class DiskDriver():
def __init__(self):
self.myDriver = Driver()
self.data = ''
self.start_time = 0
self.end_time = -1
self.total_time = -1
def run(self):
colnames = [
'STIME', 'TIME', 'UID', 'PID', 'D', 'BLOCK', 'SIZE', 'COMM',
'PATHNAME'
]
data = pandas.read_csv(self.data, names=colnames)
data_dir = data.D.tolist()
data_addr = map(lambda x: x * 512, data.BLOCK.tolist())
data_size = data.SIZE.tolist()
arrs = []
length = len(data_dir)
self.start_time = time.time()
for i in range(0, length):
self.myDriver.drive(data_dir[i], data_addr[i], data_size[i])
self.end_time = time.time()
self.total_time = self.end_time - self.start_time
self.myDriver.close()
def open(self, data, target):
self.myDriver.open(target)
self.data = data
def get_time(self):
return self.total_time
class Wrapper():
def __init__(self):
self.myDriver = Driver()
self.data = ''
self.start_time = 0
self.end_time = -1
self.total_time = -1
def run(self):
colnames = ['STIME','TIME','UID','PID','D','BLOCK','SIZE','COMM','PATHNAME']
data = pandas.read_csv(self.data,names = colnames)
data_dir = data.D.tolist()
data_addr = map(lambda x: x*512, data.BLOCK.tolist())
data_size = data.SIZE.tolist()
arrs = []
length = len(data_dir)
self.start_time = time.time()
for i in range(0,length):
self.myDriver.drive(data_dir[i],data_addr[i],data_size[i])
self.end_time = time.time()
self.total_time = self.end_time - self.start_time
self.myDriver.close()
def open(self,data,target):
self.myDriver.open(target)
self.data = data
def get_time(self):
return self.total_time
try:
"""output = SplitFrames(connection)
with picamera.PiCamera(resolution=res, framerate=32) as camera:
time.sleep(1)
start = time.time()
camera.start_recording(output, format = 'mjpeg')
time.sleep(60)
camera.stop_recording()
connection.write(struct.pack('<L',0))"""
while recv_inst:
data = command_socket.recv(53)
print(data)
if data != b'':
data = pickle.loads(data)
print(data)
if data == 'quit':
recv_inst = False
else:
t = data['throttle']
s = data['speed']
a = data['angle']
drive.drive(t, s, a)
else:
drive.drive(0, 0, 90)
finally:
finish = time.time()
#connection.close()
#client_socket.close()
command_socket.close()
# Read In Photo
try:
stream.seek(0)
dh = DataHandler(initialize_files=False)
nn = NeuralNetwork()
nn.load()
im = imread(stream, flatten=True)
prediction = nn.predict([im], True)
prediction_index = dh.determine_index(prediction)
print("Prediction:", dh.index_to_description(prediction_index))
# Forward
if prediction_index==0:
driver.drive(Direction.FORWARD, 150)
# Right
else if prediction_index==1:
driver.turn(Direction.RIGHT, 255)
# Left
else if prediction_index==2:
driver.turn(Direction.LEFT, 255)
finally:
# Reset the stream and event
self.stream.seek(0)
self.stream.truncate()
# checks if the player hits the start key, indicating that they want to stop autonomous mode
from Driver import Driver
from Driver import Direction
import atexit
driver = Driver()
#Driving Tests
#Test drive forward. Observe to determine pass or fail.
print("Forward Test")
driver.drive(Direction.FORWARD, 100, 2)
#Test drive Backward. Observe to determine pass or fail.
print("Backward Test")
driver.drive(Direction.BACKWARD, 100, 2)
#Test left. Observe to determine pass or fail.
print("Left Test")
driver.turn(Direction.LEFT, 150)
#Test right. Observe to determine pass or fail.
print("Right Test")
driver.turn(Direction.RIGHT, 150)
#THIS NEEDS TO RUN WHEN A DRIVER IS CREATED
#What this does is makes sure that if the program is killed,
#the motors will stop and not run forever
atexit.register(driver.turnOffMotors)
