# Assign default states
memory = Memory()
memory.put(['ps3_controller/brake'], True)
memory.put(['dashboard/brake'], False)
memory.put(['dashboard/driver_type'], 'user')
memory.put(['vehicle/brake'], True)
# Initialize the car
car = Vehicle(mem=memory, warm_up_seconds=cfg.WARM_UP_SECONDS, port=port)
# Consume video from a cheap webcam
camera = Camera(name='video',
output_names=['camera/image_array'],
is_localhost=is_localhost,
is_verbose=args['verbose-video'])
car.add(camera)
# Listen for user input
user_input = UserInput(name='user-input',
output_names=[
'dashboard/brake', 'dashboard/driver_type',
'dashboard/model_constant_throttle',
'remote_model/angle'
],
is_localhost=is_localhost,
is_verbose=args['verbose-user-input'])
car.add(user_input)
# Communicate with the engine
engine = Engine(name='engine',
input_names=[
def drive(cfg):
car = Vehicle()
inputs = []
# add camera
if cfg.CAMERA_TYPE == "PICAM":
cam = PiCamera(image_w=cfg.IMAGE_W,
image_h=cfg.IMAGE_H,
image_d=cfg.IMAGE_DEPTH,
framerate=cfg.CAMERA_FRAMERATE,
vflip=cfg.CAMERA_VFLIP,
hflip=cfg.CAMERA_HFLIP)
else:
raise (Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
car.add(cam, inputs=inputs, outputs=['cam/image_array'], threaded=True)
# add controller
if cfg.USE_JOYSTICK_AS_DEFAULT:
ctrl = get_js_controller(cfg)
car.add(ctrl,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
ctrl.print_controls()
# add steering and throttle
steering_controller = PCA9685(cfg.STEERING_CHANNEL,
cfg.PCA9685_I2C_ADDR,
bus_num=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,
bus_num=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)
car.add(steering, inputs=['user/angle'])
car.add(throttle, inputs=['user/throttle'])
# add tub to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']
# do we want to store new records into own dir or append to existing
tub_path = TubHandler(path=cfg.DATA_PATH).create_tub_path(
) if cfg.AUTO_CREATE_NEW_TUB else cfg.DATA_PATH
print('tub_path: ', cfg.DATA_PATH)
tub_writer = TubWriter(base_path=tub_path, inputs=inputs, types=types)
car.add(tub_writer,
inputs=inputs,
outputs=["tub/num_records"],
run_condition='recording')
if isinstance(ctrl, JoystickController):
print("You can now move your joystick to drive your car.")
ctrl.set_tub(tub_writer.tub)
car.start(rate_hz=cfg.DRIVE_LOOP_HZ)
from car.config import load_config
from car.parts.camera import Webcam
from car.parts.engine import Engine
from car.parts.web_controller.web import LocalWebController
from car.parts.datastore import DatasetHandler
# Load default settings
cfg = load_config()
# Initialize the car
car = Vehicle()
# Add a webcam
cam = Webcam(ffmpeg_host=cfg.PI_HOSTNAME)
car.add(cam, outputs=['cam/image_array'], threaded=True)
# Add a local Tornado web server to receive commands
ctr = LocalWebController()
car.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
# Add engine
engine = Engine(16, 18, 22, 19, 21, 23, ['user/angle', 'user/throttle'])
car.add(engine,
inputs=['user/angle', 'user/throttle'],
threaded=True)
# Add dataset to save data
def drive(cfg, model_path=None, use_joystick=True):
"""
Drive the car.
You will either drive to record data for training or drive to test the autonomous mode.
Either use Web controls or Joystick to control the vehicle.
If driving autonomous, give the model to load.
:param cfg: Configuration for user defined values.
:param model_path: Path to load the model.
:param use_joystick Use parameter in startup to use joystick.
"""
from car.keras import KerasRicoai
#Initialized car
V = Vehicle()
# Setup camera
cam = PiCamera()
V.add(cam, outputs=['cam/image_array'], threaded=True)
# Select if only use bluetooth PS3 controller
ctr = JoystickController(
max_throttle=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
V.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
# See if we should even run the pilot module.
# This is only needed because the part run_contion only accepts boolean
def pilot_condition(mode):
if mode == 'user':
return False
else:
return True
pilot_condition_part = Lambda(pilot_condition)
V.add(pilot_condition_part, inputs=['user/mode'], outputs=['run_pilot'])
# Load the model configuration
kl = KerasRicoai()
if model_path:
print(model_path)
kl.load(model_path)
V.add(kl,
inputs=['cam/image_array'],
outputs=['pilot/angle', 'pilot/throttle'],
run_condition='run_pilot')
# Choose what inputs should change the car.
def drive_mode(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
drive_mode_part = Lambda(drive_mode)
V.add(drive_mode_part,
inputs=[
'user/mode', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle'
],
outputs=['angle', 'throttle'])
# Configure the throttle and angle control hardware
# Calibrate min/max for steering angle
# Calibrate min/max/zero for throttle
steering_controller = PCA9685(1)
steering = PWMSteering(controller=steering_controller,
left_pulse=460,
right_pulse=260,
invert_steering_angle=cfg.INVERT_STEERING_ANGLE)
throttle_controller = PCA9685(0)
throttle = PWMThrottle(controller=throttle_controller,
max_pulse=500,
zero_pulse=370,
min_pulse=220)
V.add(steering, inputs=['angle'])
V.add(throttle, inputs=['throttle'])
# Add tub to save data
inputs = [
'cam/image_array', 'user/angle', 'user/throttle', 'pilot/angle',
'pilot/throttle', 'user/mode'
]
types = ['image_array', 'float', 'float', 'float', 'float', 'str']
th = TubHandler(path=cfg.DATA_PATH)
tub_writer = th.new_tub_writer(inputs=inputs, types=types)
V.add(tub_writer, inputs=inputs, run_condition='recording')
# Run the vehicle for 20 seconds
V.start(rate_hz=cfg.FPS, max_loop_count=100000)
print("You can now go to <your pi ip address>:8887 to drive your car.")
from car.vehicle import Vehicle
from car.config import load_config
from car.parts.camera import Webcam
from car.parts.engine import Engine
from car.parts.web_controller.web import LocalWebController
from car.parts.datastore import DatasetHandler
# Load default settings
cfg = load_config()
# Initialize the car
car = Vehicle()
# Add a webcam
cam = Webcam(ffmpeg_host=cfg.PI_HOSTNAME)
car.add(cam, outputs=['cam/image_array'], threaded=True)
# Add a local Tornado web server to receive commands
ctr = LocalWebController()
car.add(ctr,
inputs=['cam/image_array'],
outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
threaded=True)
# Add engine
engine = Engine(16, 18, 22, 19, 21, 23, ['user/angle', 'user/throttle'])
car.add(engine, inputs=['user/angle', 'user/throttle'], threaded=True)
# Add dataset to save data
inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode']
types = ['image_array', 'float', 'float', 'str']