def main():
configurations.parseArgs(sys.argv)
listener = Listener()
if configurations.ARGS["quiet"]:
print("Running in quiet mode")
while True:
try:
print("What's up?")
if not configurations.ARGS["quiet"]:
command = Command(listener.listen())
else:
command = Command(input())
if command is not None and command.name is not None:
print("Command " + command.name)
if command.command_type == CommandTypes.AUDIO:
# Music procssor here
audioProcessor = AudioProcessor()
audioProcessor.process(command)
elif command.command_type == CommandTypes.SYSTEM:
#System processor here
systemProcessor = SystemProcessor()
systemProcessor.process(command)
elif command.command_type == CommandTypes.SOCIAL:
mediaProcessor = SocialMediaProcessor()
mediaProcessor.process(command)
elif command.name.lower() == "exit":
print("Exiting")
sys.exit(0)
else:
print("Command not recognized.")
else:
print("I'm sorry, I didn't catch that")
except CancelCommand:
pass
def __init__(self, config_handler: ConfigHandler) -> None:
super().__init__()
self._config_handler = config_handler
self._time_since_last_throttle_steering_eval = time.time()
self._request_handler = RequestHandler(config_handler)
self._mode = Mode()
self._thread = VehicleCtlThread()
# This represents the last command we sent to the vehicle. It is needed to interpolate
# between the current command and the target command.
self._last_cmd_sent = Command()
# The logical "Gear" we are working with. FIRST, REVERSE, or NEUTRAL
# This is used when we are preparing the command to send to the vehicle
self._gear = Gear.DRIVE
# These represents the intended speed/direction of the vehicle
# VehicleCtlThread uses the target_acceleration to compute a target throttle,
# allowing us to roll onto the throttle, rather than FLOOR IT when the user presses 'forward'.
# Steering, however, is NOT interpolated, and for good reason. If a user steers hard to the left,
# we want the wheels to go to that position as quickly as possible.
self._target_acceleration = 0
self._target_steering = self._last_cmd_sent.get_steering()
# Defines the behavior for our thread loop
self._thread.behave = lambda: self.throttle_steering_eval()
self._stream_port = self._config_handler.get_config_value_or(
'stream_port', 4000)
def __init__(self, *args, **kwargs):
super(CommandThread, self).__init__(*args, **kwargs)
self._stop_event = threading.Event()
self.command = Command()
self.last_cmd_time = None
self.config_handler = ConfigHandler.get_instance()
# Flag noting whether this is the vehicle or if it's a test server
self.is_vehicle = self.config_handler.get_config_value_or(
'is_vehicle', True)
# Pull in the trim from the config file
self.trim = Trim()
self.trim.from_json(self.config_handler.get_config_value_or(
'trim', {}))
if self.is_vehicle: # initialize throttle and steering values
self.throttle = Throttle(self.trimmed_throttle())
self.steering = Steering(self.trimmed_steering())
self.lock = threading.Lock()
self.loop_delay = 0.01
logging.debug(
"Main thread for vehicle controller started. Awaiting first command..."
)
def do_cmds(self, msg):
if (msg.startswith("recv")):
return self.recv_file(msg)
elif (msg.startswith("send")):
local_file = msg.split('#')[1]
return self.send_file(local_file, local_file, True)
elif (msg.startswith("cmd")):
cmd,shell = self.parse_cmd_args(msg)
ctl = Command()
if (shell == 'shell'):
ret_info = ctl.run_sys_cmd(cmd)
return self.send_msg(self.sock, Message.MSG_CTRL, ret_info)
elif (shell == 'update'):
args = sys.argv[:]
args.insert(0, sys.executable)
os.chdir(os._startup_cwd)
msg = 'success'
self.send_msg(self.sock, Message.MSG_CTRL, msg)
self.sock.close()
Log.logmsg("Update self:%s,%s" % (args, os._startup_cwd))
os.execv(sys.executable, args)
#no return
else:
Log.logerr("Invalid cmd!%s" % msg)
return False
def test_should_enforce_lower_boundary_on_throttle(self):
subject = Command()
# test just above the upper bound to make sure it does throw an exception
self.assertRaises(Exception, lambda: subject.set_throttle(-1.1))
# test the upper bound to make sure it does not throw an exception
subject.set_throttle(-1.0)
def test_setters_work(self):
subject = Command(0.1, 0.2)
subject.set_steering(0.3)
subject.set_throttle(0.4)
self.assertEqual(0.3, subject.values['steering'])
self.assertEqual(0.4, subject.values['throttle'])
subject.set_steering(0.5)
subject.set_throttle(0.6)
self.assertEqual(0.5, subject.values['steering'])
self.assertEqual(0.6, subject.values['throttle'])
def check_recv(self):
while self.game.up:
socket_list = [self.sock]
read_sockets, write_sockets, error_sockets = select.select(
socket_list, [], [])
for sock in read_sockets:
# incoming message from remote server
try:
data = read_message(sock)
except TCPConnectionError as e:
logger.error(str(e))
self.reconnect()
continue
if not data:
logger.error('Disconnected from server. Try to reconnect')
self.reconnect()
continue
else:
# execute all commands from server
json_data = json.loads(data)
logger.debug("received message {}".format(
data[:GLOBAL.MAX_LOG_LENGTH]))
if json_data['type'] == MSG_TYPE.COMMAND:
command_obj = Command.from_json(json_data['payload'])
command_obj.apply(self.game)
elif json_data['type'] == MSG_TYPE.EXIT:
gLogger.error("Died, disconnect from server")
self.shutdown()
return
else:
logger.warning("Unknown message type received")
def prepare_new_command(self, dt):
if self._gear == Gear.REVERSE:
instantaneous_acceleration = min(
(self._target_acceleration + VehicleCtl.degradation_factor),
1.0) * dt
interpolated_throttle = max(
min((self._last_cmd_sent.get_throttle() +
instantaneous_acceleration), 0.0), -1.0)
interpolated_steering = self._target_steering
elif self._gear == Gear.DRIVE:
instantaneous_acceleration = max(
(self._target_acceleration - VehicleCtl.degradation_factor),
-1.0) * dt
interpolated_throttle = min(
max(
self._last_cmd_sent.get_throttle() +
instantaneous_acceleration, 0.0), 1.0)
interpolated_steering = self._target_steering
else:
interpolated_throttle = 0.0
interpolated_steering = 0.0
prepared_cmd = Command(interpolated_steering, interpolated_throttle)
return prepared_cmd
def execute_command(self):
if self.last_cmd_time is None:
return
if time.time() - self.last_cmd_time > 1:
logging.debug("Current command expired! Stopping vehicle")
self.command = Command()
self.last_cmd_time = None
if self.is_vehicle:
# Calculate trimmed values and update
trimmed_throttle = self.trimmed_throttle()
trimmed_steering = self.trimmed_steering()
self.throttle.update_throttle(trimmed_throttle)
self.steering.update_steering(trimmed_steering)
def get_command(self):
with self.mic as source:
self.recognizer.adjust_for_ambient_noise(source)
audio = self.recognizer.listen(source)
try:
return Command(self.recognizer.recognize(audio))
except LookupError:
return None
def test_getters_work(self):
subject = Command(0.1, 0.2)
self.assertEqual(0.1, subject.get_steering())
self.assertEqual(0.2, subject.get_throttle())
subject.values['steering'] = 0.3
subject.values['throttle'] = 0.4
self.assertEqual(0.3, subject.get_steering())
self.assertEqual(0.4, subject.get_throttle())
def call(self, command, *args): """ Synchronously call and get reply """ cmd = Command(command, *args) # send command with self._command_lock: self._command_store[cmd.id] = cmd self._network.send(str(cmd) + self._split) # await reply reply = cmd.wait() # delete command with self._command_lock: del self._command_store[cmd.id] return reply
def call(self, command, *args):
"""
Synchronously call and get reply
"""
cmd = Command(command, *args)
# send command
with self._command_lock:
self._command_store[cmd.id] = cmd
self._network.send(str(cmd) + self._split)
# await reply
reply = cmd.wait()
# delete command
with self._command_lock:
del self._command_store[cmd.id]
return reply
def test_prepare_new_command_park_outputs_stationary_command(self):
subject = VehicleCtl(self.mock_config_handler)
subject._gear = Gear.PARK
subject._target_steering = 0.23
subject._target_acceleration = -0.34
subject._last_cmd_sent = Command(0.22, -1.0)
new_cmd = subject.prepare_new_command(self.dt)
self.assertEqual(new_cmd.get_steering(), 0.0)
self.assertEqual(new_cmd.get_throttle(), 0.0)
def test_prepare_new_command_reverse_stationary(self):
subject = VehicleCtl(self.mock_config_handler)
subject._gear = Gear.REVERSE
subject._target_steering = 0.0
subject._target_acceleration = 0.0
subject._last_cmd_sent = Command(0.0, 0.0)
new_cmd = subject.prepare_new_command(self.dt)
self.assertEqual(new_cmd.get_steering(), 0.0)
self.assertEqual(new_cmd.get_throttle(), 0.0)
def test_prepare_new_command_forward_max_at_1_point_0(self):
subject = VehicleCtl(self.mock_config_handler)
subject._gear = Gear.DRIVE
subject._target_steering = 0.0
subject._target_acceleration = 1.0
subject._last_cmd_sent = Command(s=0.0, t=1.0)
new_cmd = subject.prepare_new_command(self.dt)
self.assertEqual(new_cmd.get_steering(), 0.0)
self.assertEqual(new_cmd.get_throttle(), 1.0)
def test_prepare_new_command_reverse_coasting(self):
subject = VehicleCtl(self.mock_config_handler)
subject._gear = Gear.REVERSE
subject._target_steering = 0.0
subject._target_acceleration = 0.0
subject._last_cmd_sent = Command(0.0, -1.0)
expectedAcc = (0.0 + VehicleCtl.degradation_factor) * self.dt
new_cmd = subject.prepare_new_command(self.dt)
self.assertEqual(new_cmd.get_steering(), 0.0)
self.assertEqual(new_cmd.get_throttle(), -1.0 + expectedAcc)
def test_prepare_new_command_forward_coasting(self):
subject = VehicleCtl(self.mock_config_handler)
subject._gear = Gear.DRIVE
subject._target_steering = 0.0
subject._target_acceleration = 0.0
subject._last_cmd_sent = Command(s=0.0, t=1.0)
expected_instant_acc = (0.0 - VehicleCtl.degradation_factor) * self.dt
new_cmd = subject.prepare_new_command(self.dt)
self.assertEqual(new_cmd.get_steering(), 0.0)
self.assertEqual(new_cmd.get_throttle(), 1.0 + expected_instant_acc)
def test_should_init_with_expected_values(self):
subject = VehicleCtl(self.mock_config_handler)
# training manager, auto agent, etc...
self.assertIsInstance(subject._mode, Mode)
# Vehicle throttle,steering, etc...
self.assertTrue(subject._last_cmd_sent.equal(Command()))
self.assertEqual(Gear.DRIVE, subject._gear)
self.assertEqual(0, subject._target_acceleration)
self.assertEqual(subject._last_cmd_sent.get_steering(),
subject._target_steering)
def test_prepare_new_command_forward_braking(self):
subject = VehicleCtl(self.mock_config_handler)
subject._gear = Gear.DRIVE
subject._target_steering = 0.0
subject._target_acceleration = -1.0
subject._last_cmd_sent = Command(s=0.0, t=1.0)
expected_instant_acc = -1.0 * self.dt #this test verifies that instant_acc is not less than -1, before considering dt
new_cmd = subject.prepare_new_command(self.dt)
self.assertEqual(new_cmd.get_steering(), 0.0)
self.assertEqual(new_cmd.get_throttle(), 1.0 + expected_instant_acc)
def api(request):
cmd_op = request.GET['cmd']
ctx = UserContext(request)
cmd = Command(ctx)
try:
if cmd_op == 'clear-cache':
cache.clear()
return cmd.success(message="Cache cleared")
elif cmd_op == 'list-data-files':
user_dir = ctx.get_user_root() + ctx.params['path']
files = [ f for f in listdir(user_dir) if isfile(join(user_dir,f)) ]
dirs = [ f for f in listdir(user_dir) if isdir(join(user_dir,f)) ]
return cmd.success(files=files,directories=dirs)
elif cmd_op == 'upload-file':
if request.method == 'POST':
form = UploadFileForm(request.POST, request.FILES)
if form.is_valid():
if request.FILES['file'].size > 500000: #max upload file
return cmd.error("la limite de taille est de 500ko")
name = request.FILES['file'].name
user_dir = ctx.get_user_root() + get_path(request) if 'path' in ctx.params else ''
path = user_dir + os.sep + name
destination = open(path, 'wb+')
for chunk in request.FILES['file'].chunks():
destination.write(chunk)
destination.close()
return cmd.success(files=[{'name': name, 'path':path}])
else:
return cmd.error("%s n'est pas un fichier .CSV" % request.FILES['file'].name )
else:
return cmd.error('GET operation not supported')
else:
return cmd.error('Undefined api command %s' % cmd_op)
except Exception, e:
print traceback.format_exc()
return cmd.error(str(e))
def handle_message(serv, usr, data): try: msg = Command(data) (state, handler) = handler_map[msg.command] if check_state(serv, usr, state): handler(serv, usr, *msg.arguments) except ValueError: pass except KeyError: unknown_handler(serv, usr, msg.command) except TypeError: invalid_handler(serv, usr, msg.command)
def test_should_check_steering_bounds_on_init(self):
self.assertRaises(Exception, lambda: Command(s=1.1))
def test_should_init_with_supplied_values(self):
subject = Command(0.1, 0.2)
self.assertEqual(0.1, subject.values['steering'])
self.assertEqual(0.2, subject.values['throttle'])
def _start_process(self, file_path):
cmd = ['python', file_path]
try:
Command.run_without_wait(cmd)
except Exception:
self.logger.exception('Run script %s error' % file_path)
def broadcast(self, command, *args):
""" Send a message to all connected clients """
cmd = Command(command, *args, id='BROADCAST')
for client in self.clients():
client.write(str(cmd) + self._split)
def unicast(self, connection, command, *args):
""" Send a message to a specific client """
cmd = Command(command, *args, id='UNICAST')
connection.write(str(cmd) + self._split)
class CommandThread(threading.Thread):
""" Main thread for the vehicle controller """
def __init__(self, *args, **kwargs):
super(CommandThread, self).__init__(*args, **kwargs)
self._stop_event = threading.Event()
self.command = Command()
self.last_cmd_time = None
self.config_handler = ConfigHandler.get_instance()
# Flag noting whether this is the vehicle or if it's a test server
self.is_vehicle = self.config_handler.get_config_value_or(
'is_vehicle', True)
# Pull in the trim from the config file
self.trim = Trim()
self.trim.from_json(self.config_handler.get_config_value_or(
'trim', {}))
if self.is_vehicle: # initialize throttle and steering values
self.throttle = Throttle(self.trimmed_throttle())
self.steering = Steering(self.trimmed_steering())
self.lock = threading.Lock()
self.loop_delay = 0.01
logging.debug(
"Main thread for vehicle controller started. Awaiting first command..."
)
def stop(self):
self._stop_event.set()
def stopped(self):
return self._stop_event.is_set()
def run(self):
while True:
if self.stopped():
return
with self.lock:
self.execute_command()
time.sleep(self.loop_delay)
def execute_command(self):
if self.last_cmd_time is None:
return
if time.time() - self.last_cmd_time > 1:
logging.debug("Current command expired! Stopping vehicle")
self.command = Command()
self.last_cmd_time = None
if self.is_vehicle:
# Calculate trimmed values and update
trimmed_throttle = self.trimmed_throttle()
trimmed_steering = self.trimmed_steering()
self.throttle.update_throttle(trimmed_throttle)
self.steering.update_steering(trimmed_steering)
def trimmed_throttle(self):
return self.trim.get_trimmed_throttle(self.command.get_throttle())
def trimmed_steering(self):
return self.trim.get_trimmed_steering(self.command.get_steering())
def test_should_check_throttle_bounds_on_init(self):
self.assertRaises(Exception, lambda: Command(t=-1.1))
class VehicleCtl():
"""
Primary vehicle interface class for the client. This class Controls:
- Communication to and from the vehicle
- Autonomous agents
- Video streaming
- Mode control
"""
degradation_factor = 0.1
def __init__(self, config_handler: ConfigHandler) -> None:
super().__init__()
self._config_handler = config_handler
self._time_since_last_throttle_steering_eval = time.time()
self._request_handler = RequestHandler(config_handler)
self._mode = Mode()
self._thread = VehicleCtlThread()
# This represents the last command we sent to the vehicle. It is needed to interpolate
# between the current command and the target command.
self._last_cmd_sent = Command()
# The logical "Gear" we are working with. FIRST, REVERSE, or NEUTRAL
# This is used when we are preparing the command to send to the vehicle
self._gear = Gear.DRIVE
# These represents the intended speed/direction of the vehicle
# VehicleCtlThread uses the target_acceleration to compute a target throttle,
# allowing us to roll onto the throttle, rather than FLOOR IT when the user presses 'forward'.
# Steering, however, is NOT interpolated, and for good reason. If a user steers hard to the left,
# we want the wheels to go to that position as quickly as possible.
self._target_acceleration = 0
self._target_steering = self._last_cmd_sent.get_steering()
# Defines the behavior for our thread loop
self._thread.behave = lambda: self.throttle_steering_eval()
self._stream_port = self._config_handler.get_config_value_or(
'stream_port', 4000)
def throttle_steering_eval(self):
dt = time.time() - self._time_since_last_throttle_steering_eval
prepared_cmd = self.prepare_new_command(dt)
if not prepared_cmd.equal(self._last_cmd_sent):
self._request_handler.send_command(prepared_cmd)
self._last_cmd_sent = prepared_cmd
elif time.time() - self._request_handler.get_time_last_cmd_sent(
) > 0.5:
self._request_handler.send_command(self._last_cmd_sent)
self._time_since_last_throttle_steering_eval = time.time()
time.sleep(0.05)
def prepare_new_command(self, dt):
if self._gear == Gear.REVERSE:
instantaneous_acceleration = min(
(self._target_acceleration + VehicleCtl.degradation_factor),
1.0) * dt
interpolated_throttle = max(
min((self._last_cmd_sent.get_throttle() +
instantaneous_acceleration), 0.0), -1.0)
interpolated_steering = self._target_steering
elif self._gear == Gear.DRIVE:
instantaneous_acceleration = max(
(self._target_acceleration - VehicleCtl.degradation_factor),
-1.0) * dt
interpolated_throttle = min(
max(
self._last_cmd_sent.get_throttle() +
instantaneous_acceleration, 0.0), 1.0)
interpolated_steering = self._target_steering
else:
interpolated_throttle = 0.0
interpolated_steering = 0.0
prepared_cmd = Command(interpolated_steering, interpolated_throttle)
return prepared_cmd
def start(self):
self._thread.start()
def stop(self):
self._thread.stop()
def get_gear(self):
return self._gear
def toggle_fw_bw(self):
if self.get_gear().value == Gear.DRIVE.value:
self._gear = Gear.REVERSE
else:
self._gear = Gear.DRIVE
logging.info("Switched vehicle gear to " + str(self._gear))
def request_stream_stop(self):
self._request_handler.send_image_stream_stop()
def request_stream_start(self):
self._request_handler.send_image_stream_start(self._stream_port)
def restart_stream(self):
self._request_handler.send_image_stream_stop()
self._request_handler.send_image_stream_start(self._stream_port)
def vehicle_ip(self):
return self._request_handler.dest_ip()
def vehicle_port(self):
return self._request_handler.dest_port()
def vehicle_proxy_address(self):
return self._request_handler.proxy_address()
def vehicle_proxy_port(self):
return self._request_handler.proxy_port()
def set_accelerator(self, a_value):
self._target_acceleration = a_value
def set_steering(self, s_value):
self._target_steering = s_value
def mode(self):
return self._mode
def set_mode(self, mode):
logging.info(f"Setting to mode {mode.mode_name()}")
# TODO: Find a place to handle all of the mode switch logic
if self._mode.mode_type(
) == ModeType.TRAIN and mode.mode_type() != ModeType.TRAIN:
# We're moving out of training mode
pass
if self._mode.mode_type() != ModeType.TRAIN and mode.mode_type(
) == ModeType.TRAIN:
# We're moving into training mode
pass
if self._mode.mode_type(
) == ModeType.AUTO and mode.mode_type() != ModeType.AUTO:
# We're moving out of auto mode
pass
if self._mode.mode_type() != ModeType.AUTO and mode.mode_type(
) == ModeType.AUTO:
# Moving into auto
pass
self._mode = mode
def set_proxy(self, address, port):
self._config_handler.set_config_value('proxy_address', address)
self._config_handler.set_config_value('proxy_port', port)
self._request_handler.set_proxy(address, port)
# Need to now restart the image server and image stream
self._image_stream_server.stop()
self._image_stream_server.start()
self.restart_stream()
def is_using_proxy(self):
return self._request_handler.is_using_proxy()
def enable_proxy(self):
self._config_handler.set_config_value('use_proxy', True)
self._request_handler.enable_proxy()
def disable_proxy(self):
self._config_handler.set_config_value('use_proxy', False)
self._request_handler.disable_proxy()
def set_endpoint(self, ip, port):
self._config_handler.set_config_value('vehicle_ip', ip)
self._config_handler.set_config_value('vehicle_port', port)
self._request_handler.set_endpoint(ip, port)
# Need to now restart the image server and image stream
self._image_stream_server.stop()
self._image_stream_server.start()
self.restart_stream()
def get_trim(self):
return self._request_handler.get_trim()
def send_trim(self, trim):
self._request_handler.send_trim(trim)
def test_should_init_with_default_values(self):
subject = Command()
self.assertEqual(0.0, subject.values['steering'])
self.assertEqual(0.0, subject.values['throttle'])
