logger.addHandler(file)
try:
config = Config()
secret_key = config.read("secret_key")
if not secret_key:
secret_key = "".join(
random.choice(string.ascii_uppercase + string.digits)
for _ in range(16))
config.write("secret_key", secret_key)
app.secret_key = secret_key
Storage().init()
sockets = socketio.Server()
app.wsgi_app = socketio.Middleware(sockets, app.wsgi_app)
sockets.register_namespace(Backend())
if __name__ == "__main__":
if not app.debug:
def open_in_browser():
logging.info("Application is starting...")
url = "http://127.0.0.1:" + str(port)
while True:
try:
request.urlopen(url=url)
break
except Exception:
time.sleep(0.5)
if(speed > MAX_SPEED):
limit = MIN_SPEED
else:
limit = MAX_SPEED
steering_angle = float(model.predict(image, batch_size=1))
throttle = 1.0 - steering_angle**2 - (speed/limit)**2
#------------------ only for track 2 ------------------
steering_angle *= 1.5
throttle = np.clip(1.0 - abs(steering_angle) - (speed/limit)**2, -1.0, 1.0)
if(speed < 0.4):
throttle = - throttle
elif(speed < 4):
print('ENTROU')
throttle = min(throttle + 0.3, 0.9)
#------------------
print('{} {} {}'.format(steering_angle, throttle, speed))
send_control(steering_angle, throttle)
else:
server.emit("manual", data={}, skip_sid=True)
if __name__ == '__main__':
model = load_model("models/track2_30_epochs_BN.h5")
app = socketio.Middleware(server, app)
eventlet.wsgi.server(eventlet.listen(('', 4567)), app)
@SIO.on('connect')
def on_connect(sid, data):
print('user connected ' + sid)
@SIO.on('handleLatLng')
def on_handleLatLng(sid, data):
coordinates = (data.get('lat'), data.get('lng')),
location_info = reverse_geocode.search(coordinates)[0]
country = location_info.get('country')
try:
country_info = CountryInfo(country).info()
except:
country_info = 'Unknow Country'
SIO.emit('country_info', {
'country_info': country_info,
'location_info': location_info
},
room=sid)
@SIO.on('disconnect')
def on_disconnect(sid):
print('disconnect ' + sid)
if __name__ == '__main__':
APP = socketio.Middleware(SIO, APP)
eventlet.wsgi.server(
eventlet.listen((SERVER.get('host'), SERVER.get('port'))), APP)
if not args.nginx:
nginx = RemoteComponent(config['NGINX']['address'],
config['NGINX']['port'], [Nginx])
manager = Manager(server, nginx, monitor)
modules.append(manager)
# Create our flask application
application = create_app()
if args.web:
application.register_blueprint(user_bp)
application.register_blueprint(admin_bp, url_prefix='/admin')
sockio = create_sio()
wrap = socketio.Middleware(sockio, application)
counts = gevent.spawn(sio_counts, sockio)
try:
l.info("+------------------------------------------------------+")
l.info("| Service running. Use Ctrl-C to terminate gracefully. |")
l.info("+------------------------------------------------------+")
if args.web:
service = wsgi.WSGIServer(
(config['REMU']['address'], int(config['REMU']['port'])),
wrap,
log=None)
else:
service = wsgi.WSGIServer(
def drive_sim_car(model, path_images_save, set_speed):
"""
Function wrapper to make script callable.
Inputs
----------
model: Keras sequential model
Keras model object
path_images_save: str
Path specifying where recorded images should be saved.
set_speed: int
Initial speed value for the simulator.
Outputs
-------
N/A
"""
sio = socketio.Server()
class SimplePIController:
def __init__(self, Kp, Ki):
self.Kp = Kp
self.Ki = Ki
self.set_point = 0.
self.error = 0.
self.integral = 0.
def set_desired(self, desired):
self.set_point = desired
def update(self, measurement):
# proportional error
self.error = self.set_point - measurement
# integral error
self.integral += self.error
return self.Kp * self.error + self.Ki * self.integral
@sio.on('telemetry')
def telemetry(sid, data):
if data:
# The current steering angle of the car
steering_angle = data["steering_angle"]
# The current throttle of the car
throttle = data["throttle"]
# The current speed of the car
speed = data["speed"]
# The current image from the center camera of the car
imgString = data["image"]
image = Image.open(BytesIO(base64.b64decode(imgString)))
image_array = np.asarray(image)
# Prepare image for use by a model
image_array = prepare_image(image_array)
steering_angle = float(
model.predict(image_array[None, :, :, :], batch_size=1))
throttle = controller.update(float(speed))
# Slow down on hard turns.
if abs(steering_angle) >= 0.55:
throttle = 0.1
print(steering_angle, throttle)
send_control(steering_angle, throttle)
# save frame
if path_images_save != '':
timestamp = datetime.utcnow().strftime(
'%Y_%m_%d_%H_%M_%S_%f')[:-3]
image_filename = path_join(path_images_save, timestamp)
image.save('{}.jpg'.format(image_filename))
else:
# NOTE: DON'T EDIT THIS.
sio.emit('manual', data={}, skip_sid=True)
@sio.on('connect')
def connect(sid, environ):
print("connect ", sid)
send_control(0, 0)
def send_control(steering_angle, throttle):
sio.emit("steer",
data={
'steering_angle': steering_angle.__str__(),
'throttle': throttle.__str__()
},
skip_sid=True)
app = Flask(__name__)
controller = SimplePIController(0.1, 0.002)
controller.set_desired(set_speed)
# Wrap Flask application with engineio's middleware
app = socketio.Middleware(sio, app)
# Deploy as an eventlet WSGI server
eventlet.wsgi.server(eventlet.listen(('', 4567)), app)
def send_control(steering_angle, throttle, cmd=None):
if cmd is None:
sio.emit("steer",
data={
'steering_angle': str(steering_angle),
'throttle': str(throttle)
},
skip_sid=True)
else:
sio.emit("restart", data={}, skip_sid=True)
print('restart')
car = Car(control_function=send_control)
drive = AutoDrive(car, car_training_data_collector, args.record)
@sio.on('telemetry')
def telemetry(sid, dashboard):
if dashboard:
car.on_dashboard(dashboard)
else:
sio.emit('manual', data={}, skip_sid=True)
@sio.on('connect')
def connect(sid, environ): # First time connect to car and environment
car.control(0, 0)
app = socketio.Middleware(sio, Flask(__name__))
eventlet.wsgi.server(eventlet.listen(('', 4567)), app)
# vim: set sw=4 ts=4 et :
def run(self):
app = Flask(__name__)
app.wsgi_app = socketio.Middleware(self._socket, app.wsgi_app)
app.run(threaded=True,
host=os.environ.get('SOCKET_SERVER_HOST'),
port=int(os.environ.get('SOCKET_SERVER_PORT')))
def __setup_app():
"""
Setup the flask application handler
"""
global __app
__app = socketio.Middleware(__socketio_app, __flask_app)
SIO.emit("pickup", pickup, skip_sid=True)
def exit_handle():
global GAME_ENV
ROVER_REPLAY.flush()
atexit.register(exit_handle)
if __name__ == '__main__':
assert len(sys.argv) >= 3, \
'usage: python drive_rover.py experiment_dir save_replay=[True or False]'
EXPERIMENT_DIR = sys.argv[1]
if sys.argv[2].lower() == 'true':
ROVER_REPLAY = RoverReplay(os.path.join(EXPERIMENT_DIR, 'replay'))
config = os.path.join(EXPERIMENT_DIR, 'agent_spec.cfg')
config = RoverConfig(config_path=config)
WITH_SAMPLE_LOCATION, WITH_MAP = config.with_sample_location, config.with_map
ROVER_AGENT = RoverAgent(config, debug=False)
FLASK_APP = socketio.Middleware(SIO, FLASK_APP)
eventlet.wsgi.server(eventlet.listen(('', 4567)), FLASK_APP)
def __init__(self, config, mongo):
self.app = Flask(__name__)
self.app.config['yada_config'] = config
self.app.config['yada_mongo'] = mongo
self.app.debug = True
self.app.secret_key = '23ljk2l9a08sd7f09as87df09as87df3k4j'
CORS(self.app, supports_credentials=True)
endpoints.BaseGraphView.get_base_graph = self.get_base_graph
self.app.add_url_rule(
'/transaction',
view_func=endpoints.TransactionView.as_view('transaction'),
methods=['GET', 'POST'])
self.app.add_url_rule('/get-graph-info',
view_func=endpoints.GraphView.as_view('graph'),
methods=['GET', 'POST'])
self.app.add_url_rule(
'/get-graph-sent-friend-requests',
view_func=endpoints.GraphSentFriendRequestsView.as_view(
'graphsentfriendrequests'),
methods=['GET', 'POST'])
self.app.add_url_rule(
'/get-graph-friend-requests',
view_func=endpoints.GraphFriendRequestsView.as_view(
'graphfriendrequests'),
methods=['GET', 'POST'])
self.app.add_url_rule(
'/get-graph-friends',
view_func=endpoints.GraphFriendsView.as_view('graphfriends'),
methods=['GET', 'POST'])
self.app.add_url_rule(
'/get-graph-posts',
view_func=endpoints.GraphPostsView.as_view('graphposts'),
methods=['GET', 'POST'])
self.app.add_url_rule(
'/get-graph-messages',
view_func=endpoints.GraphMessagesView.as_view('graphmessages'),
methods=['GET', 'POST'])
self.app.add_url_rule('/get-graph-new-messages',
view_func=endpoints.GraphNewMessagesView.as_view(
'graphnewmessages'),
methods=['GET', 'POST'])
self.app.add_url_rule(
'/get-graph-comments',
view_func=endpoints.GraphCommentsView.as_view('get-comments'),
methods=['POST'])
self.app.add_url_rule(
'/get-graph-reacts',
view_func=endpoints.GraphReactsView.as_view('get-reacts'),
methods=['POST'])
self.app.add_url_rule(
'/get-graph-wallet',
view_func=endpoints.RidWalletView.as_view('get-wallet'))
self.app.add_url_rule('/wallet',
view_func=endpoints.WalletView.as_view('wallet'))
self.app.add_url_rule('/faucet',
view_func=endpoints.FaucetView.as_view('faucet'))
self.app.add_url_rule(
'/pool', view_func=endpoints.MiningPoolView.as_view('pool'))
self.app.add_url_rule(
'/pool-submit',
view_func=endpoints.MiningPoolSubmitView.as_view('poolsubmit'),
methods=['GET', 'POST'])
self.app.add_url_rule(
'/pool-explorer',
view_func=endpoints.MiningPoolExplorerView.as_view(
'pool-explorer'))
self.app.add_url_rule(
'/get-block',
view_func=endpoints.GetBlockByHashView.as_view('get-block'),
methods=['GET'])
self.app.add_url_rule(
'/getblockheight',
view_func=endpoints.GetBlockHeightView.as_view('get-block-height'))
self.app.add_url_rule(
'/newtransaction',
view_func=endpoints.NewTransactionView.as_view('new-transaction'),
methods=['POST'])
self.app.add_url_rule(
'/newblock',
view_func=endpoints.NewBlockView.as_view('new-block'),
methods=['POST'])
self.app.add_url_rule(
'/get-blocks',
view_func=endpoints.GetBlocksView.as_view('get-blocks-range'))
self.app.add_url_rule(
'/create-raw-transaction',
view_func=endpoints.CreateRawTransactionView.as_view(
'create-raw-transaction'),
methods=['POST'])
self.app.add_url_rule(
'/sign-raw-transaction',
view_func=endpoints.SignRawTransactionView.as_view(
'sign-raw-transaction'),
methods=['POST'])
self.app.add_url_rule(
'/generate-wallet',
view_func=endpoints.GenerateWalletView.as_view('generate-wallet'))
self.app.add_url_rule(
'/generate-child-wallet',
view_func=endpoints.GenerateChildWalletView.as_view(
'generate-child-wallet'),
methods=['POST'])
self.app.add_url_rule(
'/explorer-search',
view_func=endpoints.ExplorerSearchView.as_view('explorer-search'))
self.app.add_url_rule(
'/get-latest-block',
view_func=endpoints.GetLatestBlockView.as_view('get-latest-block'))
self.app.add_url_rule(
'/register', view_func=endpoints.RegisterView.as_view('register'))
self.app.add_url_rule(
'/create-relationship',
view_func=endpoints.CreateRelationshipView.as_view(
'create-relationship'),
methods=['POST'])
self.app.add_url_rule('/post-fastgraph-transaction',
view_func=endpoints.PostFastGraphView.as_view(
'post-fastgraph-transaction'),
methods=['POST'])
self.app.add_url_rule(
'/yada_config.json',
view_func=endpoints.GetYadaConfigView.as_view('yada-config'))
self.app.add_url_rule(
'/login', view_func=endpoints.GetSiginCodeView.as_view('login'))
self.app.add_url_rule('/',
view_func=endpoints.HomeView.as_view('home'))
self.app.add_url_rule('/search',
view_func=endpoints.SearchView.as_view('search'))
self.app.add_url_rule('/react',
view_func=endpoints.ReactView.as_view('react'),
methods=['POST'])
self.app.add_url_rule(
'/comment-react',
view_func=endpoints.CommentReactView.as_view('comment-react'),
methods=['POST'])
self.app.add_url_rule('/get-comment-reacts',
view_func=endpoints.GetCommentReactsView.as_view(
'get-comment-reacts'),
methods=['POST'])
self.app.add_url_rule(
'/get-comment-reacts-detail',
view_func=endpoints.GetCommentReactsDetailView.as_view(
'get-comment-reacts-detail'),
methods=['POST'])
self.app.add_url_rule(
'/comment',
view_func=endpoints.CommentView.as_view('comment'),
methods=['POST'])
sio = socketio.Server(async_mode='gevent')
sio.register_namespace(endpoints.BlockchainSocketServer('/chat'))
socketio.Middleware(sio, self.app)
angle = float(model.predict(image, batch_size=1))
global speed_limit
if speed > speed_limit:
speed_limit = min_speed
else:
speed_limit = max_speed
throttle = 1.0 - ((angle**2)*1) - (speed/speed_limit)**2
throttle = throttle * 0.5
print('angle: {} throttle: {} speed: {}'.format(angle, throttle, speed))
send_control(angle, throttle)
except Exception as e:
print(e)
else:
socket.emit('manual', data={}, skip_sid=True)
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='Remote Driving')
parser.add_argument('model', type=str, help='path to model h5 file')
#parser.add_argument('images', type=str, nargs='?', default='', help='path to images')
args = parser.parse_args()
model = load_model(args.model)
app = socketio.Middleware(socket, app)
eventlet.wsgi.server(eventlet.listen(('', 4567)), app)
##################################################################################################################
import os
import sys
import json
import time
import logging
import socketio
import eventlet
import eventlet.wsgi
from flask import Flask, request, Response, render_template
sio = socketio.Server(async_mode='eventlet')
app = Flask("spheres")
app.debug = True
app.wsgi_app = socketio.Middleware(sio, app.wsgi_app)
thread = None
#log = logging.getLogger('werkzeug')
#log.disabled = True
#app.logger.disabled = True
def animate():
global the_spheres
global sphere
global options
global new_sphere
global did_split
while True:
#try:
import socketio
from gevent import pywsgi
import six
import logging
logging.basicConfig(level=logging.DEBUG)
io = socketio.Server(binary=True)
def callback(*args):
print "Client responded '%s' to welcome" % args
@io.on('connect', namespace='/chat')
def connect(sid, *args):
io.emit(u'welcome', {'some':'data'}, room=sid, callback=callback, namespace='/chat')
@io.on('hello', namespace='/chat')
def message(sid, data):
print "Received hello with '%s'" % data
app = socketio.Middleware(io)
pywsgi.WSGIServer(('', 8000), app).serve_forever()
def register(self, app, options, first_registration=False):
app.wsgi_app = socketio.Middleware(self.sio, app.wsgi_app,
self.socketio_path)
super(WebappBlueprint, self).register(app, options, first_registration)
throttle = 1.0 - speed / speed_limit
print('{} {} {}'.format(steering_angle, throttle, speed))
send_control(
steering_angle, throttle
) #after the prepossing telementory send data to send_control,then send_control sends data to simulator and run the car and send the data to the python environment
@sio.on('connect') #message, disconnect
def connect(sid, environ):
print('connected')
send_control(0, 0)
def send_control(steering_angle,
throttle): #sending the throttle value to simulator
sio.emit('steer',
data={
'steering_angle': steering_angle.__str__(),
'throttle': throttle.__str__()
})
if __name__ == '__main__':
model = load_model('model.h5')
app = socketio.Middleware(
sio,
app) #app is the server,through the server the tunnel will be opened
eventlet.wsgi.server(
eventlet.listen(('', 4567)), app
) #blank space is IPV4 address(it may change but by default it take 0.0.0.0),4567 is the server port id
nargs='?',
default='',
help=
'Path to image folder. This is where the images from the run will be saved.'
)
args = parser.parse_args()
with open(args.model, 'r') as jfile:
model = model_from_json(jfile.read())
model.compile("adam", "mse")
weights_file = args.model.replace('json', 'h5')
model.load_weights(weights_file)
if args.image_folder != '':
print("Creating image folder at {}".format(args.image_folder))
if not os.path.exists(args.image_folder):
os.makedirs(args.image_folder)
else:
shutil.rmtree(args.image_folder)
os.makedirs(args.image_folder)
print("RECORDING THIS RUN ...")
else:
print("NOT RECORDING THIS RUN ...")
# wrap Flask application with engineio's middleware
app = socketio.Middleware(sio, app)
# deploy as an eventlet WSGI server
eventlet.wsgi.server(eventlet.listen(('', 4567)), app)
def _socketio_decorator(self, wsgi):
sio = socketio.Server(async_mode="eventlet")
namespace = self.InfoNamespace(self, "/info")
sio.register_namespace(namespace)
self.bus["browser/info"] = channels.BrowserChannel(namespace=namespace)
return socketio.Middleware(sio, wsgi)
