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 ImgPrecondition():
'''
precondition camera image for inference
'''
def __init__(self, cfg):
self.cfg = cfg
def run(self, img_arr):
return normalize_and_crop(img_arr, self.cfg)
V.add(ImgPrecondition(cfg),
inputs=['cam/image_array'],
outputs=['cam/normalized/cropped'],
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 = ['cam/normalized/cropped', "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/normalized/cropped', 'imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'
]
else:
inputs = ['cam/normalized/cropped']
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
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:
#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 == "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 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)
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, 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"
#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'])
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
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, num_records, behavior_state):
#returns a blink rate. 0 for off. -1 for on. positive for rate.
if num_records is not None and num_records % 10 == 0:
if led_cond.last_num_rec_print != num_records:
print("recorded", num_records, "records")
led_cond.last_num_rec_print = num_records
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
led_cond.last_num_rec_print = 0
led_cond_part = Lambda(led_cond)
V.add(led_cond_part, inputs=['user/mode', 'recording', "tub/num_records", 'behavior/state'], outputs=['led/blink_rate'])
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)
V.add(led, inputs=['led/blink_rate'])
#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()
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()
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)) )
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
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)
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)
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"])
elif cfg.DRIVE_TRAIN_TYPE == "SERVO_ESCH":
from donkeycar.parts.actuator import PCA9685, PCA9685H, PWMSteering, PWMThrottle
#steering
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)
#H bridge control
throttle_controller = PCA9685H(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']
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)
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:
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)
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.")
from donkeycar.parts.imu import Mpu6050
imu1 = Mpu6050(0x68)
imu2 = Mpu6050(0x69)
while(True):
ax1, ay1, az1, gx1, gy1, gy1, temp1 = imu1.run()
ax2, ay2, az2, gx2, gy2, gy2, temp2 = imu2.run()
print("%2f %2f %2f %2f %2f %2f %2f %2f %2f %2f %2f %2f"%(ax1, ay1, az1, gx1, gy1, gy1, ax2, ay2, az2, gx2, gy2, gy2))
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:
model_type = "categorical"
stereo_cam = camera_type == "stereo"
#Initialize car
V = dk.vehicle.Vehicle()
if stereo_cam:
from donkeycar.parts.camera import Webcam
camA = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, iCam=0)
V.add(camA, outputs=['cam/image_array_a'], threaded=True)
camB = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, iCam=1)
V.add(camB, outputs=['cam/image_array_b'], threaded=True)
def stereo_pair(image_a, image_b):
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)
# Added by Felix
depth = capture.stereo_depth(image_a, image_b, leftMapX,
leftMapY, rightMapX, rightMapY,
leftROI, rightROI, imageSize)
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(depth, (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'])
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)
elif cfg.CAMERA_TYPE == "WEBCAM":
from donkeycar.parts.camera import Webcam
cam = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H)
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(
throttle_scale=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)
#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, num_records, behavior_state):
'''
returns a blink rate. 0 for off. -1 for on. positive for rate.
'''
if num_records is not None and num_records % 10 == 0:
print("recorded", num_records, "records")
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
led_cond_part = Lambda(led_cond)
V.add(
led_cond_part,
inputs=['user/mode', 'recording', "tub/num_records", 'behavior/state'],
outputs=['led/blink_rate'])
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)
V.add(led, inputs=['led/blink_rate'])
#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 model_type == "behavior":
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
kl = KerasBehavioral(num_outputs=2,
num_behavior_inputs=len(cfg.BEHAVIOR_LIST))
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.
kl = KerasIMU(num_outputs=2, num_imu_inputs=6)
inputs = [
'cam/image_array', 'imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'
]
else:
if model_type == "linear":
kl = KerasLinear()
elif model_type == "3d":
kl = Keras3D_CNN(seq_length=cfg.SEQUENCE_LENGTH)
elif model_type == "rnn":
kl = KerasRNN_LSTM(seq_length=cfg.SEQUENCE_LENGTH)
else:
kl = KerasCategorical()
inputs = ['cam/image_array']
if model_path:
kl.load(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'])
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']
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 type(ctr) is 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)