def run(self):
# Settings instance
s = Settings()
# State of autopilot
self.autopilot = False
img_wheel = cv2.imread('steering_wheel_image.jpg', 0)
img_wheel = cv2.cvtColor(img_wheel, cv2.COLOR_BGR2RGB)
functions.set_image(img_wheel.copy(), self.steering_wheel_ui)
rows, cols, _ = img_wheel.shape
keyboard.add_hotkey('shift+w', self.hotkey_callback)
start_time = functions.current_milli_time()
while AutopilotThread.running:
self.controller_thread.set_autopilot(self.autopilot)
# Get frame of game
frame_raw = ImageGrab.grab(bbox=functions.get_screen_bbox())
frame = np.uint8(frame_raw)
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# Relevant image region for steering angle prediction
main = frame[s.get_value(Settings.IMAGE_FRONT_BORDER_TOP):s.
get_value(Settings.IMAGE_FRONT_BORDER_BOTTOM),
s.get_value(Settings.IMAGE_FRONT_BORDER_LEFT):s.
get_value(Settings.IMAGE_FRONT_BORDER_RIGHT)]
# Resize the image to the size of the neural network input layer
image = scipy.misc.imresize(main, [66, 200]) / 255.0
# Let the neural network predict the new steering angle
y_eval = model.y.eval(session=self.sess,
feed_dict={
model.x: [image],
model.keep_prob: 1.0
})[0][0]
degrees = y_eval * 180 / scipy.pi
steering = int(round((degrees + 180) / 180 * 32768 /
2)) # Value for vjoy controller
# Set the value of the vjoy joystick to the predicted steering angle
if self.autopilot:
self.controller_thread.set_angle(steering)
self.statusbar.showMessage("Autopilot active, steering: " +
str(steering))
else:
self.statusbar.showMessage("Autopilot inactive")
M = cv2.getRotationMatrix2D((cols / 2, rows / 2), -degrees, 1)
dst = cv2.warpAffine(img_wheel, M, (cols, rows))
functions.set_image(dst.copy(), self.steering_wheel_ui)
functions.set_image(main.copy(), self.image_front_ui)
wait_time = functions.current_milli_time() - start_time - 40
if wait_time < 0:
time.sleep(-wait_time / 1000)
start_time = functions.current_milli_time()
keyboard.clear_hotkey('shift+w')
self.controller_thread.set_autopilot(False)
def main_logic():
### pen colors dark
keyboard.add_hotkey('alt+z',
lambda: pen_set_color(Color.light),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+v',
lambda: pen_set_color(Color.dark),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+6',
lambda: pen_set_color(Color.black),
suppress=True,
trigger_on_release=True)
### pen colors
keyboard.add_hotkey('alt+1',
lambda: pen_set_color(Color.red),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+2',
lambda: pen_set_color(Color.orange),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+3',
lambda: pen_set_color(Color.olive),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+4',
lambda: pen_set_color(Color.green),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+5',
lambda: pen_set_color(Color.blue),
suppress=True,
trigger_on_release=True)
### pen size
keyboard.add_hotkey('alt+q',
lambda: pen_set_size(1),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+w',
lambda: pen_set_size(2),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+g',
lambda: pen_set_size(3),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+h',
lambda: pen_set_size(4),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+c',
lambda: pen_set_size(5),
suppress=True,
trigger_on_release=True)
### line color
keyboard.add_hotkey('alt+b',
lambda: line_set_color(Color.red),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+a',
lambda: line_set_color(Color.orange),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+l',
lambda: line_set_color(Color.olive),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+r',
lambda: line_set_color(Color.green),
suppress=True,
trigger_on_release=True)
keyboard.add_hotkey('alt+t',
lambda: line_set_color(Color.blue),
suppress=True,
trigger_on_release=True)
### waiting for ctrl-c, control c
try:
while True:
time.sleep(5)
except KeyboardInterrupt:
pass
# clear keys
keyboard.clear_hotkey('alt+z')
keyboard.clear_hotkey('alt+v')
keyboard.clear_hotkey('alt+6')
keyboard.clear_hotkey('alt+1')
keyboard.clear_hotkey('alt+2')
keyboard.clear_hotkey('alt+3')
keyboard.clear_hotkey('alt+4')
keyboard.clear_hotkey('alt+5')
keyboard.clear_hotkey('alt+q')
keyboard.clear_hotkey('alt+w')
keyboard.clear_hotkey('alt+g')
keyboard.clear_hotkey('alt+h')
keyboard.clear_hotkey('alt+c')
keyboard.clear_hotkey('alt+b')
keyboard.clear_hotkey('alt+a')
keyboard.clear_hotkey('alt+l')
keyboard.clear_hotkey('alt+t')
keyboard.clear_hotkey('alt+r')
# Xlib.error.DisplayConnectionError: Can't connect to display ":1": b'No protocol specified\n'
# temp solution: xhost +
import keyboard
import time
import pyautogui
if __name__ == '__main__':
### record all input keys
# recorded: [] = keyboard.record(until='esc')
# print(recorded)
keyboard.add_hotkey('alt+p', lambda: pyautogui.moveRel(100, 100))
### waiting for ctrl-c, control c
try:
while True:
time.sleep(5)
except KeyboardInterrupt:
pass
keyboard.clear_hotkey('alt+p')
def run(self):
s = Settings()
d = Data(batch=True)
img_id = d.get_next_fileid()
self.recording = False
maneuver = 0 # 0 - normal, 1 - indicator left, 2 - indicator right
last_record = functions.current_milli_time()
keyboard.add_hotkey('shift+w', self.record_callback, args=[d])
while RecordingThread.running:
# Capture the whole game
frame_raw = ImageGrab.grab(bbox=functions.get_screen_bbox())
frame = np.uint8(frame_raw)
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
main = frame[s.get_value(Settings.IMAGE_FRONT_BORDER_TOP):s.
get_value(Settings.IMAGE_FRONT_BORDER_BOTTOM),
s.get_value(Settings.IMAGE_FRONT_BORDER_LEFT):s.
get_value(Settings.IMAGE_FRONT_BORDER_RIGHT)]
# gray = cv2.cvtColor(main, cv2.COLOR_BGR2GRAY)
# blur_gray = cv2.GaussianBlur(gray, (3, 3), 0)
# edges = cv2.Canny(blur_gray, 50, 150)
# dilated = cv2.dilate(edges, (3,3), iterations=2)
# Resize image to save some space (height = 100px)
ratio = main.shape[1] / main.shape[0]
resized = cv2.resize(main, (round(ratio * 100), 100))
# cv2.imshow('cap', dilated)
# cv2.imshow('resized', resized)
functions.set_image(main.copy(), self.image_front)
axis, throttle, speed = get_steering_throttle_speed()
if axis == 0:
maneuver = 0
elif axis > 0:
maneuver = 1
else:
maneuver = 2
if self.recording:
self.statusbar.showMessage(
"Recording: active | Indicator: %s" %
functions.get_indicator(maneuver))
else:
self.statusbar.showMessage(
"Recording: inactive | Indicator: %s" %
functions.get_indicator(maneuver))
# Save frame every 150ms
if self.recording:
cv2.imwrite("captured/%d.png" % img_id, resized)
d.add_image("%d.png" % img_id, axis, speed, throttle, maneuver,
self.sequence_id)
img_id += 1
# at least wait 150ms
wait_milli_time = functions.current_milli_time(
) - last_record - 150
if wait_milli_time < 0:
time.sleep(-wait_milli_time / 1000)
last_record = functions.current_milli_time()
else:
time.sleep(0.15)
keyboard.clear_hotkey('shift+w')
d.append()