class DonkeyRemoteContoller:
def __init__(self, donkey_name, mqtt_broker, sensor_size=(120, 160, 3)):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % donkey_name,
broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % donkey_name,
broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.sensor_size = sensor_size
def get_sensor_size(self):
return self.sensor_size
def wait_until_connected(self):
pass
def take_action(self, action):
self.controller_pub.run(action)
def quit(self):
self.camera_sub.shutdown()
self.controller_pub.shutdown()
def get_original_image(self):
return self.img
def observe(self):
jpg = self.camera_sub.run()
self.img = self.jpgToImg.run(jpg)
return self.img
class DonkeyRemoteContoller:
def __init__(self, donkey_name, mqtt_broker, sensor_size=(120, 160, 3)):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % donkey_name, broker=mqtt_broker)#, def_value=(np.zeros((40, 40)), {"cte": 0}))
self.controller_pub = MQTTValuePub("donkey/%s/controls" % donkey_name, broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.sensor_size = sensor_size
def get_sensor_size(self):
return self.sensor_size
def wait_until_connected(self):
pass
def take_action(self, action):
self.controller_pub.run(action)
def quit(self):
self.camera_sub.shutdown()
self.controller_pub.shutdown()
def get_original_image(self):
return self.img
def observe(self):
jpg = self.camera_sub.run()
#data = self.camera_sub.run()
# #print("State: {}".format(state))
# #jpg, info = state
self.img = self.jpgToImg.run(jpg)
# return self.img#, info
return self.img
def update(self):
import select
from donkeycar.parts.image import JpgToImgArr
self.init_video()
jpg_conv = JpgToImgArr()
while self.running:
# Wait for the device to fill the buffer.
select.select((self.video, ), (), ())
image_data = self.video.read_and_queue()
self.frame = jpg_conv.run(image_data)
class DonkeyCarSpeed:
def __init__(self, car="kari", mqtt_broker="mqtt.eclipse.org"):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % car, broker=mqtt_broker)
self.state_sub = MQTTValueSub("donkey/%s/state" % car, broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % car, broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.img = np.zeros((40, 40))
self.state = None
self.speed = 0
def observe(self):
self.img = self.jpgToImg.run(self.camera_sub.run())
self.state = self.state_sub.run()
def reset(self):
self.controller_pub.run([0, 0])
self.observe()
time.sleep(1)
return self.img
def step(self, control, step_length):
self.controller_pub.run(control)
time.sleep(step_length)
self.observe()
v = self.state["v"]
self.speed = (v[0]**2 + v[1]**2 + v[2]**2)**0.5
done = self.is_dead()
return self.img, done
def is_dead(self):
crop_height = 20
crop_width = 20
threshold = 70
pixels_percentage = 0.10
pixels_required = (self.img.shape[1] - 2 * crop_width) * crop_height * pixels_percentage
#(im[:,:,0] > threshold) & (im[:,:,1] < 150) & (im[:,:,1] < 150)
crop = self.img[-crop_height:, crop_width:-crop_width]
#gs = np.dot(crop, [0.299, 0.587, 0.114])
r = crop[:,:,0] < threshold
g = crop[:,:,1] < threshold
b = crop[:,:,2] < threshold
pixels = (r & g & b).sum()
#im = self.state[-crop_height:, crop_width:-crop_width]
#gs = (im[:,:,0] > 150) & (im[:,:,1] < 150) & (im[:,:,1] < 150)
#pixels = len(gs[gs])
#pixels = len(gs[gs < threshold])
print("Pixels: {}, Required: {}".format(pixels, pixels_required))
return pixels < pixels_required
class DonkeyRemoteEnv:
def __init__(self,
car_name="Kari",
mqtt_broker="mqtt.eclipse.org",
realsense=False,
env_type="DonkeyCar"):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % car_name,
broker=mqtt_broker)
if realsense:
self.state_sub = MQTTValueSub("donkey/%s/state" % car_name,
broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % car_name,
broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.img = np.zeros((40, 40))
self.state = None
self.speed = 0
self.realsense = realsense
self.sim = env_type != "DonkeyCar"
def observe(self):
self.img = self.jpgToImg.run(self.camera_sub.run())
if self.realsense:
self.state = self.state_sub.run()
v = self.state["v"]
self.speed = (v[0]**2 + v[1]**2 + v[2]**2)**0.5
def reset(self):
self.controller_pub.run([0, 0])
self.observe()
time.sleep(2)
return self.img
def step(self, control, step_length):
print(control)
self.controller_pub.run(control)
time.sleep(step_length)
self.observe()
done = self.is_dead_sim() if self.sim else self.is_dead_real()
return self.img, done
def is_dead_real(self):
crop_height = 20
crop_width = 20
threshold = 70
pixels_percentage = 0.10
pixels_required = (self.img.shape[1] -
2 * crop_width) * crop_height * pixels_percentage
crop = self.img[-crop_height:, crop_width:-crop_width]
r = crop[:, :, 0] < threshold
g = crop[:, :, 1] < threshold
b = crop[:, :, 2] < threshold
pixels = (r & g & b).sum()
print("Pixels: {}, Required: {}".format(pixels, pixels_required))
return pixels < pixels_required
def is_dead_sim(self):
crop_height = 40
required = 0.8
cropped = self.img[-crop_height:]
rgb = cropped[:, :, 0] > cropped[:, :, 2]
return rgb.sum() / (crop_height * 160) > required