def no_keys():
if random.randrange(0, 3) == 1:
PressKey(W)
else:
ReleaseKey(W)
ReleaseKey(A)
ReleaseKey(S)
ReleaseKey(D)
def reverse_left():
PressKey(S)
PressKey(A)
ReleaseKey(W)
ReleaseKey(D)
def forward_right():
PressKey(W)
PressKey(D)
ReleaseKey(A)
ReleaseKey(S)
def forward_left():
PressKey(W)
PressKey(A)
ReleaseKey(D)
ReleaseKey(S)
def reverse():
PressKey(S)
ReleaseKey(A)
ReleaseKey(W)
ReleaseKey(D)
def right():
ReleaseKey(W)
PressKey(D)
ReleaseKey(A)
ReleaseKey(S)
def left():
ReleaseKey(W)
PressKey(A)
ReleaseKey(S)
ReleaseKey(D)
def straight():
PressKey(W)
ReleaseKey(A)
ReleaseKey(D)
ReleaseKey(S)
def main():
for i in list(range(4))[::-1]:
print(i + 1)
time.sleep(1)
paused = False
mode_choice = 0
screen = grab_screen(region=(0, 40, GAME_WIDTH, GAME_HEIGHT + 40))
screen = cv2.cvtColor(screen, cv2.COLOR_BGR2RGB)
prev = cv2.resize(screen, (WIDTH, HEIGHT))
t_minus = prev
t_now = prev
t_plus = prev
while (True):
if not paused:
# 800x600 windowed model
screen = grab_screen(region=(0, 40, GAME_WIDTH, GAME_HEIGHT))
# resize to something a bit more acceptable for a CNN
screen = cv2.resize(screen, (WIDTH, HEIGHT))
# run a color convert:
screen = cv2.cvtColor(screen, cv2.COLOR_BGR2RGB)
last_time = time.time()
delta_count_last = motion_detection(t_minus, t_now, t_plus, screen)
t_minus = t_now
t_now = t_plus
t_plus = screen
t_plus = cv2.blur(t_plus, (4, 4))
screen = screen / 255.0
prediction = model.predict([screen.reshape(-1, HEIGHT, WIDTH, 3)])
prediction = np.array(prediction) * np.array(
[1.0, 1.0, 0.5, 0.75, 0.5, 0.75, 1.0, 1.0, 1.0])
print('prediction: {}'.format(prediction))
mode_choice = np.argmax(prediction)
if mode_choice == 0:
straight()
choice_picked = 'straight'
elif mode_choice == 1:
reverse()
choice_picked = 'reverse'
elif mode_choice == 2:
left()
choice_picked = 'left'
elif mode_choice == 3:
right()
choice_picked = 'right'
elif mode_choice == 4:
forward_left()
choice_picked = 'forward+left'
elif mode_choice == 5:
forward_right()
choice_picked = 'forward+right'
elif mode_choice == 6:
reverse_left()
choice_picked = 'reverse+left'
elif mode_choice == 7:
reverse_right()
choice_picked = 'reverse+right'
elif mode_choice == 8:
no_keys()
choice_picked = 'nokeys'
motion_log.append(delta_count_last)
motion_avg = round(mean(motion_log), 3)
print('loop took {} seconds. Motion: {}. Choice: {}'.format(
round(time.time() - last_time, 3), motion_avg, choice_picked))
# Get video stream for object detection
screen = grab_screen(region=(40, 100, 800, 450))
image_np = cv2.cvtColor(screen, cv2.COLOR_BGR2RGB)
# Detect objects on video stream
last_time = time.time()
input_tensor = tf.convert_to_tensor(np.expand_dims(image_np, 0),
dtype=tf.float32)
detections, predictions_dict, shapes = detect_fn(
detection_model, input_tensor)
# print('Object detection inference time: {}'.format(time.time() - last_time))
# Estimate distance and collision risk from detected objects
collision, distance = get_distance(detections)
print('Collision: {} - Distance: {}\n'.format(collision, distance))
# If vehicle is stucked, start some evasive maneuvers
if motion_avg < motion_req and len(motion_log) >= log_len:
print(
'WERE PROBABLY STUCK FFS, initiating some evasive maneuvers.'
)
# 0 = reverse straight, turn left out
# 1 = reverse straight, turn right out
# 2 = reverse left, turn right out
# 3 = reverse right, turn left out
quick_choice = random.randrange(0, 4)
if quick_choice == 0:
reverse()
time.sleep(random.uniform(1, 2))
forward_left()
time.sleep(random.uniform(1, 2))
elif quick_choice == 1:
reverse()
time.sleep(random.uniform(1, 2))
forward_right()
time.sleep(random.uniform(1, 2))
elif quick_choice == 2:
reverse_left()
time.sleep(random.uniform(1, 2))
forward_right()
time.sleep(random.uniform(1, 2))
elif quick_choice == 3:
reverse_right()
time.sleep(random.uniform(1, 2))
forward_left()
time.sleep(random.uniform(1, 2))
for i in range(log_len - 2):
del motion_log[0]
# If collision risk, try to avoid it
if collision:
print('Collision Warning. Starting evasive maneuvers: ',
end='')
reverse()
time.sleep(random.uniform(0, 2))
else:
pass
keys = key_check()
# Press 'T' to pause execution of script
if 'T' in keys:
if paused:
paused = False
time.sleep(1)
else:
paused = True
print('\n\nPAUSED\n\n')
ReleaseKey(A)
ReleaseKey(W)
ReleaseKey(D)
time.sleep(1)
def reverse_right():
PressKey(S)
PressKey(D)
ReleaseKey(W)
ReleaseKey(A)