def update(self, throttle, angle):
throttle = min(1, max(-1, -throttle))
yaw = min(1, max(-1, methods.angle_to_yaw(angle)))
if not config.car.reverse_steering:
yaw = -yaw
self.throttle_driver.update(throttle)
self.steering_driver.update(yaw)
def update(self, throttle, angle):
throttle = min(1, max(-1, -throttle))
yaw = min(1, max(-1, methods.angle_to_yaw(angle)))
if not config.REVERSE_STEERING:
yaw = -yaw
self.throttle_driver.update(throttle)
self.steering_driver.update(yaw)
def update(self, throttle, angle):
throttle = min(1, max(-1, -throttle)) # valor de la aceleración
yaw = min(1, max(-1, methods.angle_to_yaw(angle))) # angulo de guiñada
if not config.car.reverse_steering:
yaw = -yaw
self.throttle_driver.update(throttle)
self.steering_driver.update(yaw)
def send_status(self):
v = self.application.vehicle
img64 = None
if v.frame_buffer is not None:
image = v.frame_buffer
if v.target is not None:
found = v.target
cv2.rectangle(image, (int(found[0]), int(found[1])),
(int(found[2]), int(found[3])), (0, 255, 0), 1)
cv2.putText(image, 'Target', (int(found[0]), int(found[1])),
font, fontScale, fontColor, lineType)
image = cv2.resize(image, None, fx=0.5, fy=0.5)
retval, encoded = cv2.imencode('.jpg', image)
img64 = base64.b64encode(encoded).decode('ascii')
pilot_angle = 0
if v.pilot_angle is not None:
pilot_angle = str(methods.angle_to_yaw(v.pilot_angle))
pilot_throttle = 0
if v.pilot_throttle is not None:
pilot_throttle = str(methods.angle_to_yaw(v.pilot_throttle))
status = {
"image": img64,
"controls": {
"angle": v.pilot_angle,
"yaw": pilot_angle,
"throttle": pilot_throttle
},
"auto_pilot": {
"auto_pilots": v.list_auto_pilot_names(),
"index": v.auto_pilot_index
},
"sensor_reading": v.sensor_reading,
"fps": v.fps,
"record": v.record,
"throttle": v.auto_throttle,
"is_recording": v.recorder and v.recorder.is_recording,
"f_time": v.f_time
}
self.write_message(json.dumps(status))
def update(self, throttle, angle):
throttle = min(1, max(-1, -throttle))
yaw = min(1, max(-1, methods.angle_to_yaw(angle)))
if not config.car.reverse_steering:
yaw = -yaw
if config.car.reverse_throttle:
throttle = -throttle
# scaling throttle
if throttle > 0:
throttle = throttle / config.car.throttle_scaling
self.throttle_driver.update(throttle)
self.steering_driver.update(yaw)
def decide(self, img_arr):
if config.camera.crop_top or config.camera.crop_bottom:
h, w, _ = img_arr.shape
t = config.camera.crop_top
l = h - config.camera.crop_bottom
img_arr = img_arr[t:l, :]
img_arr = np.interp(img_arr, config.camera.output_range,
config.model.input_range)
img_arr = np.expand_dims(img_arr, axis=0)
prediction = self.model.predict(img_arr)
if len(prediction) == 2:
yaw = methods.angle_to_yaw(prediction[0][0])
throttle = prediction[1][0]
else:
yaw = methods.angle_to_yaw(prediction[0][0])
throttle = 0
avf = config.model.yaw_average_factor
yaw = avf * self.yaw + (1.0 - avf) * yaw
self.yaw = yaw
return methods.yaw_to_angle(yaw), throttle
def send_status(self):
v = self.application.vehicle
img64 = v.vision_sensor.capture_base64()
status = {
"image": img64,
"controls": {
"angle": v.pilot_angle,
"yaw": str(methods.angle_to_yaw(v.pilot_angle)),
"throttle": str(v.pilot_throttle)
},
"pilot": {
"pilots": v.list_pilot_names(),
"index": v.selected_pilot_index()
},
"record": v.record,
"is_recording": v.recorder.is_recording,
"f_time": v.f_time
}
self.write_message(json.dumps(status))
def test_angle_conversion(self):
for yaw in np.arange(-1, 1, 0.1):
test_yaw = yaw_to_angle(angle_to_yaw(yaw))
self.assertAlmostEqual(yaw, test_yaw, places=8)