def __init__(self, fileName, network_name):
Rover.__init__(self)
self.d = Data()
self.userInterface = Pygame_UI()
self.clock = pygame.time.Clock()
self.FPS = 30
self.image = None
self.network_name = network_name
self.quit = False
self.paused = False
self.angle = 0
self.treads = [0, 0]
self.timeStart = time.time()
self.filename = fileName
#fileName = glob.glob('/home/TF_Rover/RoverData/*.index')
#fileName = fileName[0]
if '1frame_Color' in self.filename:
self.channs = 3
self.im_method = 0
elif '3frames' in self.filename:
self.channs = 3
self.im_method = 1
self.framestack = np.zeros([1, 130, 320, self.FPS])
self.stack = [0, 5, 15]
elif '1frame_Gray' in self.filename:
self.channs = 1
self.im_method = 2
self.network = input_data(shape=[None, 130, 320, self.channs])
self.network = self.network_name(self.network, drop_prob=1.0)
self.model = tflearn.DNN(self.network)
self.model.load(self.filename)
self.run()
def __init__(self, mode):
#self.file_name = 'filename'
self.mode = mode
self.image = None
if (mode == "R"):
Rover.__init__(self)
# Receive images on another thread until closed
self.is_active = True
self.reader_thread = MediaThreadEx(self)
def __init__(self, mode):
#self.file_name = 'filename'
self.mode = mode
self.image = None
if (mode == "R"):
Rover.__init__(self)
# Receive images on another thread until closed
self.is_active = True
self.reader_thread = MediaThreadEx(self)
def __init__(self):
Rover.__init__(self)
self.d = Data()
self.userInterface = Pygame_UI()
self.clock = pygame.time.Clock()
self.FPS = 30
self.image = None
self.quit = False
self.controller = None
self.controllerType = None
self.paused = False
self.angle = None
self.treads = [0,0]
self.timeStart = time.time()
self.run()
def __init__(self):
Rover.__init__(self)
self.model = NvidiaNet()
self.model.load_weights(os.getcwd() + '/tmp.h5')
self.userInterface = Pygame_UI()
self.clock = pygame.time.Clock()
self.FPS = 30
self.image = None
self.quit = False
self.controller = None
self.controllerType = None
# angle ranges from 0 to 180 where 180 = hard left, 90 = forward and 0 = hard right
self.angle = None
self.predictedAngle = None
self.timeStart = time.time()
self.treads = [0,0]
self.run()
def __init__(self):
Rover.__init__(self)
self.d = Data()
self.userInterface = Pygame_UI()
self.clock = pygame.time.Clock()
self.FPS = 30
self.image = None
self.buttonState = 1
self.quit = False
self.controller = None
self.controllerType = None
self.canSave = False
self.paused = False
self.isReversed = False
self.isLearning = False
self.lightsOn = False
# angle ranges from 0 to 180 where 180 = hard left, 90 = forward and 0 = hard right
self.angle = None
self.treads = [0, 0]
self.timeStart = time.time()
self.run()
def __init__(self, learn=False):
Rover.__init__(self)
self.d = Data()
self.userInterface = Pygame_UI()
self.clock = pygame.time.Clock()
self.FPS = 30
self.image = None
self.quit = False
self.paused = False
self.angle = 0
self.treads = [0, 0]
self.learn = learn
self.timeStart = time.time()
fileName = glob.glob('/home/TF_Rover/RoverData/*.index')
fileName = fileName[0]
if '1frame_Color' in fileName:
self.channs = 3
self.im_method = 0
elif '3frames' in fileName:
self.channs = 3
self.im_method = 1
self.framestack = np.zeros([1, 130, 320, self.FPS])
self.stack = [0, 5, 15]
elif '1frame_Gray' in fileName:
self.channs = 1
self.im_method = 2
if self.learn:
self.n_data = np.zeros([3000, 130, 320, 3])
self.n_labels = np.zeros([3000, 1])
self.network = input_data(shape=[None, 130, 320, self.channs])
modelFind = fileName[fileName.find('_', 64, len(fileName)) + 1:-6]
self.network = globals()[modelFind](self.network)
self.model = tflearn.DNN(self.network)
self.model.load(fileName[:-6], weights_only=True)
self.run()
def __init__(self, fileName, network_name, autonomous, driver, rover, FPS,
view, save_data, framework, image_type, normalization,
norm_vals, num_out):
Rover.__init__(self)
self.FPS = FPS
self.view = view
self.speed = 0.5
self.save_data = save_data
self.userInterface = Pygame_UI(self.FPS, self.speed)
self.image = None
self.quit = False
self.angle = 0
self.autonomous = autonomous
self.image_type = image_type
self.im_shp = None
self.act = self.userInterface.action_dict['q']
#self.reward_tracker=Reward_Tracker(reward_tokens)
#self.punish_tracker=Reward_Tracker(punish_tokens)
self.rover_tracker = rover_tracker(reward_tracker, punish_tracker)
if self.autonomous is True:
if self.image_type in ['color', 'Color']:
self.im_shp = [None, 240, 320, 3]
elif self.image_type in ['framestack', 'Framestack']:
self.im_shp = [None, 130, 320, 3]
self.framestack = np.zeros([1, 130, 320, self.FPS])
self.stack = [0, 5, 15]
elif self.image_type in ['grayscale', 'gray', 'Grayscale']:
self.im_shp = [None, 130, 320, 1]
self.d = Data(driver, rover, save_data, framework, fileName,
network_name, self.im_shp, normalization, norm_vals,
num_out, self.image_type)
if self.autonomous is True:
self.d.load_network()
self.run()
