def init_globals(masteruri):
# initialize the global handler
global _ssh_handler
global _screen_handler
global _start_handler
global _name_resolution
global _history
global _file_watcher
global _file_watcher_param
_ssh_handler = SSHhandler()
_screen_handler = ScreenHandler()
_start_handler = StartHandler()
_name_resolution = NameResolution()
_history = History()
_file_watcher = FileWatcher()
_file_watcher_param = FileWatcher()
# test where the roscore is running (local or remote)
__is_local('localhost') ## fill cache
return __is_local(_name_resolution.getHostname(masteruri)) ## fill cache
def initialize(self):
# watch files
for filename in self._filenames:
fw = FileWatcher(filename)
proc = Process(target=fw.watch, args=(self._log_q, self._running))
self._processes.append(proc)
# aggregate statistics
proc = Process(target=self.aggregate)
self._processes.append(proc)
# UI
proc = Process(target=self._ui.run)
self._processes.append(proc)
def main():
token = os.environ.get('TG_BOT_TOKEN')
chat_id = os.environ.get('TG_BOT_CHAT_ID')
lukoshko_dir = os.environ.get('LUKOSHKO_DIR')
bot = Bot(token)
updater = Updater(token, use_context=True)
# dp = updater.dispatcher
file_watcher = FileWatcher(bot, chat_id, 60)
file_watcher.watch_dirs(glob(f'{lukoshko_dir}/*'))
updater.start_polling()
updater.idle()
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"
#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 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
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)
from file_watcher import FileWatcher
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)
from donkeycar.parts.file_watcher import FileWatcher
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"])
#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)
