def main():
while True:
screen, resized, speed, direct = img_process("Grand Theft Auto V")
radar = cv2.cvtColor(resized[206:226, 25:45, :], cv2.COLOR_RGB2BGR)[:, :, 2:3]
resized = preprocess(resized)
left_line_color = [0, 255, 0]
right_line_color = [0, 255, 0]
yolo_screen, color_detected, obj_distance = yolo_detection(screen, direct)
cv2.imshow("Driving-mode", yolo_screen)
cv2.waitKey(1)
def drive(model):
global gamepad
gamepad = XInputDevice(1)
gamepad.PlugIn()
last_time = time.time() # to measure the number of frames
close = False # to exit execution
pause = False # to pause execution
stop = False # to stop the car
throttle = 0
left_line_max = 75
right_line_max = 670
print("Press T to start driving")
while not close:
yolo_screen, resized, speed, direct = img_process("Grand Theft Auto V")
## cv2.imshow("Driving-mode", yolo_screen)
## cv2.waitKey(1)
while not pause:
# apply the preprocessing
screen, resized, speed, direct = img_process("Grand Theft Auto V")
radar = cv2.cvtColor(resized[206:226, 25:45, :],
cv2.COLOR_RGB2BGR)[:, :, 2:3]
resized = preprocess(resized)
left_line_color = [0, 255, 0]
right_line_color = [0, 255, 0]
# predict steering angle for the image
# original + radar (small) + speed
controls = model.predict(
[np.array([resized]),
np.array([radar]),
np.array([speed])],
batch_size=1)
# check that the car is following lane
lane, stop_line = detect_lane(screen)
# detect objects
yolo_screen, color_detected, obj_distance = yolo_detection(
screen, direct)
if not stop:
# adjusting speed
if speed < 65:
throttle = 0.8
elif speed > 70:
throttle = 0.0
if 0 <= obj_distance <= 0.6:
if speed < 5:
throttle = 0
else:
throttle = -0.7 if obj_distance <= 0.4 else -0.3
elif color_detected == "Red":
if stop_line:
if speed < 5:
throttle = 0
elif 0 <= stop_line[0][1] <= 50:
throttle = -0.5
elif 50 < stop_line[0][1] <= 120:
throttle = -1
# else:
# throttle = -0.5
elif speed > 5:
throttle = -1
else:
throttle = 0
cv2.destroyAllWindows()
pause = True
# adjusting steering angle
if lane[0] and lane[0][0] > left_line_max:
if abs(controls[0][0]) < 0.27:
controls[0][0] = 0.27
left_line_color = [0, 0, 255]
elif lane[1] and lane[1][0] < right_line_max:
if abs(controls[0][0]) < 0.27:
controls[0][0] = -0.27
right_line_color = [0, 0, 255]
# set the gamepad values
set_gamepad([[controls[0][0], throttle]])
# print('Main loop took {} seconds'.format(time.time() - last_time))
# last_time = time.time()
screen[280:-130, :, :] = draw_lane(screen[280:-130, :, :], lane,
stop_line, left_line_color,
right_line_color)
## cv2.imshow("Driving-mode",yolo_screen)
## cv2.waitKey(1)
if direct == 6:
print("Arrived at destination.")
stop = True
print('Main loop took {} seconds'.format(time.time() - last_time))
last_time = time.time()
keys = key_check()
if 'T' in keys:
cv2.destroyAllWindows()
pause = True
# release gamepad keys
set_gamepad([[0, 0]])
print('Paused. To exit the program press Z.')
time.sleep(0.5)
keys = key_check()
if 'T' in keys:
pause = False
stop = False
print('Unpaused')
time.sleep(1)
elif 'Z' in keys:
cv2.destroyAllWindows()
close = True
print('Closing the program.')
gamepad.UnPlug()