def imageprocessor(event, serial_obj):
global g_imagedata
global g_graph
global g_lock
global g_steerstats
with g_graph.as_default():
time.sleep(1)
while not event.is_set():
g_lock.acquire()
tmpimg = np.copy(g_imageData)
g_lock.release()
immean = tmpimg.mean()
imvar = tmpimg.std()
start = time.time()
pred = model.predict(np.expand_dims(tmpimg, axis=0))
steer_command = pred[0][0] * g_steerstats[1] + g_steerstats[0]
if steer_command > 2000:
steer_command = 2000
elif steer_command < 1000:
steer_command = 1000
end = time.time()
print(end - start)
dataline = '{0}, {1}, {2}, {3}\n'.format(
commandEnum.RUN_AUTONOMOUSLY, int(steer_command), THR_MAX, 0)
print(dataline)
try:
serial_obj.write(dataline.encode('ascii'))
serial_obj.flush()
except:
print("some serial problem")
def imageprocessor(event):
global g_image_data
global g_lock
global g_graph
global g_steerstats
global g_ip_thread
global g_debug_steer_command
global g_debug_steer_change
with g_graph.as_default():
time.sleep(1)
while not event.is_set():
g_lock.acquire()
tmpimg = np.copy(g_image_data)
g_lock.release()
immean = tmpimg.mean()
imvar = tmpimg.std()
print('immean, imvar: {0}, {1}'.format(immean, imvar))
start = time.time()
pred = model.predict(np.expand_dims(tmpimg, axis=0))
end = time.time()
if (end - start) < .2:
time.sleep(.2 - (end - start))
end2 = time.time()
steer_command = pred[0][0] * g_steerstats[1] + g_steerstats[0]
# !!! must have one space after comma !!!
# if( g_debug_steer_command > 1700 ):
# g_debug_steer_change = -20
# elif( g_debug_steer_command < 1300 ):
# g_debug_steer_change = 20
# g_debug_steer_command = g_debug_steer_command + g_debug_steer_change
# steer_command = g_debug_steer_command
dataline = '{0}, {1}, {2}, {3}\n'.format(
int(commandEnum.RUN_AUTONOMOUSLY), int(steer_command),
int(DEFAULT_AUTONOMOUS_THROTTLE), int(0))
# This test is made because this thread may not know autonomous is turned off yet
if (g_Mode_Autonomous):
try:
ser.write(dataline.encode('ascii'))
print(dataline)
logging.debug('autonomous command: ' + str(dataline))
except Exception as the_bad_news:
handle_exception(the_bad_news)