def __init__(self, port, baudrate):
self.ser = serial.Serial(port, baudrate=baudrate)
self.mapping = MyControllerMap()
self.j = pyvjoy.VJoyDevice(1)
self.incoming = '0'
from models.nvidia_lstm import LSTMModel
from models.simple_model import MyModel
from data_loading.F1Dataset import ToTensor, Crop, Normalize
from torchvision import transforms
import torch
import numpy as np
import cv2
from grabscreen import grab_screen
from getkeys import pressed_keys
import time
import pyvjoy
MAX_VJOY = 32767
j = pyvjoy.VJoyDevice(1)
model = LSTMModel(no_outputs=1)
# s8_64 is good
model.load_state_dict(
torch.load(
'C:\\Users\\Andrei\\workspace\\Robotics\\checkpoints\\checkpoint_train_s_lstm_aug_67'
))
model = model.cuda()
model.eval()
paused = False
sequence_length = 3
frame_delta = 10
image_sequence = []
seq_no = 0
def __init__(self):
self.mapping = MyControllerMap()
self.j = pyvjoy.VJoyDevice(1)
#!/usr/bin/python import pyvjoy import time #Pythonic API, item-at-a-time p1 = pyvjoy.VJoyDevice(1) p2 = pyvjoy.VJoyDevice(2) p1.data.wAxisX = 16383 p1.data.wAxisY = 16383 p1.data.wAxisYRot = 16383 p1.data.wAxisXRot = 16383 p1.data.wAxisZ = 0 p1.data.wAxisZRot = 0 p1.data.lButtons = 0 p2.data.wAxisX = 16383 p2.data.wAxisY = 16383 p2.data.wAxisYRot = 16383 p2.data.wAxisXRot = 16383 p2.data.wAxisZ = 0 p2.data.wAxisZRot = 0 p2.data.lButtons = 0 #send data to vJoy device p1.update() p2.update()
def __init__(self, VJoyDeviceNumber):
self.device = pyvjoy.VJoyDevice(VJoyDeviceNumber)
def drive():
"""act like main func
include init of values
main drive thread is for lane detection and steering
sub detect vehicle thread is for vehicle detection
use 'ending' for escape from loop in subthread
1. get screen
1.1 process screen
1.2 get lanes from processed screen
1.3 control steering wheel and throttle
1.4 draw lanes and vehicles
2.1 process screen
2.2 detect vehicle
2.3 save detection data into 'cars'
original game screen size
width = 1024
height = 768
"""
move = True
paused = False
linebuffer = [False, [], []]
accel_average = []
brake_average = []
road_width = 0
brake_distance = 0
braking = False
global screen
global cars
global ending
# for the vehicle detection
dt = threading.Thread(target=detect_vehicle, args=())
dt.daemon = True
dt.start()
# for performance check
fps_sum = 0
count_fps = 0
j = pyvjoy.VJoyDevice(1)
j.data.wAxisX = 0x4000
j.data.wAxisY = 0x1000
j.update()
loop_count = 0
data_count = 0
while True:
if not paused:
speed, accel, brake, steer = get_truckinfo()
accel = 0x4000 - (0x4000 * accel) + (0x4000 * brake)
steer = 0x4000 - (0x4000 * steer)
control_fig = np.zeros((CON_HEIGHT, CON_WIDTH, 3), np.uint8)
start_time = time.time()
screen = get_screen(256, 192)
screen_lane = screen
screen_processed = ip.process_img(screen_lane, BOUND)
lines = ip.process_line(screen_processed, linebuffer)
if lines and linebuffer[0]:
linebuffer[1] = lines[0]
linebuffer[2] = lines[1]
overlay = ip.draw_roi(screen_lane, BOUND)
if not isinstance(lines, type(None)):
# point = x1 of each line
point_left = lines[0][0][0]
point_right = lines[1][0][0]
vanishing = (point_left + point_right) / 2
direction = vanishing - MIDPOINT
x_axis, y_axis = steer_wheel(direction, speed, braking)
overlay = ip.draw_lines(overlay, lines, 3)
else:
# if there is no line
# go straight
vanishing = MIDPOINT
x_axis = 0x4000
y_axis = 0x1000
overlay = ip.indicate_vehicle(overlay, cars, road_width,
brake_distance)
screen_lane = ip.overlap_img(screen_lane, overlay)
# control_fig = ip.draw_control_fig(control_fig, x_axis, y_axis, accel_average, brake_average)
j.data.wAxisX = x_axis
j.data.wAxisY = y_axis
j.update()
if (lines):
if len(lines) == 2:
if loop_count % 5000 == 0:
data_count = data_count + 1
Fname = 'dataSET' + str(data_count) + '.csv'
loop_count = loop_count + 1
fields = [
loop_count, lines[0][0][0], lines[0][0][2],
lines[1][0][0], lines[1][0][2], speed, steer, accel
]
with open(Fname, 'a') as f:
writer = csv.writer(f)
writer.writerow(fields)
fps = int(1 / (time.time() - start_time))
fps_sum += fps
count_fps += 1
if count_fps == 60:
fps_ave = int(fps_sum / 60)
count_fps = 0
fps_sum = 0
print('[mainthread]average {}FPS'.format(fps_ave), '/60frm')
# print('{}FPS'.format(fps))
cv2.line(screen_lane, (0, int(brake_distance)),
(256, int(brake_distance)), [0, 255, 0], 1)
screen_lane = cv2.resize(screen_lane, (512, 384))
cv2.imshow('OUTPUT', cv2.cvtColor(screen_lane, cv2.COLOR_BGR2RGB))
cv2.moveWindow('OUTPUT', 1024, 0)
## cv2.imshow('CONTROL', cv2.cvtColor(control_fig, cv2.COLOR_BGR2RGB))
cv2.moveWindow('CONTROL', 1024, 384)
key_com = cv2.waitKey(10) & 0xff
# esc
if key_com == 27:
j.data.wAxisX = 0x4000
j.data.wAxisY = 0x4000
j.update()
# finish subthread
ending = True
cv2.destroyAllWindows()
break
# space
elif key_com == 32:
if paused:
paused = False
else:
paused = True
elif key_com == ord('r'):
j.data.wAxisX = 0x4000
j.data.wAxisY = 0x4000
j.update()
if move:
move_screen()
move = False
def __init__(self):
self._MAX_VJOY = 32767
self._joy = pyvjoy.VJoyDevice(1)