import pymorse
import Interface
import numpy as np
from keras.models import load_model
MODEL_FILENAME = 'model.h5'
HOST = "localhost"
INTERFACE_PORT = 4000
LINEAR_SPEED = 3 #m/s
i = Interface.Interface(HOST, INTERFACE_PORT)
c = Interface.Convert()
model = load_model(MODEL_FILENAME)
with pymorse.Morse(HOST, INTERFACE_PORT) as simu:
try:
while True:
motion = simu.atrv.motion
#Get current screenshot and transform it into a numpy array.
arr = c.image_to_4d_array(i.get_image())
#Get an angle prediction from Neural network using current screenshot as input.
desired_angle = model.predict(arr, batch_size=None, steps=1)
print("Neural network Output: " + str(desired_angle))
#Send command to simulated robot
motion.publish({
"v": LINEAR_SPEED,
"w": float(desired_angle[0][0])
