def test_new_tub_writer(tubs):
root_dir = tubs[0]
th = TubHandler(root_dir)
inputs=['cam/image_array', 'angle', 'throttle']
types=['image_array', 'float', 'float']
tw = th.new_tub_writer(inputs, types)
assert len(th.get_tub_list()) == 6
print(tw.path)
assert int(tw.path.split('_')[-2]) == 5
def test_tub_like_driver(self):
""" The manage.py/donkey2.py drive command creates a tub using TubHandler,
so test that way.
"""
os.makedirs(self.tempfolder)
meta = ["location:Here2", "task:sometask2"]
th = TubHandler(self.tempfolder)
tub = th.new_tub_writer(inputs=self.inputs, types=self.types, user_meta=meta)
t2 = Tub(tub.path)
assert tub.meta == t2.meta
assert tub.meta['location'] == "Here2"
assert t2.meta['inputs'] == self.inputs
assert t2.meta['location'] == "Here2"
def rgb2gray_tub(cfg, fr, to):
opts = {}
gen_records = {}
opts['categorical'] = True #type(kl) in [KerasCategorical, KerasBehavioral]
records = gather_records(cfg, fr, opts, verbose=True)
print('collating %d records ...' % (len(records)))
collate_records(records, gen_records, opts)
tub_data = {}
inputs_img = []
gray_img = []
angles = []
throttles = []
inputs=['cam/image_array',
'user/angle',
'user/throttle',
'user/mode']
types=['image_array',
'float', 'float',
'str']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
for key, record in gen_records.items():
#print(record)
if record['img_data'] is None:
filename = record['image_path']
img_arr = load_scaled_image_arr(filename, cfg)
if img_arr is None:
break
record['img_data'] = img_arr
else:
img_arr = record['img_data']
tub_data = {
'cam/image_array': cv2.resize(rgb2gray(img_arr), (100, 20)),
'user/angle': record['angle'],
'user/throttle': record['throttle'],
'user/mode': record['json_data']['user/mode']
}
#print(tub_data)
tub.put_record(tub_data)
def drive(cfg, args):
vehicle = dk.vehicle.Vehicle()
# Connect pi camera
print("Loading pi camera...")
add_pi_camera(vehicle, cfg, 'cam/image_array')
print("Loading joystick...")
joystick = Joystick(
throttle_scale=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE
)
vehicle.add(joystick, outputs=['user/angle', 'user/throttle', 'js/actions'], threaded=True)
add_steering(vehicle, cfg, 'user/angle')
add_throttle(vehicle, cfg, 'user/throttle')
# Add lidar scan
print("Loading Lidar scan...")
lidar_scan = LidarScan()
lidar_distances_vector = LidarDistancesVector()
vehicle.add(lidar_scan, outputs=['lidar/scan'], threaded=True)
vehicle.add(lidar_distances_vector, inputs=['lidar/scan'], outputs=['lidar/distances'])
print("Loading TubWriter")
tub_handler = TubHandler("tubes/")
tub_writer = tub_handler.new_tub_writer(inputs=['cam/image_array', 'user/angle', 'user/throttle', 'lidar/distances'],
types=['image_array', 'float', 'float', 'float'])
vehicle.add(tub_writer, inputs=['cam/image_array', 'user/angle', 'user/throttle', 'lidar/distances'])
# Stop car after x steps
vehicle.add(ExitAfterSteps(int(args["--steps"])))
print("Starting vehicle...")
vehicle.start(
rate_hz=cfg.DRIVE_LOOP_HZ,
max_loop_count=cfg.MAX_LOOPS
)
save_path = os.path.basename(tub_writer.path)
print("Create archive for run {} in {}.tar.gz".format(tub_writer.path, save_path))
with tarfile.open(name="{}.tar.gz".format(save_path), mode='w:gz') as tar:
tar.add(tub_writer.path, arcname=os.path.basename(tub_writer.path))
class Telemetry:
def __init__(self, path):
print(path)
self.th = TubHandler(path=path)
self.mem = Memory()
self.inputs = [
'cam/image_array',
'user/angle',
'user/throttle',
'angle',
'throttle',
'user/mode',
'beacons/beacon1',
'beacons/beacon2',
'beacons/beacon3',
]
self.types = [
'image_array', 'float', 'float', 'float', 'float', 'str', 'int',
'int', 'int'
]
self.tub = None
def create_tub(self, path=None):
print("Path found:" + path)
self.tub = self.th.new_tub_writer(inputs=self.inputs,
types=self.types,
path=path)
def save_vehicle_configuration(self, parts):
newparts = []
for p in parts:
newparts.append(
{k: v
for k, v in p.items() if k != 'thread' and k != 'part'})
self.tub.parts = newparts
def save_end_time(self):
self.tub.end_time = time.time()
def record(self):
inputs = self.mem.get(self.inputs)
self.tub.run(*inputs)
def get(self, keys):
return self.mem.get(keys)
def put(self, keys, inputs):
self.mem.put(keys, inputs)
def cleanup_postsession(self):
self.save_end_time()
self.tub.write_meta()
def __init__(self, path):
print(path)
self.th = TubHandler(path=path)
self.mem = Memory()
self.inputs = [
'cam/image_array',
'user/angle',
'user/throttle',
'angle',
'throttle',
'user/mode',
'beacons/beacon1',
'beacons/beacon2',
'beacons/beacon3',
]
self.types = [
'image_array', 'float', 'float', 'float', 'float', 'str', 'int',
'int', 'int'
]
self.tub = None
def __init__(self, cfg, model_path=None, model_type='DDPG', meta=[], training=True, batch_size=64, transfer=None):
# init car
self.V = dk.vehicle.Vehicle()
self.cfg = cfg
self.model_path = model_path
self.model_type = model_type
self.weight_path = transfer
self.meta = meta
self.training = training
self.model_dict = {
'DDPG': DDPG,
'PPO': PPO,
'SAC': SAC,
'TD3': TD3,
}
self.BATCH_SIZE = batch_size
self.th = TubHandler(path=self.cfg.DATA_PATH)
self.ctr = get_js_controller(self.cfg)
self.eps = 0
self._setup_vihecle()
def add_tub_save_data(V, cfg):
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
if cfg.RECORD_DURING_AI:
inputs += ['pilot/angle', 'pilot/throttle']
types += ['float', 'float']
if cfg.CONTROL_NOISE:
inputs += ['user/angle_noise', 'user/throttle_noise']
types += ['float', 'float']
inputs += ['angle', 'throttle']
types += ['float', 'float']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
return V, tub
def drive(cfg,
model_path=None,
use_joystick=False,
model_type=None,
camera_type='single',
meta=[]):
'''
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
if cfg.DONKEY_GYM:
#the simulator will use cuda and then we usually run out of resources
#if we also try to use cuda. so disable for donkey_gym.
os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
if model_type is None:
if cfg.TRAIN_LOCALIZER:
model_type = "localizer"
elif cfg.TRAIN_BEHAVIORS:
model_type = "behavior"
else:
model_type = cfg.DEFAULT_MODEL_TYPE
#Initialize car
V = dk.vehicle.Vehicle()
from donkeycar.parts.dgym import DonkeyGymEnv
inputs = []
cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH,
host=cfg.SIM_HOST,
env_name=cfg.DONKEY_GYM_ENV_NAME,
conf=cfg.GYM_CONF,
delay=cfg.SIM_ARTIFICIAL_LATENCY)
threaded = True
inputs = ['angle', 'throttle', 'brake']
V.add(cam, inputs=inputs, outputs=['cam/image_array'], threaded=threaded)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
if cfg.CONTROLLER_TYPE == "MM1":
from donkeycar.parts.robohat import RoboHATController
ctr = RoboHATController(cfg)
elif "custom" == cfg.CONTROLLER_TYPE:
#
# custom controller created with `donkey createjs` command
#
from my_joystick import MyJoystickController
ctr = MyJoystickController(
throttle_dir=cfg.JOYSTICK_THROTTLE_DIR,
throttle_scale=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
ctr.set_deadzone(cfg.JOYSTICK_DEADZONE)
else:
from donkeycar.parts.controller import get_js_controller
ctr = get_js_controller(cfg)
if cfg.USE_NETWORKED_JS:
from donkeycar.parts.controller import JoyStickSub
netwkJs = JoyStickSub(cfg.NETWORK_JS_SERVER_IP)
V.add(netwkJs, threaded=True)
ctr.js = netwkJs
V.add(
ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
else:
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController(port=cfg.WEB_CONTROL_PORT,
mode=cfg.WEB_INIT_MODE)
V.add(
ctr,
inputs=['cam/image_array', 'tub/num_records'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
#this throttle filter will allow one tap back for esc reverse
th_filter = ThrottleFilter()
V.add(th_filter, inputs=['user/throttle'], outputs=['user/throttle'])
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
class PilotCondition:
def run(self, mode):
if mode == 'user':
return False
else:
return True
V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
class LedConditionLogic:
def __init__(self, cfg):
self.cfg = cfg
def run(self, mode, recording, recording_alert, behavior_state,
model_file_changed, track_loc):
#returns a blink rate. 0 for off. -1 for on. positive for rate.
if track_loc is not None:
led.set_rgb(*self.cfg.LOC_COLORS[track_loc])
return -1
if model_file_changed:
led.set_rgb(self.cfg.MODEL_RELOADED_LED_R,
self.cfg.MODEL_RELOADED_LED_G,
self.cfg.MODEL_RELOADED_LED_B)
return 0.1
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if recording_alert:
led.set_rgb(*recording_alert)
return self.cfg.REC_COUNT_ALERT_BLINK_RATE
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if behavior_state is not None and model_type == 'behavior':
r, g, b = self.cfg.BEHAVIOR_LED_COLORS[behavior_state]
led.set_rgb(r, g, b)
return -1 #solid on
if recording:
return -1 #solid on
elif mode == 'user':
return 1
elif mode == 'local_angle':
return 0.5
elif mode == 'local':
return 0.1
return 0
if cfg.HAVE_RGB_LED and not cfg.DONKEY_GYM:
from donkeycar.parts.led_status import RGB_LED
led = RGB_LED(cfg.LED_PIN_R, cfg.LED_PIN_G, cfg.LED_PIN_B,
cfg.LED_INVERT)
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
V.add(LedConditionLogic(cfg),
inputs=[
'user/mode', 'recording', "records/alert", 'behavior/state',
'modelfile/modified', "pilot/loc"
],
outputs=['led/blink_rate'])
V.add(led, inputs=['led/blink_rate'])
def get_record_alert_color(num_records):
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
class RecordTracker:
def __init__(self):
self.last_num_rec_print = 0
self.dur_alert = 0
self.force_alert = 0
def run(self, num_records):
if num_records is None:
return 0
if self.last_num_rec_print != num_records or self.force_alert:
self.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
self.force_alert = 0
if self.dur_alert > 0:
self.dur_alert -= 1
if self.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
rec_tracker_part = RecordTracker()
V.add(rec_tracker_part,
inputs=["tub/num_records"],
outputs=['records/alert'])
if cfg.AUTO_RECORD_ON_THROTTLE and isinstance(ctr, JoystickController):
#then we are not using the circle button. hijack that to force a record count indication
def show_record_acount_status():
rec_tracker_part.last_num_rec_print = 0
rec_tracker_part.force_alert = 1
ctr.set_button_down_trigger('circle', show_record_acount_status)
# Use the FPV preview, which will show the cropped image output, or the full frame.
if cfg.USE_FPV:
V.add(WebFpv(), inputs=['cam/image_array'], threaded=True)
#Behavioral state
if cfg.TRAIN_BEHAVIORS:
bh = BehaviorPart(cfg.BEHAVIOR_LIST)
V.add(bh,
outputs=[
'behavior/state', 'behavior/label',
"behavior/one_hot_state_array"
])
try:
ctr.set_button_down_trigger('L1', bh.increment_state)
except:
pass
inputs = ['cam/image_array', "behavior/one_hot_state_array"]
else:
inputs = ['cam/image_array']
def load_model(kl, model_path):
start = time.time()
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
def load_weights(kl, weights_path):
start = time.time()
try:
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
except Exception as e:
print(e)
print('ERR>> problems loading weights', weights_path)
def load_model_json(kl, json_fnm):
start = time.time()
print('loading model json', json_fnm)
from tensorflow.python import keras
try:
with open(json_fnm, 'r') as handle:
contents = handle.read()
kl.model = keras.models.model_from_json(contents)
print('finished loading json in %s sec.' %
(str(time.time() - start)))
except Exception as e:
print(e)
print("ERR>> problems loading model json", json_fnm)
if model_path:
#When we have a model, first create an appropriate Keras part
kl = dk.utils.get_model_by_type(model_type, cfg)
model_reload_cb = None
if '.h5' in model_path or '.uff' in model_path or 'tflite' in model_path or '.pkl' in model_path:
#when we have a .h5 extension
#load everything from the model file
load_model(kl, model_path)
def reload_model(filename):
load_model(kl, filename)
model_reload_cb = reload_model
elif '.json' in model_path:
#when we have a .json extension
#load the model from there and look for a matching
#.wts file with just weights
load_model_json(kl, model_path)
weights_path = model_path.replace('.json', '.weights')
load_weights(kl, weights_path)
def reload_weights(filename):
weights_path = filename.replace('.json', '.weights')
load_weights(kl, weights_path)
model_reload_cb = reload_weights
else:
print("ERR>> Unknown extension type on model file!!")
return
#this part will signal visual LED, if connected
V.add(FileWatcher(model_path, verbose=True),
outputs=['modelfile/modified'])
#these parts will reload the model file, but only when ai is running so we don't interrupt user driving
V.add(FileWatcher(model_path),
outputs=['modelfile/dirty'],
run_condition="ai_running")
V.add(DelayedTrigger(100),
inputs=['modelfile/dirty'],
outputs=['modelfile/reload'],
run_condition="ai_running")
V.add(TriggeredCallback(model_path, model_reload_cb),
inputs=["modelfile/reload"],
run_condition="ai_running")
outputs = ['pilot/angle', 'pilot/throttle']
if cfg.TRAIN_LOCALIZER:
outputs.append("pilot/loc")
V.add(kl, inputs=inputs, outputs=outputs, run_condition='run_pilot')
if cfg.STOP_SIGN_DETECTOR:
from donkeycar.parts.object_detector.stop_sign_detector import StopSignDetector
V.add(StopSignDetector(cfg.STOP_SIGN_MIN_SCORE,
cfg.STOP_SIGN_SHOW_BOUNDING_BOX),
inputs=['cam/image_array', 'pilot/throttle'],
outputs=['pilot/throttle', 'cam/image_array'])
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode, user_angle, user_throttle, user_brake, pilot_angle,
pilot_throttle, pilot_brake):
if mode == 'user':
return user_angle, user_throttle, user_brake
elif mode == 'local_angle':
return pilot_angle if pilot_angle else 0.0, user_throttle, user_brake
else:
return pilot_angle if pilot_angle else 0.0, pilot_throttle * cfg.AI_THROTTLE_MULT if pilot_throttle else 0.0, pilot_brake if pilot_brake else 0.0
V.add(DriveMode(),
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'user/brake',
'pilot/angle', 'pilot/throttle', 'pilot/brake'
],
outputs=['angle', 'throttle', 'brake'])
#to give the car a boost when starting ai mode in a race.
aiLauncher = AiLaunch(cfg.AI_LAUNCH_DURATION, cfg.AI_LAUNCH_THROTTLE,
cfg.AI_LAUNCH_KEEP_ENABLED)
V.add(aiLauncher, inputs=['user/mode', 'throttle'], outputs=['throttle'])
if isinstance(ctr, JoystickController):
ctr.set_button_down_trigger(cfg.AI_LAUNCH_ENABLE_BUTTON,
aiLauncher.enable_ai_launch)
class AiRunCondition:
'''
A bool part to let us know when ai is running.
'''
def run(self, mode):
if mode == "user":
return False
return True
V.add(AiRunCondition(), inputs=['user/mode'], outputs=['ai_running'])
#Ai Recording
class AiRecordingCondition:
'''
return True when ai mode, otherwize respect user mode recording flag
'''
def run(self, mode, recording):
if mode == 'user':
return recording
return True
if cfg.RECORD_DURING_AI:
V.add(AiRecordingCondition(),
inputs=['user/mode', 'recording'],
outputs=['recording'])
#add tub to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
if cfg.TRAIN_BEHAVIORS:
inputs += [
'behavior/state', 'behavior/label', "behavior/one_hot_state_array"
]
types += ['int', 'str', 'vector']
if cfg.RECORD_DURING_AI:
inputs += ['pilot/angle', 'pilot/throttle']
types += ['float', 'float']
# do we want to store new records into own dir or append to existing
tub_path = TubHandler(path=cfg.DATA_PATH).create_tub_path() if \
cfg.AUTO_CREATE_NEW_TUB else cfg.DATA_PATH
tub_writer = TubWriter(tub_path, inputs=inputs, types=types, metadata=meta)
V.add(tub_writer,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
if cfg.PUB_CAMERA_IMAGES:
from donkeycar.parts.network import TCPServeValue
from donkeycar.parts.image import ImgArrToJpg
pub = TCPServeValue("camera")
V.add(ImgArrToJpg(), inputs=['cam/image_array'], outputs=['jpg/bin'])
V.add(pub, inputs=['jpg/bin'])
if type(ctr) is LocalWebController:
if cfg.DONKEY_GYM:
print("You can now go to http://localhost:%d to drive your car." %
cfg.WEB_CONTROL_PORT)
else:
print(
"You can now go to <your hostname.local>:%d to drive your car."
% cfg.WEB_CONTROL_PORT)
elif isinstance(ctr, JoystickController):
print("You can now move your joystick to drive your car.")
ctr.set_tub(tub_writer.tub)
ctr.print_controls()
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg,
model_path=None,
use_joystick=False,
model_type=None,
camera_type='single',
meta=[]):
'''
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
if cfg.DONKEY_GYM:
#the simulator will use cuda and then we usually run out of resources
#if we also try to use cuda. so disable for donkey_gym.
os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
if model_type is None:
if cfg.TRAIN_LOCALIZER:
model_type = "localizer"
elif cfg.TRAIN_BEHAVIORS:
model_type = "behavior"
else:
model_type = cfg.DEFAULT_MODEL_TYPE
#Initialize car
V = dk.vehicle.Vehicle()
if camera_type == "stereo":
if cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
camA = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=0)
camB = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=1)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
camA = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=0)
camB = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=1)
else:
raise (Exception("Unsupported camera type: %s" % cfg.CAMERA_TYPE))
V.add(camA, outputs=['cam/image_array_a'], threaded=True)
V.add(camB, outputs=['cam/image_array_b'], threaded=True)
from donkeycar.parts.image import StereoPair
V.add(StereoPair(),
inputs=['cam/image_array_a', 'cam/image_array_b'],
outputs=['cam/image_array'])
else:
print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
inputs = []
threaded = True
print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH,
env_name=cfg.DONKEY_GYM_ENV_NAME)
threaded = True
inputs = ['angle', 'throttle']
elif cfg.CAMERA_TYPE == "PICAM":
from donkeycar.parts.camera import PiCamera
cam = PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
cam = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
cam = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CSIC":
from donkeycar.parts.camera import CSICamera
cam = CSICamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE,
gstreamer_flip=cfg.CSIC_CAM_GSTREAMER_FLIP_PARM)
elif cfg.CAMERA_TYPE == "V4L":
from donkeycar.parts.camera import V4LCamera
cam = V4LCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE)
elif cfg.CAMERA_TYPE == "MOCK":
from donkeycar.parts.camera import MockCamera
cam = MockCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
else:
raise (Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
V.add(cam,
inputs=inputs,
outputs=['cam/image_array'],
threaded=threaded)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
from donkeycar.parts.controller import get_js_controller
ctr = get_js_controller(cfg)
if cfg.USE_NETWORKED_JS:
from donkeycar.parts.controller import JoyStickSub
netwkJs = JoyStickSub(cfg.NETWORK_JS_SERVER_IP)
V.add(netwkJs, threaded=True)
ctr.js = netwkJs
else:
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController()
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
#this throttle filter will allow one tap back for esc reverse
th_filter = ThrottleFilter()
V.add(th_filter, inputs=['user/throttle'], outputs=['user/throttle'])
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
class PilotCondition:
def run(self, mode):
if mode == 'user':
return False
else:
return True
V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
class LedConditionLogic:
def __init__(self, cfg):
self.cfg = cfg
def run(self, mode, recording, recording_alert, behavior_state,
model_file_changed, track_loc):
#returns a blink rate. 0 for off. -1 for on. positive for rate.
if track_loc is not None:
led.set_rgb(*self.cfg.LOC_COLORS[track_loc])
return -1
if model_file_changed:
led.set_rgb(self.cfg.MODEL_RELOADED_LED_R,
self.cfg.MODEL_RELOADED_LED_G,
self.cfg.MODEL_RELOADED_LED_B)
return 0.1
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if recording_alert:
led.set_rgb(*recording_alert)
return self.cfg.REC_COUNT_ALERT_BLINK_RATE
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if behavior_state is not None and model_type == 'behavior':
r, g, b = self.cfg.BEHAVIOR_LED_COLORS[behavior_state]
led.set_rgb(r, g, b)
return -1 #solid on
if recording:
return -1 #solid on
elif mode == 'user':
return 1
elif mode == 'local_angle':
return 0.5
elif mode == 'local':
return 0.1
return 0
if cfg.HAVE_RGB_LED and not cfg.DONKEY_GYM:
from donkeycar.parts.led_status import RGB_LED
led = RGB_LED(cfg.LED_PIN_R, cfg.LED_PIN_G, cfg.LED_PIN_B,
cfg.LED_INVERT)
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
V.add(LedConditionLogic(cfg),
inputs=[
'user/mode', 'recording', "records/alert", 'behavior/state',
'modelfile/modified', "pilot/loc"
],
outputs=['led/blink_rate'])
V.add(led, inputs=['led/blink_rate'])
def get_record_alert_color(num_records):
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
class RecordTracker:
def __init__(self):
self.last_num_rec_print = 0
self.dur_alert = 0
self.force_alert = 0
def run(self, num_records):
if num_records is None:
return 0
if self.last_num_rec_print != num_records or self.force_alert:
self.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
self.force_alert = 0
if self.dur_alert > 0:
self.dur_alert -= 1
if self.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
rec_tracker_part = RecordTracker()
V.add(rec_tracker_part,
inputs=["tub/num_records"],
outputs=['records/alert'])
if cfg.AUTO_RECORD_ON_THROTTLE and isinstance(ctr, JoystickController):
#then we are not using the circle button. hijack that to force a record count indication
def show_record_acount_status():
rec_tracker_part.last_num_rec_print = 0
rec_tracker_part.force_alert = 1
ctr.set_button_down_trigger('circle', show_record_acount_status)
#Sombrero
if cfg.HAVE_SOMBRERO:
from donkeycar.parts.sombrero import Sombrero
s = Sombrero()
#IMU
if cfg.HAVE_IMU:
from donkeycar.parts.imu import Mpu6050
imu = Mpu6050()
V.add(imu,
outputs=[
'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x',
'imu/gyr_y', 'imu/gyr_z'
],
threaded=True)
class ImgPreProcess():
'''
preprocess camera image for inference.
normalize and crop if needed.
'''
def __init__(self, cfg):
self.cfg = cfg
def run(self, img_arr):
return normalize_and_crop(img_arr, self.cfg)
if "coral" in model_type:
inf_input = 'cam/image_array'
else:
inf_input = 'cam/normalized/cropped'
V.add(ImgPreProcess(cfg),
inputs=['cam/image_array'],
outputs=[inf_input],
run_condition='run_pilot')
#Behavioral state
if cfg.TRAIN_BEHAVIORS:
bh = BehaviorPart(cfg.BEHAVIOR_LIST)
V.add(bh,
outputs=[
'behavior/state', 'behavior/label',
"behavior/one_hot_state_array"
])
try:
ctr.set_button_down_trigger('L1', bh.increment_state)
except:
pass
inputs = [inf_input, "behavior/one_hot_state_array"]
#IMU
elif model_type == "imu":
assert (cfg.HAVE_IMU)
#Run the pilot if the mode is not user.
inputs = [
inf_input, 'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x',
'imu/gyr_y', 'imu/gyr_z'
]
else:
inputs = [inf_input]
def load_model(kl, model_path):
start = time.time()
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
def load_weights(kl, weights_path):
start = time.time()
try:
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
except Exception as e:
print(e)
print('ERR>> problems loading weights', weights_path)
def load_model_json(kl, json_fnm):
start = time.time()
print('loading model json', json_fnm)
from tensorflow.python import keras
try:
with open(json_fnm, 'r') as handle:
contents = handle.read()
kl.model = keras.models.model_from_json(contents)
print('finished loading json in %s sec.' %
(str(time.time() - start)))
except Exception as e:
print(e)
print("ERR>> problems loading model json", json_fnm)
if model_path:
#When we have a model, first create an appropriate Keras part
kl = dk.utils.get_model_by_type(model_type, cfg)
model_reload_cb = None
if '.h5' in model_path or '.uff' in model_path or 'tflite' in model_path or '.pkl' in model_path:
#when we have a .h5 extension
#load everything from the model file
load_model(kl, model_path)
def reload_model(filename):
load_model(kl, filename)
model_reload_cb = reload_model
elif '.json' in model_path:
#when we have a .json extension
#load the model from there and look for a matching
#.wts file with just weights
load_model_json(kl, model_path)
weights_path = model_path.replace('.json', '.weights')
load_weights(kl, weights_path)
def reload_weights(filename):
weights_path = filename.replace('.json', '.weights')
load_weights(kl, weights_path)
model_reload_cb = reload_weights
else:
print("ERR>> Unknown extension type on model file!!")
return
#this part will signal visual LED, if connected
V.add(FileWatcher(model_path, verbose=True),
outputs=['modelfile/modified'])
#these parts will reload the model file, but only when ai is running so we don't interrupt user driving
V.add(FileWatcher(model_path),
outputs=['modelfile/dirty'],
run_condition="ai_running")
V.add(DelayedTrigger(100),
inputs=['modelfile/dirty'],
outputs=['modelfile/reload'],
run_condition="ai_running")
V.add(TriggeredCallback(model_path, model_reload_cb),
inputs=["modelfile/reload"],
run_condition="ai_running")
outputs = ['pilot/angle', 'pilot/throttle']
if cfg.TRAIN_LOCALIZER:
outputs.append("pilot/loc")
V.add(kl, inputs=inputs, outputs=outputs, run_condition='run_pilot')
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle * cfg.AI_THROTTLE_MULT
V.add(DriveMode(),
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
#to give the car a boost when starting ai mode in a race.
aiLauncher = AiLaunch(cfg.AI_LAUNCH_DURATION, cfg.AI_LAUNCH_THROTTLE,
cfg.AI_LAUNCH_KEEP_ENABLED)
V.add(aiLauncher, inputs=['user/mode', 'throttle'], outputs=['throttle'])
if isinstance(ctr, JoystickController):
ctr.set_button_down_trigger(cfg.AI_LAUNCH_ENABLE_BUTTON,
aiLauncher.enable_ai_launch)
class AiRunCondition:
'''
A bool part to let us know when ai is running.
'''
def run(self, mode):
if mode == "user":
return False
return True
V.add(AiRunCondition(), inputs=['user/mode'], outputs=['ai_running'])
#Ai Recording
class AiRecordingCondition:
'''
return True when ai mode, otherwize respect user mode recording flag
'''
def run(self, mode, recording):
if mode == 'user':
return recording
return True
if cfg.RECORD_DURING_AI:
V.add(AiRecordingCondition(),
inputs=['user/mode', 'recording'],
outputs=['recording'])
#Drive train setup
if cfg.DONKEY_GYM:
pass
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_ESC":
from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle
steering_controller = PCA9685(cfg.STEERING_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_STEER_THROTTLE":
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
steering = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT,
cfg.HBRIDGE_PIN_RIGHT)
throttle = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD,
cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL":
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, Mini_HBridge_DC_Motor_PWM
left_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT_FWD,
cfg.HBRIDGE_PIN_LEFT_BWD)
right_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_RIGHT_FWD,
cfg.HBRIDGE_PIN_RIGHT_BWD)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
elif cfg.DRIVE_TRAIN_TYPE == "SKID_STEER":
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, SBC_PiMotor
right_motor = SBC_PiMotor(1)
left_motor = SBC_PiMotor(2)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_HBRIDGE_PWM":
from donkeycar.parts.actuator import ServoBlaster, PWMSteering
steering_controller = ServoBlaster(cfg.STEERING_CHANNEL) #really pin
#PWM pulse values should be in the range of 100 to 200
assert (cfg.STEERING_LEFT_PWM <= 200)
assert (cfg.STEERING_RIGHT_PWM <= 200)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD,
cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(motor, inputs=["throttle"])
#add tub to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
if cfg.TRAIN_BEHAVIORS:
inputs += [
'behavior/state', 'behavior/label', "behavior/one_hot_state_array"
]
types += ['int', 'str', 'vector']
if cfg.HAVE_IMU:
inputs += [
'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x', 'imu/gyr_y',
'imu/gyr_z'
]
types += ['float', 'float', 'float', 'float', 'float', 'float']
if cfg.RECORD_DURING_AI:
inputs += ['pilot/angle', 'pilot/throttle']
types += ['float', 'float']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
if cfg.PUB_CAMERA_IMAGES:
from donkeycar.parts.network import TCPServeValue
from donkeycar.parts.image import ImgArrToJpg
pub = TCPServeValue("camera")
V.add(ImgArrToJpg(), inputs=['cam/image_array'], outputs=['jpg/bin'])
V.add(pub, inputs=['jpg/bin'])
if type(ctr) is LocalWebController:
print(
"You can now go to <your pis hostname.local>:8887 to drive your car."
)
elif isinstance(ctr, JoystickController):
print("You can now move your joystick to drive your car.")
#tell the controller about the tub
ctr.set_tub(tub)
if cfg.BUTTON_PRESS_NEW_TUB:
def new_tub_dir():
V.parts.pop()
tub = th.new_tub_writer(inputs=inputs,
types=types,
user_meta=meta)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
ctr.set_tub(tub)
ctr.set_button_down_trigger('cross', new_tub_dir)
ctr.print_controls()
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg, model_path=None, model_type=None):
"""
Construct a minimal robotic vehicle from many parts. Here, we use a
single camera, web or joystick controller, autopilot and tubwriter.
Each part runs as a job in the Vehicle loop, calling either its run or
run_threaded method depending on the constructor flag `threaded`. All
parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely
manner. Parts may have named outputs and inputs. The framework handles
passing named outputs to parts requesting the same named input.
"""
car = dk.vehicle.Vehicle()
# add camera
inputs = []
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH,
host=cfg.SIM_HOST,
env_name=cfg.DONKEY_GYM_ENV_NAME,
conf=cfg.GYM_CONF,
delay=cfg.SIM_ARTIFICIAL_LATENCY)
inputs = ['angle', 'throttle', 'brake']
elif cfg.CAMERA_TYPE == "PICAM":
from donkeycar.parts.camera import PiCamera
cam = PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE,
vflip=cfg.CAMERA_VFLIP,
hflip=cfg.CAMERA_HFLIP)
elif cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
cam = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
cam = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CSIC":
from donkeycar.parts.camera import CSICamera
cam = CSICamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE,
gstreamer_flip=cfg.CSIC_CAM_GSTREAMER_FLIP_PARM)
elif cfg.CAMERA_TYPE == "V4L":
from donkeycar.parts.camera import V4LCamera
cam = V4LCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE)
elif cfg.CAMERA_TYPE == "MOCK":
from donkeycar.parts.camera import MockCamera
cam = MockCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "IMAGE_LIST":
from donkeycar.parts.camera import ImageListCamera
cam = ImageListCamera(path_mask=cfg.PATH_MASK)
else:
raise (Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
car.add(cam, inputs=inputs, outputs=['cam/image_array'], threaded=True)
# add lidar
if cfg.USE_LIDAR:
if cfg.LIDAR_TYPE == 'RP':
print("adding RP lidar part")
lidar = RPLidar(lower_limit=cfg.LIDAR_LOWER_LIMIT,
upper_limit=cfg.LIDAR_UPPER_LIMIT)
car.add(lidar,
inputs=[],
outputs=['lidar/dist_array'],
threaded=True)
if cfg.LIDAR_TYPE == 'YD':
print("YD Lidar not yet supported")
# add controller
if cfg.USE_RC:
rc_steering = RCReceiver(cfg.STEERING_RC_GPIO, invert=True)
rc_throttle = RCReceiver(cfg.THROTTLE_RC_GPIO)
rc_wiper = RCReceiver(cfg.DATA_WIPER_RC_GPIO, jitter=0.05, no_action=0)
car.add(rc_steering, outputs=['user/angle', 'user/angle_on'])
car.add(rc_throttle, outputs=['user/throttle', 'user/throttle_on'])
car.add(rc_wiper, outputs=['user/wiper', 'user/wiper_on'])
car.add(RCHelper(), outputs=['user/mode'])
ctr = LocalWebController(port=cfg.WEB_CONTROL_PORT,
mode=cfg.WEB_INIT_MODE)
car.add(ctr,
inputs=['cam/image_array'],
outputs=['recording'],
threaded=True)
else:
if cfg.USE_JOYSTICK_AS_DEFAULT:
from donkeycar.parts.controller import get_js_controller
ctr = get_js_controller(cfg)
if cfg.USE_NETWORKED_JS:
from donkeycar.parts.controller import JoyStickSub
netwkJs = JoyStickSub(cfg.NETWORK_JS_SERVER_IP)
car.add(netwkJs, threaded=True)
ctr.js = netwkJs
else:
ctr = LocalWebController(port=cfg.WEB_CONTROL_PORT,
mode=cfg.WEB_INIT_MODE)
car.add(
ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
# pilot condition to determine if user or ai are driving
car.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
# adding the auto-pilot
if model_type is None:
model_type = cfg.DEFAULT_MODEL_TYPE
if model_path:
kl = dk.utils.get_model_by_type(model_type, cfg)
kl.load(model_path=model_path)
if cfg.USE_LIDAR:
inputs = ['cam/image_array', 'lidar/dist_array']
else:
inputs = ['cam/image_array']
outputs = ['pilot/angle', 'pilot/throttle']
car.add(kl, inputs=inputs, outputs=outputs, run_condition='run_pilot')
# Choose what inputs should change the car.
car.add(DriveMode(cfg=cfg),
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
# Drive train setup
if cfg.DONKEY_GYM or cfg.DRIVE_TRAIN_TYPE == "MOCK":
pass
else:
steering_controller = PCA9685(cfg.STEERING_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
car.add(steering, inputs=['angle'])
car.add(throttle, inputs=['throttle'])
# add tub to save data
if cfg.USE_LIDAR:
inputs = [
'cam/image_array', 'lidar/dist_array', 'user/angle',
'user/throttle', 'user/mode'
]
types = ['image_array', 'nparray', 'float', 'float', 'str']
else:
inputs = [
'cam/image_array', 'user/angle', 'user/throttle', 'user/mode'
]
types = ['image_array', 'float', 'float', 'str']
# do we want to store new records into own dir or append to existing
tub_path = TubHandler(path=cfg.DATA_PATH).create_tub_path() if \
cfg.AUTO_CREATE_NEW_TUB else cfg.DATA_PATH
tub_writer = TubWriter(base_path=tub_path, inputs=inputs, types=types)
car.add(tub_writer,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
if not model_path and cfg.USE_RC:
tub_wiper = TubWiper(tub_writer.tub, num_records=cfg.DRIVE_LOOP_HZ)
car.add(tub_wiper, inputs=['user/wiper_on'])
# start the car
car.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg,
model_path=None,
use_joystick=False,
model_type=None,
camera_type='single'):
'''
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
if model_type is None:
if cfg.TRAIN_BEHAVIORS:
model_type = "behavior"
else:
model_type = "categorical"
if model_type == "streamline":
camera_type = "streamline"
#Initialize car
V = dk.vehicle.Vehicle()
if camera_type == "stereo":
if cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
camA = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=0)
camB = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=1)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
camA = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=0)
camB = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=1)
else:
raise (Exception("Unsupported camera type: %s" % cfg.CAMERA_TYPE))
V.add(camA, outputs=['cam/image_array_a'], threaded=True)
V.add(camB, outputs=['cam/image_array_b'], threaded=True)
def stereo_pair(image_a, image_b):
'''
This will take the two images and combine them into a single image
One in red, the other in green, and diff in blue channel.
'''
if image_a is not None and image_b is not None:
width, height, _ = image_a.shape
grey_a = dk.utils.rgb2gray(image_a)
grey_b = dk.utils.rgb2gray(image_b)
grey_c = grey_a - grey_b
stereo_image = np.zeros([width, height, 3],
dtype=np.dtype('B'))
stereo_image[..., 0] = np.reshape(grey_a, (width, height))
stereo_image[..., 1] = np.reshape(grey_b, (width, height))
stereo_image[..., 2] = np.reshape(grey_c, (width, height))
else:
stereo_image = []
return np.array(stereo_image)
image_sterero_pair_part = Lambda(stereo_pair)
V.add(image_sterero_pair_part,
inputs=['cam/image_array_a', 'cam/image_array_b'],
outputs=['cam/image_array'])
#elif camera_type == "streamline":
# print("using grayscale pi cam")
# assert(cfg.CAMERA_TYPE == "PICAM")
# from donkeycar.parts.camera import PiCamera
# cam = PiCamera(image_w=cfg.STREAMLINE_IMAGE_W, image_h=cfg.STREAMLINE_IMAGE_H, image_d=1)
else:
print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
if cfg.CAMERA_TYPE == "PICAM":
from donkeycar.parts.camera import PiCamera
cam = PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
cam = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
cam = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
else:
raise (Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
V.add(cam, outputs=['cam/image_array'], threaded=True)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
from donkeycar.parts.controller import PS3JoystickController, PS4JoystickController
#cont_class = PS3JoystickController
cont_class = MyJoystickController
if cfg.CONTROLLER_TYPE == "ps4":
cont_class = PS4JoystickController
ctr = cont_class(throttle_scale=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
if cfg.USE_NETWORKED_JS:
from donkeycar.parts.controller import JoyStickSub
netwkJs = JoyStickSub(cfg.NETWORK_JS_SERVER_IP)
V.add(netwkJs, threaded=True)
ctr.js = netwkJs
else:
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController()
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
#this throttle filter will allow one tap back for esc reverse
th_filter = ThrottleFilter()
V.add(th_filter, inputs=['user/throttle'], outputs=['user/throttle'])
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
def pilot_condition(mode):
if mode == 'user':
return False
else:
return True
pilot_condition_part = Lambda(pilot_condition)
V.add(pilot_condition_part, inputs=['user/mode'], outputs=['run_pilot'])
def led_cond(mode, recording, recording_alert, behavior_state,
reloaded_model):
#returns a blink rate. 0 for off. -1 for on. positive for rate.
if reloaded_model:
led.set_rgb(cfg.MODEL_RELOADED_LED_R, cfg.MODEL_RELOADED_LED_G,
cfg.MODEL_RELOADED_LED_B)
return 0.1
else:
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
if recording_alert:
led.set_rgb(*recording_alert)
return cfg.REC_COUNT_ALERT_BLINK_RATE
else:
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
if behavior_state is not None and model_type == 'behavior':
r, g, b = cfg.BEHAVIOR_LED_COLORS[behavior_state]
led.set_rgb(r, g, b)
return -1 #solid on
if recording:
return -1 #solid on
elif mode == 'user':
return 1
elif mode == 'local_angle':
return 0.5
elif mode == 'local':
return 0.1
return 0
if cfg.HAVE_RGB_LED:
from donkeycar.parts.led_status import RGB_LED
led = RGB_LED(cfg.LED_PIN_R, cfg.LED_PIN_G, cfg.LED_PIN_B,
cfg.LED_INVERT)
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
led_cond_part = Lambda(led_cond)
V.add(led_cond_part,
inputs=[
'user/mode', 'recording', "records/alert", 'behavior/state',
'reloaded/model'
],
outputs=['led/blink_rate'])
V.add(led, inputs=['led/blink_rate'])
def get_record_alert_color(num_records):
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
def record_tracker(num_records):
if num_records is None:
return 0
if record_tracker.last_num_rec_print != num_records or record_tracker.force_alert:
record_tracker.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or record_tracker.force_alert:
record_tracker.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
record_tracker.force_alert = 0
if record_tracker.dur_alert > 0:
record_tracker.dur_alert -= 1
if record_tracker.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
record_tracker.last_num_rec_print = 0
record_tracker.dur_alert = 0
record_tracker.force_alert = 0
rec_tracker_part = Lambda(record_tracker)
V.add(rec_tracker_part,
inputs=["tub/num_records"],
outputs=['records/alert'])
if cfg.AUTO_RECORD_ON_THROTTLE and isinstance(ctr, JoystickController):
#then we are not using the circle button. hijack that to force a record count indication
def show_record_acount_status():
record_tracker.last_num_rec_print = 0
record_tracker.force_alert = 1
ctr.set_button_down_trigger('circle', show_record_acount_status)
#IMU
if cfg.HAVE_IMU:
imu = Mpu6050()
V.add(imu,
outputs=[
'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x',
'imu/gyr_y', 'imu/gyr_z'
],
threaded=True)
#Behavioral state
if cfg.TRAIN_BEHAVIORS:
bh = BehaviorPart(cfg.BEHAVIOR_LIST)
V.add(bh,
outputs=[
'behavior/state', 'behavior/label',
"behavior/one_hot_state_array"
])
try:
ctr.set_button_down_trigger('L1', bh.increment_state)
except:
pass
inputs = ['cam/image_array', "behavior/one_hot_state_array"]
#IMU
elif model_type == "imu":
assert (cfg.HAVE_IMU)
#Run the pilot if the mode is not user.
inputs = [
'cam/image_array', 'imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'
]
else:
inputs = ['cam/image_array']
def load_model(kl, model_path):
start = time.time()
try:
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
except:
print('problems loading model', model_path)
def load_weights(kl, weights_path):
start = time.time()
try:
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
except:
print('problems loading weights', weights_path)
def load_model_json(kl, json_fnm):
start = time.time()
print('loading model json', json_fnm)
import keras
with open(json_fnm, 'r') as handle:
contents = handle.read()
kl.model = keras.models.model_from_json(contents)
print('finished loading json in %s sec.' % (str(time.time() - start)))
if model_path:
#When we have a model, first create an appropriate Keras part
#if model_type == "streamline":
#kl = KerasStreamline()
#else:
kl = dk.utils.get_model_by_type(model_type, cfg)
if '.h5' in model_path:
#when we have a .h5 extension
#load everything from the model file
load_model(kl, model_path)
def reload_model(filename):
print(filename, "was changed!")
load_model(kl, filename)
fw_part = FileWatcher(model_path,
reload_model,
wait_for_write_stop=10.0)
V.add(fw_part, outputs=['reloaded/model'])
elif '.json' in model_path:
#when we have a .json extension
#load the model from their and look for a matching
#.wts file with just weights
load_model_json(kl, model_path)
weights_path = model_path.replace('.json', '.weights')
load_weights(kl, weights_path)
def reload_weights(filename):
print(filename, "was changed!")
weights_path = filename.replace('.json', '.weights')
load_weights(kl, weights_path)
fw_part = FileWatcher(model_path,
reload_weights,
wait_for_write_stop=1.0)
V.add(fw_part, outputs=['reloaded/model'])
else:
#previous default behavior
load_model(kl, model_path)
V.add(kl,
inputs=inputs,
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
#Choose what inputs should change the car.
def drive_mode(mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle
drive_mode_part = Lambda(drive_mode)
V.add(drive_mode_part,
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
#Drive train setup
if cfg.DRIVE_TRAIN_TYPE == "SERVO_ESC":
from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle
steering_controller = PCA9685(cfg.STEERING_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_STEER_THROTTLE":
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
steering = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT,
cfg.HBRIDGE_PIN_RIGHT)
throttle = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD,
cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL":
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, Mini_HBridge_DC_Motor_PWM
left_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT_FWD,
cfg.HBRIDGE_PIN_LEFT_BWD)
right_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_RIGHT_FWD,
cfg.HBRIDGE_PIN_RIGHT_BWD)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_HBRIDGE_PWM":
from donkeycar.parts.actuator import ServoBlaster, PWMSteering
steering_controller = ServoBlaster(cfg.STEERING_CHANNEL) #really pin
#PWM pulse values should be in the range of 100 to 200
assert (cfg.STEERING_LEFT_PWM <= 200)
assert (cfg.STEERING_RIGHT_PWM <= 200)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD,
cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(motor, inputs=["throttle"])
#add tub to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
if cfg.TRAIN_BEHAVIORS:
inputs += [
'behavior/state', 'behavior/label', "behavior/one_hot_state_array"
]
types += ['int', 'str', 'vector']
if cfg.HAVE_IMU:
inputs += [
'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x', 'imu/gyr_y',
'imu/gyr_z'
]
types += ['float', 'float', 'float', 'float', 'float', 'float']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
if type(ctr) is LocalWebController:
print("You can now go to <your pi ip address>:8887 to drive your car.")
elif isinstance(ctr, JoystickController):
print("You can now move your joystick to drive your car.")
#tell the controller about the tub
ctr.set_tub(tub)
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg, model_path=None, use_joystick=False, use_chaos=False):
"""
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
"""
V = dk.vehicle.Vehicle()
clock = Timestamp()
V.add(clock, outputs='timestamp')
cam = PiCamera(resolution=cfg.CAMERA_RESOLUTION)
V.add(cam, outputs=['cam/image_array'], threaded=True)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
ctr = JoystickController(max_throttle=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording', 'pan', 'tilt'],
threaded=True)
if cfg.USE_PAN:
pan_controller = PCA9685(cfg.PAN_CHANNEL)
pan = PWMPanTilt(controller=pan_controller,
left_pulse=cfg.PAN_LEFT_PWM,
right_pulse=cfg.PAN_RIGHT_PWM,
dir=cfg.PAN_DIR)
V.add(pan, inputs=['pan'])
if cfg.USE_TILT:
tilt_controller = PCA9685(cfg.TILT_CHANNEL)
tilt = PWMPanTilt(controller=tilt_controller,
left_pulse=cfg.TILT_DOWN_PWM,
right_pulse=cfg.TILT_UP_PWM,
dir=cfg.TILT_DIR)
V.add(tilt, inputs=['tilt'])
else:
# This web controller will create a web server that is capable
# of managing steering, throttle, and modes, and more.
ctr = LocalWebController(use_chaos=use_chaos)
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
# See if we should even run the pilot module.
# This is only needed because the part run_condition only accepts boolean
def pilot_condition(mode):
if mode == 'user':
return False
else:
return True
pilot_condition_part = Lambda(pilot_condition)
V.add(pilot_condition_part, inputs=['user/mode'],
outputs=['run_pilot'])
# Run the pilot if the mode is not user.
kl = KerasCategorical()
if model_path:
kl.load(model_path)
V.add(kl, inputs=['cam/image_array'],
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
# Choose what inputs should change the car.
def drive_mode(mode,
user_angle, user_throttle,
pilot_angle, pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle
drive_mode_part = Lambda(drive_mode)
V.add(drive_mode_part,
inputs=['user/mode', 'user/angle', 'user/throttle',
'pilot/angle', 'pilot/throttle'],
outputs=['angle', 'throttle'])
steering = PimouseSteering()
throttle_controller = None
throttle = PimouseThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
# add tub to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode', 'timestamp']
types = ['image_array', 'float', 'float', 'str', 'str']
if cfg.USE_SINGLE_TUB == False:
#multiple tubs
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
else:
# single tub
tub = TubWriter(path=cfg.TUB_PATH, inputs=inputs, types=types)
V.add(tub, inputs=inputs, run_condition='recording')
# run the vehicle
V.start(rate_hz=cfg.DRIVE_LOOP_HZ,
max_loop_count=cfg.MAX_LOOPS)
def drive(cfg,
model_path=None,
use_joystick=False,
use_tx=False,
use_pirf=False):
'''
Start the drive loop
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
# Initialize car
V = dk.vehicle.Vehicle()
if cfg.USE_WEB_CAMERA:
cam = Webcam(resolution=cfg.CAMERA_RESOLUTION)
else:
cam = PiCamera(resolution=cfg.CAMERA_RESOLUTION)
V.add(cam, outputs=['cam/image_array'], threaded=True)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
# modify max_throttle closer to 1.0 to have more power
# modify steering_scale lower than 1.0 to have less responsive steering
ctr = JoystickController(
max_throttle=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE,
throttle_axis=cfg.JOYSTICK_THROTTLE_AXIS,
steering_axis=cfg.JOYSTICK_STEERING_AXIS,
btn_mode=cfg.JOYSTICK_DRIVING_MODE_BUTTON,
btn_record_toggle=cfg.JOYSTICK_RECORD_TOGGLE_BUTTON,
btn_inc_max_throttle=cfg.JOYSTICK_INCREASE_MAX_THROTTLE_BUTTON,
btn_dec_max_throttle=cfg.JOYSTICK_DECREASE_MAX_THROTTLE_BUTTON,
btn_inc_throttle_scale=cfg.JOYSTICK_INCREASE_THROTTLE_SCALE_BUTTON,
btn_dec_throttle_scale=cfg.JOYSTICK_DECREASE_THROTTLE_SCALE_BUTTON,
btn_inc_steer_scale=cfg.JOYSTICK_INCREASE_STEERING_SCALE_BUTTON,
btn_dec_steer_scale=cfg.JOYSTICK_DECREASE_STEERING_SCALE_BUTTON,
btn_toggle_const_throttle=cfg.
JOYSTICK_TOGGLE_CONSTANT_THROTTLE_BUTTON,
verbose=cfg.JOYSTICK_VERBOSE)
elif use_tx or cfg.USE_TX_AS_DEFAULT:
ctr = TxController(throttle_tx_min=cfg.TX_THROTTLE_MIN,
throttle_tx_max=cfg.TX_THROTTLE_MAX,
steering_tx_min=cfg.TX_STEERING_MIN,
steering_tx_max=cfg.TX_STEERING_MAX,
throttle_tx_thresh=cfg.TX_THROTTLE_TRESH,
verbose=cfg.TX_VERBOSE)
fpv = FPVWebController()
V.add(fpv, inputs=['cam/image_array'], threaded=True)
elif use_pirf or cfg.USE_PI_RF_AS_DEFAULT:
ctr = PiRfController(throttle_tx_min=cfg.PI_RF_THROTTLE_MIN,
throttle_tx_max=cfg.PI_RF_THROTTLE_MAX,
steering_tx_min=cfg.PI_RF_STEERING_MIN,
steering_tx_max=cfg.PI_RF_STEERING_MAX,
throttle_tx_thresh=cfg.PI_RF_THROTTLE_TRESH,
steering_pin=cfg.PI_RF_STEERING_PIN,
throttle_pin=cfg.PI_RF_THROTTLE_PIN,
verbose=cfg.PI_RF_VERBOSE)
fpv = FPVWebController()
V.add(fpv, inputs=['cam/image_array'], threaded=True)
else:
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController()
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
emergencyCtrl = EmergencyController()
V.add(emergencyCtrl,
inputs=['user/mode'],
outputs=['user/mode'],
threaded=True)
# See if we should even run the pilot module.
# This is only needed because the part run_condition only accepts boolean
def pilot_condition(mode):
if mode == 'user':
return False
else:
return True
pilot_condition_part = Lambda(pilot_condition)
V.add(pilot_condition_part, inputs=['user/mode'], outputs=['run_pilot'])
if not use_tx and not use_pirf:
# Run the pilot if the mode is not user and not Tx.
kl = KerasCategorical()
#kl = KerasLinear()
if model_path:
kl.load(model_path)
V.add(kl,
inputs=['cam/image_array'],
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
# Choose what inputs should change the car.
def drive_mode(mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle
drive_mode_part = Lambda(drive_mode)
V.add(drive_mode_part,
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
if cfg.USE_PWM_ACTUATOR:
steering_controller = PCA9685(cfg.STEERING_CHANNEL)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle', 'user/mode'])
# add tub to save data
inputs = [
'cam/image_array', 'user/angle', 'user/throttle', 'user/mode',
'pilot/angle', 'pilot/throttle'
]
types = [
'image_array', 'float', 'float', 'str', 'numpy.float32',
'numpy.float32'
]
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
V.add(tub, inputs=inputs, run_condition='recording')
# run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
print("You can now go to <your pi ip address>:8887 to drive your car.")
def drive(cfg, model_path=None, meta=[]):
model_type = cfg.DEFAULT_MODEL_TYPE
#Initialize car
V = dk.vehicle.Vehicle()
if cfg.RS_PATH_PLANNER:
from donkeycar.parts.realsense2 import RS_T265
print("RS t265 with path tracking")
odometry = RS_T265(path_output=True,
stereo_output=False,
image_output=False)
V.add(odometry, outputs=['rs/trans', 'rs/yaw'], threaded=True)
V.add(PosStream(),
inputs=['rs/trans', 'rs/yaw'],
outputs=['pos/x', 'pos/y', 'pos/yaw'])
else:
raise Exception("This script is for RS_PATH_PLANNER only")
from donkeycar.parts.realsense2 import RS_D435i
cam = RS_D435i(img_type=cfg.D435_IMG_TYPE,
image_w=cfg.D435_IMAGE_W,
image_h=cfg.D435_IMAGE_H,
frame_rate=cfg.D435_FRAME_RATE)
V.add(cam, inputs=[], outputs=['cam/image_array'], threaded=True)
# class Distance:
# def run(self, img):
# h,w = img.shape
# arr = img[50:w-50,0:h-60].flatten()
# mean = np.mean(arr)
# print(mean)
# V.add(Distance(),
# inputs=['cam/image_array'], outputs=['null'])
ctr = get_js_controller(cfg)
V.add(ctr,
inputs=['null'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
# class debug:
# def run(self, angle):
# print(angle)
# V.add(debug(), inputs=['user/angle'], outputs=['null'])
#This web controller will create a web server
web_ctr = LocalWebControllerPlanner()
V.add(
web_ctr,
inputs=[
'map/image', 'cam/image_array', 'user/mode', 'recording',
'throttle', 'angle'
],
outputs=['web/angle', 'web/throttle', 'web/mode',
'web/recording'], # no part consumes this
threaded=True)
class UserCondition:
def run(self, mode):
if mode == 'user':
return True
else:
return False
V.add(UserCondition(), inputs=['user/mode'], outputs=['run_user'])
class PilotCondition:
def run(self, mode):
if mode == 'user':
return False
else:
return True
V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
myRoute = Route(min_dist=cfg.PATH_MIN_DIST)
V.add(myRoute,
inputs=['pos/x', 'pos/y'],
outputs=['nav/path', 'nav/waypoints'],
threaded=True)
if os.path.exists(cfg.RS_ROUTE_FILE):
myRoute.load(cfg.RS_ROUTE_FILE)
print("loaded route:", cfg.RS_ROUTE_FILE)
def save_waypt():
myRoute.save_waypoint()
ctr.set_button_down_trigger(cfg.SAVE_WPT_BTN, save_waypt)
def save_route():
myRoute.save_route(cfg.RS_ROUTE_FILE)
ctr.set_button_down_trigger(cfg.SAVE_ROUTE_BTN, save_route)
def clear_route():
myRoute.clear()
ctr.set_button_down_trigger(cfg.CLEAR_ROUTE_BTN, clear_route)
img = PImage(resolution=(cfg.D435_IMAGE_W, cfg.D435_IMAGE_H),
clear_each_frame=True)
V.add(img, outputs=['map/image'])
plot = WaypointPlot(scale=cfg.PATH_SCALE,
offset=(cfg.D435_IMAGE_W // 4, cfg.D435_IMAGE_H // 2),
color=(0, 0, 255))
V.add(plot,
inputs=['map/image', 'nav/waypoints'],
outputs=['map/image'],
threaded=True)
plot = PathPlot(scale=cfg.PATH_SCALE,
offset=(cfg.D435_IMAGE_W // 4, cfg.D435_IMAGE_H // 2),
color=(0, 0, 255))
V.add(plot,
inputs=['map/image', 'nav/path'],
outputs=['map/image'],
threaded=True)
# this is error function for PID control
nav = Navigator(wpt_reach_tolerance=cfg.WPT_TOLERANCE)
V.add(nav,
inputs=['nav/waypoints', 'pos/x', 'pos/y', 'pos/yaw'],
outputs=['nav/shouldRun', 'nav/error'],
threaded=True,
run_condition="run_pilot")
ctr.set_button_down_trigger("left_shoulder", nav.decrease_target)
ctr.set_button_down_trigger("right_shoulder", nav.increase_target)
pid = PIDController(p=cfg.PID_P, i=cfg.PID_I, d=cfg.PID_D, debug=False)
pilot = PID_Pilot(pid, cfg.PID_THROTTLE)
V.add(pilot,
inputs=['nav/shouldRun', 'nav/error'],
outputs=['pilot/angle', 'pilot/throttle'],
run_condition="run_pilot")
pos_plot = PlotPose(scale=cfg.PATH_SCALE,
offset=(cfg.D435_IMAGE_W // 4, cfg.D435_IMAGE_H // 2))
V.add(pos_plot,
inputs=['map/image', 'pos/x', 'pos/y', 'pos/yaw'],
outputs=['map/image'])
if model_path:
def load_model(kl, model_path):
start = time.time()
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
#When we have a model, first create an appropriate Keras part
kl = dk.utils.get_model_by_type(model_type, cfg)
load_model(kl, model_path)
outputs = ['pilot/angle', 'pilot/throttle']
V.add(kl,
inputs=['cam/image_array'],
outputs=outputs,
run_condition='run_pilot')
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle * cfg.AI_THROTTLE_MULT
V.add(DriveMode(),
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle
steering_controller = PCA9685(cfg.STEERING_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
# data collection
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
def get_record_alert_color(num_records):
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
class RecordTracker:
def __init__(self):
self.last_num_rec_print = 0
self.dur_alert = 0
self.force_alert = 0
def run(self, num_records):
if num_records is None:
return 0
if self.last_num_rec_print != num_records or self.force_alert:
self.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
self.force_alert = 0
if self.dur_alert > 0:
self.dur_alert -= 1
if self.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
V.add(RecordTracker(),
inputs=["tub/num_records"],
outputs=['records/alert'])
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
#tell the controller about the tub
ctr.set_tub(tub)
ctr.print_controls()
#run the vehicle
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def test_rs(cfg):
"""
Donekycar v3.1.1 上のパーツクラスを使用。
"""
V = dk.vehicle.Vehicle()
from donkeycar.parts.realsense2 import RS_T265
rs = RS_T265(image_output=True)
V.add(rs, outputs=['pos', 'vel', 'acc', 'image_array'], threaded=False)
class Split(object):
def run(self, pos, vel, acc):
return pos.x, pos.y, pos.z, vel.x, vel.y, vel.z, acc.x, acc.y, acc.z
def shutdown(self):
pass
V.add(Split(),
inputs=['pos', 'vel', 'acc'],
outputs=[
'pos_x', 'pos_y', 'pos_z', 'vel_x', 'vel_y', 'vel_z', 'acc_x',
'acc_y', 'acc_z'
])
# image shape (800, 848)
class ImageNoneCheck(object):
def __init__(self, cfg):
self.cfg = cfg
def run(self, image_array):
if image_array is None:
#print('[RS] image_array is None')
return np.zeros(
(self.cfg.IMAGE_H, self.cfg.IMAGE_W, self.cfg.IMAGE_DEPTH),
dtype=np.uint8)
else:
#print('[RS] image.shape:{}'.format(str(image_array.shape)))
return image_array
def shutdown(self):
pass
V.add(ImageNoneCheck(cfg), inputs=['image_array'], outputs=['image_array'])
class PrintRS(object):
def run(self, image_array, pos_x, pos_y, pos_z, vel_x, vel_y, vel_z,
acc_x, acc_y, acc_z):
#print((image_array is None))
#print(type(image_array))
#print(image_array.shape)
#print('[RS] pos:({:.5g}, {:.5g}, {:.5g}) vel:({:.5g}, {:.5g}, {:.5g}) acc:({:.5g}, {:.5g}, {:.5g})'.format(
print(
'{:.5g},{:.5g},{:.5g},{:.5g},{:.5g},{:.5g},{:.5g},{:.5g}, {:.5g}'
.format(pos_x, pos_y, pos_z, vel_x, vel_y, vel_z, acc_x, acc_y,
acc_z))
def shutdown(self):
pass
V.add(PrintRS(),
inputs=[
'image_array', 'pos_x', 'pos_y', 'pos_z', 'vel_x', 'vel_y',
'vel_z', 'acc_x', 'acc_y', 'acc_z'
])
inputs = [
'image_array',
'pos_x',
'pos_y',
'pos_z',
'vel_x',
'vel_y',
'vel_z',
'acc_x',
'acc_y',
'acc_z',
]
types = [
'image_array',
'float',
'float',
'float',
'float',
'float',
'float',
'float',
'float',
'float',
]
from donkeycar.parts.datastore import TubHandler
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=[])
V.add(tub, inputs=inputs, outputs=["tub/num_records"])
try:
V.start(rate_hz=cfg.DRIVE_LOOP_HZ,
max_loop_count=cfg.DRIVE_LOOP_HZ * 60) # 1min
## max_loop_count=cfg.MAX_LOOPS) # infinity
except KeyboardInterrupt:
print('exit')
finally:
print('done')
def drive(cfg, model_path=None, use_joystick=False):
'''
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
#Initialize car
V = dk.vehicle.Vehicle()
cam = PiCamera(resolution=cfg.CAMERA_RESOLUTION)
V.add(cam, outputs=['cam/image_array'], threaded=True)
imu = Mpu6050()
V.add(imu, outputs=['imu/imu_vec'], threaded=True)
# Lidar
imu = B0602Lidar()
V.add(imu, outputs=['lidar/lidar_measurements'], threaded=True)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
ctr = JoystickController(
max_throttle=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
else:
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController()
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
def pilot_condition(mode):
if mode == 'user':
return False
else:
return True
pilot_condition_part = Lambda(pilot_condition)
V.add(pilot_condition_part, inputs=['user/mode'], outputs=['run_pilot'])
# Add CV Here
#img_threshold = ImgThreshold()
#V.add(img_threshold, inputs=['cam/image_array'], outputs=['cam/image_array'])
#img_grayscale = ImgGreyscale()
#V.add(img_grayscale, inputs=['cam/image_array'], outputs=['cam/image_array'])
#img_canny = ImgCanny()
#V.add(img_canny, inputs=['cam/image_array'], outputs=['cam/image_array'])
# Make sure image size is correct
#xsize = 160
#ysize = 120
#vertices = np.array([[(0,48),(xsize,48),(xsize,ysize),(0,ysize)]], dtype=np.int32)
#img_mask = ImgMask(vertices)
#V.add(img_mask, inputs=['cam/image_array'], outputs=['cam/image_array'])
#img_stack = ImgStack()
#V.add(img_stack, inputs=['cam/image_array'], outputs=['cam/image_array'])
#Run the pilot if the mode is not user.
#kl = KerasCategorical()
kl = KerasIMU()
if model_path:
kl.load(model_path)
V.add(kl,
inputs=['cam/image_array', 'imu/imu_vec'],
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
#Choose what inputs should change the car.
def drive_mode(mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle
drive_mode_part = Lambda(drive_mode)
V.add(drive_mode_part,
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
steering_controller = PCA9685(cfg.STEERING_CHANNEL)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
#add tub to save data
inputs = [
'cam/image_array', 'user/angle', 'user/throttle', 'user/mode',
'imu/imu_vec'
]
types = ['image_array', 'float', 'float', 'str', 'list']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
V.add(tub, inputs=inputs, run_condition='recording')
#run the vehicle
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
print("You can now go to <your pi ip address>:8887 to drive your car.")
def drive(cfg, model_path=None, use_chaos=False):
"""
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
"""
V = dk.vehicle.Vehicle()
clock = Timestamp()
V.add(clock, outputs=['timestamp'])
cam = PiCamera(resolution=cfg.CAMERA_RESOLUTION)
V.add(cam, outputs=['cam/image_array'], threaded=True)
ctr = LocalWebController(use_chaos=use_chaos)
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
# See if we should even run the pilot module.
# This is only needed because the part run_condition only accepts boolean
def pilot_condition(mode):
if mode == 'user':
return False
else:
return True
pilot_condition_part = Lambda(pilot_condition)
V.add(pilot_condition_part, inputs=['user/mode'], outputs=['run_pilot'])
# Run the pilot if the mode is not user.
kl = KerasLinear()
if model_path:
kl.load(model_path)
V.add(kl,
inputs=['cam/image_array'],
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
# Choose what inputs should change the car.
def drive_mode(mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle
drive_mode_part = Lambda(drive_mode)
V.add(drive_mode_part,
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
steering_controller = PCA9685(cfg.STEERING_CHANNEL)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
# add tub to save data
inputs = [
'cam/image_array', 'user/angle', 'user/throttle', 'user/mode',
'timestamp'
]
types = ['image_array', 'float', 'float', 'str', 'str']
# multiple tubs
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
# single tub
#tub = TubWriter(path=cfg.TUB_PATH, inputs=inputs, types=types)
V.add(tub, inputs=inputs, run_condition='recording')
# run the vehicle
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg, args=None, model_type=None, camera_type='single', meta=[]):
model_type = cfg.DEFAULT_MODEL_TYPE
speed = args.speed
maxloop = args.maxloop
print("maxloop=", maxloop, ",speed=", speed)
###########################################################
# 1) 동키카를 초기화(donkey사용을 위한 환경 설정)
###########################################################
V = dk.vehicle.Vehicle()
###########################################################
# 2) 주행환경 설정하기
###########################################################
class EnvSetting(object):
def __init__(self, mode='user', throttle=12): # 12%
self.mode = mode
self.throttle = throttle * 0.01
def run(self):
return self.mode, self.throttle
V.add(EnvSetting(throttle=speed),
inputs=[],
outputs=['user/mode', 'user/throttle'])
###########################################################
# 3) 카메라 설정(PICAM)
###########################################################
print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
inputs = []
threaded = True
dpcar_opt = {'org': True, 'hsv': True, 'edges': True, 'lanes': True}
if cfg.CAMERA_TYPE == "PICAM":
cam = PiCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE, \
vflip=cfg.CAMERA_VFLIP, hflip=cfg.CAMERA_HFLIP,mode='deepicar', dpcar_opt=dpcar_opt)
print(cfg.IMAGE_H, "x", cfg.IMAGE_W)
else:
raise (Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
V.add(cam,
inputs=inputs,
outputs=['cam/image_array', 'user/angle'],
threaded=threaded)
###########################################################
# 4) 주행기록저장을 위한 클래스 생성 및 V.add()
###########################################################
class RecordTracker:
def __init__(self):
self.last_num_rec_print = 0
self.dur_alert = 0
self.force_alert = 0
def run(self, num_records):
print("num_records=>", num_records)
if num_records is None:
return 0
if self.last_num_rec_print != num_records or self.force_alert:
self.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
self.force_alert = 0
if self.dur_alert > 0:
self.dur_alert -= 1
if self.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
rec_tracker_part = RecordTracker()
V.add(rec_tracker_part,
inputs=["tub/num_records"],
outputs=['records/alert'])
###########################################################
# 5) DriveMode 설정하기
###########################################################
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
print("user_angle->", user_angle, ", user_throttle->",
user_throttle)
return user_angle, user_throttle, True
elif mode == 'local_angle':
return pilot_angle if pilot_angle else 0.0, user_throttle, True
else:
return pilot_angle if pilot_angle else 0.0, pilot_throttle * cfg.AI_THROTTLE_MULT if pilot_throttle else 0.0, True
V.add(DriveMode(),
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle', 'recording'])
###########################################################
# 6) PIGPIO_PWM 설정하기
# - 현재 EMPV1에서는 "DC_STREER_THROTTLE를 사용
###########################################################
if cfg.DRIVE_TRAIN_TYPE == "DC_STEER_THROTTLE":
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
from donkeycar.parts.actuator import RPi_GPIO_Servo
#steering = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT, cfg.HBRIDGE_PIN_RIGHT)
steering = RPi_GPIO_Servo(cfg.HBRIDGE_PIN_RIGHT, verbose=False)
throttle = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD,
cfg.HBRIDGE_PIN_BWD)
print(">>>>DC_STEER_THROTTLE")
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
###########################################################
# 7) Tub 설정하기
###########################################################
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
###########################################################3yy
# 8) V.start (Main Loop)
###########################################################
#V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=maxloop)
def drive(cfg, model_path=None, use_joystick=False):
'''
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
#Initialisation the CAR
V = dk.vehicle.Vehicle()
# Initialisation of the CAMERA
if cfg.OS == cfg.LINUX_OS:
if cfg.CAMERA_ID == cfg.CAMERA_MACBOOK:
print("Camera {} can't be used.".format(cfg.CAMERA_MACBOOK))
sys.exit()
elif cfg.CAMERA_ID == cfg.CAMERA_MOCK:
cam = MockCamera()
else:
cam = PiCamera(camera=cfg.CAMERA_ID,
resolution=cfg.CAMERA_RESOLUTION)
elif cfg.OS == cfg.MAC_OS:
if cfg.CAMERA_ID == cfg.CAMERA_MACBOOK:
cam = MacWebcam()
else:
cam = VideoStream(camera=cfg.CAMERA_ID,
framerate=cfg.DRIVE_LOOP_HZ)
V.add(cam, outputs=['cam/image_array'], threaded=True)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
ctr = JoystickController(
max_throttle=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
else:
#This web controller will create a web server that is capable
#of managing steering, throttle, modes, and more.
ctr = LocalWebController()
if (cfg.LANE_DETECTOR):
ctr_inputs = ['cam/image_overlaid_lanes', 'ld/runtime']
#Lane Detector
#Detects the lane the car is in and outputs a best estimate for the 2 lines
lane_detector = LanesDetector(cfg.CAMERA_ID, cfg.LD_PARAMETERS)
V.add(lane_detector,
inputs=['cam/image_array', 'algorithm/reset'],
outputs=['cam/image_overlaid_lanes', 'ld/runtime'])
else:
ctr_inputs = ['cam/image_array']
V.add(
ctr,
ctr_inputs,
outputs=[
'user/angle', 'user/throttle', 'user/mode', 'recording'
#'algorithm/reset'
],
threaded=True)
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
def pilot_condition(mode):
if mode == 'user':
return False
else:
return True
pilot_condition_part = Lambda(pilot_condition)
V.add(pilot_condition_part, inputs=['user/mode'], outputs=['run_pilot'])
#Run the pilot if the mode is not user.
kl = KerasLinear()
if model_path:
kl.load(model_path)
V.add(kl,
inputs=['cam/image_array'],
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
#Choose what inputs should change the car.
def drive_mode(mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle
drive_mode_part = Lambda(drive_mode)
V.add(drive_mode_part,
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
if cfg.OS == cfg.LINUX_OS:
steering_controller = PCA9685(cfg.STEERING_CHANNEL)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL)
elif cfg.OS == cfg.MAC_OS:
steering_controller = MockController()
throttle_controller = MockController()
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
center_pulse=cfg.STEERING_CENTER_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle = PWMThrottle(
controller=throttle_controller,
cal_max_pulse=cfg.THROTTLE_FORWARD_CAL_PWM,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
cal_min_pulse=cfg.THROTTLE_REVERSE_CAL_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
#add tub to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
V.add(tub, inputs=inputs, run_condition='recording')
print("You can now go to <your pi ip address>:8887 to drive your car.")
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg, model_path=None, meta=[]):
'''
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
#Initialize car
V = dk.vehicle.Vehicle()
from donkeycar.parts.camera import PiCamera
V.add(PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH),
outputs=['cam/image_array'],
threaded=True)
V.add(LocalWebController(),
inputs=['cam/image_array_face_box'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
print("You can now go to <your pi ip address>:8887 to drive your car.")
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
class PilotCondition:
def run(self, mode):
if mode == 'user':
return False
else:
return True
V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
class ImgPreProcess():
'''
preprocess camera image for inference.
normalize and crop if needed.
'''
def __init__(self, cfg):
self.cfg = cfg
def run(self, img_arr):
return normalize_and_crop(img_arr, self.cfg)
V.add(ImgPreProcess(cfg),
inputs=['cam/image_array'],
outputs=['cam/normalized/cropped'],
run_condition='run_pilot')
def load_model(kl, model_path):
start = time.time()
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
kl = dk.utils.get_model_by_type('jaws', cfg)
load_model(kl, model_path)
V.add(kl,
inputs=['cam/normalized/cropped'],
outputs=['face_x', 'face_y', 'face_w', 'face_h', 'confidence'],
run_condition='run_pilot')
class FaceFollowingPilot:
def run(self, x, y, w, h, confidence):
return 0, 0
V.add(FaceFollowingPilot(),
inputs=['face_x', 'face_y', 'face_w', 'face_h', 'confidence'],
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
class DrawBoxForFaceDetection:
def __init__(self, cfg):
self.cfg = cfg
def run(self, img, x, y, w, h, confidence):
if img is not None:
color = np.array([0, 255, 0], dtype=np.uint8)
color2 = np.array([255, 255, 0], dtype=np.uint8)
img_out = np.copy(img)
img_w, img_h = self.cfg.IMAGE_W, self.cfg.IMAGE_H
x_px = int(img_w * x)
y_px = int(img_h * y)
w_px = int(img_w * w)
h_px = int(img_h * h)
print('x:{}, y:{}, w:{}, h:{}'.format(x_px, y_px, w_px, h_px))
u = y_px
d = y_px + h_px
l = x_px
r = x_px + w_px
u = min(img_h - 1, max(0, u))
d = min(img_h - 1, max(0, d))
l = min(img_w - 1, max(0, l))
r = min(img_w - 1, max(0, r))
img_out[u:d, l] = color
img_out[u:d, r] = color
img_out[u, l:r] = color2
img_out[d, l:r] = color
return img_out
return img
V.add(DrawBoxForFaceDetection(cfg),
inputs=[
'cam/image_array', 'face_x', 'face_y', 'face_w', 'face_h',
'confidence'
],
outputs=['cam/image_array_face_box'],
run_condition='run_pilot')
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle * cfg.AI_THROTTLE_MULT
V.add(DriveMode(),
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
class AiRunCondition:
'''
A bool part to let us know when ai is running.
'''
def run(self, mode):
if mode == "user":
return False
return True
V.add(AiRunCondition(), inputs=['user/mode'], outputs=['ai_running'])
# drive chain
# V.add(steering, inputs=['angle'])
# V.add(throttle, inputs=['throttle'])
class Dummy:
def run(self):
return 0
V.add(Dummy(), outputs=['climbing'])
V.add(JawsController(),
inputs=['angle', 'climbing', 'throttle'],
threaded=True)
#add tub to save data
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(
inputs=[
'cam/image_array', 'face_x', 'face_y', 'face_w', 'face_h',
'confidence'
],
types=['image_array', 'float', 'float', 'float', 'float', 'float'],
user_meta=meta)
V.add(tub,
inputs=[
'cam/image_array', 'face_x', 'face_y', 'face_w', 'face_h',
'confidence'
],
outputs=["tub/num_records"],
run_condition='recording')
# if cfg.PUB_CAMERA_IMAGES:
# from donkeycar.parts.network import TCPServeValue
# from donkeycar.parts.image import ImgArrToJpg
# pub = TCPServeValue("camera")
# V.add(ImgArrToJpg(), inputs=['cam/image_array'], outputs=['jpg/bin'])
# V.add(pub, inputs=['jpg/bin'])
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg, model_path=None, model_type=None):
'''
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
if model_type is None:
model_type = cfg.DEFAULT_MODEL_TYPE
#Initialize car
V = dk.vehicle.Vehicle()
cam = PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
V.add(cam, outputs=['cam/image_array'], threaded=True)
V.add(LocalWebController(),
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
class PilotCondition:
def run(self, mode):
if mode == 'user':
return False
else:
return True
V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
#Sombrero
if cfg.HAVE_SOMBRERO:
from donkeycar.parts.sombrero import Sombrero
s = Sombrero()
inputs = ['cam/image_array']
def load_model(kl, model_path):
start = time.time()
try:
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
except Exception as e:
print(e)
print('ERR>> problems loading model', model_path)
def load_weights(kl, weights_path):
start = time.time()
try:
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
except Exception as e:
print(e)
print('ERR>> problems loading weights', weights_path)
def load_model_json(kl, json_fnm):
start = time.time()
print('loading model json', json_fnm)
import keras
try:
with open(json_fnm, 'r') as handle:
contents = handle.read()
kl.model = keras.models.model_from_json(contents)
print('finished loading json in %s sec.' %
(str(time.time() - start)))
except Exception as e:
print(e)
print("ERR>> problems loading model json", json_fnm)
if model_path:
#When we have a model, first create an appropriate Keras part
kl = dk.utils.get_model_by_type(model_type, cfg)
if '.h5' in model_path:
#when we have a .h5 extension
#load everything from the model file
load_model(kl, model_path)
elif '.json' in model_path:
#when we have a .json extension
#load the model from their and look for a matching
#.wts file with just weights
load_model_json(kl, model_path)
weights_path = model_path.replace('.json', '.weights')
load_weights(kl, weights_path)
outputs = ['pilot/angle', 'pilot/throttle']
V.add(kl, inputs=inputs, outputs=outputs, run_condition='run_pilot')
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle * cfg.AI_THROTTLE_MULT
V.add(DriveMode(),
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
#Drive train setup
from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle
steering_controller = PCA9685(cfg.STEERING_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
#add tub to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
print("You can now go to <your pi ip address>:8887 to drive your car.")
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg,
model_path=None,
use_joystick=False,
model_type=None,
camera_type='single',
meta=[]):
'''
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
#zd d
if model_type is None:
if cfg.TRAIN_LOCALIZER:
model_type = "localizer"
elif cfg.TRAIN_BEHAVIORS:
model_type = "behavior"
else:
model_type = cfg.DEFAULT_MODEL_TYPE
#Initialize car
V = dk.vehicle.Vehicle()
#zd d
#1 ********************************************* camera ********************************************
inputs = []
threaded = True
print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
if cfg.CAMERA_TYPE == "PICAM":
from donkeycar.parts.camera import PiCamera
cam = PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
#zd d
else:
raise (Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
V.add(cam, inputs=inputs, outputs=['cam/image_array'], threaded=threaded)
#2 ********************************************* controller ********************************************
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController()
if cfg.AUTO_RECORD_ON_THROTTLE and isinstance(ctr, JoystickController):
#then we are not using the circle button. hijack that to force a record count indication
def show_record_acount_status():
rec_tracker_part.last_num_rec_print = 0
rec_tracker_part.force_alert = 1
ctr.set_button_down_trigger('circle', show_record_acount_status)
V.add(
ctr,
inputs=['cam/image_array'],
#outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
outputs=[
'user/angle', 'user/throttle', 'user/mode', 'recording',
'change_model', 'user/arrival'
],
#outputs=['user/angle', 'user/throttle', 'user/mode', 'recording', 'change_model'], #zd
threaded=True)
# ********************************************* communication ********************************************
class communication_class:
def __init__(self):
self.recv = ''
self.arrived = 0
# ser = serial.Serial("/dev/ttyUSB0", 9600)
self.serial = serial.Serial('/dev/ttyUSB0', 9600, timeout=3600)
# serial = serial.Serial('COM9', 9600, timeout=3600)
if self.serial.isOpen():
print("open success")
else:
print("open failed")
data_judge = '0'
while data_judge != b'\r\nOK\r\n':
send_data = 'AT'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\nOK\r\n':
send_data = 'AT+CMEE=1'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\nQuectel\r\n\r\nOK\r\n':
send_data = 'AT+CGMI'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\nBC95HB-02-STD_900\r\n\r\nOK\r\n':
send_data = 'AT+CGMM'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\nSECURITY,V100R100C10B657SP3\r\n\r\nPROTOCOL,V100R100C10B657SP3\r\n\r\nAPPLICATION,V100R100C10B657SP3\r\n\r\nSEC_UPDATER,V100R100C10B657SP3\r\n\r\nAPP_UPDATER,V100R100C10B657SP3\r\n\r\nRADIO,BC95HB-02-STD_900\r\n\r\nOK\r\n':
send_data = 'AT+CGMR'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\n+NBAND:8\r\n\r\nOK\r\n':
send_data = 'AT+NBAND?'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\n+NCONFIG:AUTOCONNECT,TRUE\r\n+NCONFIG:CR_0354_0338_SCRAMBLING,TRUE\r\n+NCONFIG:CR_0859_SI_AVOID,TRUE\r\n+NCONFIG:COMBINE_ATTACH,FALSE\r\n+NCONFIG:CELL_RESELECTION,FALSE\r\n+NCONFIG:ENABLE_BIP,FALSE\r\n\r\nOK\r\n':
send_data = 'AT+NCONFIG?'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\n+CGSN:869405035846048\r\n\r\nOK\r\n':
send_data = 'AT+CGSN=1'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\nOK\r\n':
send_data = 'AT+CFUN=1'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\n460043193006443\r\n\r\nOK\r\n':
send_data = 'AT+CIMI'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\nOK\r\n':
send_data = 'AT+CGATT=0'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\n+CGATT:0\r\n\r\nOK\r\n':
send_data = 'AT+CGATT?'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\nOK\r\n':
send_data = 'AT+CGATT=1'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\n+CGATT:1\r\n\r\nOK\r\n':
send_data = 'AT+CGATT?'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = b'\r\n+CSQ:99,99\r\n\r\nOK\r\n'
while data_judge == b'\r\n+CSQ:99,99\r\n\r\nOK\r\n':
send_data = 'AT+CSQ'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\n+COPS:0,2,"46000"\r\n\r\nOK\r\n':
send_data = 'AT+COPS?'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
data_judge = '0'
while data_judge != b'\r\n+CEREG:0,1\r\n\r\nOK\r\n':
send_data = 'AT+CEREG?'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
print('nb-iot initial ok!')
def update(self):
while True:
try:
data_judge = '0'
# sleep(1)
while data_judge != b'\r\n0\r\n\r\nOK\r\n' and data_judge != b'\r\n+CME ERROR: 4\r\n':
send_data = 'AT+NSOCR=DGRAM,17,25535,1'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(
self.serial.inWaiting())
print(data_judge)
# line = line.splitlines(True)
legal = 'OK'
data = {'order': 'ask'}
data = json.dumps(data)
l = len(data)
judge = '0'
while judge != legal:
send_data = "AT+NSOST=0,139.199.105.136,25535," + str(
len(data)) + "," + (binascii.b2a_hex(
str(data).encode('utf-8'))).decode()
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
# line = ser.read(ser.inWaiting())
# line = line.decode()
sleep(2)
# line = line.splitlines(True)
data = data + self.serial.read(self.serial.inWaiting())
data = str(data).split("\\r\\n")
print(data)
judge = data[3]
if len(data) > 5:
print("进入判断")
data = data[5]
l = data[10:len(data)]
print(l)
data_judge = '0'
while data_judge != b'\r\n\r\nOK\r\n':
print("发送请求")
send_data = 'AT+NSORF=0,' + l + "\r\n"
print(send_data)
# send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(1)
data = data + self.serial.read(
self.serial.inWaiting())
# print(data.decode('utf-8'))
data_judge = data[len(data) - 8:len(data)]
data = str(data).split(",")
# print((bytearray.fromhex(data[4])).decode('utf-8'))
data = (bytearray.fromhex(data[4])).decode('utf-8')
data = json.loads(data)
self.recv = data
print("receive:")
print(data)
#!!! change car state when arrive
# if has_arrived=='arrive':
# print("!!!!!!car_state change to c(waiting to get)")
# judge = '0'
# data = {'order': 'car_state'}
# data = json.dumps(data)
# l = len(data)
# legal = "\r\n0," + str(len(data)) + "\r\n\r\nOK\r\n"
#
# while judge != legal.encode('utf-8'):
# send_data = "AT+NSOST=0,139.199.105.136,25535," + str(len(data)) + "," + (
# binascii.b2a_hex(str(data).encode('utf-8'))).decode()
# print(send_data)
# send_data = send_data + '\r\n'
# self.serial.write(send_data.encode())
# data = self.serial.read(1)
# sleep(2)
# data = data + self.serial.read(self.serial.inWaiting())
# #print(data)
# judge = data[0:14]
data_judge = '0'
# sleep(1)
while data_judge != b'\r\nOK\r\n':
# line = ser.read(ser.inWaiting())
# line = line.decode()
send_data = 'AT+NSOCL=0'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(
self.serial.inWaiting())
print(data_judge)
except:
while data_judge != b'\r\nOK\r\n':
send_data = 'AT+NSOCL=0'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(
self.serial.inWaiting())
print(data_judge)
def run_threaded(self, has_arrived):
# !!! change car state when arrive
if has_arrived == 'arrive':
if self.arrived == 0:
self.arrived += 1
print("!!!!!!car_state change to c(waiting to get)")
try:
data_judge = '0'
# sleep(1)
while data_judge != b'\r\n0\r\n\r\nOK\r\n' and data_judge != b'\r\n+CME ERROR: 4\r\n':
send_data = 'AT+NSOCR=DGRAM,17,25535,1'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(
self.serial.inWaiting())
print(data_judge)
judge = '0'
data = {'order': 'car_state'}
data = json.dumps(data)
l = len(data)
legal = "\r\n0," + str(len(data)) + "\r\n\r\nOK\r\n"
while judge != legal.encode('utf-8'):
send_data = "AT+NSOST=0,139.199.105.136,25535," + str(
len(data)) + "," + (binascii.b2a_hex(
str(data).encode('utf-8'))).decode()
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
#sleep(2)
sleep(1)
data = data + self.serial.read(
self.serial.inWaiting())
# print(data)
judge = data[0:14]
except:
print("send arrive error!")
else:
self.arrived = 0
tmp = self.recv
if tmp != '':
return tmp['box_state'], tmp['car_state'], tmp['pos']
else:
#!!!!
return ['open', 'open', 'open'], 'a', 'a'
def shuwtdonw(self):
#关闭socket
GPIO.cleanup()
data_judge = '0'
# sleep(1)
print("clean udp socket")
while data_judge != b'\r\nOK\r\n':
send_data = 'AT+NSOCL=0'
print(send_data)
send_data = send_data + '\r\n'
self.serial.write(send_data.encode())
data = self.serial.read(1)
sleep(0.5)
data_judge = data + self.serial.read(self.serial.inWaiting())
print(data_judge)
communication = communication_class()
#!!!
V.add(communication,
inputs=['arrive_signal'],
outputs=['lock_state', 'car_state', 'pos'],
threaded=True)
# ********************************************* lock_ctr ********************************************
class lock_ctr_class:
def __init__(self):
GPIO.setmode(GPIO.BOARD)
GPIO.setup(36, GPIO.OUT) # 1
GPIO.setmode(GPIO.BOARD)
GPIO.setup(38, GPIO.OUT) # 2
GPIO.setmode(GPIO.BOARD)
GPIO.setup(40, GPIO.OUT) # 3
def run(self, state):
#1
if state[0] == 'close':
GPIO.output(36, True)
else:
GPIO.output(36, False)
#2
if state[1] == 'close':
GPIO.output(38, True)
else:
GPIO.output(38, False)
#3
if state[2] == 'close':
GPIO.output(40, True)
else:
GPIO.output(40, False)
# for x in range(3): # 0 1 2
# if state[x]=='open':
# GPIO.output(11+x, False)
# else: # close
# GPIO.output(11+x, True)
def shutdown(self):
GPIO.cleanup()
lock_ctr = lock_ctr_class()
V.add(lock_ctr, inputs=['lock_state'], outputs=[])
# ********************************************* throttle filter ********************************************
#this throttle filter will allow one tap back for esc reverse
#th_filter = ThrottleFilter()
#V.add(th_filter, inputs=['user/throttle'], outputs=['user/throttle'])
#
#3 ********************************************* PilotCondition ********************************************
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
# class PilotCondition:
# def run(self, mode):
# if mode == 'user':
# return False
# else:
# return True
#
# V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
#!!!!
class PilotCondition:
def run(self, car_state):
if car_state == 'a' or car_state == '':
return False, 'user'
else:
return True, 'local_pilot'
V.add(PilotCondition(),
inputs=['car_state'],
outputs=['run_pilot', 'user/mode'])
#zd d
#4 ********************************************* RecordTracker ********************************************
def get_record_alert_color(num_records):
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
class RecordTracker:
def __init__(self):
self.last_num_rec_print = 0
self.dur_alert = 0
self.force_alert = 0
def run(self, num_records):
if num_records is None:
return 0
if self.last_num_rec_print != num_records or self.force_alert:
self.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
self.force_alert = 0
if self.dur_alert > 0:
self.dur_alert -= 1
if self.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
rec_tracker_part = RecordTracker()
V.add(rec_tracker_part,
inputs=["tub/num_records"],
outputs=['records/alert'])
#zd d
#5 ********************************************* model ********************************************
# important
def load_model(kl, model_path):
start = time.time()
try:
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
except Exception as e:
print(e)
print('ERR>> problems loading model', model_path)
def load_weights(kl, weights_path):
start = time.time()
try:
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
except Exception as e:
print(e)
print('ERR>> problems loading weights', weights_path)
def load_model_json(kl, json_fnm):
start = time.time()
print('loading model json', json_fnm)
from tensorflow.python import keras
try:
with open(json_fnm, 'r') as handle:
contents = handle.read()
kl.model = keras.models.model_from_json(contents)
print('finished loading json in %s sec.' %
(str(time.time() - start)))
except Exception as e:
print(e)
print("ERR>> problems loading model json", json_fnm)
if model_path:
#When we have a model, first create an appropriate Keras part
# most time
kl = dk.utils.get_model_by_type(model_type, cfg)
# model_type 默认是linear
model_reload_cb = None
if '.h5' in model_path:
#when we have a .h5 extension
#load everything from the model file
# most time
load_model(kl, model_path)
def reload_model(filename):
print("reloading start")
#zd
V.sudden_control(0)
#print('***************', V.mem.items())
#V.mem.put(['angle', 'throttle', 'pilot/angle', 'pilot/throttle', 'user/angle', 'user/throttle'], [0, 0, 0, 0, 0 ,0])
#print('***************', V.mem.items())
load_model(kl, filename)
print(
'***************\r\nreloading is done\r\n**************\r\n'
)
model_reload_cb = reload_model
else:
print("ERR>> Unknown extension type on model file!!")
return
#these parts will reload the model file, but only when ai is running so we don't interrupt user driving
#V.add(DelayedTrigger(100), inputs=['modelfile/dirty'], outputs=['modelfile/reload'], run_condition="ai_running")
#V.add(TriggeredCallback(model_path, model_reload_cb), inputs=["modelfile/reload"], run_condition="ai_running")
#zd
#V.add(TriggeredCallback("./models/mypilot_2.h5", model_reload_cb), inputs=["modelfile/reload","change_model"], run_condition="ai_running")
#V.add(TriggeredCallback("./models/mypilot_2.h5", model_reload_cb), inputs=["modelfile/reload", "change_model"])
inputs = ['cam/image_array']
outputs = ['pilot/angle', 'pilot/throttle', 'pilot/arrival']
V.add(kl, inputs=inputs, outputs=outputs, run_condition='run_pilot')
# ********************************************** turn_delay_trigger ************************************************
class turn_delay_class:
def __init__(self, pause_time):
self.pause = False
self.trigger = 0
self.pause_time = pause_time
self.now_direc = 0
#self.direc_list = ['S'] #p is pause
self.direc_list = ['L']
#self.on = False
def update(self):
while 1:
if self.pause == True:
sleep(2)
self.pause = False
if self.trigger == 1:
#self.on = False
#time.sleep(3)
#self.on = True
time.sleep(self.pause_time)
self.trigger = 0
self.now_direc += 1
def run_threaded(self, arrival_signal, mode, has_arrived, pos,
car_state):
# >0 = arrive <0 = not arrive
if self.pause == True:
return True, 'P', ''
if self.trigger == 1:
return True, self.direc_list[self.now_direc], ''
# new deal
if mode == 'user':
#if car_state=='a': #待放
self.now_direc = 0
self.trigger = 0
self.pause = False
if pos == 'a':
self.direc_list = ['L']
elif pos == 'b':
self.direc_list = ['S']
print('~~~~~~~~~~~~~~~~~~~direction restart')
return False, '', ''
if has_arrived == 'arrive':
return False, '', 'arrive'
if arrival_signal > 0:
# judge arrive
# print("now is {}".format(self.now_direc))
# if self.now_direc >= len(self.direc_list):
# print("arrive--------------------------")
# return False, '', 'arrive'
if self.now_direc >= len(self.direc_list):
print("arrive--------------------------")
return False, '', 'arrive'
self.trigger = 1
self.pause = True
print("**************************start turn!!!, now is {}".
format(self.direc_list[self.now_direc]))
return True, self.direc_list[self.now_direc], ''
else:
return False, '', ''
def shutdown(self):
return
turn_delay = turn_delay_class(1.65)
#turn_delay = turn_delay_class(2)
#V.add(turn_delay, inputs=['pilot/arrival', 'user/mode'], outputs=['turn/mode', 'turn_direction'], run_condition='run_pilot', threaded=True)
V.add(turn_delay,
inputs=[
'pilot/arrival', 'user/mode', 'arrive_signal', 'pos', 'car_state'
],
outputs=['turn/mode', 'turn_direction', 'arrive_signal'],
threaded=True)
# ********************************************** turn_module ************************************************
class turn_module_class:
def __init__(self):
pass
def run(self, direc):
if direc == 'P': #pause
return 0, 0
elif direc == 'L': #left
return -1, 1
elif direc == 'R': #right
return 1, -1
elif direc == 'S': #straight
return 0.4, 0.4
else: #pause
return 0, 0
def shutdown(self):
return
turn_module = turn_module_class()
V.add(turn_module,
inputs=['turn_direction'],
outputs=['turn/angle', 'turn/throttle'],
run_condition='run_pilot')
# pause module input=[] out=[pause/mode]
#6 ********************************************* DriveMode ********************************************
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode, turn_mode, user_angle, user_throttle, pilot_angle,
pilot_throttle, turn_angle, turn_throttle, arrive_signal):
if turn_mode == True:
return turn_angle, turn_throttle
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else: # run_pilot
if arrive_signal == 'arrive':
return 0, 0
return 0.3, 0.4
#return pilot_angle, pilot_throttle * cfg.AI_THROTTLE_MULT
V.add(DriveMode(),
inputs=[
'user/mode', 'turn/mode', 'user/angle', 'user/throttle',
'pilot/angle', 'pilot/throttle', 'turn/angle', 'turn/throttle',
'arrive_signal'
],
outputs=['angle', 'throttle'])
#zd d
#to give the car a boost when starting ai mode in a race.
#7 ********************************************* AiRunCondition ********************************************
class AiRunCondition:
'''
A bool part to let us know when ai is running.
'''
def run(self, mode):
if mode == "user":
return False
return True
V.add(AiRunCondition(), inputs=['user/mode'], outputs=['ai_running'])
#Ai Recording zd d
#8 ********************************************* Motor ********************************************
#Drive train setup
# move power
if cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL":
print('DC start!')
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, Mini_HBridge_DC_Motor_PWM
LEFT_PID_DIR1 = 11
LEFT_PID_DIR2 = 13
LEFT_PWM = 15
RIGHT_PID_DIR1 = 12
RIGHT_PID_DIR2 = 16
RIGHT_PWM = 18
# left_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT_FWD, cfg.HBRIDGE_PIN_LEFT_BWD)
# right_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_RIGHT_FWD, cfg.HBRIDGE_PIN_RIGHT_BWD)
left_motor = Mini_HBridge_DC_Motor_PWM(LEFT_PID_DIR1, LEFT_PID_DIR2,
LEFT_PWM)
right_motor = Mini_HBridge_DC_Motor_PWM(RIGHT_PID_DIR1, RIGHT_PID_DIR2,
RIGHT_PWM)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
#9 ********************************************* tub ********************************************
#add tub to save data
'''
inputs=['cam/image_array',
'user/angle', 'user/throttle',
'user/mode']
types=['image_array',
'float', 'float',
'str']
'''
inputs = [
'cam/image_array', 'user/angle', 'user/throttle', 'user/arrival',
'user/mode'
]
types = ['image_array', 'float', 'float', 'float', 'str']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
# zd d
if type(ctr) is LocalWebController:
print("You can now go to <your pi ip address>:8887 to drive your car.")
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg, model_path=None, use_joystick=False):
'''
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
#Initialize car
V = dk.vehicle.Vehicle()
cam = PiCamera(resolution=cfg.CAMERA_RESOLUTION)
V.add(cam, outputs=['cam/image_array'], threaded=True)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
ctr = JoystickController(
max_throttle=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
else:
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController()
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
def pilot_condition(mode):
if mode == 'user':
return False
else:
return True
pilot_condition_part = Lambda(pilot_condition)
V.add(pilot_condition_part, inputs=['user/mode'], outputs=['run_pilot'])
#Run the pilot if the mode is not user.
kl = KerasCategorical()
if model_path:
kl.load(model_path)
V.add(kl,
inputs=['cam/image_array'],
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
#Choose what inputs should change the car.
def drive_mode(mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle
drive_mode_part = Lambda(drive_mode)
V.add(drive_mode_part,
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
steering_controller = PCA9685(cfg.STEERING_CHANNEL)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
#add tub to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
V.add(tub, inputs=inputs, run_condition='recording')
#setup AWS IoT
if cfg.IOT_ENABLED:
aws = AWSHandler(vehicle_id=cfg.VEHICLE_ID,
endpoint=cfg.AWS_ENDPOINT,
ca=cfg.CA_PATH,
private_key=cfg.PRIVATE_KEY_PATH,
certificate=cfg.CERTIFICATE_PATH)
iot = aws.new_iot_publisher(intputs=inputs, types=types)
V.add(iot, inputs=inputs, run_condition='recording')
#run the vehicle
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
print("You can now go to <your pi ip address>:8887 to drive your car.")
def test_get_tub_list(tubs):
root_dir = tubs[0]
th = TubHandler(root_dir)
assert len(th.get_tub_list()) == 5
def train_drive_reinforcement(cfg, args, script_mode):
'''
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
model_path = args['--model']
use_joystick = args['--js']
meta = args['--meta']
tub_in = args['--tub']
model_type = args['--type']
camera_type = args['--camera']
vae_path = args['--vae']
auto_mode = 0
if args['--auto']:
auto_mode = 1
env_type = 'simulator'
if args['--env']:
env_type = args['--env']
print('VAE_PATH: %s' % vae_path)
global r
global ctr
global cam
if cfg.DONKEY_GYM:
#the simulator will use cuda and then we usually run out of resources
#if we also try to use cuda. so disable for donkey_gym.
os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
if model_type is None:
if cfg.TRAIN_LOCALIZER:
model_type = "localizer"
elif cfg.TRAIN_BEHAVIORS:
model_type = "behavior"
else:
model_type = cfg.DEFAULT_MODEL_TYPE
#Initialize car
V = dk.vehicle.Vehicle()
print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
if camera_type == "stereo":
if cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
camA = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=0)
camB = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=1)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
camA = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=0)
camB = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
iCam=1)
else:
raise (Exception("Unsupported camera type: %s" % cfg.CAMERA_TYPE))
V.add(camA, outputs=['cam/image_array_a'], threaded=True)
V.add(camB, outputs=['cam/image_array_b'], threaded=True)
from donkeycar.parts.image import StereoPair
V.add(StereoPair(),
inputs=['cam/image_array_a', 'cam/image_array_b'],
outputs=['cam/image_array'])
elif cfg.CAMERA_TYPE == "D435":
from donkeycar.parts.realsense435i import RealSense435i
cam = RealSense435i(enable_rgb=cfg.REALSENSE_D435_RGB,
enable_depth=cfg.REALSENSE_D435_DEPTH,
enable_imu=cfg.REALSENSE_D435_IMU,
device_id=cfg.REALSENSE_D435_ID)
V.add(cam,
inputs=[],
outputs=[
'cam/image_array', 'cam/depth_array', 'imu/acl_x',
'imu/acl_y', 'imu/acl_z', 'imu/gyr_x', 'imu/gyr_y',
'imu/gyr_z'
],
threaded=True)
else:
if False and cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
inputs = []
threaded = True
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH,
host=cfg.SIM_HOST,
env_name=cfg.DONKEY_GYM_ENV_NAME,
conf=cfg.GYM_CONF,
delay=cfg.SIM_ARTIFICIAL_LATENCY)
threaded = True
inputs = ['angle', 'throttle']
elif cfg.CAMERA_TYPE == "PICAM":
from donkeycar.parts.camera import PiCamera
cam = PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE,
vflip=cfg.CAMERA_VFLIP,
hflip=cfg.CAMERA_HFLIP)
elif cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
cam = Webcam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
cam = CvCam(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CSIC":
from donkeycar.parts.camera import CSICamera
cam = CSICamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE,
gstreamer_flip=cfg.CSIC_CAM_GSTREAMER_FLIP_PARM)
elif cfg.CAMERA_TYPE == "V4L":
from donkeycar.parts.camera import V4LCamera
cam = V4LCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE)
elif cfg.CAMERA_TYPE == "MOCK":
from donkeycar.parts.camera import MockCamera
cam = MockCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "IMAGE_LIST":
from donkeycar.parts.camera import ImageListCamera
cam = ImageListCamera(path_mask=cfg.PATH_MASK)
else:
raise (Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
V.add(cam,
inputs=inputs,
outputs=['cam/image_array'],
threaded=threaded)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
if cfg.CONTROLLER_TYPE == "MM1":
from donkeycar.parts.robohat import RoboHATController
ctr = RoboHATController(cfg)
elif "custom" == cfg.CONTROLLER_TYPE:
#
# custom controller created with `donkey createjs` command
#
from my_joystick import MyJoystickController
ctr = MyJoystickController(
throttle_dir=cfg.JOYSTICK_THROTTLE_DIR,
throttle_scale=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
ctr.set_deadzone(cfg.JOYSTICK_DEADZONE)
else:
from donkeycar.parts.controller import get_js_controller
ctr = get_js_controller(cfg)
if cfg.USE_NETWORKED_JS:
from donkeycar.parts.controller import JoyStickSub
netwkJs = JoyStickSub(cfg.NETWORK_JS_SERVER_IP)
V.add(netwkJs, threaded=True)
ctr.js = netwkJs
V.add(
ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
else:
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController(port=cfg.WEB_CONTROL_PORT,
mode=cfg.WEB_INIT_MODE)
V.add(
ctr,
inputs=['cam/image_array', 'tub/num_records'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
#this throttle filter will allow one tap back for esc reverse
th_filter = ThrottleFilter()
V.add(th_filter, inputs=['user/throttle'], outputs=['user/throttle'])
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
class PilotCondition:
def run(self, mode):
if mode == 'user':
return False
else:
return True
V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
class LedConditionLogic:
def __init__(self, cfg):
self.cfg = cfg
def run(self, mode, recording, recording_alert, behavior_state,
model_file_changed, track_loc):
#returns a blink rate. 0 for off. -1 for on. positive for rate.
if track_loc is not None:
led.set_rgb(*self.cfg.LOC_COLORS[track_loc])
return -1
if model_file_changed:
led.set_rgb(self.cfg.MODEL_RELOADED_LED_R,
self.cfg.MODEL_RELOADED_LED_G,
self.cfg.MODEL_RELOADED_LED_B)
return 0.1
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if recording_alert:
led.set_rgb(*recording_alert)
return self.cfg.REC_COUNT_ALERT_BLINK_RATE
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if behavior_state is not None and model_type == 'behavior':
r, g, b = self.cfg.BEHAVIOR_LED_COLORS[behavior_state]
led.set_rgb(r, g, b)
return -1 #solid on
if recording:
return -1 #solid on
elif mode == 'user':
return 1
elif mode == 'local_angle':
return 0.5
elif mode == 'local':
return 0.1
return 0
if cfg.HAVE_RGB_LED and not cfg.DONKEY_GYM:
from donkeycar.parts.led_status import RGB_LED
led = RGB_LED(cfg.LED_PIN_R, cfg.LED_PIN_G, cfg.LED_PIN_B,
cfg.LED_INVERT)
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
V.add(LedConditionLogic(cfg),
inputs=[
'user/mode', 'recording', "records/alert", 'behavior/state',
'modelfile/modified', "pilot/loc"
],
outputs=['led/blink_rate'])
V.add(led, inputs=['led/blink_rate'])
def get_record_alert_color(num_records):
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
class RecordTracker:
def __init__(self):
self.last_num_rec_print = 0
self.dur_alert = 0
self.force_alert = 0
def run(self, num_records):
if num_records is None:
return 0
if self.last_num_rec_print != num_records or self.force_alert:
self.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
self.force_alert = 0
if self.dur_alert > 0:
self.dur_alert -= 1
if self.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
rec_tracker_part = RecordTracker()
V.add(rec_tracker_part,
inputs=["tub/num_records"],
outputs=['records/alert'])
if cfg.AUTO_RECORD_ON_THROTTLE and isinstance(ctr, JoystickController):
#then we are not using the circle button. hijack that to force a record count indication
def show_record_acount_status():
rec_tracker_part.last_num_rec_print = 0
rec_tracker_part.force_alert = 1
ctr.set_button_down_trigger('circle', show_record_acount_status)
#Sombrero
if cfg.HAVE_SOMBRERO:
from donkeycar.parts.sombrero import Sombrero
s = Sombrero()
#IMU
if cfg.HAVE_IMU:
from donkeycar.parts.imu import IMU
imu = IMU(sensor=cfg.IMU_SENSOR, dlp_setting=cfg.IMU_DLP_CONFIG)
V.add(imu,
outputs=[
'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x',
'imu/gyr_y', 'imu/gyr_z'
],
threaded=True)
class ImgPreProcess():
'''
preprocess camera image for inference.
normalize and crop if needed.
'''
def __init__(self, cfg):
self.cfg = cfg
def run(self, img_arr):
return normalize_and_crop(img_arr, self.cfg)
if "coral" in model_type:
inf_input = 'cam/image_array'
else:
inf_input = 'cam/normalized/cropped'
V.add(ImgPreProcess(cfg),
inputs=['cam/image_array'],
outputs=[inf_input],
run_condition='run_pilot')
# Use the FPV preview, which will show the cropped image output, or the full frame.
if False and cfg.USE_FPV:
V.add(WebFpv(), inputs=['cam/image_array'], threaded=True)
#Behavioral state
if cfg.TRAIN_BEHAVIORS:
bh = BehaviorPart(cfg.BEHAVIOR_LIST)
V.add(bh,
outputs=[
'behavior/state', 'behavior/label',
"behavior/one_hot_state_array"
])
try:
ctr.set_button_down_trigger('L1', bh.increment_state)
except:
pass
inputs = [inf_input, "behavior/one_hot_state_array"]
#IMU
elif model_type == "imu":
assert (cfg.HAVE_IMU)
#Run the pilot if the mode is not user.
inputs = [
inf_input, 'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x',
'imu/gyr_y', 'imu/gyr_z'
]
else:
inputs = [inf_input]
def load_model(kl, model_path):
start = time.time()
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode, user_angle, user_throttle, pilot_angle,
pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
#return pilot_angle, pilot_throttle * cfg.AI_THROTTLE_MULT
return user_angle, user_throttle
V.add(DriveMode(),
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
#to give the car a boost when starting ai mode in a race.
aiLauncher = AiLaunch(cfg.AI_LAUNCH_DURATION, cfg.AI_LAUNCH_THROTTLE,
cfg.AI_LAUNCH_KEEP_ENABLED)
V.add(aiLauncher, inputs=['user/mode', 'throttle'], outputs=['throttle'])
if isinstance(ctr, JoystickController):
ctr.set_button_down_trigger(cfg.AI_LAUNCH_ENABLE_BUTTON,
aiLauncher.enable_ai_launch)
class AiRunCondition:
'''
A bool part to let us know when ai is running.
'''
def run(self, mode):
if mode == "user":
return False
return True
V.add(AiRunCondition(), inputs=['user/mode'], outputs=['ai_running'])
#Ai Recording
class AiRecordingCondition:
'''
return True when ai mode, otherwize respect user mode recording flag
'''
def run(self, mode, recording):
if mode == 'user':
return recording
return True
if cfg.RECORD_DURING_AI:
V.add(AiRecordingCondition(),
inputs=['user/mode', 'recording'],
outputs=['recording'])
#Drive train setup
if cfg.DONKEY_GYM or cfg.DRIVE_TRAIN_TYPE == "MOCK":
pass
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_ESC":
from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle
steering_controller = PCA9685(cfg.STEERING_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'], threaded=True)
V.add(throttle, inputs=['throttle'], threaded=True)
elif cfg.DRIVE_TRAIN_TYPE == "DC_STEER_THROTTLE":
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
steering = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT,
cfg.HBRIDGE_PIN_RIGHT)
throttle = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD,
cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL":
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, Mini_HBridge_DC_Motor_PWM
left_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT_FWD,
cfg.HBRIDGE_PIN_LEFT_BWD)
right_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_RIGHT_FWD,
cfg.HBRIDGE_PIN_RIGHT_BWD)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_HBRIDGE_PWM":
from donkeycar.parts.actuator import ServoBlaster, PWMSteering
steering_controller = ServoBlaster(cfg.STEERING_CHANNEL) #really pin
#PWM pulse values should be in the range of 100 to 200
assert (cfg.STEERING_LEFT_PWM <= 200)
assert (cfg.STEERING_RIGHT_PWM <= 200)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD,
cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'], threaded=True)
V.add(motor, inputs=["throttle"])
elif cfg.DRIVE_TRAIN_TYPE == "MM1":
from donkeycar.parts.robohat import RoboHATDriver
V.add(RoboHATDriver(cfg), inputs=['angle', 'throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "PIGPIO_PWM":
from donkeycar.parts.actuator import PWMSteering, PWMThrottle, PiGPIO_PWM
steering_controller = PiGPIO_PWM(cfg.STEERING_PWM_PIN,
freq=cfg.STEERING_PWM_FREQ,
inverted=cfg.STEERING_PWM_INVERTED)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PiGPIO_PWM(cfg.THROTTLE_PWM_PIN,
freq=cfg.THROTTLE_PWM_FREQ,
inverted=cfg.THROTTLE_PWM_INVERTED)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'], threaded=True)
V.add(throttle, inputs=['throttle'], threaded=True)
# OLED setup
if cfg.USE_SSD1306_128_32:
from donkeycar.parts.oled import OLEDPart
auto_record_on_throttle = cfg.USE_JOYSTICK_AS_DEFAULT and cfg.AUTO_RECORD_ON_THROTTLE
oled_part = OLEDPart(cfg.SSD1306_128_32_I2C_BUSNUM,
auto_record_on_throttle=auto_record_on_throttle)
V.add(oled_part,
inputs=['recording', 'tub/num_records', 'user/mode'],
outputs=[],
threaded=True)
#add tub to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
if cfg.TRAIN_BEHAVIORS:
inputs += [
'behavior/state', 'behavior/label', "behavior/one_hot_state_array"
]
types += ['int', 'str', 'vector']
if cfg.CAMERA_TYPE == "D435" and cfg.REALSENSE_D435_DEPTH:
inputs += ['cam/depth_array']
types += ['gray16_array']
if cfg.HAVE_IMU or (cfg.CAMERA_TYPE == "D435" and cfg.REALSENSE_D435_IMU):
inputs += [
'imu/acl_x', 'imu/acl_y', 'imu/acl_z', 'imu/gyr_x', 'imu/gyr_y',
'imu/gyr_z'
]
types += ['float', 'float', 'float', 'float', 'float', 'float']
if cfg.RECORD_DURING_AI:
inputs += ['pilot/angle', 'pilot/throttle']
types += ['float', 'float']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
if cfg.PUB_CAMERA_IMAGES:
from donkeycar.parts.network import TCPServeValue
from donkeycar.parts.image import ImgArrToJpg
pub = TCPServeValue("camera")
V.add(ImgArrToJpg(), inputs=['cam/image_array'], outputs=['jpg/bin'])
V.add(pub, inputs=['jpg/bin'])
if type(ctr) is LocalWebController:
if cfg.DONKEY_GYM:
print("You can now go to http://localhost:%d to drive your car." %
cfg.WEB_CONTROL_PORT)
else:
print(
"You can now go to <your hostname.local>:%d to drive your car."
% cfg.WEB_CONTROL_PORT)
elif isinstance(ctr, JoystickController):
print("You can now move your joystick to drive your car.")
#tell the controller about the tub
ctr.set_tub(tub)
if cfg.BUTTON_PRESS_NEW_TUB:
def new_tub_dir():
V.parts.pop()
tub = th.new_tub_writer(inputs=inputs,
types=types,
user_meta=meta)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
ctr.set_tub(tub)
ctr.set_button_down_trigger('cross', new_tub_dir)
ctr.print_controls()
if script_mode == 'train':
_thread.start_new_thread(
observe_and_learn,
(cfg, model_path, vae_path, auto_mode, env_type))
_thread.start_new_thread(save_reconstruction, (cfg, ))
elif script_mode == 'drive':
_thread.start_new_thread(drive_model,
(cfg, model_path, vae_path, env_type))
elif script_mode == 'optimize':
_thread.start_new_thread(
optimize_model, (cfg, model_path, vae_path, auto_mode, env_type))
elif script_mode == 'train_vae':
print('collecting data for vae training...')
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def test_next_tub_number(tubs):
root_dir = tubs[0]
th = TubHandler(root_dir)
assert th.next_tub_number() == 5
def drive(cfg, args):
'''
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
#Initialize car
V = dk.vehicle.Vehicle()
#Camera
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
cfg.GYM_CONF['racer_name'] = args['--name']
cfg.GYM_CONF['car_name'] = args['--name']
cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH,
host=cfg.SIM_HOST,
env_name=cfg.DONKEY_GYM_ENV_NAME,
conf=cfg.GYM_CONF,
delay=cfg.SIM_ARTIFICIAL_LATENCY)
inputs = ['steering', 'throttle']
else:
from donkeycar.parts.camera import PiCamera
cam = PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH)
inputs = []
V.add(cam, inputs=inputs, outputs=['cam/image_array'], threaded=True)
#Controller
V.add(LineFollower(),
inputs=['cam/image_array'],
outputs=['steering', 'throttle', 'recording'])
#Drive train setup
if not cfg.DONKEY_GYM:
from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle
steering_controller = PCA9685(cfg.STEERING_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
steering_zero_pulse=cfg.STEERING_STOPPED_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL,
cfg.PCA9685_I2C_ADDR,
busnum=cfg.PCA9685_I2C_BUSNUM)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
throttle_zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['steering'])
V.add(throttle, inputs=['throttle'])
#add tub to save data
inputs = ['cam/image_array', 'steering', 'throttle']
types = ['image_array', 'float', 'float']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition="recording")
#run the vehicle
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def test_create_tub_handler(tubs):
root_dir = tubs[0]
th = TubHandler(root_dir)
assert th is not None
def drive(cfg, model_path=None, use_joystick=False, model_type=None,
camera_type='single', meta=[]):
"""
Construct a working robotic vehicle from many parts. Each part runs as a
job in the Vehicle loop, calling either it's run or run_threaded method
depending on the constructor flag `threaded`. All parts are updated one
after another at the framerate given in cfg.DRIVE_LOOP_HZ assuming each
part finishes processing in a timely manner. Parts may have named outputs
and inputs. The framework handles passing named outputs to parts
requesting the same named input.
"""
logger.info(f'PID: {os.getpid()}')
if cfg.DONKEY_GYM:
#the simulator will use cuda and then we usually run out of resources
#if we also try to use cuda. so disable for donkey_gym.
os.environ["CUDA_VISIBLE_DEVICES"]="-1"
if model_type is None:
if cfg.TRAIN_LOCALIZER:
model_type = "localizer"
elif cfg.TRAIN_BEHAVIORS:
model_type = "behavior"
else:
model_type = cfg.DEFAULT_MODEL_TYPE
#Initialize car
V = dk.vehicle.Vehicle()
#Initialize logging before anything else to allow console logging
if cfg.HAVE_CONSOLE_LOGGING:
logger.setLevel(logging.getLevelName(cfg.LOGGING_LEVEL))
ch = logging.StreamHandler()
ch.setFormatter(logging.Formatter(cfg.LOGGING_FORMAT))
logger.addHandler(ch)
if cfg.HAVE_MQTT_TELEMETRY:
from donkeycar.parts.telemetry import MqttTelemetry
tel = MqttTelemetry(cfg)
if cfg.HAVE_ODOM:
if cfg.ENCODER_TYPE == "GPIO":
from donkeycar.parts.encoder import RotaryEncoder
enc = RotaryEncoder(mm_per_tick=0.306096, pin = cfg.ODOM_PIN, debug = cfg.ODOM_DEBUG)
V.add(enc, inputs=['throttle'], outputs=['enc/speed'], threaded=True)
elif cfg.ENCODER_TYPE == "arduino":
from donkeycar.parts.encoder import ArduinoEncoder
enc = ArduinoEncoder()
V.add(enc, outputs=['enc/speed'], threaded=True)
else:
print("No supported encoder found")
logger.info("cfg.CAMERA_TYPE %s"%cfg.CAMERA_TYPE)
if camera_type == "stereo":
if cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
camA = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 0)
camB = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 1)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
camA = CvCam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 0)
camB = CvCam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 1)
else:
raise(Exception("Unsupported camera type: %s" % cfg.CAMERA_TYPE))
V.add(camA, outputs=['cam/image_array_a'], threaded=True)
V.add(camB, outputs=['cam/image_array_b'], threaded=True)
from donkeycar.parts.image import StereoPair
V.add(StereoPair(), inputs=['cam/image_array_a', 'cam/image_array_b'],
outputs=['cam/image_array'])
elif cfg.CAMERA_TYPE == "D435":
from donkeycar.parts.realsense435i import RealSense435i
cam = RealSense435i(
enable_rgb=cfg.REALSENSE_D435_RGB,
enable_depth=cfg.REALSENSE_D435_DEPTH,
enable_imu=cfg.REALSENSE_D435_IMU,
device_id=cfg.REALSENSE_D435_ID)
V.add(cam, inputs=[],
outputs=['cam/image_array', 'cam/depth_array',
'imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'],
threaded=True)
else:
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
inputs = []
outputs = ['cam/image_array']
threaded = True
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
#rbx
cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH, host=cfg.SIM_HOST, env_name=cfg.DONKEY_GYM_ENV_NAME, conf=cfg.GYM_CONF, record_location=cfg.SIM_RECORD_LOCATION, record_gyroaccel=cfg.SIM_RECORD_GYROACCEL, record_velocity=cfg.SIM_RECORD_VELOCITY, delay=cfg.SIM_ARTIFICIAL_LATENCY)
threaded = True
inputs = ['angle', 'throttle']
elif cfg.CAMERA_TYPE == "PICAM":
from donkeycar.parts.camera import PiCamera
cam = PiCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE, vflip=cfg.CAMERA_VFLIP, hflip=cfg.CAMERA_HFLIP)
elif cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
cam = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CVCAM":
from donkeycar.parts.cv import CvCam
cam = CvCam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "CSIC":
from donkeycar.parts.camera import CSICamera
cam = CSICamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE, gstreamer_flip=cfg.CSIC_CAM_GSTREAMER_FLIP_PARM)
elif cfg.CAMERA_TYPE == "V4L":
from donkeycar.parts.camera import V4LCamera
cam = V4LCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE)
elif cfg.CAMERA_TYPE == "MOCK":
from donkeycar.parts.camera import MockCamera
cam = MockCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
elif cfg.CAMERA_TYPE == "IMAGE_LIST":
from donkeycar.parts.camera import ImageListCamera
cam = ImageListCamera(path_mask=cfg.PATH_MASK)
elif cfg.CAMERA_TYPE == "LEOPARD":
from donkeycar.parts.leopard_imaging import LICamera
cam = LICamera(width=cfg.IMAGE_W, height=cfg.IMAGE_H, fps=cfg.CAMERA_FRAMERATE)
else:
raise(Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
# add lidar
if cfg.USE_LIDAR:
from donkeycar.parts.lidar import RPLidar
if cfg.LIDAR_TYPE == 'RP':
print("adding RP lidar part")
lidar = RPLidar(lower_limit = cfg.LIDAR_LOWER_LIMIT, upper_limit = cfg.LIDAR_UPPER_LIMIT)
V.add(lidar, inputs=[],outputs=['lidar/dist_array'], threaded=True)
if cfg.LIDAR_TYPE == 'YD':
print("YD Lidar not yet supported")
# Donkey gym part will output position information if it is configured
if cfg.DONKEY_GYM:
if cfg.SIM_RECORD_LOCATION:
outputs += ['pos/pos_x', 'pos/pos_y', 'pos/pos_z', 'pos/speed', 'pos/cte']
if cfg.SIM_RECORD_GYROACCEL:
outputs += ['gyro/gyro_x', 'gyro/gyro_y', 'gyro/gyro_z', 'accel/accel_x', 'accel/accel_y', 'accel/accel_z']
if cfg.SIM_RECORD_VELOCITY:
outputs += ['vel/vel_x', 'vel/vel_y', 'vel/vel_z']
V.add(cam, inputs=inputs, outputs=outputs, threaded=threaded)
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController(port=cfg.WEB_CONTROL_PORT, mode=cfg.WEB_INIT_MODE)
V.add(ctr,
inputs=['cam/image_array', 'tub/num_records'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
if cfg.CONTROLLER_TYPE == "MM1":
from donkeycar.parts.robohat import RoboHATController
ctr = RoboHATController(cfg)
elif "custom" == cfg.CONTROLLER_TYPE:
#
# custom controller created with `donkey createjs` command
#
from my_joystick import MyJoystickController
ctr = MyJoystickController(
throttle_dir=cfg.JOYSTICK_THROTTLE_DIR,
throttle_scale=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
ctr.set_deadzone(cfg.JOYSTICK_DEADZONE)
else:
from donkeycar.parts.controller import get_js_controller
ctr = get_js_controller(cfg)
if cfg.USE_NETWORKED_JS:
from donkeycar.parts.controller import JoyStickSub
netwkJs = JoyStickSub(cfg.NETWORK_JS_SERVER_IP)
V.add(netwkJs, threaded=True)
ctr.js = netwkJs
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
#this throttle filter will allow one tap back for esc reverse
th_filter = ThrottleFilter()
V.add(th_filter, inputs=['user/throttle'], outputs=['user/throttle'])
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
class PilotCondition:
def run(self, mode):
if mode == 'user':
return False
else:
return True
V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
class LedConditionLogic:
def __init__(self, cfg):
self.cfg = cfg
def run(self, mode, recording, recording_alert, behavior_state, model_file_changed, track_loc):
#returns a blink rate. 0 for off. -1 for on. positive for rate.
if track_loc is not None:
led.set_rgb(*self.cfg.LOC_COLORS[track_loc])
return -1
if model_file_changed:
led.set_rgb(self.cfg.MODEL_RELOADED_LED_R, self.cfg.MODEL_RELOADED_LED_G, self.cfg.MODEL_RELOADED_LED_B)
return 0.1
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if recording_alert:
led.set_rgb(*recording_alert)
return self.cfg.REC_COUNT_ALERT_BLINK_RATE
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if behavior_state is not None and model_type == 'behavior':
r, g, b = self.cfg.BEHAVIOR_LED_COLORS[behavior_state]
led.set_rgb(r, g, b)
return -1 #solid on
if recording:
return -1 #solid on
elif mode == 'user':
return 1
elif mode == 'local_angle':
return 0.5
elif mode == 'local':
return 0.1
return 0
if cfg.HAVE_RGB_LED and not cfg.DONKEY_GYM:
from donkeycar.parts.led_status import RGB_LED
led = RGB_LED(cfg.LED_PIN_R, cfg.LED_PIN_G, cfg.LED_PIN_B, cfg.LED_INVERT)
led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)
V.add(LedConditionLogic(cfg), inputs=['user/mode', 'recording', "records/alert", 'behavior/state', 'modelfile/modified', "pilot/loc"],
outputs=['led/blink_rate'])
V.add(led, inputs=['led/blink_rate'])
def get_record_alert_color(num_records):
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
class RecordTracker:
def __init__(self):
self.last_num_rec_print = 0
self.dur_alert = 0
self.force_alert = 0
def run(self, num_records):
if num_records is None:
return 0
if self.last_num_rec_print != num_records or self.force_alert:
self.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
self.force_alert = 0
if self.dur_alert > 0:
self.dur_alert -= 1
if self.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
rec_tracker_part = RecordTracker()
V.add(rec_tracker_part, inputs=["tub/num_records"], outputs=['records/alert'])
if cfg.AUTO_RECORD_ON_THROTTLE and isinstance(ctr, JoystickController):
#then we are not using the circle button. hijack that to force a record count indication
def show_record_acount_status():
rec_tracker_part.last_num_rec_print = 0
rec_tracker_part.force_alert = 1
ctr.set_button_down_trigger('circle', show_record_acount_status)
#Sombrero
if cfg.HAVE_SOMBRERO:
from donkeycar.parts.sombrero import Sombrero
s = Sombrero()
#IMU
if cfg.HAVE_IMU:
from donkeycar.parts.imu import IMU
imu = IMU(sensor=cfg.IMU_SENSOR, dlp_setting=cfg.IMU_DLP_CONFIG)
V.add(imu, outputs=['imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'], threaded=True)
# Use the FPV preview, which will show the cropped image output, or the full frame.
if cfg.USE_FPV:
V.add(WebFpv(), inputs=['cam/image_array'], threaded=True)
#Behavioral state
if cfg.TRAIN_BEHAVIORS:
bh = BehaviorPart(cfg.BEHAVIOR_LIST)
V.add(bh, outputs=['behavior/state', 'behavior/label', "behavior/one_hot_state_array"])
try:
ctr.set_button_down_trigger('L1', bh.increment_state)
except:
pass
inputs = ['cam/image_array', "behavior/one_hot_state_array"]
#IMU
elif cfg.USE_LIDAR:
inputs = ['cam/image_array', 'lidar/dist_array']
elif cfg.HAVE_ODOM:
inputs = ['cam/image_array', 'enc/speed']
elif model_type == "imu":
assert(cfg.HAVE_IMU)
#Run the pilot if the mode is not user.
inputs=['cam/image_array',
'imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z']
elif cfg.USE_LIDAR:
inputs = ['cam/image_array', 'lidar/dist_array']
else:
inputs=['cam/image_array']
def load_model(kl, model_path):
start = time.time()
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)) )
def load_weights(kl, weights_path):
start = time.time()
try:
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)) )
except Exception as e:
print(e)
print('ERR>> problems loading weights', weights_path)
def load_model_json(kl, json_fnm):
start = time.time()
print('loading model json', json_fnm)
from tensorflow.python import keras
try:
with open(json_fnm, 'r') as handle:
contents = handle.read()
kl.model = keras.models.model_from_json(contents)
print('finished loading json in %s sec.' % (str(time.time() - start)) )
except Exception as e:
print(e)
print("ERR>> problems loading model json", json_fnm)
if model_path:
#When we have a model, first create an appropriate Keras part
kl = dk.utils.get_model_by_type(model_type, cfg)
model_reload_cb = None
if '.h5' in model_path or '.uff' in model_path or 'tflite' in model_path or '.pkl' in model_path:
#when we have a .h5 extension
#load everything from the model file
load_model(kl, model_path)
def reload_model(filename):
load_model(kl, filename)
model_reload_cb = reload_model
elif '.json' in model_path:
#when we have a .json extension
#load the model from there and look for a matching
#.wts file with just weights
load_model_json(kl, model_path)
weights_path = model_path.replace('.json', '.weights')
load_weights(kl, weights_path)
def reload_weights(filename):
weights_path = filename.replace('.json', '.weights')
load_weights(kl, weights_path)
model_reload_cb = reload_weights
else:
print("ERR>> Unknown extension type on model file!!")
return
#this part will signal visual LED, if connected
V.add(FileWatcher(model_path, verbose=True), outputs=['modelfile/modified'])
#these parts will reload the model file, but only when ai is running so we don't interrupt user driving
V.add(FileWatcher(model_path), outputs=['modelfile/dirty'], run_condition="ai_running")
V.add(DelayedTrigger(100), inputs=['modelfile/dirty'], outputs=['modelfile/reload'], run_condition="ai_running")
V.add(TriggeredCallback(model_path, model_reload_cb), inputs=["modelfile/reload"], run_condition="ai_running")
outputs=['pilot/angle', 'pilot/throttle']
if cfg.TRAIN_LOCALIZER:
outputs.append("pilot/loc")
V.add(kl, inputs=inputs,
outputs=outputs,
run_condition='run_pilot')
if cfg.STOP_SIGN_DETECTOR:
from donkeycar.parts.object_detector.stop_sign_detector import StopSignDetector
V.add(StopSignDetector(cfg.STOP_SIGN_MIN_SCORE, cfg.STOP_SIGN_SHOW_BOUNDING_BOX), inputs=['cam/image_array', 'pilot/throttle'], outputs=['pilot/throttle', 'cam/image_array'])
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode,
user_angle, user_throttle,
pilot_angle, pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle if pilot_angle else 0.0, user_throttle
else:
return pilot_angle if pilot_angle else 0.0, pilot_throttle * cfg.AI_THROTTLE_MULT if pilot_throttle else 0.0
V.add(DriveMode(),
inputs=['user/mode', 'user/angle', 'user/throttle',
'pilot/angle', 'pilot/throttle'],
outputs=['angle', 'throttle'])
#to give the car a boost when starting ai mode in a race.
aiLauncher = AiLaunch(cfg.AI_LAUNCH_DURATION, cfg.AI_LAUNCH_THROTTLE, cfg.AI_LAUNCH_KEEP_ENABLED)
V.add(aiLauncher,
inputs=['user/mode', 'throttle'],
outputs=['throttle'])
if isinstance(ctr, JoystickController):
ctr.set_button_down_trigger(cfg.AI_LAUNCH_ENABLE_BUTTON, aiLauncher.enable_ai_launch)
class AiRunCondition:
'''
A bool part to let us know when ai is running.
'''
def run(self, mode):
if mode == "user":
return False
return True
V.add(AiRunCondition(), inputs=['user/mode'], outputs=['ai_running'])
#Ai Recording
class AiRecordingCondition:
'''
return True when ai mode, otherwize respect user mode recording flag
'''
def run(self, mode, recording):
if mode == 'user':
return recording
return True
if cfg.RECORD_DURING_AI:
V.add(AiRecordingCondition(), inputs=['user/mode', 'recording'], outputs=['recording'])
#Drive train setup
if cfg.DONKEY_GYM or cfg.DRIVE_TRAIN_TYPE == "MOCK":
pass
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_ESC":
from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle
steering_controller = PCA9685(cfg.STEERING_CHANNEL, cfg.PCA9685_I2C_ADDR, busnum=cfg.PCA9685_I2C_BUSNUM)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL, cfg.PCA9685_I2C_ADDR, busnum=cfg.PCA9685_I2C_BUSNUM)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'], threaded=True)
V.add(throttle, inputs=['throttle'], threaded=True)
elif cfg.DRIVE_TRAIN_TYPE == "DC_STEER_THROTTLE":
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
steering = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT, cfg.HBRIDGE_PIN_RIGHT)
throttle = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD, cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL":
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, Mini_HBridge_DC_Motor_PWM
left_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT_FWD, cfg.HBRIDGE_PIN_LEFT_BWD)
right_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_RIGHT_FWD, cfg.HBRIDGE_PIN_RIGHT_BWD)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
elif cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL_L298N":
from donkeycar.parts.actuator import TwoWheelSteeringThrottle, L298N_HBridge_DC_Motor
left_motor = L298N_HBridge_DC_Motor(cfg.HBRIDGE_L298N_PIN_LEFT_FWD, cfg.HBRIDGE_L298N_PIN_LEFT_BWD, cfg.HBRIDGE_L298N_PIN_LEFT_EN)
right_motor = L298N_HBridge_DC_Motor(cfg.HBRIDGE_L298N_PIN_RIGHT_FWD, cfg.HBRIDGE_L298N_PIN_RIGHT_BWD, cfg.HBRIDGE_L298N_PIN_RIGHT_EN)
two_wheel_control = TwoWheelSteeringThrottle()
V.add(two_wheel_control,
inputs=['throttle', 'angle'],
outputs=['left_motor_speed', 'right_motor_speed'])
V.add(left_motor, inputs=['left_motor_speed'])
V.add(right_motor, inputs=['right_motor_speed'])
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_HBRIDGE_PWM":
from donkeycar.parts.actuator import ServoBlaster, PWMSteering
steering_controller = ServoBlaster(cfg.STEERING_CHANNEL) #really pin
#PWM pulse values should be in the range of 100 to 200
assert(cfg.STEERING_LEFT_PWM <= 200)
assert(cfg.STEERING_RIGHT_PWM <= 200)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD, cfg.HBRIDGE_PIN_BWD)
V.add(steering, inputs=['angle'], threaded=True)
V.add(motor, inputs=["throttle"])
elif cfg.DRIVE_TRAIN_TYPE == "MM1":
from donkeycar.parts.robohat import RoboHATDriver
V.add(RoboHATDriver(cfg), inputs=['angle', 'throttle'])
elif cfg.DRIVE_TRAIN_TYPE == "PIGPIO_PWM":
from donkeycar.parts.actuator import PWMSteering, PWMThrottle, PiGPIO_PWM
steering_controller = PiGPIO_PWM(cfg.STEERING_PWM_PIN, freq=cfg.STEERING_PWM_FREQ, inverted=cfg.STEERING_PWM_INVERTED)
steering = PWMSteering(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM)
throttle_controller = PiGPIO_PWM(cfg.THROTTLE_PWM_PIN, freq=cfg.THROTTLE_PWM_FREQ, inverted=cfg.THROTTLE_PWM_INVERTED)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['angle'], threaded=True)
V.add(throttle, inputs=['throttle'], threaded=True)
# OLED setup
if cfg.USE_SSD1306_128_32:
from donkeycar.parts.oled import OLEDPart
auto_record_on_throttle = cfg.USE_JOYSTICK_AS_DEFAULT and cfg.AUTO_RECORD_ON_THROTTLE
oled_part = OLEDPart(cfg.SSD1306_128_32_I2C_BUSNUM, auto_record_on_throttle=auto_record_on_throttle)
V.add(oled_part, inputs=['recording', 'tub/num_records', 'user/mode'], outputs=[], threaded=True)
#add tub to save data
if cfg.USE_LIDAR:
inputs = ['cam/image_array', 'lidar/dist_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'nparray','float', 'float', 'str']
else:
inputs=['cam/image_array','user/angle', 'user/throttle', 'user/mode']
types=['image_array','float', 'float','str']
if cfg.USE_LIDAR:
inputs += ['lidar/dist_array']
types += ['nparray']
if cfg.HAVE_ODOM:
inputs += ['enc/speed']
types += ['float']
if cfg.TRAIN_BEHAVIORS:
inputs += ['behavior/state', 'behavior/label', "behavior/one_hot_state_array"]
types += ['int', 'str', 'vector']
if cfg.CAMERA_TYPE == "D435" and cfg.REALSENSE_D435_DEPTH:
inputs += ['cam/depth_array']
types += ['gray16_array']
if cfg.HAVE_IMU or (cfg.CAMERA_TYPE == "D435" and cfg.REALSENSE_D435_IMU):
inputs += ['imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z']
types +=['float', 'float', 'float',
'float', 'float', 'float']
# rbx
if cfg.DONKEY_GYM:
if cfg.SIM_RECORD_LOCATION:
inputs += ['pos/pos_x', 'pos/pos_y', 'pos/pos_z', 'pos/speed', 'pos/cte']
types += ['float', 'float', 'float', 'float', 'float']
if cfg.SIM_RECORD_GYROACCEL:
inputs += ['gyro/gyro_x', 'gyro/gyro_y', 'gyro/gyro_z', 'accel/accel_x', 'accel/accel_y', 'accel/accel_z']
types += ['float', 'float', 'float', 'float', 'float', 'float']
if cfg.SIM_RECORD_VELOCITY:
inputs += ['vel/vel_x', 'vel/vel_y', 'vel/vel_z']
types += ['float', 'float', 'float']
if cfg.RECORD_DURING_AI:
inputs += ['pilot/angle', 'pilot/throttle']
types += ['float', 'float']
if cfg.HAVE_PERFMON:
from donkeycar.parts.perfmon import PerfMonitor
mon = PerfMonitor(cfg)
perfmon_outputs = ['perf/cpu', 'perf/mem', 'perf/freq']
inputs += perfmon_outputs
types += ['float', 'float', 'float']
V.add(mon, inputs=[], outputs=perfmon_outputs, threaded=True)
# do we want to store new records into own dir or append to existing
tub_path = TubHandler(path=cfg.DATA_PATH).create_tub_path() if \
cfg.AUTO_CREATE_NEW_TUB else cfg.DATA_PATH
tub_writer = TubWriter(tub_path, inputs=inputs, types=types, metadata=meta)
V.add(tub_writer, inputs=inputs, outputs=["tub/num_records"], run_condition='recording')
# Telemetry (we add the same metrics added to the TubHandler
if cfg.HAVE_MQTT_TELEMETRY:
telem_inputs, _ = tel.add_step_inputs(inputs, types)
V.add(tel, inputs=telem_inputs, outputs=["tub/queue_size"], threaded=True)
if cfg.PUB_CAMERA_IMAGES:
from donkeycar.parts.network import TCPServeValue
from donkeycar.parts.image import ImgArrToJpg
pub = TCPServeValue("camera")
V.add(ImgArrToJpg(), inputs=['cam/image_array'], outputs=['jpg/bin'])
V.add(pub, inputs=['jpg/bin'])
if type(ctr) is LocalWebController:
if cfg.DONKEY_GYM:
print("You can now go to http://localhost:%d to drive your car." % cfg.WEB_CONTROL_PORT)
else:
print("You can now go to <your hostname.local>:%d to drive your car." % cfg.WEB_CONTROL_PORT)
elif isinstance(ctr, JoystickController):
print("You can now move your joystick to drive your car.")
ctr.set_tub(tub_writer.tub)
ctr.print_controls()
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
def drive(cfg, model_path=None, use_joystick=False):
'''
Construct a working robotic vehicle from many parts.
Each part runs as a job in the Vehicle loop, calling either
it's run or run_threaded method depending on the constructor flag `threaded`.
All parts are updated one after another at the framerate given in
cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
Parts may have named outputs and inputs. The framework handles passing named outputs
to parts requesting the same named input.
'''
#Initialize car
V = dk.vehicle.Vehicle()
cam = PiCamera(resolution=cfg.CAMERA_RESOLUTION)
cam.camera.rotation = 180 #flip camera
V.add(cam, outputs=['cam/image_array'], threaded=True)
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
#modify steering_scale lower than 1.0 to have less responsive steering
ctr = JoystickController(max_throttle=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
else:
#This web controller will create a web server that is capable
#of managing steering, throttle, and modes, and more.
ctr = LocalWebController()
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
def pilot_condition(mode):
if mode == 'user':
return False
else:
return True
pilot_condition_part = Lambda(pilot_condition)
V.add(pilot_condition_part, inputs=['user/mode'], outputs=['run_pilot'])
#Run the pilot if the mode is not user.
kl = KerasCategorical()
if model_path:
kl.load(model_path)
V.add(kl, inputs=['cam/image_array'],
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
#Choose what inputs should change the car.
def drive_mode(mode,
user_angle, user_throttle,
pilot_angle, pilot_throttle):
if mode == 'user':
return user_angle, user_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle
else:
return pilot_angle, pilot_throttle
drive_mode_part = Lambda(drive_mode)
V.add(drive_mode_part,
inputs=['user/mode', 'user/angle', 'user/throttle',
'pilot/angle', 'pilot/throttle'],
outputs=['angle', 'throttle'])
#GPIO.clean_up()
GPIO.setmode(GPIO.BOARD)
PCA9685_pwm = Adafruit_PCA9685.PCA9685()
PCA9685_pwm.set_pwm_freq(cfg.MOTFREQ)
time.sleep(1)
throttle_controller = PCA9685L298N(cfg.THROTTLE_CHANNEL,PCA9685_pwm)
throttle = PWMThrottleL298N(controller=throttle_controller,
max_pulse=cfg.THROTTLE_FORWARD_PWM,
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM,
pin1 = cfg.THROTIN1,
pin2 = cfg.THROTIN2,
io = GPIO)
steering_controller = PCA9685L298N(cfg.STEERING_CHANNEL,PCA9685_pwm)
steering = PWMSteeringL298N(controller=steering_controller,
left_pulse=cfg.STEERING_LEFT_PWM,
right_pulse=cfg.STEERING_RIGHT_PWM,
pin1 = cfg.STEERIN1,
pin2 = cfg.STEERIN2,
io = GPIO)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
#add tub to save data
inputs=['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types=['image_array', 'float', 'float', 'str']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
V.add(tub, inputs=inputs, run_condition='recording')
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ,
max_loop_count=cfg.MAX_LOOPS)
print("You can now go to <your pi ip address>:8887 to drive your car.")
