class MCHandle:
ACTION_NONE = '无动作'
ACTION_FORWARD = '前进'
ACTION_JUMP = '起跳'
ACTION_DOWN = '下降'
ACTION_HIT = '打击'
ACTION_PUT = '放置'
ACTIONS = [ACTION_NONE, ACTION_FORWARD, ACTION_JUMP, ACTION_DOWN, ACTION_HIT, ACTION_PUT]
def __init__(self, root=None):
self.init_top = Tk()
self.port_left = 'COM4'
self.port_right = 'COM5'
self.init_bps = StringVar()
self.init_bps.set('115200')
self.init_com_left = StringVar()
self.init_com_left.set(self.port_left)
self.init_com_right = StringVar()
self.init_com_right.set(self.port_right)
self.init_communication()
self.bps = 115200
self.comm = None
self.n = 512
self.select = 24
self.frames = [[0 for i in range(12)] for j in range(self.n)]
self.raw = [[[0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0]] for j in range(self.n)]
# 建立网络
self.model_file = 'mc_actions.h5'
# 建立网络的过程放在线程2
# 初始化手柄连接
self.comm_left = BaseComm(self.init_com_left.get(), self.bps)
self.comm_right = BaseComm(self.init_com_right.get(), self.bps)
# 灵敏度
self.sensitivity = 0.3
# 先读取几次，读取Init标志
print('预读取:')
for i in range(10):
r1 = self.comm_left.read1epoch()
r2 = self.comm_right.read1epoch()
print(r1, r2)
# 初始化某些变化的值
# 加上Uilogger
print('请保持手柄水平放置不动')
# 初始化遥感的中点值(取平均) X Y X Y
self.ave_left, self.ave_right = [0, 0], [0, 0]
pick = 10
for i in range(pick):
data = self.comm_left.read1epoch()
data_ctrl = data[-4:]
data_ctrl = list(map(int, data_ctrl))
self.ave_left[0] += data_ctrl[2] / pick
self.ave_left[1] += data_ctrl[1] / pick
data = self.comm_right.read1epoch()
data_ctrl = data[-4:]
data_ctrl = list(map(int, data_ctrl))
self.ave_right[0] += data_ctrl[2] / pick
self.ave_right[1] += data_ctrl[1] / pick
print('初始化遥感中点:', self.ave_left, self.ave_right)
self.root = root
if self.root is None:
self.root = Tk()
self.root.title("MC手柄")
self.logger = UiLogger(self.root, height=10, width=32)
self.logger.logger().grid(row=2, column=1, sticky=W+E)
self.panel = Label(self.root)
self.panel.grid(row=1, column=1, sticky=W+E)
self.lock = threading.Lock()
t = threading.Thread(target=self.read_thread)
t.setDaemon(True)
t.start()
t = threading.Thread(target=self.parse_thread)
t.setDaemon(True)
t.start()
def init_communication(self):
top = self.init_top
frame = LabelFrame(top, text="连接设置")
Label(frame, text="左手柄").grid(row=1, column=1)
Entry(frame, textvariable=self.init_com_left).grid(row=1, column=2)
Label(frame, text="右手柄").grid(row=2, column=1)
Entry(frame, textvariable=self.init_com_right).grid(row=2, column=2)
Label(frame, text="波特率").grid(row=3, column=1)
Entry(frame, textvariable=self.init_bps).grid(row=3, column=2)
frame.grid(row=1, columnspan=3, column=1)
Button(top, text="测试", command=self.init_communication_test).grid(row=2, column=1, sticky=W + E)
Button(top, text="刷新", command=self.init_communication_refresh).grid(row=2, column=2, sticky=W + E)
Button(top, text="确定", command=self.init_communication_ok).grid(row=2, column=3, sticky=W + E)
top.mainloop()
def init_communication_ok(self):
try:
bps = int(self.init_bps.get())
except ValueError:
messagebox.showerror("错误", '数值错误！')
return
self.bps = bps
self.port_left = self.init_com_left.get()
self.port_right = self.init_com_right.get()
if self.init_communication_test(show=False) is False:
messagebox.showerror("错误", '手柄测试不通过！')
return
self.init_top.destroy()
def mainloop(self):
self.root.mainloop()
def init_communication_test(self, show=True):
try:
bps = int(self.init_bps.get())
except ValueError:
messagebox.showerror("错误", '数值错误！')
return
res = True
print('测试左手柄')
comm = BaseComm(self.init_com_left.get(), bps)
if not comm.test():
if show is True:
messagebox.showerror("错误", '测试左手柄失败')
res = False
comm.close()
print('测试右手柄')
comm = BaseComm(self.init_com_right.get(), bps)
if not comm.test():
if show is True:
messagebox.showerror("错误", '测试右手柄失败')
res = False
comm.close()
return res
def init_communication_refresh(self):
pass
def draw(self):
width = 1
height = 32
colors = [
'red', 'orange', 'yellow', 'green', 'cyan', 'blue', 'purple',
'red', 'orange', 'yellow', 'green', 'cyan', 'blue', 'purple',
]
size = (width * self.n, height * 6)
im = Image.new("RGB", size, color='white')
draw = ImageDraw.Draw(im)
for i in range(self.n - 2):
for j in range(12):
draw.line((width * i, self.frames[i][j] + size[1] / 2,
width * (i + 1), self.frames[i + 1][j] + size[1] / 2), fill=colors[j])
sx = size[0] - width * self.select
draw.line((sx, 0, sx, size[1]), fill='red')
return im
# 第二个线程，负责读取
def read_thread(self):
while True:
time.sleep(0.01)
data_left = self.comm_left.read1epoch()
data_right = self.comm_right.read1epoch()
self.lock.acquire()
self.raw.append([data_left, data_right])
if len(self.raw) > self.n:
self.raw = self.raw[1:-1]
self.lock.release()
# frames添加数据
ann = data_left[0:6]
ann.extend(data_right[0:6])
self.lock.acquire()
self.frames.append(ann)
if len(self.frames) > self.n:
self.frames = self.frames[1:-1]
self.lock.release()
# print('ANN DATA:', ann)
# 第三个线程，负责解析数据
def parse_thread(self):
# 读取神经网络模型
model = load_model(self.model_file)
t1, t2 = 0, 0
click = False
key1 = ctrl.ACTION_NONE
key2 = ctrl.ACTION_NONE
jump = ctrl.ACTION_NONE
start = time.time()
while True:
if t1 == 5:
im = self.draw()
imp = ImageTk.PhotoImage(image=im)
self.panel.configure(image=imp)
self.panel.image = imp
t1 = 0
t1 += 1
time.sleep(0.01)
# data_left = self.comm_left.read1epoch()
# data_right = self.comm_right.read1epoch()
self.lock.acquire()
data_left = self.raw[-1][0]
data_right = self.raw[-1][1]
self.lock.release()
# 右手处理
right_ctrl = data_right[-4:]
right_ctrl = list(map(int, right_ctrl))
ctrl.move((right_ctrl[2] - self.ave_left[0]) * self.sensitivity,
(right_ctrl[1] - self.ave_left[1]) * self.sensitivity)
if right_ctrl[0] == 0 and click is False:
ctrl.left_down()
click = True
if right_ctrl[0] == 1 and click is True:
ctrl.left_up()
click = False
# Jump
if data_left[6] == 0 and jump == ctrl.ACTION_NONE:
jump = ctrl.ACTION_UP
ctrl.kbd_down(VirtualKeyCode.SPACEBAR)
# ctrl.kbd_click(VirtualKeyCode.SPACEBAR)
if data_left[6] == 1 and jump == ctrl.ACTION_UP:
jump = ctrl.ACTION_NONE
ctrl.kbd_up(VirtualKeyCode.SPACEBAR)
# ctrl.kbd_click(VirtualKeyCode.SPACEBAR)
# 左手处理
pos = data_left[-4:][1:3]
# Right
if pos[1] > 800 and key1 == ctrl.ACTION_NONE:
key1 = ctrl.ACTION_D
ctrl.kbd_down(VirtualKeyCode.D_key)
if pos[1] <= 800 and key1 == ctrl.ACTION_D:
key1 = ctrl.ACTION_NONE
ctrl.kbd_up(VirtualKeyCode.D_key)
# Left
if pos[1] < 200 and key1 == ctrl.ACTION_NONE:
key1 = ctrl.ACTION_A
ctrl.kbd_down(VirtualKeyCode.A_key)
if pos[1] >= 200 and key1 == ctrl.ACTION_A:
key1 = ctrl.ACTION_NONE
ctrl.kbd_up(VirtualKeyCode.A_key)
# Backward
if pos[0] < 200 and key2 == ctrl.ACTION_NONE:
key2 = ctrl.ACTION_W
ctrl.kbd_down(VirtualKeyCode.W_key)
if pos[0] >= 200 and key2 == ctrl.ACTION_W:
key2 = ctrl.ACTION_NONE
ctrl.kbd_up(VirtualKeyCode.W_key)
# Forward
if pos[0] > 800 and key2 == ctrl.ACTION_NONE:
key2 = ctrl.ACTION_S
ctrl.kbd_down(VirtualKeyCode.S_key)
if pos[0] <= 800 and key2 == ctrl.ACTION_S:
key2 = ctrl.ACTION_NONE
ctrl.kbd_up(VirtualKeyCode.S_key)
# 处理神经网络判断
t2 += 1
# 隔一段时间再判断
if t2 == 15:
t2 = 0
self.lock.acquire()
x = np.array(self.frames[len(self.frames) - self.select:])
self.lock.release()
x = x.reshape((1, x.size))
# print('X shape:', x.shape)
# res = model.train_on_batch(x=x, y=y)
predict = model.predict(x=x)[0]
predict = predict.tolist()
res = predict.index(max(predict))
res = self.ACTIONS[res]
# print('predict:', res)
self.logger.push(UiLogger.Item(UiLogger.LEVEL_INFO, 'predict %.2f' % (time.time() - start), '%s' % res))
class MCHandleTrainer:
ACTION_NONE = '无动作'
ACTION_FORWARD = '前进'
ACTION_JUMP = '起跳'
ACTION_DOWN = '下降'
ACTION_HIT = '打击'
ACTION_PUT = '放置'
ACTIONS = [ACTION_NONE, ACTION_FORWARD, ACTION_JUMP, ACTION_DOWN, ACTION_HIT, ACTION_PUT]
def __init__(self, root=None):
self.init_top = Tk()
self.port_left = 'COM4'
self.port_right = 'COM5'
self.init_bps = StringVar()
self.init_bps.set('115200')
self.init_com_left = StringVar()
self.init_com_left.set(self.port_left)
self.init_com_right = StringVar()
self.init_com_right.set(self.port_right)
self.init_communication()
self.bps = 115200
self.comm = None
self.n = 512
self.select = 24
self.frames = [[0 for i in range(12)] for j in range(self.n)]
self.raw = [[[0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0]] for j in range(self.n)]
# 建立网络
self.model_file = 'mc_actions.h5'
# 建立网络的过程放在线程2
# self.model = model
# print(self.model.get_config())
self.comm_left = BaseComm(self.init_com_left.get(), self.bps)
self.comm_right = BaseComm(self.init_com_right.get(), self.bps)
self.root = root
if self.root is None:
self.root = Tk()
self.root.title("MC手柄训练器")
self.panel = Label(self.root)
self.panel.pack(side=TOP, expand=1, fill=X)
frame = Frame(self.root)
Button(frame, text='切换模式', command=self.predict_mode).grid(row=1, column=1, sticky=W + E)
Button(frame, text='前进', command=self.action_forward).grid(row=1, column=2, sticky=W + E)
Button(frame, text='上跳', command=self.action_jump).grid(row=1, column=3, sticky=W + E)
Button(frame, text='下降', command=self.action_down).grid(row=1, column=4, sticky=W + E)
Button(frame, text='打击', command=self.action_hit).grid(row=1, column=5, sticky=W + E)
Button(frame, text='放置', command=self.action_put).grid(row=1, column=6, sticky=W + E)
Button(frame, text='无动作', command=self.action_none).grid(row=1, column=7, sticky=W + E)
Button(frame, text='保存模型', command=self.save_model).grid(row=1, column=8, sticky=W + E)
Label(frame, text='正在训练:').grid(row=1, column=9, sticky=W + E)
self.var_training = StringVar()
self.var_training.set('...')
Label(frame, textvariable=self.var_training).grid(row=1, column=10, sticky=W + E)
frame.pack(side=BOTTOM, expand=1, fill=X)
self.logger_test = UiLogger(self.root, title='程序日志', simplify=False, height=10)
self.logger_test.logger().pack(side=BOTTOM, expand=1, fill=X)
self.lock = threading.Lock()
self.training = self.ACTION_NONE
self.will_save_model = False
self.train_mode = True
self.t1 = 0
self.t2 = 0
t = threading.Thread(target=self.read_thread)
t.setDaemon(True)
t.start()
t = threading.Thread(target=self.parse_thread)
t.setDaemon(True)
t.start()
def predict_mode(self):
if self.train_mode is True:
self.train_mode = False
self.logger_test.push(UiLogger.Item(UiLogger.LEVEL_WARNING, 'switch', '切换到预测模式'))
self.t2 = 0
else:
self.train_mode = True
self.logger_test.push(UiLogger.Item(UiLogger.LEVEL_WARNING, 'switch', '切换到训练模式'))
self.t2 = 0
def action_forward(self):
if self.training == self.ACTION_FORWARD:
self.training = self.ACTION_NONE
else:
self.training = self.ACTION_FORWARD
def action_jump(self):
if self.training == self.ACTION_JUMP:
self.training = self.ACTION_NONE
else:
self.training = self.ACTION_JUMP
def action_down(self):
if self.training == self.ACTION_DOWN:
self.training = self.ACTION_NONE
else:
self.training = self.ACTION_DOWN
def action_hit(self):
if self.training == self.ACTION_HIT:
self.training = self.ACTION_NONE
else:
self.training = self.ACTION_HIT
def action_put(self):
if self.training == self.ACTION_PUT:
self.training = self.ACTION_NONE
else:
self.training = self.ACTION_PUT
def action_none(self):
self.training = self.ACTION_NONE
def save_model(self):
self.will_save_model = True
def init_communication(self):
top = self.init_top
frame = LabelFrame(top, text="连接设置")
Label(frame, text="左手柄").grid(row=1, column=1)
Entry(frame, textvariable=self.init_com_left).grid(row=1, column=2)
Label(frame, text="右手柄").grid(row=2, column=1)
Entry(frame, textvariable=self.init_com_right).grid(row=2, column=2)
Label(frame, text="波特率").grid(row=3, column=1)
Entry(frame, textvariable=self.init_bps).grid(row=3, column=2)
frame.grid(row=1, columnspan=3, column=1)
Button(top, text="测试", command=self.init_communication_test).grid(row=2, column=1, sticky=W+E)
Button(top, text="刷新", command=self.init_communication_refresh).grid(row=2, column=2, sticky=W+E)
Button(top, text="确定", command=self.init_communication_ok).grid(row=2, column=3, sticky=W+E)
top.mainloop()
def init_communication_ok(self):
try:
bps = int(self.init_bps.get())
except ValueError:
messagebox.showerror("错误", '数值错误！')
return
self.bps = bps
self.port_left = self.init_com_left.get()
self.port_right = self.init_com_right.get()
if self.init_communication_test(show=False) is False:
messagebox.showerror("错误", '手柄测试不通过！')
return
self.init_top.destroy()
def mainloop(self):
self.root.mainloop()
def init_communication_test(self, show=True):
try:
bps = int(self.init_bps.get())
except ValueError:
messagebox.showerror("错误", '数值错误！')
return
res = True
print('测试左手柄')
comm = BaseComm(self.init_com_left.get(), bps)
if not comm.test():
if show is True:
messagebox.showerror("错误", '测试左手柄失败')
res = False
comm.close()
print('测试右手柄')
comm = BaseComm(self.init_com_right.get(), bps)
if not comm.test():
if show is True:
messagebox.showerror("错误", '测试右手柄失败')
res = False
comm.close()
return res
def init_communication_refresh(self):
pass
# 单个手柄数据读取
def read_data(self, comm: BaseComm, q: queue.Queue):
q.put(comm.read1epoch())
# 第二个线程，负责读取
def read_thread(self):
while True:
time.sleep(0.01)
q_left = queue.Queue()
q_right = queue.Queue()
# data_left = self.comm_left.read1epoch()
# data_right = self.comm_right.read1epoch()
thread_left = threading.Thread(target=self.read_data, args=(self.comm_left, q_left))
thread_right = threading.Thread(target=self.read_data, args=(self.comm_right, q_right))
thread_left.setDaemon(True)
thread_right.setDaemon(True)
thread_left.start()
thread_right.start()
thread_left.join(5)
thread_right.join(5)
if q_left.empty() or q_right.empty():
print('WARING: 数据读取失败!')
continue
data_left = q_left.get()
data_right = q_right.get()
self.lock.acquire()
self.raw.append([data_left, data_right])
if len(self.raw) > self.n:
self.raw = self.raw[1:-1]
self.lock.release()
# frames添加数据
ann = data_left[0:6]
ann.extend(data_right[0:6])
self.lock.acquire()
self.frames.append(ann)
if len(self.frames) > self.n:
self.frames = self.frames[1:-1]
self.lock.release()
# print('ANN DATA:', ann)
def parse_thread(self):
# 建模
try:
model = load_model(self.model_file)
except OSError:
print("Can't find", self.model_file)
model = Sequential()
model.add(Dense(self.select * 12, activation='tanh', input_dim=self.select * 12))
model.add(Dense(self.select * 24, activation='tanh'))
model.add(Dense(self.select * 32, activation='tanh'))
model.add(Dense(self.select * 48, activation='tanh'))
model.add(Dense(self.select * 32, activation='tanh'))
model.add(Dense(self.select * 24, activation='tanh'))
model.add(Dense(self.select * 12, activation='tanh'))
model.add(Dense(self.select, activation='tanh'))
model.add(Dense(6, activation='softmax'))
model.compile(loss='binary_crossentropy', optimizer='adam')
start = time.time()
while True:
self.var_training.set(self.training)
# 只需要MPU数据
self.lock.acquire()
data_left = self.raw[-1][0][:6]
data_right = self.raw[-1][1][:6]
self.lock.release()
# data_left = self.comm_left.read1epoch()[:6]
# data_right = self.comm_right.read1epoch()[:6]
# print(data)
data = data_left
data.extend(data_right)
# print(data)
# self.lock.acquire()
# self.frames.append(data)
# if len(self.frames) > self.n:
# self.frames = self.frames[1:-1]
# self.lock.release()
if self.t1 == 5:
im = self.draw()
imp = ImageTk.PhotoImage(image=im)
self.panel.configure(image=imp)
self.panel.image = imp
self.t1 = 0
self.t1 += 1
# 开始训练
if self.t2 == 5 and self.train_mode is True:
self.lock.acquire()
x = np.array(self.frames[len(self.frames) - self.select:])
self.lock.release()
x = x.reshape((1, x.size))
# print('X shape:', x.shape)
one = [0 for i in range(6)]
one[self.ACTIONS.index(self.training)] = 1
y = np.array(one)
y = y.reshape((1, 6))
# print('Y shape:', y.shape)
self.t2 = 0
res = model.train_on_batch(x=x, y=y)
# print('train:', res)
self.logger_test.push(UiLogger.Item(UiLogger.LEVEL_INFO, 'training', '%s' % res))
self.t2 += 1
if self.will_save_model is True:
print('保存模型...')
self.lock.acquire()
model.save(self.model_file)
self.will_save_model = False
self.lock.release()
# 预测模式
if self.t2 == 5 and self.train_mode is False:
self.t2 = 0
self.lock.acquire()
x = np.array(self.frames[len(self.frames) - self.select:])
self.lock.release()
x = x.reshape((1, x.size))
# print('X shape:', x.shape)
# res = model.train_on_batch(x=x, y=y)
predict = model.predict(x=x)[0]
predict = predict.tolist()
res = predict.index(max(predict))
res = self.ACTIONS[res]
# print('predict:', res)
self.logger_test.push(UiLogger.Item(UiLogger.LEVEL_INFO, 'predict %.2f' % (time.time() - start), '%s' % res))
def draw(self):
width = 1
height = 32
colors = [
'red', 'orange', 'yellow', 'green', 'cyan', 'blue', 'purple',
'red', 'orange', 'yellow', 'green', 'cyan', 'blue', 'purple',
]
size = (width * self.n, height * 6)
im = Image.new("RGB", size, color='white')
draw = ImageDraw.Draw(im)
for i in range(self.n - 2):
for j in range(12):
draw.line((width * i, self.frames[i][j] + size[1] / 2,
width * (i + 1), self.frames[i + 1][j] + size[1] / 2), fill=colors[j])
sx = size[0] - width * self.select
draw.line((sx, 0, sx, size[1]), fill='red')
return im