def test_pad(cfg):
from parts import get_js_controller
controller = get_js_controller(cfg)
V = dk.vehicle.Vehicle()
V.add(controller,
outputs=['angle', 'throttle', 'lift_throttle', 'mode', 'recording'],
threaded=True)
class Prt:
def run(self, angle, throttle, lift_throttle, mode, recording):
print('angle:{}, throttle:{}, lift:{}, mode:{}, rec:{}'.format(
str(angle), str(throttle), str(lift_throttle), str(mode),
str(recording)))
V.add(Prt(),
inputs=['angle', 'throttle', 'lift_throttle', 'mode', 'recording'])
from parts import ForkliftMotorDriver
motor_driver = ForkliftMotorDriver(debug=False)
V.add(motor_driver,
inputs=['throttle', 'angle', 'lift_throttle'],
outputs=[
'left_motor_vref', 'left_motor_in1', 'left_motor_in2',
'right_motor_vref', 'right_motor_in1', 'right_motor_in2',
'lift_motor_vref', 'lift_motor_in1', 'lift_motor_in2'
])
class Prt2:
def run(self, left_verf, left_in1, left_in2, right_verf, right_in1,
right_in2, lift_verf, lift_in1, lift_in2):
print('ForkliftMD left verf:{}, in1:{}, in2:{}'.format(
str(left_verf), str(left_in1), str(left_in2)))
print('ForkliftMD right verf:{}, in1:{}, in2:{}'.format(
str(right_verf), str(right_in1), str(right_in2)))
print('ForkliftMD lift verf:{}, in1:{}, in2:{}'.format(
str(lift_verf), str(lift_in1), str(lift_in2)))
V.add(Prt2(),
inputs=[
'left_motor_vref', 'left_motor_in1', 'left_motor_in2',
'right_motor_vref', 'right_motor_in1', 'right_motor_in2',
'lift_motor_vref', 'lift_motor_in1', 'lift_motor_in2'
])
import pigpio
pgio = pigpio.pi()
from parts import PIGPIO_OUT, PIGPIO_PWM
V.add(PIGPIO_OUT(pin=cfg.LEFT_MOTOR_IN1_GPIO, pgio=pgio),
inputs=['left_motor_in1'])
V.add(PIGPIO_OUT(pin=cfg.LEFT_MOTOR_IN2_GPIO, pgio=pgio),
inputs=['left_motor_in2'])
V.add(PIGPIO_PWM(pin=cfg.LEFT_MOTOR_PWM_GPIO,
pgio=pgio,
freq=cfg.PWM_FREQ,
range=cfg.PWM_RANGE,
threshold=cfg.PWM_INPUT_THRESHOLD),
inputs=['left_motor_vref'])
V.add(PIGPIO_OUT(pin=cfg.RIGHT_MOTOR_IN1_GPIO, pgio=pgio),
inputs=['right_motor_in1'])
V.add(PIGPIO_OUT(pin=cfg.RIGHT_MOTOR_IN2_GPIO, pgio=pgio),
inputs=['right_motor_in2'])
V.add(PIGPIO_PWM(pin=cfg.RIGHT_MOTOR_PWM_GPIO,
pgio=pgio,
freq=cfg.PWM_FREQ,
range=cfg.PWM_RANGE,
threshold=cfg.PWM_INPUT_THRESHOLD),
inputs=['right_motor_vref'])
V.add(PIGPIO_OUT(pin=cfg.LIFT_MOTOR_IN1_GPIO, pgio=pgio),
inputs=['lift_motor_in1'])
V.add(PIGPIO_OUT(pin=cfg.LIFT_MOTOR_IN2_GPIO, pgio=pgio),
inputs=['lift_motor_in2'])
V.add(PIGPIO_PWM(pin=cfg.LIFT_MOTOR_PWM_GPIO,
pgio=pgio,
freq=cfg.PWM_FREQ,
range=cfg.PWM_RANGE,
threshold=cfg.PWM_INPUT_THRESHOLD),
inputs=['lift_motor_vref'])
try:
V.start(rate_hz=20, max_loop_count=10000)
except KeyboardInterrupt:
print('exit')
finally:
pgio.stop()
def drive(cfg, model_path=None, use_joystick=False, model_type=None, camera_type='single', meta=[] ):
'''
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 cfg.DONKEY_GYM:
#the simulator will use cuda and then we usually run out of resources
#if we also try to use cuda. so disable for donkey_gym.
os.environ["CUDA_VISIBLE_DEVICES"]="-1"
if model_type is None:
if cfg.TRAIN_LOCALIZER:
model_type = "localizer"
elif cfg.TRAIN_BEHAVIORS:
model_type = "behavior"
else:
model_type = cfg.DEFAULT_MODEL_TYPE
#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)
from donkeycar.parts.image import StereoPair
V.add(StereoPair(), inputs=['cam/image_array_a', 'cam/image_array_b'],
outputs=['cam/image_array'])
else:
inputs = []
threaded = True
print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH, env_name=cfg.DONKEY_GYM_ENV_NAME)
threaded = True
inputs = ['angle', 'throttle']
elif 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)
elif cfg.CAMERA_TYPE == "CSIC":
from donkeycar.parts.camera import CSICamera
cam = CSICamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE)
elif cfg.CAMERA_TYPE == "V4L":
from donkeycar.parts.camera import V4LCamera
cam = V4LCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE)
elif cfg.CAMERA_TYPE == "MOCK":
from donkeycar.parts.camera import MockCamera
cam = MockCamera(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, inputs=inputs, outputs=['cam/image_array'], threaded=threaded)
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 get_js_controller
from parts import get_js_controller
ctr = get_js_controller(cfg)
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
class PilotCondition:
def run(self, mode):
if mode == 'user':
return False
else:
return True
V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
class LedConditionLogic:
def __init__(self, cfg):
self.cfg = cfg
def run(self, mode, recording, recording_alert, behavior_state, model_file_changed, track_loc):
#returns a blink rate. 0 for off. -1 for on. positive for rate.
if track_loc is not None:
led.set_rgb(*self.cfg.LOC_COLORS[track_loc])
return -1
if model_file_changed:
led.set_rgb(self.cfg.MODEL_RELOADED_LED_R, self.cfg.MODEL_RELOADED_LED_G, self.cfg.MODEL_RELOADED_LED_B)
return 0.1
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if recording_alert:
led.set_rgb(*recording_alert)
return self.cfg.REC_COUNT_ALERT_BLINK_RATE
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if behavior_state is not None and model_type == 'behavior':
r, g, b = self.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
if cfg.HAVE_RGB_LED and not cfg.DONKEY_GYM:
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(LedConditionLogic(cfg), inputs=['user/mode', 'recording', "records/alert", 'behavior/state', 'modelfile/modified', "pilot/loc"],
outputs=['led/blink_rate'])
V.add(led, inputs=['led/blink_rate'])
def get_record_alert_color(num_records):
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
class RecordTracker:
def __init__(self):
self.last_num_rec_print = 0
self.dur_alert = 0
self.force_alert = 0
def run(self, num_records):
if num_records is None:
return 0
if self.last_num_rec_print != num_records or self.force_alert:
self.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
self.force_alert = 0
if self.dur_alert > 0:
self.dur_alert -= 1
if self.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
rec_tracker_part = RecordTracker()
V.add(rec_tracker_part, inputs=["tub/num_records"], outputs=['records/alert'])
if cfg.AUTO_RECORD_ON_THROTTLE and isinstance(ctr, JoystickController):
#then we are not using the circle button. hijack that to force a record count indication
def show_record_acount_status():
rec_tracker_part.last_num_rec_print = 0
rec_tracker_part.force_alert = 1
ctr.set_button_down_trigger('circle', show_record_acount_status)
#Sombrero
if cfg.HAVE_SOMBRERO:
from donkeycar.parts.sombrero import Sombrero
s = Sombrero()
#IMU
if cfg.HAVE_IMU:
from donkeycar.parts.imu import Mpu6050
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 cfg.TRAIN_BEHAVIORS:
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()
try:
print('loading model', model_path)
kl.load(model_path)
print('finished loading in %s sec.' % (str(time.time() - start)) )
except Exception as e:
print(e)
print('ERR>> problems loading model', model_path)
def load_weights(kl, weights_path):
start = time.time()
try:
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)) )
except Exception as e:
print(e)
print('ERR>> problems loading weights', weights_path)
def load_model_json(kl, json_fnm):
start = time.time()
print('loading model json', json_fnm)
from tensorflow.python import keras
try:
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)) )
except Exception as e:
print(e)
print("ERR>> problems loading model json", json_fnm)
if model_path:
#When we have a model, first create an appropriate Keras part
kl = dk.utils.get_model_by_type(model_type, cfg)
model_reload_cb = None
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):
load_model(kl, filename)
model_reload_cb = reload_model
elif '.json' in model_path:
#when we have a .json extension
#load the model from there 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):
weights_path = filename.replace('.json', '.weights')
load_weights(kl, weights_path)
model_reload_cb = reload_weights
else:
print("ERR>> Unknown extension type on model file!!")
return
#this part will signal visual LED, if connected
V.add(FileWatcher(model_path, verbose=True), outputs=['modelfile/modified'])
#these parts will reload the model file, but only when ai is running so we don't interrupt user driving
V.add(FileWatcher(model_path), outputs=['modelfile/dirty'], run_condition="ai_running")
V.add(DelayedTrigger(100), inputs=['modelfile/dirty'], outputs=['modelfile/reload'], run_condition="ai_running")
V.add(TriggeredCallback(model_path, model_reload_cb), inputs=["modelfile/reload"], run_condition="ai_running")
outputs=['pilot/angle', 'pilot/throttle']
if cfg.TRAIN_LOCALIZER:
outputs.append("pilot/loc")
V.add(kl, inputs=inputs,
outputs=outputs,
run_condition='run_pilot')
#Choose what inputs should change the car.
class DriveMode:
def run(self, 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 * cfg.AI_THROTTLE_MULT
V.add(DriveMode(),
inputs=['user/mode', 'user/angle', 'user/throttle',
'pilot/angle', 'pilot/throttle'],
outputs=['angle', 'throttle'])
#to give the car a boost when starting ai mode in a race.
aiLauncher = AiLaunch(cfg.AI_LAUNCH_DURATION, cfg.AI_LAUNCH_THROTTLE, cfg.AI_LAUNCH_KEEP_ENABLED)
V.add(aiLauncher,
inputs=['user/mode', 'throttle'],
outputs=['throttle'])
if isinstance(ctr, JoystickController):
ctr.set_button_down_trigger(cfg.AI_LAUNCH_ENABLE_BUTTON, aiLauncher.enable_ai_launch)
class AiRunCondition:
'''
A bool part to let us know when ai is running.
'''
def run(self, mode):
if mode == "user":
return False
return True
V.add(AiRunCondition(), inputs=['user/mode'], outputs=['ai_running'])
#Ai Recording
class AiRecordingCondition:
'''
return True when ai mode, otherwize respect user mode recording flag
'''
def run(self, mode, recording):
if mode == 'user':
return recording
return True
if cfg.RECORD_DURING_AI:
V.add(AiRecordingCondition(), inputs=['user/mode', 'recording'], outputs=['recording'])
#Drive train setup
if cfg.DONKEY_GYM:
pass
elif 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']
if cfg.RECORD_DURING_AI:
inputs += ['pilot/angle', 'pilot/throttle']
types += ['float', 'float']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub, inputs=inputs, outputs=["tub/num_records"], run_condition='recording')
if cfg.PUB_CAMERA_IMAGES:
from donkeycar.parts.network import TCPServeValue
from donkeycar.parts.image import ImgArrToJpg
pub = TCPServeValue("camera")
V.add(ImgArrToJpg(), inputs=['cam/image_array'], outputs=['jpg/bin'])
V.add(pub, inputs=['jpg/bin'])
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)
if cfg.BUTTON_PRESS_NEW_TUB:
def new_tub_dir():
V.parts.pop()
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub, inputs=inputs, outputs=["tub/num_records"], run_condition='recording')
ctr.set_tub(tub)
ctr.set_button_down_trigger('cross', new_tub_dir)
ctr.print_controls()
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ,
max_loop_count=cfg.MAX_LOOPS)
def test_pad(use_debug=False):
import donkeycar as dk
cfg = dk.load_config()
V = dk.vehicle.Vehicle()
from parts import get_js_controller
ctr = get_js_controller(cfg)
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
V.mem['pilot/angle'] = 0.0
V.mem['pilot/throttle'] = 0.0
class DriveMode:
def run(self, 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 * cfg.AI_THROTTLE_MULT
V.add(DriveMode(),
inputs=['user/mode', 'user/angle', 'user/throttle', 'pilot/angle', 'pilot/throttle'],
outputs=['angle', 'throttle'])
class TestPad:
def run(self, angle, throttle, mode, recording):
print('an:{} th:{} mode:{}, rec:{}'.format(
str(angle), str(throttle), str(mode), str(recording)
))
def shutdown(self):
pass
V.add(TestPad(), inputs=['angle', 'throttle', 'user/mode', 'recording'])
from parts import CaterpillerMotorDriver
V.add(CaterpillerMotorDriver(
left_balance=cfg.LEFT_PWM_BALANCE,
right_balance=cfg.RIGHT_PWM_BALANCE,
debug=False),
inputs=['throttle', 'angle'],
outputs=['left_motor_vref', 'left_motor_in1', 'left_motor_in2', 'right_motor_vref', 'right_motor_in1', 'right_motor_in2'])
class TestDriver:
def run(self, left_in1, left_in2, left_pwm, right_in1, right_in2, right_pwm):
print('lin1:{} lin2:{} lpwm:{} rin1:{} rin2:{} rpwm:{}'.format(
str(left_in1), str(left_in2), str(left_pwm), str(right_in1), str(right_in2), str(right_pwm)
))
def shutdown(self):
pass
V.add(TestDriver(), inputs=['left_motor_in1', 'left_motor_in2', 'left_motor_vref', 'right_motor_in1', 'right_motor_in2', 'right_motor_vref'])
try:
print('Start driving')
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
except KeyboardInterrupt:
print('Halt driving')
finally:
print('Stop driving')
def drive(cfg,
model_path=None,
use_joystick=False,
use_hedge=False,
use_aws=False,
use_map=False,
use_debug=False,
model_type=None,
camera_type='single',
write_both_images=False,
meta=[]):
'''
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 cfg.DONKEY_GYM:
#the simulator will use cuda and then we usually run out of resources
#if we also try to use cuda. so disable for donkey_gym.
os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
if model_type is None:
if cfg.TRAIN_LOCALIZER:
model_type = "localizer"
elif cfg.TRAIN_BEHAVIORS:
model_type = "behavior"
else:
model_type = cfg.DEFAULT_MODEL_TYPE
# pigpio 初期化
try:
import pigpio
except:
raise
pgio = pigpio.pi()
#Initialize car
V = dk.vehicle.Vehicle()
'''
カメラ
'''
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)
from donkeycar.parts.image import StereoPair
V.add(StereoPair(),
inputs=['cam/image_array_a', 'cam/image_array_b'],
outputs=['cam/image_array'])
elif write_both_images or (cfg.CAMERA_TYPE != "MAP" and use_map == False):
print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
inputs = []
threaded = True
#print("cfg.CAMERA_TYPE", cfg.CAMERA_TYPE)
if cfg.DONKEY_GYM:
from donkeycar.parts.dgym import DonkeyGymEnv
cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH,
env_name=cfg.DONKEY_GYM_ENV_NAME)
threaded = True
inputs = ['angle', 'throttle']
elif 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)
elif cfg.CAMERA_TYPE == "CSIC":
from donkeycar.parts.camera import CSICamera
cam = CSICamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE,
gstreamer_flip=cfg.CSIC_CAM_GSTREAMER_FLIP_PARM)
elif cfg.CAMERA_TYPE == "V4L":
from donkeycar.parts.camera import V4LCamera
cam = V4LCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE)
elif cfg.CAMERA_TYPE == "MOCK":
from donkeycar.parts.camera import MockCamera
cam = MockCamera(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))
# 前方画像を保管するV.memキー名
if write_both_images:
from parts.datastore import FWD_CAMERA_KEY
outputs = [FWD_CAMERA_KEY]
else:
outputs = ['cam/image_array']
V.add(cam, inputs=inputs, outputs=outputs, threaded=threaded)
'''
Marvelmind 位置情報システム
'''
# Marvelmind USNav データ
hedge_items = []
hedge_types = []
usnav_items = [
'usnav/id',
'usnav/x',
'usnav/y',
'usnav/z',
'usnav/angle',
'usnav/timestamp',
]
usnav_types = [
'str',
'float',
'float',
'float',
'float',
'float',
]
hedge_items += usnav_items
hedge_types += usnav_types
# Marvelmind USNav Raw データ
usnav_raw_items = [
'dist/id', 'dist/b1', 'dist/b1d', 'dist/b2', 'dist/b2d', 'dist/b3',
'dist/b3d', 'dist/b4', 'dist/b4d', 'dist/timestamp'
]
usnav_raw_types = [
'str',
'str',
'float',
'str',
'float',
'str',
'float',
'str',
'float',
'float',
]
hedge_items += usnav_raw_items
hedge_types += usnav_raw_types
# Marvelmind IMU データ
imu_items = [
'imu/x',
'imu/y',
'imu/z',
'imu/qw',
'imu/qx',
'imu/qy',
'imu/qz',
'imu/vx',
'imu/vy',
'imu/vz',
'imu/ax',
'imu/ay',
'imu/az',
'imu/gx',
'imu/gy',
'imu/gz',
'imu/mx',
'imu/my',
'imu/mz',
'imu/timestamp',
]
imu_types = [
'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float',
'float', 'float', 'float', 'float', 'float', 'float', 'float', 'float',
'float', 'float', 'float', 'float'
]
# Marvelmind 全データ
hedge_items += imu_items
hedge_types += imu_types
# Veichle上の Marvelmind 全データ初期化
for i in range(len(hedge_items)):
_item = hedge_items[i]
_type = hedge_types[i]
if _type == 'str':
V.mem[_item] = '0'
elif _type == 'float':
V.mem[_item] = 0.0
else:
raise ValueError('unknown type:{}'.format(_type))
if cfg.HAVE_HEDGE and (use_hedge or cfg.USE_HEDGE_AS_DEFAULT):
'''
Marvelmind システムを使用する場合
'''
print('Using Marvelmind Mobile Beacon')
# Marvelmind モバイルビーコンパーツ追加
from parts import HedgehogController
hedge = HedgehogController(tty=cfg.HEDGE_SERIAL_TTY, adr=cfg.HEDGE_ID)
V.add(hedge, outputs=hedge_items)
'''
IMU(MPU9250/MPU6050)
'''
mpu6050_items = [
'imu/acl_x',
'imu/acl_y',
'imu/acl_z',
'imu/gyr_x',
'imu/gyr_y',
'imu/gyr_z',
'imu/recent',
'imu/mpu_timestamp',
]
mpu6050_types = [
'float',
'float',
'float',
'float',
'float',
'float',
'str',
'float',
]
mpu9250_items = [
'imu/acl_x',
'imu/acl_y',
'imu/acl_z',
'imu/gyr_x',
'imu/gyr_y',
'imu/gyr_z',
'imu/mgt_x',
'imu/mgt_y',
'imu/mgt_z',
'imu/temp',
'imu/recent',
'imu/mpu_timestamp',
]
mpu9250_types = [
'float',
'float',
'float',
'float',
'float',
'float',
'float',
'float',
'float',
'float',
'str',
'float',
]
if cfg.HAVE_IMU:
mpu_items = []
mpu_types = []
if cfg.IMU_TYPE == 'mpu6050':
'''
MPU6050を使用する場合
'''
mpu_items += mpu6050_items
mpu_types += mpu6050_types
from parts.sensors.imu import Mpu6050
imu = Mpu6050(pgio=pgio,
bus=cfg.MPU6050_I2C_BUS,
address=cfg.MPU6050_I2C_ADDRESS,
depth=cfg.MPU6050_DEPTH,
debug=use_debug)
elif cfg.IMU_TYPE == 'mpu9250':
'''
MPU9250を使用する場合
'''
mpu_items += mpu9250_items
mpu_types += mpu9250_types
from parts.sensors.imu import Mpu9250
imu = Mpu9250(pgio=pgio,
bus=cfg.MPU9250_I2C_BUS,
mpu9250_address=cfg.MPU9250_I2C_ADDRESS,
ak8963_address=cfg.AK8963_I2C_ADDRESS,
depth=cfg.MPU9250_DEPTH,
debug=use_debug)
else:
raise ValueError('unknown IMU_TYPE = {}'.format(str(cfg.IMU_TYPE)))
# Veihcle上のIMUデータを初期化
for i in range(len(mpu_items)):
_item = mpu_items[i]
_type = mpu_types[i]
if _type == 'str':
V.mem[_item] = '{}'
elif _type == 'float':
V.mem[_item] = 0.0
else:
raise ValueError('unknown type:{}'.format(_type))
# IMUパーツの追加
V.add(imu, outputs=mpu_items)
'''
2D マップ画像 (usnav/x, usnav/y, imu/recent を使用する)
'''
map_items = [
'usnav/x',
'usnav/y',
'imu/recent',
]
map_types = [
'float',
'float',
'str',
]
if use_map or cfg.CAMERA_TYPE == "MAP":
'''
2D マップ画像でカメラの代替とする場合
'''
if cfg.HAVE_HEDGE and (use_hedge or cfg.USE_HEDGE_AS_DEFAULT):
'''
Marvelmindが有効である場合
'''
if (cfg.HAVE_IMU and cfg.IMU_TYPE == 'mpu9250'):
'''
MPU9250を使用する場合
'''
# 2D マップ生成パーツを追加
from parts import MapImageCreator
creator = MapImageCreator(
base_image_path=cfg.MAP_BASE_IMAGE_PATH, debug=use_debug)
V.add(creator, inputs=map_items, outputs=['cam/image_array'])
else:
raise ValueError('2D map needs mpu9250 data')
else:
raise ValueError('2D map needs Marvelmind USNav data')
'''
ジョイスティック
'''
user_items = [
'user/angle',
'user/throttle',
'user/lift_throttle',
'user/mode',
]
user_types = [
'float',
'float',
'float',
'str',
]
joystick_items = []
joystick_types = []
joystick_items += user_items
joystick_types += user_types
joystick_items += ['recording']
joystick_types += ['boolean']
# ジョイスティックパーツのアウトプット値なのでここでは初期化せず
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
'''
ジョイスティックを使用する場合
'''
# フォークリフト用ジョイスティックパーツ取得ファクトリ関数を呼び出す
from parts import get_js_controller
ctr = get_js_controller(cfg)
if cfg.USE_NETWORKED_JS:
'''
ネットワーク経由で操作する場合(Donkeycar標準)
'''
from donkeycar.parts.controller import JoyStickSub
netwkJs = JoyStickSub(cfg.NETWORK_JS_SERVER_IP)
V.add(netwkJs, threaded=True)
ctr.js = netwkJs
# リフト値の追加
V.add(ctr,
inputs=['cam/image_array'],
outputs=joystick_items,
threaded=True)
else:
'''
Webコントローラを使用する
'''
# user/lift_throttle 値が常に0となるWebコントローラパーツを生成
from parts import LocalWebForkliftController
ctr = LocalWebForkliftController()
V.add(ctr,
inputs=['cam/image_array'],
outputs=joystick_items,
threaded=True)
# 変数ctrはこの後でも使用する
'''
スロットルフィルタ(ワンタップESC後進)
'''
# 入力値はジョイスティックパーツがアウトプット
#this throttle filter will allow one tap back for esc reverse
th_filter = ThrottleFilter()
V.add(th_filter, inputs=['user/throttle'], outputs=['user/throttle'])
'''
手動運転・自動運転判定フラグ設定
'''
#See if we should even run the pilot module.
#This is only needed because the part run_condition only accepts boolean
class PilotCondition:
def run(self, mode):
if mode == 'user':
return False
else:
return True
V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])
# run_pilot 値はboolean(偽：手動運転、真：一部もしくは全て自動運転)
'''
3色LED表示
'''
class LedConditionLogic:
def __init__(self, cfg):
self.cfg = cfg
def run(self, mode, recording, recording_alert, behavior_state,
model_file_changed, track_loc):
#returns a blink rate. 0 for off. -1 for on. positive for rate.
if track_loc is not None:
led.set_rgb(*self.cfg.LOC_COLORS[track_loc])
return -1
if model_file_changed:
led.set_rgb(self.cfg.MODEL_RELOADED_LED_R,
self.cfg.MODEL_RELOADED_LED_G,
self.cfg.MODEL_RELOADED_LED_B)
return 0.1
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if recording_alert:
led.set_rgb(*recording_alert)
return self.cfg.REC_COUNT_ALERT_BLINK_RATE
else:
led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)
if behavior_state is not None and model_type == 'behavior':
r, g, b = self.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
if cfg.HAVE_RGB_LED and not cfg.DONKEY_GYM:
#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)
from parts import RGB_LED
led = RGB_LED(pgio, 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(LedConditionLogic(cfg),
inputs=[
'user/mode', 'recording', "records/alert", 'behavior/state',
'modelfile/modified', "pilot/loc"
],
outputs=['led/blink_rate'])
V.add(led, inputs=['led/blink_rate'])
def get_record_alert_color(num_records):
"""
Tubデータ件数を色PWMタプル(r, g, b)：各0-100に変換する。
件数範囲、PWMタプルはconfig.py上のRECORD_ALERT_COLOR_ARR
を参照している。
引数：
num_records Tubデータ件数
戻り値
色PWMタプル (r, g, b)形式(0-100)
"""
col = (0, 0, 0)
for count, color in cfg.RECORD_ALERT_COLOR_ARR:
if num_records >= count:
col = color
return col
'''
レコードトラッカ
'''
class RecordTracker:
def __init__(self):
self.last_num_rec_print = 0
self.dur_alert = 0
self.force_alert = 0
def run(self, num_records):
if num_records is None:
return 0
if self.last_num_rec_print != num_records or self.force_alert:
self.last_num_rec_print = num_records
if num_records % 10 == 0:
print("recorded", num_records, "records")
if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
self.force_alert = 0
if self.dur_alert > 0:
self.dur_alert -= 1
if self.dur_alert != 0:
return get_record_alert_color(num_records)
return 0
rec_tracker_part = RecordTracker()
V.add(rec_tracker_part,
inputs=["tub/num_records"],
outputs=['records/alert'])
'''
自動記録
'''
if cfg.AUTO_RECORD_ON_THROTTLE and isinstance(ctr, JoystickController):
"""
自動記録指定されておりかつジョイスティックを使用する場合
"""
#then we are not using the circle button. hijack that to force a record count indication
def show_record_acount_status():
rec_tracker_part.last_num_rec_print = 0
rec_tracker_part.force_alert = 1
# ジョイスティックのボタンにレコード件数表示用のボタン割当
# F710
if cfg.CONTROLLER_TYPE == 'F710' or cfg.CONTROLLER_TYPE == 'F710_Forklift':
ctr.set_button_down_trigger('back', show_record_acount_status)
# JC-U3912T
elif cfg.CONTROLLER_TYPE == 'JC-U3912T':
ctr.set_button_down_trigger('7', show_record_acount_status)
# default
else:
ctr.set_button_down_trigger('circle', show_record_acount_status)
'''
Sombero HAT
'''
#Sombrero
if cfg.HAVE_SOMBRERO:
from donkeycar.parts.sombrero import Sombrero
_ = Sombrero()
# この段階でカメラ or 2Dマップ画像が cam/image_array に格納されている
'''
画像前処理
'''
class ImgPreProcess():
'''
preprocess camera image for inference.
normalize and crop if needed.
'''
def __init__(self, cfg):
self.cfg = cfg
def run(self, img_arr):
return normalize_and_crop(img_arr, self.cfg)
if "coral" in model_type:
'''
coral を使用する場合は画像をそのまま使用
'''
inf_input = 'cam/image_array'
else:
'''
自動運転時のみ正規化・CROP処理する
'''
inf_input = 'cam/normalized/cropped'
V.add(ImgPreProcess(cfg),
inputs=['cam/image_array'],
outputs=[inf_input],
run_condition='run_pilot')
#Behavioral state
if cfg.TRAIN_BEHAVIORS:
'''
behaviorモデルを使用する場合
'''
bh = BehaviorPart(cfg.BEHAVIOR_LIST)
V.add(bh,
outputs=[
'behavior/state', 'behavior/label',
"behavior/one_hot_state_array"
])
try:
# L1ボタンにbehavior状態更新を割当
ctr.set_button_down_trigger('L1', bh.increment_state)
except:
pass
inputs = [inf_input, "behavior/one_hot_state_array"]
#IMU
elif model_type == "imu":
'''
IMU（MPU9250/MPU6050）モデル
'''
#assert(cfg.HAVE_IMU)
#Run the pilot if the mode is not user.
if cfg.HAVE_IMU:
# 機械学習モデルのインプットにMPU9250/6050の加速度、角速度を追加
inputs = [
'cam/image_array',
'imu/acl_x',
'imu/acl_y',
'imu/acl_z',
'imu/gyr_x',
'imu/gyr_y',
'imu/gyr_z',
]
elif cfg.HAVE_HEDGE and (
use_hedge or cfg.USE_HEDGE_AS_DEFAULT) and cfg.USE_HEDGE_IMU:
# 機械学習モデルのインプットにMarvelmindの加速度、角速度を追加
inputs = [
'cam/image_array', 'imu/ax', 'imu/ay', 'imu/az', 'imu/vx',
'imu/vy', 'imu/vz'
]
else:
raise ValueError('can not use imu model without imu data')
else:
# 機械学習モデルのインプットは画像のみ
inputs = [inf_input]
'''
機械学習モデル
'''
def load_model(kl, model_path):
"""
機械学習モデルに学習済みパラメータをロードする。
引数：
kl 機械学習モデルオブジェクト
model_path 学習済みパラーメータファイルのパス
戻り値：
なし
"""
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):
"""
機械学習モデルに学習済みパラメータをロードする。
引数：
kl 機械学習モデルオブジェクト
model_path 学習済みパラーメータファイルのパス
戻り値：
なし
"""
start = time.time()
try:
print('loading model weights', weights_path)
kl.model.load_weights(weights_path)
print('finished loading in %s sec.' % (str(time.time() - start)))
except Exception as e:
print(e)
print('ERR>> problems loading weights', weights_path)
def load_model_json(kl, json_fnm):
start = time.time()
print('loading model json', json_fnm)
try:
from tensorflow.python import keras
except:
raise
try:
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)))
except Exception as e:
print(e)
print("ERR>> problems loading model json", json_fnm)
if model_path:
#When we have a model, first create an appropriate Keras part
kl = dk.utils.get_model_by_type(model_type, cfg)
model_reload_cb = None
if '.h5' in model_path or '.uff' in model_path or 'tflite' in model_path or '.pkl' in model_path:
#when we have a .h5 extension
#load everything from the model file
load_model(kl, model_path)
def reload_model(filename):
load_model(kl, filename)
model_reload_cb = reload_model
elif '.json' in model_path:
#when we have a .json extension
#load the model from there 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):
weights_path = filename.replace('.json', '.weights')
load_weights(kl, weights_path)
model_reload_cb = reload_weights
else:
print("ERR>> Unknown extension type on model file!!")
return
'''
モデルファイル更新監視
'''
#this part will signal visual LED, if connected
V.add(FileWatcher(model_path, verbose=True),
outputs=['modelfile/modified'])
#these parts will reload the model file, but only when ai is running so we don't interrupt user driving
V.add(FileWatcher(model_path),
outputs=['modelfile/dirty'],
run_condition="ai_running")
V.add(DelayedTrigger(100),
inputs=['modelfile/dirty'],
outputs=['modelfile/reload'],
run_condition="ai_running")
V.add(TriggeredCallback(model_path, model_reload_cb),
inputs=["modelfile/reload"],
run_condition="ai_running")
outputs = ['pilot/angle', 'pilot/throttle']
'''
ローカライザモデルの場合の出力編集
'''
if cfg.TRAIN_LOCALIZER:
outputs.append("pilot/loc")
V.add(kl, inputs=inputs, outputs=outputs, run_condition='run_pilot')
'''
モデルがない場合の自動運転結果初期値設定
'''
V.mem['pilot/throttle'] = 0.0
V.mem['pilot/angle'] = 0.0
V.mem['pilot/lift_throttle'] = 0.0
'''
運転モードから、モータ入力値決定
'''
#Choose what inputs should change the car.
class DriveMode:
def run(self, mode, user_angle, user_throttle, user_lift_throttle,
pilot_angle, pilot_throttle, pilot_lift_throttle):
if mode == 'user':
return user_angle, user_throttle, user_lift_throttle
elif mode == 'local_angle':
return pilot_angle, user_throttle, user_lift_throttle
else:
return pilot_angle, (pilot_throttle * cfg.AI_THROTTLE_MULT), (
pilot_lift_throttle * cfg.AI_THROTTLE_MULT)
V.add(DriveMode(),
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'user/lift_throttle',
'pilot/angle', 'pilot/throttle', 'pilot/lift_throttle'
],
outputs=['angle', 'throttle', 'lift_throttle'])
# Donkeycarへの最終的な指示が angle, throttle, lift_throttle 値となる
'''
AIランチャ
'''
#to give the car a boost when starting ai mode in a race.
aiLauncher = AiLaunch(cfg.AI_LAUNCH_DURATION, cfg.AI_LAUNCH_THROTTLE,
cfg.AI_LAUNCH_KEEP_ENABLED)
V.add(aiLauncher, inputs=['user/mode', 'throttle'], outputs=['throttle'])
if isinstance(ctr, JoystickController):
ctr.set_button_down_trigger(cfg.AI_LAUNCH_ENABLE_BUTTON,
aiLauncher.enable_ai_launch)
'''
AIによる自動運転かどうかの判定
'''
class AiRunCondition:
'''
A bool part to let us know when ai is running.
'''
def run(self, mode):
if mode == "user":
return False
return True
V.add(AiRunCondition(), inputs=['user/mode'], outputs=['ai_running'])
'''
AI運転時の記録モード
'''
#Ai Recording
class AiRecordingCondition:
'''
return True when ai mode, otherwize respect user mode recording flag
'''
def run(self, mode, recording):
if mode == 'user':
return recording
return True
if cfg.RECORD_DURING_AI:
V.add(AiRecordingCondition(),
inputs=['user/mode', 'recording'],
outputs=['recording'])
'''
モータ駆動
'''
#Drive train setup
if cfg.DONKEY_GYM:
pass
elif 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'])
V.mem['lift_throttle'] = 0
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'])
V.mem['lift_throttle'] = 0
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'])
V.mem['lift_motor_throttle'] = 0
# Forklift 駆動モータ操作
elif cfg.DRIVE_TRAIN_TYPE == "THREE_MOTORS_PIGPIO":
'''
フォークリフト３モータ駆動
'''
from parts import PIGPIO_OUT, PIGPIO_PWM, ForkliftMotorDriver
motor_driver = ForkliftMotorDriver(left_balance=cfg.LEFT_PWM_BALANCE,
right_balance=cfg.RIGHT_PWM_BALANCE,
debug=False)
V.add(motor_driver,
inputs=['throttle', 'angle', 'lift_throttle'],
outputs=[
'left_motor_vref', 'left_motor_in1', 'left_motor_in2',
'right_motor_vref', 'right_motor_in1', 'right_motor_in2',
'lift_motor_vref', 'lift_motor_in1', 'lift_motor_in2'
])
if use_debug:
class Prt:
def run(self, left_vref, left_in1, left_in2, right_vref,
right_in1, right_in2, lift_vref, lift_in1, lift_in2):
print('ForkliftMD left vref:{}, in1:{}, in2:{}'.format(
str(left_vref), str(left_in1), str(left_in2)))
print('ForkliftMD right vref:{}, in1:{}, in2:{}'.format(
str(right_vref), str(right_in1), str(right_in2)))
print('ForkliftMD lift vref:{}, in1:{}, in2:{}'.format(
str(lift_vref), str(lift_in1), str(lift_in2)))
V.add(Prt(),
inputs=[
'left_motor_vref', 'left_motor_in1', 'left_motor_in2',
'right_motor_vref', 'right_motor_in1', 'right_motor_in2',
'lift_motor_vref', 'lift_motor_in1', 'lift_motor_in2'
])
# TB6612#1 A系（右モータ、左折時駆動する）
V.add(PIGPIO_OUT(pin=cfg.LEFT_MOTOR_IN1_GPIO, pgio=pgio),
inputs=['left_motor_in1'])
V.add(PIGPIO_OUT(pin=cfg.LEFT_MOTOR_IN2_GPIO, pgio=pgio),
inputs=['left_motor_in2'])
V.add(PIGPIO_PWM(pin=cfg.LEFT_MOTOR_PWM_GPIO,
pgio=pgio,
freq=cfg.PWM_FREQ,
range=cfg.PWM_RANGE,
threshold=cfg.PWM_INPUT_THRESHOLD),
inputs=['left_motor_vref'])
# TB6612#1 B系（左モータ、右折時駆動する）
V.add(PIGPIO_OUT(pin=cfg.RIGHT_MOTOR_IN1_GPIO, pgio=pgio),
inputs=['right_motor_in1'])
V.add(PIGPIO_OUT(pin=cfg.RIGHT_MOTOR_IN2_GPIO, pgio=pgio),
inputs=['right_motor_in2'])
V.add(PIGPIO_PWM(pin=cfg.RIGHT_MOTOR_PWM_GPIO,
pgio=pgio,
freq=cfg.PWM_FREQ,
range=cfg.PWM_RANGE,
threshold=cfg.PWM_INPUT_THRESHOLD),
inputs=['right_motor_vref'])
# TB6612#2 A系（リフトモータ）
V.add(PIGPIO_OUT(pin=cfg.LIFT_MOTOR_IN1_GPIO, pgio=pgio),
inputs=['lift_motor_in1'])
V.add(PIGPIO_OUT(pin=cfg.LIFT_MOTOR_IN2_GPIO, pgio=pgio),
inputs=['lift_motor_in2'])
V.add(PIGPIO_PWM(pin=cfg.LIFT_MOTOR_PWM_GPIO,
pgio=pgio,
freq=cfg.PWM_FREQ,
range=cfg.PWM_RANGE,
threshold=cfg.PWM_INPUT_THRESHOLD),
inputs=['lift_motor_vref'])
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"])
V.mem['lift_throttle'] = 0
'''
Tubデータ
'''
# ベースとなるTubデータ
if write_both_images:
from parts.datastore import FWD_CAMERA_KEY
inputs = ['cam/image_array', FWD_CAMERA_KEY]
types = ['image_array', 'image_array']
else:
inputs = ['cam/image_array']
types = ['image_array']
inputs += user_items
types += user_types
if cfg.TRAIN_BEHAVIORS:
'''
behaviorモデルを使用する場合の入力データを追加
'''
inputs += [
'behavior/state', 'behavior/label', 'behavior/one_hot_state_array'
]
types += ['int', 'str', 'vector']
'''
IMU(MPU6050)データ追加
'''
# Tubへ格納する加速度、角速度
tub_imu_inputs = [
'imu/acl_x',
'imu/acl_y',
'imu/acl_z',
'imu/gyr_x',
'imu/gyr_y',
'imu/gyr_z',
]
tub_imu_input_types = [
'float',
'float',
'float',
'float',
'float',
'float',
]
if not cfg.HAVE_IMU:
'''
MPU9250/MPU6050を持っていない場合
'''
if cfg.HAVE_HEDGE and (use_hedge or cfg.USE_HEDGE_AS_DEFAULT):
'''
Marvelmind が有効な場合
'''
if cfg.USE_HEDGE_IMU:
'''
Marvelmind IMUが使用可能な場合
'''
# 必要な Marvelmind IMUデータを移動させる
class MoveIMU:
def run(self, ax, ay, az, gx, gy, gz):
return ax, ay, az, gx, gy, gz
move = MoveIMU()
V.add(move,
inputs=[
'imu/ax',
'imu/ay',
'imu/az',
'imu/gx',
'imu/gy',
'imu/gz',
],
outputs=tub_imu_inputs)
inputs += tub_imu_inputs
types += tub_imu_input_types
else:
inputs += tub_imu_inputs
types += tub_imu_input_types
if cfg.RECORD_DURING_AI:
'''
自動運転中であっても記録しておくモードの場合
'''
# pilot/* を Tub データに加える
inputs += ['pilot/angle', 'pilot/throttle', 'pilot/lift_throttle']
types += ['float', 'float', 'float']
'''
Tubデータ書き込み
'''
th = TubHandler(path=cfg.DATA_PATH)
if write_both_images:
from parts.datastore import TubHandler as NewTubHandler
th = NewTubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
if cfg.PUB_CAMERA_IMAGES:
'''
カメライメージを通信して貰う場合(Donkeycar標準)
'''
from donkeycar.parts.network import TCPServeValue
from donkeycar.parts.image import ImgArrToJpg
pub = TCPServeValue("camera")
V.add(ImgArrToJpg(), inputs=['cam/image_array'], outputs=['jpg/bin'])
V.add(pub, inputs=['jpg/bin'])
'''
操縦系統別
'''
if type(ctr) is LocalWebController:
'''
LocalWebController を使用している場合の usage を表示
'''
print("You can now go to <your pi ip address>:8887 to drive your car.")
elif isinstance(ctr, JoystickController):
'''
ジョイスティックを使用している場合の usage を表示
'''
print("You can now move your joystick to drive your car.")
#tell the controller about the tub
ctr.set_tub(tub)
if cfg.BUTTON_PRESS_NEW_TUB:
'''
cfg.BUTTON_PRESS_NEW_TUB が True の場合、ボタンを押すごとに別のTubディレクトリに
データが格納されるようになる（デフォルト:False）。
'''
def new_tub_dir():
V.parts.pop()
tub = th.new_tub_writer(inputs=inputs,
types=types,
user_meta=meta)
V.add(tub,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
ctr.set_tub(tub)
# ボタン割当
# F710
if cfg.CONTROLLER_TYPE == 'F710' or cfg.CONTROLLER_TYPE == 'F710_Forklift':
ctr.set_button_down_trigger('A', new_tub_dir)
# JC-U3912T
elif cfg.CONTROLLER_TYPE == 'JC-U3912T' or cfg.CONTROLLER_TYPE == 'JC-U3912T_Forklift':
ctr.set_button_down_trigger('12', new_tub_dir)
# default
else:
ctr.set_button_down_trigger('cross', new_tub_dir)
# 現時点のボタン割当状態を表示
ctr.print_controls()
"""
AWS IoT Core
"""
if use_aws or cfg.USE_AWS_AS_DEFAULT:
print('Start aws configuration')
from parts.broker import AWSShadowClientFactory, PowerReporter
factory = AWSShadowClientFactory(cfg.AWS_CONFIG_PATH,
cfg.AWS_THING_NAME)
# Power ON 情報の送信
power = PowerReporter(factory, debug=use_debug)
power.on()
# Tubデータ(json)送信
from parts.broker.pub import Publisher
pub_tub = Publisher(factory, debug=use_debug)
V.add(pub_tub,
inputs=[
'user/angle', 'user/throttle', 'user/lift_throttle',
'pilot/angle', 'pilot/throttle', 'pilot/lift_throttle',
'user/mode'
])
# Tubデータ(イメージ)送信
from parts.broker.pub import ImagePublisher
pub_img = ImagePublisher(factory, debug=use_debug)
V.add(pub_img, inputs=[
'cam/image_array',
])
# fwdイメージデータ送信
if write_both_images:
from parts.broker.pub import FwdImagePublisher
pub_fwd_img = FwdImagePublisher(factory, debug=use_debug)
from parts.datastore import FWD_CAMERA_KEY
V.add(pub_fwd_img, inputs=[
FWD_CAMERA_KEY,
])
'''
ジョイスティックデータの送信
'''
if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
'''
ジョイスティックを使用している場合
'''
from parts.broker.pub import JoystickPublisher
pub_joy = JoystickPublisher(factory, debug=use_debug)
V.add(pub_joy, inputs=joystick_items)
'''
Marvelmind システムデータの送信
'''
if cfg.HAVE_HEDGE and (use_hedge or cfg.USE_HEDGE_AS_DEFAULT):
'''
Marvelmind システムを使用している場合
'''
if cfg.USE_HEDGE_USNAV:
'''
Marvelmind 位置情報を使用している場合
'''
from parts.broker.pub import USNavPublisher
pub_usn = USNavPublisher(factory, debug=use_debug)
V.add(pub_usn, inputs=usnav_items)
if cfg.USE_HEDGE_USNAV_RAW:
'''
Marvelmind 距離情報を使用している場合
'''
from parts.broker.pub import USNavRawPublisher
pub_raw = USNavRawPublisher(factory, debug=use_debug)
V.add(pub_raw, inputs=usnav_raw_items)
if cfg.USE_HEDGE_IMU:
'''
Marvelmind IMU情報を使用している場合
'''
from parts.broker.pub import IMUPublisher
pub_imu = IMUPublisher(factory, debug=use_debug)
V.add(pub_imu, inputs=imu_items)
'''
MPU9250/MPU6050 データの送信
'''
if cfg.HAVE_IMU:
'''
MPU9250/MPU6050 を使用している場合
'''
if cfg.IMU_TYPE == 'mpu6050':
'''
MPU6050を使用している場合
'''
from parts.broker.pub import Mpu6050Publisher
pub_mpu = Mpu6050Publisher(factory, debug=use_debug)
V.add(pub_mpu, inputs=mpu_items)
elif cfg.IMU_TYPE == 'mpu9250':
'''
MPU6050を使用している場合
'''
from parts.broker.pub import Mpu9250Publisher
pub_mpu = Mpu9250Publisher(factory, debug=use_debug)
V.add(pub_mpu, inputs=mpu_items)
'''
運転ループ
'''
try:
print('Start running')
#run the vehicle for 20 seconds
V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
except KeyboardInterrupt:
# Ctrl+C押下時
pass
finally:
# デバッグ
if use_debug:
print('Stop running')
# pigpio 利用停止
pgio.stop()
if use_aws or cfg.USE_AWS_AS_DEFAULT:
if power is not None:
# Power Off 情報の送信
if use_debug:
print('Sending power off')
power.off()
# 送信するまで待機
time.sleep(1)
print('Stopped')