
int(R2D2.config('Port')),
streamer=0)
LF = R2D2.LineFollower(collectData=collectData)
if not collectData:
AI = R2D2.AI()
last_time = time.time()
line1 = []
line2 = []
line3 = []
line4 = []
line5 = []
line6 = []
LucksLabUtils_config.config("Quest_R2D2")
OSU.system_command("echo $PATH")
OSU.system_command("echo $CLASSPATH")
opts = OSU.getopts("", [
"in_dir=", "out_dir=", "adapter=", "p=", "e=", "endcut=", "constrained_c=",
"scale_rho_max=", "draw_all=", "most_count_tie_break=", "scaling_func=",
"weight_paired=", "cap_rhos=", "pol_fp="
])
print opts
# This specifically calls R2D2.R2D2() assuming the user has specified the arguments:
# in_dir, out_dir, adapter, e, endcut, constrained_c, scale_rho_max, draw_all, most_count_tie_break, scaling_func, weight_paired, cap_rhos, pol_fp
# Only in_dir, out_dir, and adapter are truly required to run R2D2.R2D2(). Default values for the other parameters are set within R2D2.py.
cotrans = R2D2.R2D2(
opts['--in_dir'],
opts['--out_dir'],
opts['--adapter'],
p=int(opts['--p']),
e=int(opts['--e']),
endcut=int(opts['--endcut']),
constrained_c=float(opts['--constrained_c']),
scale_rho_max=float(opts['--scale_rho_max']),
draw_all=bool(opts['--draw_all'] == "True"),
most_count_tie_break=bool(opts['--most_count_tie_break'] == "True"),
scaling_func=opts['--scaling_func'],
weight_paired=float(opts['--weight_paired']),
cap_rhos=bool(opts["--cap_rhos"] == "True"),
pol_fp=int(opts['--pol_fp']))
import time
import R2D2
Driver = R2D2.Driver()
camara = R2D2.Vision()
stream = R2D2.Stream(str(R2D2.config('IP')),
int(R2D2.config('Port')),
streamer=1)
# Do You Want to Collect Data or Test the Camara ?
collect_data = bool(R2D2.config('CollectData'))
try:
last_time = time.time()
while True:
frame = camara.getFrame('COLOR')
stream.Send(frame)
if collect_data:
move = stream.Receive(5200)
Driver.move2motor(move)
else:
print(round(1 / (time.time() - last_time), 2))
last_time = time.time()
finally:
stream.stop()
Driver.clear()
import R2D2 AI = R2D2.AI(train=True)