From 6ed061920737bc1f27e275f112ec8c0460f1f944 Mon Sep 17 00:00:00 2001 From: Will Roscoe Date: Sun, 22 Jan 2017 13:40:47 -0800 Subject: [PATCH 01/19] doc updates, server updates, old cleanup' --- demos/drive_pi.py | 5 ++-- demos/serve_pilot.py | 3 ++- demos/train_model_search.py | 1 + docs/01-build_a_car.md | 2 +- docs/02-start_driving.md | 14 +++++++++- docs/99-Contribute.md | 12 +++++++++ docs/datasets.md | 24 +++++++++++++++++ donkey/models.py | 54 +------------------------------------ setup.py | 4 +-- 9 files changed, 59 insertions(+), 60 deletions(-) create mode 100644 docs/datasets.md diff --git a/demos/drive_pi.py b/demos/drive_pi.py index 8dc96b8bb..6bcdb4dcb 100644 --- a/demos/drive_pi.py +++ b/demos/drive_pi.py @@ -38,13 +38,14 @@ right_pulse=400) #asych img capture from picamera - mycamera = dk.sensors.PiVideoStream() #Get all autopilot signals from remote host mypilot = dk.remotes.RemoteClient(remote_url, vehicle_id='mycar') #Create your car your car - car = dk.vehicles.BaseVehicle(camera=mycamera, + car = dk.vehicles.BaseVehicle( + drive_loop_delay=.05, #seconds + camera=mycamera, steering_actuator=mysteering, throttle_actuator=mythrottle, pilot=mypilot) diff --git a/demos/serve_pilot.py b/demos/serve_pilot.py index 267dac282..fc83f07a3 100644 --- a/demos/serve_pilot.py +++ b/demos/serve_pilot.py @@ -8,7 +8,8 @@ #Load a trained keras model and use it in the KerasAngle pilot #model_file = '/home/wroscoe/code/donkey/whiteline_model.hdf5' -model_file = '/home/wroscoe/f8_trained' +model_file = '/home/wroscoe/donkey_data/cnn3_0finish.hdf5' + model = keras.models.load_model(model_file) pilot = dk.pilots.KerasAngle(model=model, throttle=20) diff --git a/demos/train_model_search.py b/demos/train_model_search.py index ab04abf5d..08c116199 100644 --- a/demos/train_model_search.py +++ b/demos/train_model_search.py @@ -31,6 +31,7 @@ #'norm_cnn3_full1': dk.models.norm_cnn3_full1(), 'norm_cnn3_full1': dk.models.norm_cnn3_full1(), #'cnn1_full1': dk.models.cnn1_full1(), + #'vision_2D' : dk.models.vision_2D() } diff --git a/docs/01-build_a_car.md b/docs/01-build_a_car.md index 5d88470d0..feedd7778 100644 --- a/docs/01-build_a_car.md +++ b/docs/01-build_a_car.md @@ -1,5 +1,5 @@ # Get Started -This doc will walk you through how to setup your donkey. +This doc will walk you through how make an RC car that can autonomousy folow lines, lanes and sidewalks. ## Bill of Materials. diff --git a/docs/02-start_driving.md b/docs/02-start_driving.md index 6957a7b93..cf379a787 100644 --- a/docs/02-start_driving.md +++ b/docs/02-start_driving.md @@ -16,4 +16,16 @@ Now that you have built your car, you'll want to drive it. sudo nmap -sP 192.168.1.0/24 | awk '/^Nmap/{ip=$NF}/B8:27:EB/{print ip}' ``` 3. Connect to your pi by running `ssh pi@` -4. Run the `drive_pi.py` demo script +4. Activate your python virtual environment + ``` + cd donkey + source env/bin/activate + ``` +5. Start your drive script. + ``` + python demos/drive_pi.py + ``` ` + + +#### Control your car +You can now control your car with the virtual joystic on your computer or your phone. diff --git a/docs/99-Contribute.md b/docs/99-Contribute.md index e8e7bab00..8871198ac 100644 --- a/docs/99-Contribute.md +++ b/docs/99-Contribute.md @@ -7,6 +7,18 @@ This is an opensource project to help accelerate the developement of self drivin 3. Fork the code, make your change and submit a pull request. +###Guiding Developement Principles +* **Modularity**: A self driving system is composed of standalone, independently configurable modules that can be connected modules. + +* **Minimalism**: Each component should be kept short (<100 lines of code). Each peice of code should be transparent apon first reading. No black magic, it slows the speed of innovation. + +* **Extensiblity**: New components should be simple to create by following a template. + +* **Python**: Keep it simple. + +***These guidelines are nearly copied from Keras because they are so good*** + + ## Tests Make sure all tests pass before submitting your pull request. diff --git a/docs/datasets.md b/docs/datasets.md new file mode 100644 index 000000000..8da73f5be --- /dev/null +++ b/docs/datasets.md @@ -0,0 +1,24 @@ +# Datasets + +Donkey has several builtin datasets to help users test their autopilots and confirm that they can learn from image sequences. + +## Moving Square +A single color moving square bounces around the screen. + +Outputs: +* X - 120x160px image of moving square on black background. +* Y - x and y cordinates of center of square in the image. (use options to only return x or y) + + + +## Driving Datasets + +### Line Following + + +### Lane Keeping + + +### Sidewalk + +### \ No newline at end of file diff --git a/donkey/models.py b/donkey/models.py index b02e9ed17..3908d7b16 100644 --- a/donkey/models.py +++ b/donkey/models.py @@ -6,7 +6,7 @@ """ -from keras.layers import Input, LSTM, Dense, merge +from keras.layers import Input, Dense, merge from keras.models import Model from keras.models import Sequential from keras.layers import Convolution2D, MaxPooling2D, SimpleRNN, Reshape, BatchNormalization @@ -77,58 +77,6 @@ def cnn3_full1_rnn1(): return model -def cnn1_full1(): - - img_in = Input(shape=(120, 160, 3), name='img_in') - angle_in = Input(shape=(1,), name='angle_in') - - x = Convolution2D(1, 3, 3)(img_in) - x = Activation('relu')(x) - x = MaxPooling2D(pool_size=(2, 2))(x) - - merged = Flatten()(x) - - x = Dense(32)(merged) - x = Activation('linear')(x) - x = Dropout(.05)(x) - - angle_out = Dense(1, name='angle_out')(x) - - model = Model(input=[img_in], output=[angle_out]) - model.compile(optimizer='adam', loss='mean_squared_error') - return model - - -def norm_cnn3_full1(): - - img_in = Input(shape=(120, 160, 3), name='img_in') - angle_in = Input(shape=(1,), name='angle_in') - - x = BatchNormalization()(img_in) - x = Convolution2D(8, 3, 3)(x) - x = Activation('relu')(x) - x = MaxPooling2D(pool_size=(2, 2))(x) - - x = Convolution2D(16, 3, 3)(x) - x = Activation('relu')(x) - x = MaxPooling2D(pool_size=(2, 2))(x) - - x = Convolution2D(32, 3, 3)(x) - x = Activation('relu')(x) - x = MaxPooling2D(pool_size=(2, 2))(x) - - merged = Flatten()(x) - - x = Dense(256)(merged) - x = Activation('linear')(x) - x = Dropout(.2)(x) - - angle_out = Dense(1, name='angle_out')(x) - - model = Model(input=[img_in], output=[angle_out]) - model.compile(optimizer='adam', loss='mean_squared_error') - return model - def vision_2D(dropout_frac=.2): ''' diff --git a/setup.py b/setup.py index d6bcb4dcd..fe58316a8 100644 --- a/setup.py +++ b/setup.py @@ -36,13 +36,13 @@ 'pillow', 'docopt==0.6.2', 'tornado', - 'requests' + 'requests', + 'envoy', ], extras_require={'server': [ 'keras', 'h5py', - 'envoy', 'scikit-image' ], 'pi': [ From 5a75dd4b77e501e6d5abb1e0586e5d68e7746dee Mon Sep 17 00:00:00 2001 From: Yannis Chatzikonstantinou Date: Wed, 25 Jan 2017 15:14:38 +0300 Subject: [PATCH 02/19] Implemented actuator mixer --- demos/drive_pi.py | 7 +++--- demos/drive_sim.py | 5 ++-- donkey/actuators.py | 57 ++++++++++++++++++++++++++++++++++++++------- donkey/vehicles.py | 15 ++++-------- 4 files changed, 61 insertions(+), 23 deletions(-) diff --git a/demos/drive_pi.py b/demos/drive_pi.py index 8dc96b8bb..7ff624b95 100644 --- a/demos/drive_pi.py +++ b/demos/drive_pi.py @@ -37,16 +37,17 @@ left_pulse=300, right_pulse=400) + mymixer = dk.actuators.FrontSteeringMixer(mysteering, mythrottle) + #asych img capture from picamera mycamera = dk.sensors.PiVideoStream() #Get all autopilot signals from remote host mypilot = dk.remotes.RemoteClient(remote_url, vehicle_id='mycar') - #Create your car your car + #Create your car car = dk.vehicles.BaseVehicle(camera=mycamera, - steering_actuator=mysteering, - throttle_actuator=mythrottle, + actuator_mixer=mymixer, pilot=mypilot) diff --git a/demos/drive_sim.py b/demos/drive_sim.py index 642224c42..022f6e0a9 100644 --- a/demos/drive_sim.py +++ b/demos/drive_sim.py @@ -22,12 +22,13 @@ no_steering = dk.actuators.BaseSteeringActuator() no_throttle = dk.actuators.BaseThrottleActuator() +mixer = dk.actuators.FrontSteeringMixer(no_steering, no_throttle) + remote_pilot = dk.remotes.RemoteClient('http://localhost:8887', vehicle_id='mycar') car = dk.vehicles.BaseVehicle(camera=camera_sim, - steering_actuator=no_steering, - throttle_actuator=no_throttle, + actuator_mixer=mixer, pilot=remote_pilot) #start the drive loop diff --git a/donkey/actuators.py b/donkey/actuators.py index 1810ebe3a..d986afd7e 100644 --- a/donkey/actuators.py +++ b/donkey/actuators.py @@ -24,18 +24,60 @@ def map_range(x, X_min, X_max, Y_min, Y_max): return int(y) -class BaseSteeringActuator(): - ''' Placeholder until real logic is implemented ''' +class BaseMixer(): - def update(self, angle): + def update_angle(self, angle): print('BaseSteeringActuator.update: angle=%s' %angle) -class BaseThrottleActuator(): - ''' Placeholder until real logic is implemented ''' - - def update(self, throttle): + def update_throttle(self, throttle): print('BaseThrottleActuator.update: throttle=%s' %throttle) + def update(self, angle=0, throttle=0): + '''Convenience function to update + angle and throttle at the same time''' + self.update_angle(angle) + self.update_throttle(throttle) + + +class FrontSteeringMixer(BaseActuatorMixer): + + def __init__(self, + steering_actuator=None, + throttle_actuator=None) + self.steering_actuator = steering_actuator + self.throttle_actuator = throttle_actuator + + def update_angle(self, angle): + self.steering_actuator.update_angle(angle) + + def update_throttle(self, throttle): + self.throttle_actuator.update_throttle(throttle) + + +class DifferentialSteeringMixer(BaseActuatorMixer): + + def __init__(self, + left_actuator=None, + right_actuator=None, + angle_throttle_multiplier = 1.0) + self.left_actuator = left_actuator + self.right_actuator = right_actuator + self.angle = 0 + self.throttle = 0 + self.angle_throttle_multiplier = angle_throttle_multiplier + + def update_angle(self, angle): + self.angle = angle + self.update_actuators() + + def update_throttle(self, throttle): + self.throttle = throttle + self.update_actuators() + + def update_actuators(self): + self.left_actuator.update(self.throttle - self.angle * angle_throttle_multiplier) + self.right_actuator.update(self.throttle + self.angle * angle_throttle_multiplier) + class Adafruit_PCA9685_Actuator(): @@ -73,7 +115,6 @@ def update(self, angle): self.pwm.set_pwm(self.channel, 0, pulse) - class PWMThrottleActuator(Adafruit_PCA9685_Actuator): MIN_THROTTLE = -100 diff --git a/donkey/vehicles.py b/donkey/vehicles.py index 791313da0..ad3fe1046 100644 --- a/donkey/vehicles.py +++ b/donkey/vehicles.py @@ -4,21 +4,17 @@ class BaseVehicle: def __init__(self, drive_loop_delay = .2, camera=None, - steering_actuator=None, - throttle_actuator=None, + actuator_mixer=None pilot=None): self.drive_loop_delay = drive_loop_delay #how long to wait between loops #these need tobe updated when vehicle is defined self.camera = camera - self.steering_actuator = steering_actuator - self.throttle_actuator = throttle_actuator + self.actuator_mixer = actuator_mixer self.pilot = pilot - def start(self): - start_time = time.time() angle = 0 throttle = 0 @@ -36,11 +32,10 @@ def start(self): throttle, milliseconds) - self.steering_actuator.update(angle) - pulse = self.throttle_actuator.update(throttle) + self.actuator_mixer.update_angle(angle) + pulse = self.actuator_mixer.update_throttle(throttle) print(pulse) - #print current car state print('angle: %s throttle: %s' %(angle, throttle) ) - time.sleep(self.drive_loop_delay) + time.sleep(self.drive_loop_delay) \ No newline at end of file From b1490dd40cc3e02f792d1596226da0e83415d8eb Mon Sep 17 00:00:00 2001 From: Will Roscoe Date: Fri, 27 Jan 2017 11:21:15 -0700 Subject: [PATCH 03/19] docs update and renaming --- README.md | 2 +- demos/serve_no_pilot.py | 19 ------- demos/serve_pilot.py | 24 --------- demos/train_download.py | 18 ------- demos/train_generator.py | 35 ------------ ...uild_a_car.md => 01-setup_raspberry_pi.md} | 28 ++-------- docs/build_a_car.md | 46 ++++++++++++++++ .../hardware/camera_holder.stl | Bin .../hardware/hellion_conquest-base_plates.dwg | Bin .../hardware/hellion_conquest-roll_bars.stl | Bin hardware/Camera Holder.stl | Bin 10784 -> 0 bytes .../discover.py | 8 +-- demos/drive_pi.py => scripts/drive.py | 9 ++-- scripts/munge.py | 17 ++++++ scripts/serve.py | 50 ++++++++++++++++++ demos/drive_sim.py => scripts/simulate.py | 0 {demos => scripts}/train.py | 5 ++ scripts/upload.py | 7 +++ 18 files changed, 136 insertions(+), 132 deletions(-) delete mode 100644 demos/serve_no_pilot.py delete mode 100644 demos/serve_pilot.py delete mode 100644 demos/train_download.py delete mode 100644 demos/train_generator.py rename docs/{01-build_a_car.md => 01-setup_raspberry_pi.md} (86%) create mode 100644 docs/build_a_car.md rename hardware/Adjustable Camera Holder.stl => docs/hardware/camera_holder.stl (100%) rename hardware/Top And Bottom Plate-Will Car.dwg => docs/hardware/hellion_conquest-base_plates.dwg (100%) rename hardware/Roll Cage 2nd Version.stl => docs/hardware/hellion_conquest-roll_bars.stl (100%) delete mode 100644 hardware/Camera Holder.stl rename demos/train_model_search.py => scripts/discover.py (85%) rename demos/drive_pi.py => scripts/drive.py (81%) create mode 100644 scripts/munge.py create mode 100644 scripts/serve.py rename demos/drive_sim.py => scripts/simulate.py (100%) rename {demos => scripts}/train.py (74%) create mode 100644 scripts/upload.py diff --git a/README.md b/README.md index 3d766027c..4226ec68f 100644 --- a/README.md +++ b/README.md @@ -24,7 +24,7 @@ Once you have built your car you can use it like this. 3. Go to `:8887` on your phone or computer to start driving your car. - Use the [demos](demos) to see how to record driving data, train autopilots and more. + Use the [scripts](scripts) for more tools to manipulate datasets and train autopilots. diff --git a/demos/serve_no_pilot.py b/demos/serve_no_pilot.py deleted file mode 100644 index 49974692c..000000000 --- a/demos/serve_no_pilot.py +++ /dev/null @@ -1,19 +0,0 @@ -""" -Script to start server to drive your car. -""" - -import donkey as dk - - -#setup how server will save files and which pilot to use -pilot = dk.pilots.BasePilot() - -sessions_path = '~/donkey_data/sessions' -sh = dk.sessions.SessionHandler(sessions_path=sessions_path) -session = sh.new() - -#start server -w = dk.remotes.RemoteServer(session, pilot) -w.start() - -#in a browser go to localhost:8887 to drive your car \ No newline at end of file diff --git a/demos/serve_pilot.py b/demos/serve_pilot.py deleted file mode 100644 index fc83f07a3..000000000 --- a/demos/serve_pilot.py +++ /dev/null @@ -1,24 +0,0 @@ -""" -Script to start server to drive your car. -""" - -import donkey as dk - -import keras - -#Load a trained keras model and use it in the KerasAngle pilot -#model_file = '/home/wroscoe/code/donkey/whiteline_model.hdf5' -model_file = '/home/wroscoe/donkey_data/cnn3_0finish.hdf5' - -model = keras.models.load_model(model_file) -pilot = dk.pilots.KerasAngle(model=model, throttle=20) - -#specify where sessions data should be saved -sh = dk.sessions.SessionHandler(sessions_path='~/donkey_data/sessions') -session = sh.new() - -#start server -w = dk.remotes.RemoteServer(session, pilot) -w.start() - -#in a browser go to localhost:8887 to drive your car \ No newline at end of file diff --git a/demos/train_download.py b/demos/train_download.py deleted file mode 100644 index 9ee0cbadb..000000000 --- a/demos/train_download.py +++ /dev/null @@ -1,18 +0,0 @@ -''' -Example how to download a pickled dataset from a url. -''' -import donkey as dk - - -print('Downloading file, this could take some time.) -url = 'https://s3.amazonaws.com/donkey_resources/port.pkl' -X, Y = dk.datasets.load_url(url) - -print('Loading Model.') -model = dk.models.cnn3_full1() - -print('Fitting Model.') -model.fit(X,Y, nb_epoch=10, validation_split=0.2) - - -model.save('test_model') \ No newline at end of file diff --git a/demos/train_generator.py b/demos/train_generator.py deleted file mode 100644 index a781405b8..000000000 --- a/demos/train_generator.py +++ /dev/null @@ -1,35 +0,0 @@ -""" -For large sessions that won't fit in memory you'll need to use a generator. - -This example shows how to use a generator and only save the model that has -the lowest validation loss. -""" - -import donkey as dk -from keras.callbacks import ModelCheckpoint - -#Read in pictures and velocities and create a predictor -sh = dk.sessions.SessionHandler(sessions_path='~/donkey_data/sessions/') -s = sh.load('test') - - -#split training and test data. -all_imgs = s.img_paths() -train_imgs, test_imgs = dk.utils.split_list(all_imgs, test_frac=.8, sequential=True) - -train_gen = s.load_generator(add_dim=True, img_paths=train_imgs) -test_gen = s.load_generator(add_dim=True, img_paths=test_imgs) - - -# Use a checkpoint to save best model after each epoch -filepath="best_model.hdf5" -checkpoint = ModelCheckpoint(filepath, monitor='val_loss', verbose=1, - save_best_only=True, mode='min') -callbacks_list = [checkpoint] - -#use 3 layer convolution netowrk with one fully connected -model = dk.models.cnn3_full1() - -#fit model with generator -model.fit_generator(train_gen, samples_per_epoch=70, nb_epoch=8, - validation_data=test_gen, nb_val_samples=100, callbacks=callbacks_list) \ No newline at end of file diff --git a/docs/01-build_a_car.md b/docs/01-setup_raspberry_pi.md similarity index 86% rename from docs/01-build_a_car.md rename to docs/01-setup_raspberry_pi.md index feedd7778..1bc8f6698 100644 --- a/docs/01-build_a_car.md +++ b/docs/01-setup_raspberry_pi.md @@ -1,30 +1,7 @@ -# Get Started +# Setup the Raspberry Pi This doc will walk you through how make an RC car that can autonomousy folow lines, lanes and sidewalks. -## Bill of Materials. -#### Required -* Raspberry Pi 3 B ($35) -* Raspberry Pi Camera ($15) -* Micro USB power adapter. ($9) -* USB Battery Pack ($15) -* USB Keyboard -* USB Mouse -* Monitor -* HDMI cable (to connect monitor to PI) ($7) -* Micro SD Card (campatible with Raspberry Pi) ($8) -* Servo Sheild ($15) -* RC CAR (($120-300)) - -#### Optional -* Xbox 360 Controller -* Xbox USB Adapter - - - -## Setup -These instructions are based on [Geoff Boeing's post on setting up scientific python on a Raspberry Pi](http://geoffboeing.com/2016/03/scientific-python-raspberry-pi/). - #### Boot your Raspberry Pi These instructions assume you're using Ubuntu operationg system. If you don't have Ubuntu, try using the NOOB method. @@ -40,6 +17,9 @@ These instructions assume you're using Ubuntu operationg system. If you don't ha #### Install Basic Libraries Since the RPi is not as powerful as a laptop, it can take a long time to install python packages (ie. numpy & PIL) using pip. Luckly Adafruit has precompiled these libraries into packages that can be installed via `apt-get`. +These instructions are based on [Geoff Boeing's post on setting up scientific python on a Raspberry Pi](http://geoffboeing.com/2016/03/scientific-python-raspberry-pi/). + + 1. Open a terminal (Ctrl-Alt-t) and upgrade your system packages. ``` diff --git a/docs/build_a_car.md b/docs/build_a_car.md new file mode 100644 index 000000000..371ac7c3d --- /dev/null +++ b/docs/build_a_car.md @@ -0,0 +1,46 @@ +# Build a car + +With donkey, you can build angle steering or differential steering vehicles. This document walks through how to build both types. + + +## Angle Steering +This vehicle steers uses a servo to angle its front wheles. Use these instructions if your modifying an RC car. + +### Components +* [Raspberry Pi 3 B](https://www.raspberrypi.org/products/raspberry-pi-3-model-b/) ($35) +* [Micro SD Card](https://www.sandisk.com/home/memory-cards/microsd-cards/extreme-microsd) (campatible with Raspberry Pi) ($8) +* [Raspberry Pi Camera V2](https://www.raspberrypi.org/products/camera-module-v2/) ($15) +* [Adafruit Servo Sheild](https://www.adafruit.com/product/1411) ($22) +* [USB Battery Pack](https://www.anker.com/products/A1263011) ($15) +* RC CAR (($120-300)) (car recommendations) + +### Custom Parts +These parts can be made using a 3D printer and laser cutter. +* Camera mount +* Base plate +* Roll bars + +If you don't have access to these tools you can build these components out of cardboard or foamboard. + + +### Tools Needed +* Monitor with HDMI connector +* USB Mouse +* USB Keyboard +* Soldering Iron + +**[Amazon.com Shopping List](https://www.amazon.com/gp/registry/giftlist/6XBNF1EGH97Q/ref=nav_wishlist_lists_4)** + + +### Steps +1. Setup Raspbery Pi & camera. (1 hr) +2. Solder and install the servo shield. (1 hr) +3. Assemble your vehicle. (2 hr) +4. Drive your vehicle. (30 min) +5. Train an autopilot. (30 min) +6. Load autopilot to drive car. (15 min) + + + + +## Differential Steering (slow) \ No newline at end of file diff --git a/hardware/Adjustable Camera Holder.stl b/docs/hardware/camera_holder.stl similarity index 100% rename from hardware/Adjustable Camera Holder.stl rename to docs/hardware/camera_holder.stl diff --git a/hardware/Top And Bottom Plate-Will Car.dwg b/docs/hardware/hellion_conquest-base_plates.dwg similarity index 100% rename from hardware/Top And Bottom Plate-Will Car.dwg rename to docs/hardware/hellion_conquest-base_plates.dwg diff --git a/hardware/Roll Cage 2nd Version.stl b/docs/hardware/hellion_conquest-roll_bars.stl similarity index 100% rename from hardware/Roll Cage 2nd Version.stl rename to docs/hardware/hellion_conquest-roll_bars.stl diff --git a/hardware/Camera Holder.stl b/hardware/Camera Holder.stl deleted file mode 100644 index 3700ca3bfa86c6268b5fc718a89987e8259975c5..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 10784 zcmb7~U#MJH6~<3$T8W}aqy*IBFco|$a!swEk~?QkBu=5UI0nUs60LA8Qih5`2?RZ8 ziy#yQ@gbK|<`Qon`f_OFA8Nr6-|T~EQK|R`3W9$gqL2q4uj||Etn+<)&zTaZ+;rbr z>$ktP_gZ_OJ$vqF&Og*l=I75%PJd{}{`=U@&d%iQBM&{YJhNV}k0$^3>km~`J%86X zXFvVMOJ}T!*SxAG_OoifeyN&Y{OWsBo9{21#dMrlW&~*v|2p^7?B=(h-nD*OwXnTv z-gfiY{JwYIo%AxIqSrF>A_0w8-}3nEi7&pMG}OZOs(I$YBjz%!@?QIR3!wmi<6OEo`qE^pD?>CyRlu$3W4+=spY_FQ%{`!Ztb!%fOHRyGadEI~i4|<~1P>c4vfBEybL8uqo zhdz!rM!w%?@V~DgSkBie2UXQIn%Oj01ECfrqNmLaDxqGQ|12MEcp<9ry7}UjEW(Va zG?JW{3}Y$@T9k;2f%bMny)?6l80JbXN@%_18ZlQVAAUkcyBt>3z0W;fL=`Iv7S4jM z;BwXGM9jjniKw8RN2L~yNi~XUZ^wyM6SFW>$uL(s^2k5DbWB-PMy~tZE}LoL=)NUSn~bTRTR#L6PvwrbU){aSQ**%&t~k(P0ykE-Q55B0-_ z`---qvHQa5GwU1a`C$T48J*=I+6T>@AH8RO-}^19`l=Dn*c0b-_Qcsgw)+XSD8c6n zG_L&S!@H;6cL~HRN~qV3pPicDd&-`*N#j*}a$dD3Cp6Te1fP%4c=tWs?vvkpGHEEG zUjMv!a{is8J9>>BI{|#xP5{tQixPa!L*wP6quu>$k0uQz)a&fwJLcc|)t$Y@bvwzt zY$q9Ls6`2$SD^9ivmcm!>b;*#8cL|wV;4@$@#AxK!_HUufreU?;JFJL=pQ;pyrP79 zVGPiB4U7R}freU?;Q0|6n5Q&frlEv-As3iO*FY|i6KJSK37&(YfqWzH7>5$-g_=S= zxCUwpwFM2eD8chQG*GvwUuY zmJevCMG4K*V)~Nh{IiyGXs8!+-ZeRK!|Lkqwhp187A3Ua7Sq34?f%hf7aHot+U=U0 z_=>HM7i@h%LoG_^x>-!$u=R%@Xs8$0VAtdX`iBlQ)S`s0|HTwzz*wN6UffH%CMPgY zm@jCkMG4)<7E|N`Ie~_HaZl`;oIt*jcW9_Z3EhuvuB@g|ThLH1?(JQZ6R2C%FErGm zgg#dmQ>+cF5oo9vpHW@$RO_Fbt*s`!Y-M6~;yD;?oR-l(ZvXdFhJPZ0yS)aBw?Qj` zb$-k80oOlWd-S@WKkFKwo&1DU*EsvcxfJh@5!JjT^7GYQRdpR2zcUR#A!)y^rzfYy zbd#v&jKqmNDx0gMajg2!NBj&|*Em6{o}TS+zAA}oUJ`j!Hdnvs=W6Ds*Sf}eSM~H% zo93z@s(DG|QQ64T=VqI$nV(*L9IB_M+B8?`Q!oi1hZ1>IaT>F^`myF&_3{jE5}pqw z@~HmZ*VUh;uJG9@^vcgvi|Hl-jhu+6{8Q11zOG)Ax?;bmu`9!gd>c{COCstDv{uRF zfygsH>qlLIjts^fK-5(b)x0F4t~@Fmd8!hdtD&xNXQ6tLLBGq`B#`r*$fL5kN_Ay( zHPjWNiYfse8T4`VL`A~Kp+p`Pt7P&M&2v-<`pq-ANq9b#$fLsg^H*zoNqm|}yBgk3 zJDk6dJrO&cz1zZM|LY02_t9@AM`XeToY00Cm|B? zsR#t`OF#wT79~`hwQI;#Y8;Gw@?un8yCmE~dL$}@WG|3-!uX7mIFOsdG9P>nYE%bu ze_0ZII_CsW1|^{ujf&@$l2D5hJVlj+T9n|~t|Zi=1W%kLp%x{04lW6`DB(Fmu1Z2J zN_d-9Vt(nBs>S;8zSPUi_I^(Is!}hu53S0#5o#GHiW?Th)~k1YwIhL`iXa>^eOYfF& zLys3VhFvtBHo`)Uph<8X)=^(2so%bho4d$UIS#duR)Y75W=}bpSik5m{{}|_6J=EHjepgG-+kVe{q3+v8~N}xt{O_P&2jk39Va%|Id%ru zU{sOkGMgNEN$h32fkoBV0@wMQ5ou>I2zotXQKiW2T(Y*l&>y_eu4`{khWBHxf}kZQ zte>7vM2p`|M$SGFiED6Qk*E@(mefh#FZY#_P>T}WV@g6TN^oB(3AHG}eWfJSq6GJt zl2D5h+*e9MElO}-DG9YGVQtGfvRe{rDG2*j>dK8N=j_YhbT4aL|0H}hxyRZps0`fV zL_4Yy)aES?yxcNQ^yBdE(>jcP^&69PYh*sIJyg5Bo5ozSRsOp{@Jc~sgL>-hG^5q}NQ$zOFyR2$=9<#+P8CMCgY@8qvuZZ|4cekXsI zQ)*z2BOk2%PX1b`Bv|b!5}Q%X>g`5lVg-TP?KN7&!koLs-cZ8YB>3b^V80H$jp~d2 z5k2@5ClRfCq<@pee^-LFTWWY;Bx2-vzduvk4xPP{Ws}%G4)4o}VHWIHw6|-d=V0%p zZLV4$ecUJEmNV{s`0cyTLadJ%{o2Oh7A4|-Ci{-QA3X{6;w%(VxuMrkBJO9h@91TQ zJu3Bz`yh-jo}4}oy>$)^+(vB>7L5~XQ6lvG{tE76gnIb^$7dI|d>rVP1lM5XBZ#iQ zNvmt#c-6Jv^*O&u#F)z4$UNsdTAjDZ|1ffsNgAzMl+b$1HIz^UG)S^V_jm>UUdpB}h>$zD>{|6V=45|PC diff --git a/demos/train_model_search.py b/scripts/discover.py similarity index 85% rename from demos/train_model_search.py rename to scripts/discover.py index 08c116199..77ebc423b 100644 --- a/demos/train_model_search.py +++ b/scripts/discover.py @@ -26,12 +26,8 @@ #the models we want to test models = { - #'cnn3_full1_rnn1': dk.models.cnn3_full1_rnn1(), + 'cnn3_full1_rnn1': dk.models.cnn3_full1_rnn1(), 'cnn3_full1': dk.models.cnn3_full1(), - #'norm_cnn3_full1': dk.models.norm_cnn3_full1(), - 'norm_cnn3_full1': dk.models.norm_cnn3_full1(), - #'cnn1_full1': dk.models.cnn1_full1(), - #'vision_2D' : dk.models.vision_2D() } @@ -50,7 +46,7 @@ X, Y = ds - hist = m.fit(X, Y, batch_size=32, nb_epoch=10, + hist = m.fit(X, Y, batch_size=32, nb_epoch=100, validation_split=.2, callbacks=callbacks_list) print(hist.history) diff --git a/demos/drive_pi.py b/scripts/drive.py similarity index 81% rename from demos/drive_pi.py rename to scripts/drive.py index 6bcdb4dcb..2f7ec2dd2 100644 --- a/demos/drive_pi.py +++ b/scripts/drive.py @@ -1,7 +1,7 @@ """ -Script to start controlling your car remotely via on Raspberry Pi that -constantly requests directions from a remote server. See serve_no_pilot.py -to start a server on your laptop. +Script to run on the Raspberry PI to start your vehicle's drive loop. The drive loop +will use post requests to the server specified in the remote argument. Use the +serve.py script to start the remote server. Usage: drive.py [--remote=] @@ -43,8 +43,7 @@ mypilot = dk.remotes.RemoteClient(remote_url, vehicle_id='mycar') #Create your car your car - car = dk.vehicles.BaseVehicle( - drive_loop_delay=.05, #seconds + car = dk.vehicles.BaseVehicle(drive_loop_delay=.05, #seconds camera=mycamera, steering_actuator=mysteering, throttle_actuator=mythrottle, diff --git a/scripts/munge.py b/scripts/munge.py new file mode 100644 index 000000000..fd527fde6 --- /dev/null +++ b/scripts/munge.py @@ -0,0 +1,17 @@ +""" +Script to provide commond line access to data manipulation functions. + +Usage: + munge.py [--sessions=] + + +Options: + --remote= recording session name +""" + +import donkey as dk + +dk.sessions.pickle_sessions(sessions_folder='/home/wroscoe/donkey_data/sessions/', + session_names=['ac_1130', 'ac_1150', 'ac_1240'], + #'wr_1030', 'wr_1115', 'wr_1150', 'wr_1240',] + file_path='/home/wroscoe/scale10-adam_cleaned.pkl') \ No newline at end of file diff --git a/scripts/serve.py b/scripts/serve.py new file mode 100644 index 000000000..1fd03c6fb --- /dev/null +++ b/scripts/serve.py @@ -0,0 +1,50 @@ +""" +Script to start the server to controll your car remotely via on Raspberry Pi that +constantly requests directions from a remote server. + +Usage: + serve.py [--model=] + + +Options: + --model= path to model file +""" + +import os +from docopt import docopt + +import donkey as dk + + + +# Get args. +args = docopt(__doc__) + + +model_path = args['--model'] + +if model_path is None: + #setup how server will save files and which pilot to use + print('Starting servier without a pilot.') + pilot = dk.pilots.BasePilot() + +else: + import keras + #Load a trained keras model and use it in the KerasAngle pilot + #model_file = '/home/wroscoe/code/donkey/whiteline_model.hdf5' + model_file = model_path + + model = keras.models.load_model(model_file) + pilot = dk.pilots.KerasAngle(model=model, throttle=20) + + +sessions_path = '~/donkey_data/sessions' +sh = dk.sessions.SessionHandler(sessions_path=sessions_path) +session = sh.new() + +#start server +w = dk.remotes.RemoteServer(session, pilot) +w.start() + +#in a browser go to localhost:8887 to drive your car + diff --git a/demos/drive_sim.py b/scripts/simulate.py similarity index 100% rename from demos/drive_sim.py rename to scripts/simulate.py diff --git a/demos/train.py b/scripts/train.py similarity index 74% rename from demos/train.py rename to scripts/train.py index 31959708b..ec8882b6a 100644 --- a/demos/train.py +++ b/scripts/train.py @@ -16,6 +16,11 @@ #X, Y = dk.datasets.moving_square(n_frames=2000, return_x=True, return_y=False) +print('Downloading file, this could take some time.) +url = 'https://s3.amazonaws.com/donkey_resources/port.pkl' +X, Y = dk.datasets.load_url(url) + +print('Loading Model.') model = dk.models.cnn3_full1() diff --git a/scripts/upload.py b/scripts/upload.py new file mode 100644 index 000000000..de1854714 --- /dev/null +++ b/scripts/upload.py @@ -0,0 +1,7 @@ +import donkey as dk + +sess + +dk.sessions.pickle_sessions(sessions_folder='/home/wroscoe/donkey_data/sessions/', + session_names=['f8'], + file_path='/home/wroscoe/f8.pkl') \ No newline at end of file From 02aa9d8a3b511eab9d727990c5ee06fc185f5b10 Mon Sep 17 00:00:00 2001 From: Will Roscoe Date: Fri, 27 Jan 2017 11:29:25 -0700 Subject: [PATCH 04/19] update build docs --- docs/01-0-build_a_car.md | 121 ++++++++++++++++++ ...berry_pi.md => 01-1-setup_raspberry_pi.md} | 0 docs/build_a_car.md | 46 ------- 3 files changed, 121 insertions(+), 46 deletions(-) create mode 100644 docs/01-0-build_a_car.md rename docs/{01-setup_raspberry_pi.md => 01-1-setup_raspberry_pi.md} (100%) delete mode 100644 docs/build_a_car.md diff --git a/docs/01-0-build_a_car.md b/docs/01-0-build_a_car.md new file mode 100644 index 000000000..71a400031 --- /dev/null +++ b/docs/01-0-build_a_car.md @@ -0,0 +1,121 @@ +# Build a Donkey Vehicle + +With donkey, you can build angle steering or differential steering vehicles. This document walks through how to build both types. + + +## Angle Steering Vehicle +This vehicle steers uses a servo to angle its front wheles. Use these instructions if your modifying an RC car. + +#### Components +* [Raspberry Pi 3 B](https://www.raspberrypi.org/products/raspberry-pi-3-model-b/) ($35) +* [Micro SD Card](https://www.sandisk.com/home/memory-cards/microsd-cards/extreme-microsd) (campatible with Raspberry Pi) ($8) +* [Raspberry Pi Camera V2](https://www.raspberrypi.org/products/camera-module-v2/) ($15) +* [Adafruit Servo Sheild](https://www.adafruit.com/product/1411) ($22) +* [USB Battery Pack](https://www.anker.com/products/A1263011) ($15) +* RC CAR (($120-300)) (car recommendations) + +**[Amazon.com Shopping List](https://www.amazon.com/gp/registry/giftlist/6XBNF1EGH97Q/ref=nav_wishlist_lists_4)** + +#### Custom Parts +These parts can be made using a 3D printer and laser cutter. ***If you don't have access to these tools you can build these components out of cardboard or foamboard.*** +* Camera mount +* Base plate +* Roll bars + +#### Tools Needed +* Monitor with HDMI connector +* USB Mouse +* USB Keyboard +* Soldering Iron + + + +#### Steps +1. [Setup Raspbery Pi & Pi Camera](01-1-setup_raspberry_pi.md) (1 hr) +2. Solder and install the servo shield. (1 hr) +3. Assemble your vehicle. (2 hr) +4. Drive your vehicle. (30 min) +5. Train an autopilot. (30 min) +6. Load autopilot to drive car. (15 min) + +### Setup the Raspberry Pi +This doc will walk you through how make an RC car that can autonomousy folow lines, lanes and sidewalks. + + +#### Boot your Raspberry Pi +These instructions assume you're using Ubuntu operationg system. If you don't have Ubuntu, try using the NOOB method. + +1. Download recent Disk image. I use Jessie. +2. Extract disk image from zip file. +3. Open Ubuntu's "Startup Disk Creator" application. +4. Insert micro usb disk via a usb adapter. This disk should show up in the Startup Disk Creator app. +5. Select your RPi .img file and click create disk. +6. Once the img has been created, take the SD card from your computer and put it in your RPi. +7. Connect your Monitor with your HDMI cable, your mouse and keyboard and then finally power up the RPi by plugging in the Micro USB power adaptor. + + +#### Install Basic Libraries +Since the RPi is not as powerful as a laptop, it can take a long time to install python packages (ie. numpy & PIL) using pip. Luckly Adafruit has precompiled these libraries into packages that can be installed via `apt-get`. + + +1. Open a terminal (Ctrl-Alt-t) and upgrade your system packages. + + ``` + sudo apt-get update + sudo apt-get upgrade + ``` +2. Save These initial conditions. + + ``` + dpkg -l > ~/Desktop/packages.list + pip freeze > ~/Desktop/pip-freeze-initial.list + ``` + +3. Install the necessary libraries + + ``` + sudo apt-get install xsel xclip libxml2-dev libxslt-dev libzmq-dev libspatialindex-dev virtualenv + ``` +4. Pandas & Jupyter Requirements + ``` + sudo apt-get install python3-lxml python3-h5py python3-numexpr python3-dateutil python3-tz python3-bs4 python3-xlrd python3-tables python3-sqlalchemy python3-xlsxwriter python3-httplib2 python3-zmq + ``` +5. Scientific Python + ``` + sudo apt-get install python3-numpy python3-matplotlib python3-scipy python3-pandas + ``` + +#### Install your Camera +Follow the instructions [here](https://www.raspberrypi.org/learning/getting-started-with-picamera/worksheet/). + + +1. Connect your camera to the RPi. +2. Enable your camera in the Menu > Preferences > Raspberry Pi Config +3. Restart your Pi. `sudo reboot` + + +#### Connect your servo sheild. + +1. Assemble and test your servo shield with the instructions given by Adafruit. + + +#### Install Donkey + + +clone repo & create virtual env + +``` +mkdir code +cd code +git clone http://github.com/wroscoe/donkey.git + +mkdir car +cd car +virtualenv --system-site-packages -p python3 env +source env/bin/activate +pip install -e ../donkey[pi] +``` + + + +## Differential Steering Vehicle (slow) \ No newline at end of file diff --git a/docs/01-setup_raspberry_pi.md b/docs/01-1-setup_raspberry_pi.md similarity index 100% rename from docs/01-setup_raspberry_pi.md rename to docs/01-1-setup_raspberry_pi.md diff --git a/docs/build_a_car.md b/docs/build_a_car.md deleted file mode 100644 index 371ac7c3d..000000000 --- a/docs/build_a_car.md +++ /dev/null @@ -1,46 +0,0 @@ -# Build a car - -With donkey, you can build angle steering or differential steering vehicles. This document walks through how to build both types. - - -## Angle Steering -This vehicle steers uses a servo to angle its front wheles. Use these instructions if your modifying an RC car. - -### Components -* [Raspberry Pi 3 B](https://www.raspberrypi.org/products/raspberry-pi-3-model-b/) ($35) -* [Micro SD Card](https://www.sandisk.com/home/memory-cards/microsd-cards/extreme-microsd) (campatible with Raspberry Pi) ($8) -* [Raspberry Pi Camera V2](https://www.raspberrypi.org/products/camera-module-v2/) ($15) -* [Adafruit Servo Sheild](https://www.adafruit.com/product/1411) ($22) -* [USB Battery Pack](https://www.anker.com/products/A1263011) ($15) -* RC CAR (($120-300)) (car recommendations) - -### Custom Parts -These parts can be made using a 3D printer and laser cutter. -* Camera mount -* Base plate -* Roll bars - -If you don't have access to these tools you can build these components out of cardboard or foamboard. - - -### Tools Needed -* Monitor with HDMI connector -* USB Mouse -* USB Keyboard -* Soldering Iron - -**[Amazon.com Shopping List](https://www.amazon.com/gp/registry/giftlist/6XBNF1EGH97Q/ref=nav_wishlist_lists_4)** - - -### Steps -1. Setup Raspbery Pi & camera. (1 hr) -2. Solder and install the servo shield. (1 hr) -3. Assemble your vehicle. (2 hr) -4. Drive your vehicle. (30 min) -5. Train an autopilot. (30 min) -6. Load autopilot to drive car. (15 min) - - - - -## Differential Steering (slow) \ No newline at end of file From 431c0068159180500819dc53fb519f2c78d71226 Mon Sep 17 00:00:00 2001 From: Will Roscoe Date: Fri, 27 Jan 2017 12:12:03 -0700 Subject: [PATCH 05/19] update docs --- docs/01-0-build_a_car.md | 43 +++++++++++++++++++++++++++------------- 1 file changed, 29 insertions(+), 14 deletions(-) diff --git a/docs/01-0-build_a_car.md b/docs/01-0-build_a_car.md index 71a400031..071678573 100644 --- a/docs/01-0-build_a_car.md +++ b/docs/01-0-build_a_car.md @@ -2,9 +2,19 @@ With donkey, you can build angle steering or differential steering vehicles. This document walks through how to build both types. +#### Steps +1. [Get Parts](#1.-get-parts) +2. [Setup Raspbery Pi](#2.-setup-raspberry-pi) (30 min) +3. [Install Pi Camera](#3.-install-pi-camera) (15 min) +4. [Solder and install motor shield](#4.-solder-and-install-motor-shield) (30 min) +5. [Install Donkey](#5.-install-donkey) +6. [Assemble vehicle](#6.-assemble-vehicle) (2 hr) +7. Drive your vehicle. (30 min) +8. Train an autopilot. (30 min) +9. Load autopilot to drive car. (15 min) + -## Angle Steering Vehicle -This vehicle steers uses a servo to angle its front wheles. Use these instructions if your modifying an RC car. +### 1. Get Parts #### Components * [Raspberry Pi 3 B](https://www.raspberrypi.org/products/raspberry-pi-3-model-b/) ($35) @@ -30,15 +40,9 @@ These parts can be made using a 3D printer and laser cutter. ***If you don't hav -#### Steps -1. [Setup Raspbery Pi & Pi Camera](01-1-setup_raspberry_pi.md) (1 hr) -2. Solder and install the servo shield. (1 hr) -3. Assemble your vehicle. (2 hr) -4. Drive your vehicle. (30 min) -5. Train an autopilot. (30 min) -6. Load autopilot to drive car. (15 min) - -### Setup the Raspberry Pi + + +### 2. Setup Raspberry Pi This doc will walk you through how make an RC car that can autonomousy folow lines, lanes and sidewalks. @@ -85,7 +89,7 @@ Since the RPi is not as powerful as a laptop, it can take a long time to install sudo apt-get install python3-numpy python3-matplotlib python3-scipy python3-pandas ``` -#### Install your Camera +### 3. Install Pi Camera Follow the instructions [here](https://www.raspberrypi.org/learning/getting-started-with-picamera/worksheet/). @@ -94,12 +98,13 @@ Follow the instructions [here](https://www.raspberrypi.org/learning/getting-star 3. Restart your Pi. `sudo reboot` -#### Connect your servo sheild. +###4. Solder and Install Motor Sheild 1. Assemble and test your servo shield with the instructions given by Adafruit. -#### Install Donkey + +###5. Install Donkey clone repo & create virtual env @@ -117,5 +122,15 @@ pip install -e ../donkey[pi] ``` +###6. Assemble Vehicle + +This section explains how to create the custom structural components for your vehicle and use them to securely attach your camera, pi and battery. + +#### Create Custom Parts +1. **Base Plate** The base plate is the structural member that provides a flat surface to attach the Pi, battery and camera. +2. **Camera Mount** The camera mount holds the Pi Camera at the correct height and angle. +3. **Roll Bars** Protective bars to prevent damage to your camera and electronics. + + ## Differential Steering Vehicle (slow) \ No newline at end of file From a40de5addfbf4a0363de881a336ba26acde00266 Mon Sep 17 00:00:00 2001 From: Will Roscoe Date: Fri, 27 Jan 2017 23:13:57 -0700 Subject: [PATCH 06/19] docs updates --- docs/01-1-setup_raspberry_pi.md | 81 ------------------- docs/01-build_a_car.md | 3 + .../README.md} | 0 3 files changed, 3 insertions(+), 81 deletions(-) delete mode 100644 docs/01-1-setup_raspberry_pi.md create mode 100644 docs/01-build_a_car.md rename docs/{Mechanical_Hardware_Instructions.md => hardware/README.md} (100%) diff --git a/docs/01-1-setup_raspberry_pi.md b/docs/01-1-setup_raspberry_pi.md deleted file mode 100644 index 1bc8f6698..000000000 --- a/docs/01-1-setup_raspberry_pi.md +++ /dev/null @@ -1,81 +0,0 @@ -# Setup the Raspberry Pi -This doc will walk you through how make an RC car that can autonomousy folow lines, lanes and sidewalks. - - -#### Boot your Raspberry Pi -These instructions assume you're using Ubuntu operationg system. If you don't have Ubuntu, try using the NOOB method. - -1. Download recent Disk image. I use Jessie. -2. Extract disk image from zip file. -3. Open Ubuntu's "Startup Disk Creator" application. -4. Insert micro usb disk via a usb adapter. This disk should show up in the Startup Disk Creator app. -5. Select your RPi .img file and click create disk. -6. Once the img has been created, take the SD card from your computer and put it in your RPi. -7. Connect your Monitor with your HDMI cable, your mouse and keyboard and then finally power up the RPi by plugging in the Micro USB power adaptor. - - -#### Install Basic Libraries -Since the RPi is not as powerful as a laptop, it can take a long time to install python packages (ie. numpy & PIL) using pip. Luckly Adafruit has precompiled these libraries into packages that can be installed via `apt-get`. - -These instructions are based on [Geoff Boeing's post on setting up scientific python on a Raspberry Pi](http://geoffboeing.com/2016/03/scientific-python-raspberry-pi/). - - -1. Open a terminal (Ctrl-Alt-t) and upgrade your system packages. - - ``` - sudo apt-get update - sudo apt-get upgrade - ``` -2. Save These initial conditions. - - ``` - dpkg -l > ~/Desktop/packages.list - pip freeze > ~/Desktop/pip-freeze-initial.list - ``` - -3. Install the necessary libraries - - ``` - sudo apt-get install xsel xclip libxml2-dev libxslt-dev libzmq-dev libspatialindex-dev virtualenv - ``` -4. Pandas & Jupyter Requirements - ``` - sudo apt-get install python3-lxml python3-h5py python3-numexpr python3-dateutil python3-tz python3-bs4 python3-xlrd python3-tables python3-sqlalchemy python3-xlsxwriter python3-httplib2 python3-zmq - ``` -5. Scientific Python - ``` - sudo apt-get install python3-numpy python3-matplotlib python3-scipy python3-pandas - ``` - -#### Install your Camera -Follow the instructions [here](https://www.raspberrypi.org/learning/getting-started-with-picamera/worksheet/). - - -1. Connect your camera to the RPi. -2. Enable your camera in the Menu > Preferences > Raspberry Pi Config -3. Restart your Pi. `sudo reboot` - - -#### Connect your servo sheild. - -1. Assemble and test your servo shield with the instructions given by Adafruit. - - -#### Install Donkey - - -clone repo & create virtual env - -``` -mkdir code -cd code -git clone http://github.com/wroscoe/donkey.git - -mkdir car -cd car -virtualenv --system-site-packages -p python3 env -source env/bin/activate -pip install -e ../donkey[pi] -``` - - diff --git a/docs/01-build_a_car.md b/docs/01-build_a_car.md new file mode 100644 index 000000000..20c137061 --- /dev/null +++ b/docs/01-build_a_car.md @@ -0,0 +1,3 @@ +# Build a donkey vehicle. + +Anyone can build their own robocar that runs Donkey. Once you have the parts it will take ~4hrs to start driving. See the [detailed instructions](https://docs.google.com/document/d/11IPqZcDcLTd2mtYaR5ONpDxFgL9Y1nMNTDvEarST8Wk/edit). \ No newline at end of file diff --git a/docs/Mechanical_Hardware_Instructions.md b/docs/hardware/README.md similarity index 100% rename from docs/Mechanical_Hardware_Instructions.md rename to docs/hardware/README.md From ebe83ae5854909a9eec75369ea56750b1cc90460 Mon Sep 17 00:00:00 2001 From: Yannis Chatzikonstantinou Date: Sat, 28 Jan 2017 15:11:44 +0300 Subject: [PATCH 07/19] Fixed syntax --- donkey/vehicles.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/donkey/vehicles.py b/donkey/vehicles.py index ad3fe1046..dc21c8c00 100644 --- a/donkey/vehicles.py +++ b/donkey/vehicles.py @@ -4,7 +4,7 @@ class BaseVehicle: def __init__(self, drive_loop_delay = .2, camera=None, - actuator_mixer=None + actuator_mixer=None, pilot=None): self.drive_loop_delay = drive_loop_delay #how long to wait between loops From 78f15e85fdfa55f19c47169c7518321119e4dae2 Mon Sep 17 00:00:00 2001 From: Yannis Chatzikonstantinou Date: Sat, 28 Jan 2017 15:12:07 +0300 Subject: [PATCH 08/19] Fixed syntax --- demos/train_download.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/demos/train_download.py b/demos/train_download.py index 9ee0cbadb..6b9bd22ec 100644 --- a/demos/train_download.py +++ b/demos/train_download.py @@ -4,7 +4,7 @@ import donkey as dk -print('Downloading file, this could take some time.) +print('Downloading file, this could take some time.') url = 'https://s3.amazonaws.com/donkey_resources/port.pkl' X, Y = dk.datasets.load_url(url) From 19e5d6052acc0864ea7ebbceafcef75e2561290a Mon Sep 17 00:00:00 2001 From: Yannis Chatzikonstantinou Date: Sat, 28 Jan 2017 15:12:53 +0300 Subject: [PATCH 09/19] Separated mixers and actuators into different files; added an additional hardware abstraction layer for actuators --- demos/drive_pi.py | 6 ++- donkey/__init__.py | 1 + donkey/actuators.py | 93 ++++++--------------------------------------- donkey/mixers.py | 57 +++++++++++++++++++++++++++ 4 files changed, 73 insertions(+), 84 deletions(-) create mode 100644 donkey/mixers.py diff --git a/demos/drive_pi.py b/demos/drive_pi.py index 7ff624b95..44a5b5622 100644 --- a/demos/drive_pi.py +++ b/demos/drive_pi.py @@ -26,14 +26,16 @@ remote_url = args['--remote'] + mythrottlecontroller = PCA9685_Controller(channel=0) + mysteeringcontroller = PCA9685_Controller(channel=1) #Set up your PWM values for your steering and throttle actuator here. - mythrottle = dk.actuators.PWMThrottleActuator(channel=0, + mythrottle = dk.actuators.PWMThrottleActuator(controller=mythrottlecontroller, min_pulse=280, max_pulse=490, zero_pulse=350) - mysteering = dk.actuators.PWMSteeringActuator(channel=1, + mysteering = dk.actuators.PWMSteeringActuator(controller=mysteeringcontroller, left_pulse=300, right_pulse=400) diff --git a/donkey/__init__.py b/donkey/__init__.py index 695b2159a..da2339ce0 100644 --- a/donkey/__init__.py +++ b/donkey/__init__.py @@ -8,6 +8,7 @@ remotes, sensors, actuators, + mixers, vehicles, pilots, templates,) diff --git a/donkey/actuators.py b/donkey/actuators.py index d986afd7e..47b8ef045 100644 --- a/donkey/actuators.py +++ b/donkey/actuators.py @@ -7,8 +7,6 @@ # Import the PCA9685 module. - - # Uncomment to enable debug output. #import logging #logging.basicConfig(level=logging.DEBUG) @@ -23,86 +21,32 @@ def map_range(x, X_min, X_max, Y_min, Y_max): return int(y) +class Dummy_Controller: -class BaseMixer(): - - def update_angle(self, angle): - print('BaseSteeringActuator.update: angle=%s' %angle) - - def update_throttle(self, throttle): - print('BaseThrottleActuator.update: throttle=%s' %throttle) - - def update(self, angle=0, throttle=0): - '''Convenience function to update - angle and throttle at the same time''' - self.update_angle(angle) - self.update_throttle(throttle) - - -class FrontSteeringMixer(BaseActuatorMixer): - - def __init__(self, - steering_actuator=None, - throttle_actuator=None) - self.steering_actuator = steering_actuator - self.throttle_actuator = throttle_actuator - - def update_angle(self, angle): - self.steering_actuator.update_angle(angle) - - def update_throttle(self, throttle): - self.throttle_actuator.update_throttle(throttle) - - -class DifferentialSteeringMixer(BaseActuatorMixer): - - def __init__(self, - left_actuator=None, - right_actuator=None, - angle_throttle_multiplier = 1.0) - self.left_actuator = left_actuator - self.right_actuator = right_actuator - self.angle = 0 - self.throttle = 0 - self.angle_throttle_multiplier = angle_throttle_multiplier - - def update_angle(self, angle): - self.angle = angle - self.update_actuators() - - def update_throttle(self, throttle): - self.throttle = throttle - self.update_actuators() - - def update_actuators(self): - self.left_actuator.update(self.throttle - self.angle * angle_throttle_multiplier) - self.right_actuator.update(self.throttle + self.angle * angle_throttle_multiplier) - - -class Adafruit_PCA9685_Actuator(): + def __init__(self, channel, frequency): + pass +class PCA9685_Controller: + # Init with 60hz frequency by default, good for servos. def __init__(self, channel, frequency=60): import Adafruit_PCA9685 # Initialise the PCA9685 using the default address (0x40). self.pwm = Adafruit_PCA9685.PCA9685() - # Set frequency to 60hz, good for servos. self.pwm.set_pwm_freq(frequency) self.channel = channel -class PWMSteeringActuator(Adafruit_PCA9685_Actuator): - +class PWMSteeringActuator: #max angle wheels can turn LEFT_ANGLE = -45 RIGHT_ANGLE = 45 - def __init__(self, channel=1, - frequency=60, + def __init__(self, controller=None, left_pulse=290, right_pulse=490): - super().__init__(channel, frequency) + self.controller = controller self.left_pulse = left_pulse self.right_pulse = right_pulse @@ -112,16 +56,15 @@ def update(self, angle): self.LEFT_ANGLE, self.RIGHT_ANGLE, self.left_pulse, self.right_pulse) - self.pwm.set_pwm(self.channel, 0, pulse) + self.controller.pwm.set_pwm(self.channel, 0, pulse) -class PWMThrottleActuator(Adafruit_PCA9685_Actuator): +class PWMThrottleActuator: MIN_THROTTLE = -100 MAX_THROTTLE = 100 - def __init__(self, channel=0, - frequency=60, + def __init__(self, controller=None, max_pulse=300, min_pulse=490, zero_pulse=350): @@ -155,17 +98,3 @@ def update(self, throttle): sys.stdout.flush() self.pwm.set_pwm(self.channel, 0, pulse) return '123' - - - - - - - - - - - - - - diff --git a/donkey/mixers.py b/donkey/mixers.py new file mode 100644 index 000000000..b66515f17 --- /dev/null +++ b/donkey/mixers.py @@ -0,0 +1,57 @@ +import time +import sys +import actuators + +class BaseMixer(): + + def update_angle(self, angle): + print('BaseSteeringActuator.update: angle=%s' %angle) + + def update_throttle(self, throttle): + print('BaseThrottleActuator.update: throttle=%s' %throttle) + + def update(self, angle=0, throttle=0): + '''Convenience function to update + angle and throttle at the same time''' + self.update_angle(angle) + self.update_throttle(throttle) + + +class FrontSteeringMixer(BaseActuatorMixer): + + def __init__(self, + steering_actuator=None, + throttle_actuator=None): + self.steering_actuator = steering_actuator + self.throttle_actuator = throttle_actuator + + def update_angle(self, angle): + self.steering_actuator.update_angle(angle) + + def update_throttle(self, throttle): + self.throttle_actuator.update_throttle(throttle) + + +class DifferentialSteeringMixer(BaseActuatorMixer): + + def __init__(self, + left_actuator=None, + right_actuator=None, + angle_throttle_multiplier = 1.0): + self.left_actuator = left_actuator + self.right_actuator = right_actuator + self.angle = 0 + self.throttle = 0 + self.angle_throttle_multiplier = angle_throttle_multiplier + + def update_angle(self, angle): + self.angle = angle + self.update_actuators() + + def update_throttle(self, throttle): + self.throttle = throttle + self.update_actuators() + + def update_actuators(self): + self.left_actuator.update(self.throttle - self.angle * angle_throttle_multiplier) + self.right_actuator.update(self.throttle + self.angle * angle_throttle_multiplier) From 0441f917b0f2fcfb615264b02746c10fb37360b1 Mon Sep 17 00:00:00 2001 From: Will Roscoe Date: Sat, 28 Jan 2017 11:35:15 -0700 Subject: [PATCH 10/19] moved hardware folder --- docs/01-0-build_a_car.md | 136 ------------------ .../hardware/hellion_conquest-top_plate.dwg | Bin .../hardware/trooper-top_plate.dxf | 0 3 files changed, 136 deletions(-) delete mode 100644 docs/01-0-build_a_car.md rename Hardware/Car Top Plate - Helion Conquest.dwg => docs/hardware/hellion_conquest-top_plate.dwg (100%) rename Hardware/Car Top Plate - Trooper.dxf => docs/hardware/trooper-top_plate.dxf (100%) diff --git a/docs/01-0-build_a_car.md b/docs/01-0-build_a_car.md deleted file mode 100644 index 071678573..000000000 --- a/docs/01-0-build_a_car.md +++ /dev/null @@ -1,136 +0,0 @@ -# Build a Donkey Vehicle - -With donkey, you can build angle steering or differential steering vehicles. This document walks through how to build both types. - -#### Steps -1. [Get Parts](#1.-get-parts) -2. [Setup Raspbery Pi](#2.-setup-raspberry-pi) (30 min) -3. [Install Pi Camera](#3.-install-pi-camera) (15 min) -4. [Solder and install motor shield](#4.-solder-and-install-motor-shield) (30 min) -5. [Install Donkey](#5.-install-donkey) -6. [Assemble vehicle](#6.-assemble-vehicle) (2 hr) -7. Drive your vehicle. (30 min) -8. Train an autopilot. (30 min) -9. Load autopilot to drive car. (15 min) - - -### 1. Get Parts - -#### Components -* [Raspberry Pi 3 B](https://www.raspberrypi.org/products/raspberry-pi-3-model-b/) ($35) -* [Micro SD Card](https://www.sandisk.com/home/memory-cards/microsd-cards/extreme-microsd) (campatible with Raspberry Pi) ($8) -* [Raspberry Pi Camera V2](https://www.raspberrypi.org/products/camera-module-v2/) ($15) -* [Adafruit Servo Sheild](https://www.adafruit.com/product/1411) ($22) -* [USB Battery Pack](https://www.anker.com/products/A1263011) ($15) -* RC CAR (($120-300)) (car recommendations) - -**[Amazon.com Shopping List](https://www.amazon.com/gp/registry/giftlist/6XBNF1EGH97Q/ref=nav_wishlist_lists_4)** - -#### Custom Parts -These parts can be made using a 3D printer and laser cutter. ***If you don't have access to these tools you can build these components out of cardboard or foamboard.*** -* Camera mount -* Base plate -* Roll bars - -#### Tools Needed -* Monitor with HDMI connector -* USB Mouse -* USB Keyboard -* Soldering Iron - - - - - -### 2. Setup Raspberry Pi -This doc will walk you through how make an RC car that can autonomousy folow lines, lanes and sidewalks. - - -#### Boot your Raspberry Pi -These instructions assume you're using Ubuntu operationg system. If you don't have Ubuntu, try using the NOOB method. - -1. Download recent Disk image. I use Jessie. -2. Extract disk image from zip file. -3. Open Ubuntu's "Startup Disk Creator" application. -4. Insert micro usb disk via a usb adapter. This disk should show up in the Startup Disk Creator app. -5. Select your RPi .img file and click create disk. -6. Once the img has been created, take the SD card from your computer and put it in your RPi. -7. Connect your Monitor with your HDMI cable, your mouse and keyboard and then finally power up the RPi by plugging in the Micro USB power adaptor. - - -#### Install Basic Libraries -Since the RPi is not as powerful as a laptop, it can take a long time to install python packages (ie. numpy & PIL) using pip. Luckly Adafruit has precompiled these libraries into packages that can be installed via `apt-get`. - - -1. Open a terminal (Ctrl-Alt-t) and upgrade your system packages. - - ``` - sudo apt-get update - sudo apt-get upgrade - ``` -2. Save These initial conditions. - - ``` - dpkg -l > ~/Desktop/packages.list - pip freeze > ~/Desktop/pip-freeze-initial.list - ``` - -3. Install the necessary libraries - - ``` - sudo apt-get install xsel xclip libxml2-dev libxslt-dev libzmq-dev libspatialindex-dev virtualenv - ``` -4. Pandas & Jupyter Requirements - ``` - sudo apt-get install python3-lxml python3-h5py python3-numexpr python3-dateutil python3-tz python3-bs4 python3-xlrd python3-tables python3-sqlalchemy python3-xlsxwriter python3-httplib2 python3-zmq - ``` -5. Scientific Python - ``` - sudo apt-get install python3-numpy python3-matplotlib python3-scipy python3-pandas - ``` - -### 3. Install Pi Camera -Follow the instructions [here](https://www.raspberrypi.org/learning/getting-started-with-picamera/worksheet/). - - -1. Connect your camera to the RPi. -2. Enable your camera in the Menu > Preferences > Raspberry Pi Config -3. Restart your Pi. `sudo reboot` - - -###4. Solder and Install Motor Sheild - -1. Assemble and test your servo shield with the instructions given by Adafruit. - - - -###5. Install Donkey - - -clone repo & create virtual env - -``` -mkdir code -cd code -git clone http://github.com/wroscoe/donkey.git - -mkdir car -cd car -virtualenv --system-site-packages -p python3 env -source env/bin/activate -pip install -e ../donkey[pi] -``` - - -###6. Assemble Vehicle - -This section explains how to create the custom structural components for your vehicle and use them to securely attach your camera, pi and battery. - -#### Create Custom Parts -1. **Base Plate** The base plate is the structural member that provides a flat surface to attach the Pi, battery and camera. -2. **Camera Mount** The camera mount holds the Pi Camera at the correct height and angle. -3. **Roll Bars** Protective bars to prevent damage to your camera and electronics. - - - -## Differential Steering Vehicle (slow) \ No newline at end of file diff --git a/Hardware/Car Top Plate - Helion Conquest.dwg b/docs/hardware/hellion_conquest-top_plate.dwg similarity index 100% rename from Hardware/Car Top Plate - Helion Conquest.dwg rename to docs/hardware/hellion_conquest-top_plate.dwg diff --git a/Hardware/Car Top Plate - Trooper.dxf b/docs/hardware/trooper-top_plate.dxf similarity index 100% rename from Hardware/Car Top Plate - Trooper.dxf rename to docs/hardware/trooper-top_plate.dxf From b54211c1d912b02b61832e6cdd0880d3b37ef7e5 Mon Sep 17 00:00:00 2001 From: Will Roscoe Date: Sat, 28 Jan 2017 12:05:14 -0700 Subject: [PATCH 11/19] fixed simulate.py script --- donkey/mixers.py | 6 +++--- scripts/simulate.py | 13 +++++-------- 2 files changed, 8 insertions(+), 11 deletions(-) diff --git a/donkey/mixers.py b/donkey/mixers.py index b66515f17..309789d71 100644 --- a/donkey/mixers.py +++ b/donkey/mixers.py @@ -1,6 +1,6 @@ import time import sys -import actuators +from donkey import actuators class BaseMixer(): @@ -17,7 +17,7 @@ def update(self, angle=0, throttle=0): self.update_throttle(throttle) -class FrontSteeringMixer(BaseActuatorMixer): +class FrontSteeringMixer(BaseMixer): def __init__(self, steering_actuator=None, @@ -32,7 +32,7 @@ def update_throttle(self, throttle): self.throttle_actuator.update_throttle(throttle) -class DifferentialSteeringMixer(BaseActuatorMixer): +class DifferentialSteeringMixer(BaseMixer): def __init__(self, left_actuator=None, diff --git a/scripts/simulate.py b/scripts/simulate.py index 022f6e0a9..c194e2137 100644 --- a/scripts/simulate.py +++ b/scripts/simulate.py @@ -10,19 +10,16 @@ import donkey as dk -#X, Y = dk.datasets.moving_square(n_frames=1000) +X, Y = dk.datasets.moving_square(n_frames=1000) -sh = dk.sessions.SessionHandler('/home/wroscoe/donkey_data/sessions') -s = sh.load('test') -X, Y = s.load_dataset() +#sh = dk.sessions.SessionHandler('/home/wroscoe/donkey_data/sessions') +#s = sh.load('test') +#X, Y = s.load_dataset() camera_sim = dk.sensors.ImgArrayCamera(X) #For testing -no_steering = dk.actuators.BaseSteeringActuator() -no_throttle = dk.actuators.BaseThrottleActuator() - -mixer = dk.actuators.FrontSteeringMixer(no_steering, no_throttle) +mixer = dk.mixers.BaseMixer() remote_pilot = dk.remotes.RemoteClient('http://localhost:8887', vehicle_id='mycar') From 2951cc2c2fac9fd17b98a4928dd8a2725631a101 Mon Sep 17 00:00:00 2001 From: Yannis Chatzikonstantinou Date: Mon, 30 Jan 2017 15:12:02 +0000 Subject: [PATCH 12/19] Fixed erroneous instantiations --- scripts/drive.py | 21 ++++++--------------- 1 file changed, 6 insertions(+), 15 deletions(-) diff --git a/scripts/drive.py b/scripts/drive.py index e0a9605f3..11f92c2c9 100644 --- a/scripts/drive.py +++ b/scripts/drive.py @@ -26,8 +26,8 @@ remote_url = args['--remote'] - mythrottlecontroller = PCA9685_Controller(channel=0) - mysteeringcontroller = PCA9685_Controller(channel=1) + mythrottlecontroller = dk.actuators.PCA9685_Controller(channel=0) + mysteeringcontroller = dk.actuators.PCA9685_Controller(channel=1) #Set up your PWM values for your steering and throttle actuator here. mythrottle = dk.actuators.PWMThrottleActuator(controller=mythrottlecontroller, @@ -39,26 +39,17 @@ left_pulse=300, right_pulse=400) - mymixer = dk.actuators.FrontSteeringMixer(mysteering, mythrottle) + mymixer = dk.mixers.FrontSteeringMixer(mysteering, mythrottle) #asych img capture from picamera #Get all autopilot signals from remote host mypilot = dk.remotes.RemoteClient(remote_url, vehicle_id='mycar') -<<<<<<< HEAD:scripts/drive.py - #Create your car your car - car = dk.vehicles.BaseVehicle(drive_loop_delay=.05, #seconds - camera=mycamera, - steering_actuator=mysteering, - throttle_actuator=mythrottle, -======= #Create your car - car = dk.vehicles.BaseVehicle(camera=mycamera, - actuator_mixer=mymixer, ->>>>>>> yconst/actuator_mixer:demos/drive_pi.py - pilot=mypilot) - + car = dk.vehicles.BaseVehicle(drive_loop_delay=.05, + camera=mycamera, + actuator_mixer=mymixer) #Start the drive loop car.start() From 21f74e66e682db78191a5b0d12f2512cd0db9be6 Mon Sep 17 00:00:00 2001 From: Yannis Chatzikonstantinou Date: Mon, 30 Jan 2017 15:12:31 +0000 Subject: [PATCH 13/19] Changed RPi detection to use machine --- donkey/__init__.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/donkey/__init__.py b/donkey/__init__.py index da2339ce0..c6b811d5e 100644 --- a/donkey/__init__.py +++ b/donkey/__init__.py @@ -1,7 +1,7 @@ import os uname = os.uname() -if uname[1] != 'raspberrypi': +if not uname[4].startswith("arm"): from . import (utils, models, datasets, @@ -15,4 +15,4 @@ else: print('Detected running on rasberrypi. Only importing select modules.') - from . import actuators, remotes, sensors, vehicles + from . import actuators, mixers, remotes, sensors, vehicles From 2f71e4c2bd404299f170326e4ca289c3e9d51f47 Mon Sep 17 00:00:00 2001 From: Yannis Chatzikonstantinou Date: Mon, 30 Jan 2017 15:45:52 +0000 Subject: [PATCH 14/19] Moved envoy import inside function --- donkey/utils.py | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/donkey/utils.py b/donkey/utils.py index 9be243e69..838bdf9bd 100644 --- a/donkey/utils.py +++ b/donkey/utils.py @@ -9,10 +9,6 @@ from PIL import Image import numpy as np -import envoy - - - ''' IMAGES ''' @@ -75,7 +71,7 @@ def binary_to_img(binary): def create_video(img_dir_path, output_video_path): - + import envoy # Setup path to the images with telemetry. full_path = os.path.join(img_dir_path, 'frame_*.png') @@ -230,4 +226,4 @@ def unbin_telemetry(y): def my_ip(): s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) s.connect(('192.0.0.8', 1027)) - return s.getsockname()[0] \ No newline at end of file + return s.getsockname()[0] From 37f2c53c082e0c34180f1169298c2c5ac2b6ea5b Mon Sep 17 00:00:00 2001 From: Will Roscoe Date: Wed, 1 Feb 2017 14:31:28 -0800 Subject: [PATCH 15/19] add webinterface for sesions --- donkey/remotes.py | 201 ++++++++++++++++++--------- donkey/sessions.py | 41 ++++-- donkey/templates/base.html | 58 ++++++++ donkey/templates/choose_vehicle.html | 23 +++ donkey/templates/home.html | 26 ++++ donkey/templates/monitor.html | 27 +--- donkey/templates/session_list.html | 23 +++ donkey/templates/session_view.html | 74 ++++++++++ donkey/templates/static/main.js | 4 +- donkey/templates/static/style.css | 20 +++ donkey/utils.py | 7 + scripts/serve.py | 8 +- 12 files changed, 405 insertions(+), 107 deletions(-) create mode 100644 donkey/templates/base.html create mode 100644 donkey/templates/choose_vehicle.html create mode 100644 donkey/templates/home.html create mode 100644 donkey/templates/session_list.html create mode 100644 donkey/templates/session_view.html diff --git a/donkey/remotes.py b/donkey/remotes.py index e91461104..47b0331da 100644 --- a/donkey/remotes.py +++ b/donkey/remotes.py @@ -27,7 +27,7 @@ class RemoteClient(): def __init__(self, remote_url, vehicle_id='mycar'): - self.record_url = remote_url + '/' + vehicle_id + '/drive/' + self.record_url = remote_url + '/vehicle/' + vehicle_id + '/' def decide(self, img_arr, angle, throttle, milliseconds): @@ -57,85 +57,163 @@ def decide(self, img_arr, angle, throttle, milliseconds): +class DonkeyPilotApplication(tornado.web.Application): -class RemoteServer(): - ''' - Class used to create server that accepts driving data, records it, - runs a predictor and returns the predictions. - ''' - - def __init__(self, session, pilot, port=8887): - - self.port = int(port) - self.session = session - self.pilot = pilot - - vehicle_data = {'user_angle': 0, - 'user_throttle': 0, - 'drive_mode':'user', - 'milliseconds': 0, - 'recording': False} - + def __init__(self, data_path='~/donkey_data/'): - self.vehicles = {'mycar':vehicle_data} + self.vehicles = {} this_dir = os.path.dirname(os.path.realpath(__file__)) self.static_file_path = os.path.join(this_dir, 'templates', 'static') - print(self.static_file_path) - - def start(self): - ''' - Start the webserver. - ''' + self.data_path = os.path.expanduser(data_path) + self.sessions_path = os.path.join(self.data_path, 'sessions') + self.models_path = os.path.join(self.data_path, 'models') - #load features - app = tornado.web.Application([ + + handlers = [ #temporary redirect until vehicles is not a singleton - (r"/", tornado.web.RedirectHandler, - dict(url="/mycar/")), + (r"/", HomeHandler), - (r"/?(?P[A-Za-z0-9-]+)?/", VehicleHandler), + (r"/drive/", ChooseVehicleHandler), - (r"/?(?P[A-Za-z0-9-]+)?/control/", - ControllerHandler, - dict(vehicles = self.vehicles) - ), - (r"/?(?P[A-Za-z0-9-]+)?/mjpeg/?(?P[^/]*)?", - CameraMJPEGHandler, - dict(vehicles = self.vehicles) + (r"/drive/?(?P[A-Za-z0-9-]+)?/", DriveHandler), + + (r"/drive/?(?P[A-Za-z0-9-]+)?/mpeg/?(?P[^/]*)?", + CameraMJPEGHandler ), - (r"/?(?P[A-Za-z0-9-]+)?/drive/", - DriveHandler, - dict(pilot=self.pilot, session=self.session, vehicles=self.vehicles) + + (r"/vehicle/?(?P[A-Za-z0-9-]+)?/", VehicleHandler), + + (r"/sessions/", SessionListHandler), + + (r"/sessions/?(?P[^/]+)?/", SessionViewHandler), + + (r"/session_image/?(?P[^/]+)?/?(?P[^/]+)?", + SessionImageHandler ), + (r"/static/(.*)", tornado.web.StaticFileHandler, {"path": self.static_file_path}), - ], debug=True) + ] + + settings = {'debug': True} + + super().__init__(handlers, **settings) - app.listen(self.port) + def start(self, port=8887): + print(port) + self.port = int(port) + self.listen(self.port) tornado.ioloop.IOLoop.instance().start() - return True + def get_vehicle(self, vehicle_id): + if vehicle_id not in self.vehicles: + self.vehicles[vehicle_id] = dict({ + 'user_angle': 0, + 'user_throttle': 0, + 'drive_mode':'user', + 'milliseconds': 0, + 'recording': False, + 'pilot': None, + 'session': None}) + return self.vehicles[vehicle_id] -class VehicleHandler(tornado.web.RequestHandler): - def get(self, vehicle_id): +class HomeHandler(tornado.web.RequestHandler): + def get(self): ''' - Serves web page used to control the vehicle. + Serves home page. ''' - self.render("templates/monitor.html") + self.render("templates/home.html") + + +class ChooseVehicleHandler(tornado.web.RequestHandler): + def get(self): + ''' + Serves home page. + ''' + data = {'vehicles':self.application.vehicles} + + self.render("templates/choose_vehicle.html", **data) + + +class SessionImageHandler(tornado.web.RequestHandler): + def get(self, session_id, img_name): + print('SessionImageHandler') + sessions_path = self.application.sessions_path + path = os.path.join(sessions_path, session_id, img_name) + f = Image.open(path) + o = io.BytesIO() + f.save(o, format="JPEG") + s = o.getvalue() + self.set_header('Content-type', 'image/jpg') + self.set_header('Content-length', len(s)) -class ControllerHandler(tornado.web.RequestHandler): + print('writing image') + self.write(s) - def initialize(self, vehicles): - self.vehicles = vehicles + + +class SessionListHandler(tornado.web.RequestHandler): + + def get(self): + ''' + Receive post requests from vehicle with camera image. + Return the angle and throttle the car should be goin. + ''' + + session_dirs = [f for f in os.scandir(self.application.sessions_path) if f.is_dir() ] + data = {'session_dirs': session_dirs} + self.render("templates/session_list.html", **data) + + + +class SessionViewHandler(tornado.web.RequestHandler): + + def get(self, session_id): + ''' + Receive post requests from vehicle with camera image. + Return the angle and throttle the car should be goin. + ''' + from operator import itemgetter + + + sessions_path = self.application.sessions_path + path = os.path.join(sessions_path, session_id) + imgs = [dk.utils.merge_two_dicts({'name':f.name}, dk.sessions.parse_img_filepath(f.path)) for f in os.scandir(path) if f.is_file() ] + + sorted_imgs = sorted(imgs, key=itemgetter('name')) + session = {'name':session_id, 'imgs': sorted_imgs[:100]} + data = {'session': session} + self.render("templates/session_view.html", **data) + + def post(self, session_id): + data = tornado.escape.json_decode(self.request.body) + + if data['action'] == 'delete_images': + sessions_path = self.application.sessions_path + path = os.path.join(sessions_path, session_id) + + for i in data['imgs']: + os.remove(os.path.join(path, i)) + print('%s removed' %i) + + + +class DriveHandler(tornado.web.RequestHandler): + def get(self, vehicle_id): + ''' + Serves page for users to control the vehicle. + ''' + V = self.application.get_vehicle(vehicle_id) + self.render("templates/monitor.html") def post(self, vehicle_id): @@ -148,7 +226,7 @@ def post(self, vehicle_id): angle = data['angle'] throttle = data['throttle'] - V = self.vehicles[vehicle_id] + V = self.application.get_vehicle(vehicle_id) #Set recording mode if data['recording'] == 'true': @@ -174,12 +252,7 @@ def post(self, vehicle_id): -class DriveHandler(tornado.web.RequestHandler): - def initialize(self, session, pilot, vehicles): - #the parrent controller - self.pilot = pilot - self.session = session - self.vehicles = vehicles +class VehicleHandler(tornado.web.RequestHandler): def post(self, vehicle_id): ''' @@ -193,10 +266,11 @@ def post(self, vehicle_id): #Hack to take json from a file #data = json.loads(self.request.files['json'][0]['body'].decode("utf-8") ) - #Get angle/throttle from pilot loaded by the server. - pilot_angle, pilot_throttle = self.pilot.decide(img_arr) + V = self.application.vehicles[vehicle_id] - V = self.vehicles[vehicle_id] + #Get angle/throttle from pilot loaded by the server. + pilot_angle, pilot_throttle = V['pilot'].decide(img) + V['img'] = img V['pilot_angle'] = pilot_angle V['pilot_throttle'] = pilot_throttle @@ -225,9 +299,6 @@ def post(self, vehicle_id): class CameraMJPEGHandler(tornado.web.RequestHandler): - def initialize(self, vehicles): - self.vehicles = vehicles - @tornado.web.asynchronous @tornado.gen.coroutine @@ -246,7 +317,7 @@ def get(self, vehicle_id, file): if self.served_image_timestamp + interval < time.time(): - img = self.vehicles[vehicle_id]['img'] + img = self.application.vehicles[vehicle_id]['img'] img = dk.utils.img_to_binary(img) self.write(my_boundary) diff --git a/donkey/sessions.py b/donkey/sessions.py index 04ff15686..d8cd2c272 100644 --- a/donkey/sessions.py +++ b/donkey/sessions.py @@ -28,12 +28,7 @@ def put(self, img, angle=None, throttle=None, milliseconds=None): self.frame_count += 1 - file_name = str("%s/" % self.session_dir + - "frame_" + str(self.frame_count).zfill(5) + - "_ttl_" + str(throttle) + - "_agl_" + str(angle) + - "_mil_" + str(milliseconds) + - '.jpg') + filepath = create_img_filepath(directory, frame_count, angle, throttle, milliseconds) img.save(file_name, 'jpeg') @@ -47,19 +42,13 @@ def get(self, file_path): img_arr = np.array(img) - f = file_path.split('/')[-1] - f = f.split('.')[0] - f = f.split('_') - - throttle = int(f[3]) - angle = int(f[5]) - milliseconds = int(f[7]) - - data = {'throttle':throttle, 'angle':angle, 'milliseconds': milliseconds} + data = parse_img_filename(path) return img_arr, data + + def img_paths(self): """ Returns a list of file paths for the images in the session. @@ -246,3 +235,25 @@ def pickle_sessions(sessions_folder, session_names, file_path): with open(file_path, 'wb') as f: pkl = pickle.dump((X,Y), f) + + +def parse_img_filepath(filepath): + f = filepath.split('/')[-1] + f = f.split('.')[0] + f = f.split('_') + + throttle = int(f[3]) + angle = int(f[5]) + milliseconds = int(f[7]) + + data = {'throttle':throttle, 'angle':angle, 'milliseconds': milliseconds} + return data + +def create_img_filepath(directory, frame_count, angle, throttle, milliseconds): + filepath = str("%s/" % self.session_dir + + "frame_" + str(self.frame_count).zfill(5) + + "_ttl_" + str(throttle) + + "_agl_" + str(angle) + + "_mil_" + str(milliseconds) + + '.jpg') + return filepath \ No newline at end of file diff --git a/donkey/templates/base.html b/donkey/templates/base.html new file mode 100644 index 000000000..04936bdc0 --- /dev/null +++ b/donkey/templates/base.html @@ -0,0 +1,58 @@ + + + + + Donkey Monitor + + + + + + + + + + + + + + + + + + + + + + + {% block content %}{% end %} + + diff --git a/donkey/templates/choose_vehicle.html b/donkey/templates/choose_vehicle.html new file mode 100644 index 000000000..52b563a04 --- /dev/null +++ b/donkey/templates/choose_vehicle.html @@ -0,0 +1,23 @@ + +{% extends "base.html" %} +{% block content %} +
+

Vehicles

+ + + +
+{% end %} diff --git a/donkey/templates/home.html b/donkey/templates/home.html new file mode 100644 index 000000000..505bf5d43 --- /dev/null +++ b/donkey/templates/home.html @@ -0,0 +1,26 @@ + +{% extends "base.html" %} +{% block content %} +
+ +

Donkey

+ +

Your donkey is ready to ride

+ +

Using this web interface you can do the following

+ +
    +
  • Drive your car.
    • +
  • View data collected from your car.
    • +
+ + +

Features we are working on include:

+
    +
  • Train & debug models from web.
    • +
  • Browse library of driving models and download them.
    • +
  • Combine models
    • + +
+
+{% end %} diff --git a/donkey/templates/monitor.html b/donkey/templates/monitor.html index 4531c7320..1366dfb30 100644 --- a/donkey/templates/monitor.html +++ b/donkey/templates/monitor.html @@ -1,23 +1,5 @@ - - - - - Donkey Monitor - - - - - - - - - - - - +{% extends "base.html" %} +{% block content %}

Donkey Control

@@ -72,7 +54,4 @@

Donkey Control

- - - - +{% end %} \ No newline at end of file diff --git a/donkey/templates/session_list.html b/donkey/templates/session_list.html new file mode 100644 index 000000000..a958d729d --- /dev/null +++ b/donkey/templates/session_list.html @@ -0,0 +1,23 @@ + +{% extends "base.html" %} +{% block content %} +
+

Sessions

+ + + +
+{% end %} diff --git a/donkey/templates/session_view.html b/donkey/templates/session_view.html new file mode 100644 index 000000000..9b50120f7 --- /dev/null +++ b/donkey/templates/session_view.html @@ -0,0 +1,74 @@ + +{% extends "base.html" %} +{% block content %} + + + + + + + + +

Sessions {{ escape(session['name'])}}

+ + +
+ + +
+ + +
+ {% for img in session['imgs'] %} +
+ + +
Angle: {{img['angle']}}
+
+ + {% end %} +
+ + + + + +{% end %} \ No newline at end of file diff --git a/donkey/templates/static/main.js b/donkey/templates/static/main.js index 264e3816b..ec9d86364 100644 --- a/donkey/templates/static/main.js +++ b/donkey/templates/static/main.js @@ -18,7 +18,7 @@ $( document ).ready(function() { //Defaults var postLoopRunning=false; -var sendURL = "control/" +var sendURL = "" function sendControl(angle, throttle, drive_mode, recording) { @@ -115,7 +115,7 @@ var velocity = (function() { var driveMode = 'user' var angleEl = "#angleInput" var throttleEl = "#throttleInput" - var sendURL = "control/" + var sendURL = "" var bind = function(data){ //Bind a function to capture the coordinates of the click. diff --git a/donkey/templates/static/style.css b/donkey/templates/static/style.css index 107d99feb..30bbde9a4 100644 --- a/donkey/templates/static/style.css +++ b/donkey/templates/static/style.css @@ -25,3 +25,23 @@ } +div.img { + margin: 5px; + border: 1px solid #ccc; + float: left; + width: 180px; +} + +div.img:hover { + border: 1px solid #777; +} + +div.img img { + width: 100%; + height: auto; +} + +div.desc { + padding: 15px; + text-align: center; +} \ No newline at end of file diff --git a/donkey/utils.py b/donkey/utils.py index 838bdf9bd..2017360d8 100644 --- a/donkey/utils.py +++ b/donkey/utils.py @@ -227,3 +227,10 @@ def my_ip(): s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) s.connect(('192.0.0.8', 1027)) return s.getsockname()[0] + + +def merge_two_dicts(x, y): + """Given two dicts, merge them into a new dict as a shallow copy.""" + z = x.copy() + z.update(y) + return z \ No newline at end of file diff --git a/scripts/serve.py b/scripts/serve.py index 1fd03c6fb..fa872917b 100644 --- a/scripts/serve.py +++ b/scripts/serve.py @@ -20,7 +20,7 @@ # Get args. args = docopt(__doc__) - +""" model_path = args['--model'] if model_path is None: @@ -48,3 +48,9 @@ #in a browser go to localhost:8887 to drive your car + +""" + +#start server +w = dk.remotes.DonkeyPilotApplication() +w.start() \ No newline at end of file From 41b9c816682228e7b3330543de4834dc910c450c Mon Sep 17 00:00:00 2001 From: Will Roscoe Date: Wed, 1 Feb 2017 23:19:20 +0000 Subject: [PATCH 16/19] bug fixes on car --- donkey/actuators.py | 13 ++++++++----- donkey/mixers.py | 4 ++-- scripts/drive.py | 4 +++- 3 files changed, 13 insertions(+), 8 deletions(-) diff --git a/donkey/actuators.py b/donkey/actuators.py index 47b8ef045..ed861024f 100644 --- a/donkey/actuators.py +++ b/donkey/actuators.py @@ -36,7 +36,9 @@ def __init__(self, channel, frequency=60): self.pwm.set_pwm_freq(frequency) self.channel = channel - + def set_pulse(self, pulse): + self.pwm.set_pwm(self.channel, 0, pulse) + class PWMSteeringActuator: #max angle wheels can turn LEFT_ANGLE = -45 @@ -56,7 +58,7 @@ def update(self, angle): self.LEFT_ANGLE, self.RIGHT_ANGLE, self.left_pulse, self.right_pulse) - self.controller.pwm.set_pwm(self.channel, 0, pulse) + self.controller.set_pulse(pulse) class PWMThrottleActuator: @@ -69,7 +71,8 @@ def __init__(self, controller=None, min_pulse=490, zero_pulse=350): - super().__init__(channel, frequency) + #super().__init__(channel, frequency) + self.controller = controller self.max_pulse = max_pulse self.min_pulse = min_pulse self.zero_pulse = zero_pulse @@ -79,7 +82,7 @@ def __init__(self, controller=None, def calibrate(self): #Calibrate ESC (TODO: THIS DOES NOT WORK YET) print('center: %s' % self.zero_pulse) - self.pwm.set_pwm(self.channel, 0, self.zero_pulse) #Set Max Throttle + self.controller.set_pulse(self.zero_pulse) #Set Max Throttle time.sleep(1) @@ -96,5 +99,5 @@ def update(self, throttle): print('pulse: %s' % pulse) sys.stdout.flush() - self.pwm.set_pwm(self.channel, 0, pulse) + self.controller.set_pulse(pulse) return '123' diff --git a/donkey/mixers.py b/donkey/mixers.py index 309789d71..63aca0ee6 100644 --- a/donkey/mixers.py +++ b/donkey/mixers.py @@ -26,10 +26,10 @@ def __init__(self, self.throttle_actuator = throttle_actuator def update_angle(self, angle): - self.steering_actuator.update_angle(angle) + self.steering_actuator.update(angle) def update_throttle(self, throttle): - self.throttle_actuator.update_throttle(throttle) + self.throttle_actuator.update(throttle) class DifferentialSteeringMixer(BaseMixer): diff --git a/scripts/drive.py b/scripts/drive.py index 11f92c2c9..e593da7a0 100644 --- a/scripts/drive.py +++ b/scripts/drive.py @@ -42,6 +42,7 @@ mymixer = dk.mixers.FrontSteeringMixer(mysteering, mythrottle) #asych img capture from picamera + mycamera = dk.sensors.PiVideoStream() #Get all autopilot signals from remote host mypilot = dk.remotes.RemoteClient(remote_url, vehicle_id='mycar') @@ -49,7 +50,8 @@ #Create your car car = dk.vehicles.BaseVehicle(drive_loop_delay=.05, camera=mycamera, - actuator_mixer=mymixer) + actuator_mixer=mymixer, + pilot=mypilot) #Start the drive loop car.start() From 96b32022dc760e2d299e0e5ebc84c7780cf5d35c Mon Sep 17 00:00:00 2001 From: Will Roscoe Date: Wed, 1 Feb 2017 15:20:00 -0800 Subject: [PATCH 17/19] bug fixes on server --- donkey/remotes.py | 9 +++++---- donkey/sessions.py | 8 ++++---- 2 files changed, 9 insertions(+), 8 deletions(-) diff --git a/donkey/remotes.py b/donkey/remotes.py index 47b0331da..e19961181 100644 --- a/donkey/remotes.py +++ b/donkey/remotes.py @@ -80,7 +80,7 @@ def __init__(self, data_path='~/donkey_data/'): (r"/drive/?(?P[A-Za-z0-9-]+)?/", DriveHandler), - (r"/drive/?(?P[A-Za-z0-9-]+)?/mpeg/?(?P[^/]*)?", + (r"/drive/?(?P[A-Za-z0-9-]+)?/mjpeg/?(?P[^/]*)?", CameraMJPEGHandler ), @@ -112,14 +112,15 @@ def start(self, port=8887): def get_vehicle(self, vehicle_id): if vehicle_id not in self.vehicles: + sh = dk.sessions.SessionHandler(self.sessions_path) self.vehicles[vehicle_id] = dict({ 'user_angle': 0, 'user_throttle': 0, 'drive_mode':'user', 'milliseconds': 0, 'recording': False, - 'pilot': None, - 'session': None}) + 'pilot': dk.pilots.BasePilot(), + 'session': sh.new()}) return self.vehicles[vehicle_id] @@ -278,7 +279,7 @@ def post(self, vehicle_id): if V['recording'] == True: #save image with encoded angle/throttle values - self.session.put(img, + V['session'].put(img, angle=V['user_angle'], throttle=V['user_throttle'], milliseconds=V['milliseconds']) diff --git a/donkey/sessions.py b/donkey/sessions.py index d8cd2c272..0c0d21c84 100644 --- a/donkey/sessions.py +++ b/donkey/sessions.py @@ -28,9 +28,9 @@ def put(self, img, angle=None, throttle=None, milliseconds=None): self.frame_count += 1 - filepath = create_img_filepath(directory, frame_count, angle, throttle, milliseconds) + filepath = create_img_filepath(self.session_dir, self.frame_count, angle, throttle, milliseconds) - img.save(file_name, 'jpeg') + img.save(filepath, 'jpeg') def get(self, file_path): @@ -250,8 +250,8 @@ def parse_img_filepath(filepath): return data def create_img_filepath(directory, frame_count, angle, throttle, milliseconds): - filepath = str("%s/" % self.session_dir + - "frame_" + str(self.frame_count).zfill(5) + + filepath = str("%s/" % directory + + "frame_" + str(frame_count).zfill(5) + "_ttl_" + str(throttle) + "_agl_" + str(angle) + "_mil_" + str(milliseconds) + From 558cf909ff79341e699cf872082231f83f4cdc50 Mon Sep 17 00:00:00 2001 From: Will Roscoe Date: Wed, 8 Feb 2017 21:45:07 -0800 Subject: [PATCH 18/19] multicar support & web pilot switching --- donkey/pilots.py | 196 +++++++++++- donkey/remotes.py | 267 +++++++++++------ donkey/templates/base.html | 4 +- donkey/templates/pilots_list.html | 23 ++ .../{session_view.html => session.html} | 0 donkey/templates/static/main.js | 282 +++++++++--------- .../templates/{monitor.html => vehicle.html} | 27 +- ...{choose_vehicle.html => vehicle_list.html} | 2 +- donkey/vehicles.py | 2 +- 9 files changed, 572 insertions(+), 231 deletions(-) create mode 100644 donkey/templates/pilots_list.html rename donkey/templates/{session_view.html => session.html} (100%) rename donkey/templates/{monitor.html => vehicle.html} (71%) rename donkey/templates/{choose_vehicle.html => vehicle_list.html} (90%) diff --git a/donkey/pilots.py b/donkey/pilots.py index 5657c3db7..9058b137e 100644 --- a/donkey/pilots.py +++ b/donkey/pilots.py @@ -7,9 +7,14 @@ ''' import os -import numpy as np - +import math import random +from operator import itemgetter +from datetime import datetime + +import numpy as np +import cv2 +import keras from donkey import utils @@ -18,7 +23,10 @@ class BasePilot(): Base class to define common functions. When creating a class, only override the funtions you'd like to replace. ''' - + def __init__(self, name=None, last_modified=None): + self.name = name + self.last_modified = last_modified + def decide(self, img_arr): angle = 0 speed = 0 @@ -28,13 +36,19 @@ def decide(self, img_arr): return angle, speed + def load(self): + pass + + + class SwervePilot(BasePilot): ''' Example predictor that should not be used. ''' - def __init__(self): + def __init__(self, **kwargs): self.angle= random.randrange(-45, 46) self.throttle = 20 + super().__init__(**kwargs) def decide(self, img_arr): @@ -45,11 +59,16 @@ def decide(self, img_arr): return self, angle, self.throttle -class KerasAngle(): - def __init__(self, model, throttle): - self.model = model + + +class KerasAngle(BasePilot): + def __init__(self, model_path, throttle=25, **kwargs): + self.model_path = model_path + self.model = None #load() loads the model self.throttle = throttle self.last_angle = 0 + super().__init__(**kwargs) + def decide(self, img_arr): img_arr = img_arr.reshape((1,) + img_arr.shape) @@ -63,3 +82,166 @@ def decide(self, img_arr): return angle, self.throttle + def load(self): + + self.model = keras.models.load_model(self.model_path) + return self + + + + + +class OpenCVLineDetector(BasePilot): + + def __init__(self, M=None, blur_pixels=5, canny_threshold1=100, canny_threshold2=130, + rho=2, theta=.02, min_line_length=80, max_gap=20, hough_threshold=9, **kwargs): + + + self.blur_pixels = blur_pixels + self.canny_threshold1 = canny_threshold1 + self.canny_threshold2 = canny_threshold2 + self.hough_threshold = hough_threshold + self.min_line_length = min_line_length + self.max_gap = max_gap + self.rho = rho + self.theta = theta + if M is not None: + self.M = M + else: + self.M = self.get_M() + + super().__init__(**kwargs) + + + def decide(self, img_arr): + lines = self.get_lines(img_arr, + self.M, + self.blur_pixels, + self.canny_threshold1, + self.canny_threshold2, + self.hough_threshold, + self.min_line_length, + self.max_gap, + self.rho, + self.theta, + ) + #print(lines) + if lines is not None: + line_data = self.compute_lines(lines) + clustered = self.cluster_angles(line_data) + #print('clustered: ', clustered) + angle = self.decide_angle(clustered) + else: + angle = 0 + return angle + + + + def get_M(self): + M = np.array([[ 2.43902439e+00, 6.30081301e+00, -6.15853659e+01], + [ -4.30211422e-15, 1.61246610e+01, -6.61644977e+01], + [ -1.45283091e-17, 4.06504065e-02, 1.00000000e+00]]) + return M + + @staticmethod + def get_lines(img, M, blur_pixels, canny_threshold1, canny_threshold2, + hough_threshold, min_line_length, max_gap, rho, theta ): + + img_gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + img_blur = cv2.blur(img_gray,(blur_pixels,blur_pixels)) + img_canny = cv2.Canny(img_blur, canny_threshold1, canny_threshold2) + lines = cv2.HoughLinesP(img_canny, rho, theta, hough_threshold, min_line_length, max_gap) + + if lines is not None: + lines = lines.reshape((lines.shape[0],2,2)) + lines = lines.astype(float) + lines = cv2.perspectiveTransform(lines, M) + return lines + + + @classmethod + def line_length(cls, arr): + l = math.sqrt( (arr[0,0] - arr[1,0])**2 + (arr[0,1] - arr[1,1])**2 ) + return l + + + @classmethod + def line_angle(cls, arr): + dx = arr[1,0] - arr[0,0] + dy = arr[1,1] - arr[0,1] + rads = math.atan2(-dy,dx) + rads %= 2*math.pi + degs = -math.degrees(rads) + if degs <= -180: + degs = degs + 180 + + degs = degs + 90 + return degs + + + @classmethod + def compute_lines(cls, lines): + + line_data = [] + for line in lines: + line_data.append([cls.line_angle(line), cls.line_length(line)]) + + sorted(line_data, key=itemgetter(0)) + return line_data + + @staticmethod + def cluster_angles(line_data): + clusters = [] + last_angle = -180 + for a, l in line_data: + if abs(last_angle - a) > 20: + clusters.append([(a,l)]) + else: + clusters[-1].append((a,l)) + return clusters + + + @classmethod + def decide_angle(cls, clustered_angles): + max_length = 0 + max_cluster_id = -1 + for i, c in enumerate(clustered_angles): + #sum lenght of lines found in clusters, filter out angles > 80 (likely in horizon) + cluster_length = sum([l for a, l in c if abs(a) < 80]) + #print('cluster length', cluster_length) + if cluster_length > max_length: + max_length = cluster_length + max_cluster_id = i + + if max_cluster_id>-1: + angles = [a for a, l in clustered_angles[max_cluster_id]] + #return average angle of cluster + return sum(angles)/len(angles) + #print(angles) + else: + return 0 + + +class PilotHandler(): + """ Convinience class to load default pilots """ + def __init__(self, models_path): + + self.models_path = os.path.expanduser(models_path) + + + def pilots_from_models(self): + """ Load pilots from keras models saved in the models directory. """ + models_list = [f for f in os.scandir(self.models_path)] + pilot_list = [] + for d in models_list: + last_modified = datetime.fromtimestamp(d.stat().st_mtime) + pilot = KerasAngle(d.path, throttle=25, name=d.name, + last_modified=last_modified) + pilot_list.append(pilot) + return pilot_list + + def default_pilots(self): + """ Load pilots from models and add CV pilots """ + pilot_list = self.pilots_from_models() + pilot_list.append(OpenCVLineDetector(name='OpenCV')) + return pilot_list \ No newline at end of file diff --git a/donkey/remotes.py b/donkey/remotes.py index e19961181..e54428f20 100644 --- a/donkey/remotes.py +++ b/donkey/remotes.py @@ -27,7 +27,7 @@ class RemoteClient(): def __init__(self, remote_url, vehicle_id='mycar'): - self.record_url = remote_url + '/vehicle/' + vehicle_id + '/' + self.record_url = remote_url + '/api/vehicles/control/' + vehicle_id + '/' def decide(self, img_arr, angle, throttle, milliseconds): @@ -43,9 +43,20 @@ def decide(self, img_arr, angle, throttle, milliseconds): } - r = requests.post(self.record_url, - files={'img': dk.utils.arr_to_binary(img_arr), - 'json': json.dumps(data)}) #hack to put json in file + r = None + + while r == None: + + try: + r = requests.post(self.record_url, + files={'img': dk.utils.arr_to_binary(img_arr), + 'json': json.dumps(data)}) #hack to put json in file + except (requests.ConnectionError) as err: + print("Vehicle could not connect to server. Make sure you've " + + "started your server and you're referencing the right port.") + time.sleep(3) + + data = json.loads(r.text) angle = int(float(data['angle'])) @@ -70,31 +81,50 @@ def __init__(self, data_path='~/donkey_data/'): self.sessions_path = os.path.join(self.data_path, 'sessions') self.models_path = os.path.join(self.data_path, 'models') + ph = dk.pilots.PilotHandler(self.models_path) + self.pilots = ph.default_pilots() + handlers = [ #temporary redirect until vehicles is not a singleton - (r"/", HomeHandler), + (r"/", HomeView), + + (r"/vehicles/", VehicleListView), - (r"/drive/", ChooseVehicleHandler), + (r"/vehicles/?(?P[A-Za-z0-9-]+)?/", + VehicleView), - (r"/drive/?(?P[A-Za-z0-9-]+)?/", DriveHandler), - (r"/drive/?(?P[A-Za-z0-9-]+)?/mjpeg/?(?P[^/]*)?", - CameraMJPEGHandler + (r"/api/vehicles/?(?P[A-Za-z0-9-]+)?/", + VehicleAPI), + + + (r"/api/vehicles/drive/?(?P[A-Za-z0-9-]+)?/", + DriveAPI), + + (r"/api/vehicles/video/?(?P[A-Za-z0-9-]+)?", + VideoAPI ), - (r"/vehicle/?(?P[A-Za-z0-9-]+)?/", VehicleHandler), + (r"/api/vehicles/control/?(?P[A-Za-z0-9-]+)?/", + ControlAPI), - (r"/sessions/", SessionListHandler), - (r"/sessions/?(?P[^/]+)?/", SessionViewHandler), + (r"/sessions/", SessionListView), + + (r"/sessions/?(?P[^/]+)?/", + SessionView), (r"/session_image/?(?P[^/]+)?/?(?P[^/]+)?", - SessionImageHandler + SessionImageView ), + (r"/pilots/", PilotListView), + + + (r"/static/(.*)", tornado.web.StaticFileHandler, {"path": self.static_file_path}), ] @@ -112,8 +142,10 @@ def start(self, port=8887): def get_vehicle(self, vehicle_id): if vehicle_id not in self.vehicles: + print('new vehicle') sh = dk.sessions.SessionHandler(self.sessions_path) self.vehicles[vehicle_id] = dict({ + 'id': vehicle_id, 'user_angle': 0, 'user_throttle': 0, 'drive_mode':'user', @@ -122,10 +154,18 @@ def get_vehicle(self, vehicle_id): 'pilot': dk.pilots.BasePilot(), 'session': sh.new()}) + #eprint(self.vehicles) return self.vehicles[vehicle_id] -class HomeHandler(tornado.web.RequestHandler): +##################### +# # +# vehicles # +# # +##################### + + +class HomeView(tornado.web.RequestHandler): def get(self): ''' Serves home page. @@ -133,101 +173,62 @@ def get(self): self.render("templates/home.html") -class ChooseVehicleHandler(tornado.web.RequestHandler): +class VehicleListView(tornado.web.RequestHandler): def get(self): ''' Serves home page. ''' data = {'vehicles':self.application.vehicles} - self.render("templates/choose_vehicle.html", **data) - - -class SessionImageHandler(tornado.web.RequestHandler): - def get(self, session_id, img_name): - - print('SessionImageHandler') - - sessions_path = self.application.sessions_path - path = os.path.join(sessions_path, session_id, img_name) - f = Image.open(path) - o = io.BytesIO() - f.save(o, format="JPEG") - s = o.getvalue() - self.set_header('Content-type', 'image/jpg') - self.set_header('Content-length', len(s)) - - print('writing image') - self.write(s) + self.render("templates/vehicle_list.html", **data) - -class SessionListHandler(tornado.web.RequestHandler): - - def get(self): +class VehicleView(tornado.web.RequestHandler): + def get(self, vehicle_id): ''' - Receive post requests from vehicle with camera image. - Return the angle and throttle the car should be goin. - ''' + Serves page for users to control the vehicle. + ''' - session_dirs = [f for f in os.scandir(self.application.sessions_path) if f.is_dir() ] - data = {'session_dirs': session_dirs} - self.render("templates/session_list.html", **data) + V = self.application.get_vehicle(vehicle_id) + pilots = self.application.pilots + data = {'vehicle': V, 'pilots': pilots} + print(data) + self.render("templates/vehicle.html", **data) -class SessionViewHandler(tornado.web.RequestHandler): +class VehicleAPI(tornado.web.RequestHandler): - def get(self, session_id): + def post(self, vehicle_id): + ''' + Currently this only changes the pilot. ''' - Receive post requests from vehicle with camera image. - Return the angle and throttle the car should be goin. - ''' - from operator import itemgetter - - - sessions_path = self.application.sessions_path - path = os.path.join(sessions_path, session_id) - imgs = [dk.utils.merge_two_dicts({'name':f.name}, dk.sessions.parse_img_filepath(f.path)) for f in os.scandir(path) if f.is_file() ] - sorted_imgs = sorted(imgs, key=itemgetter('name')) - session = {'name':session_id, 'imgs': sorted_imgs[:100]} - data = {'session': session} - self.render("templates/session_view.html", **data) + V = self.application.get_vehicle(vehicle_id) - def post(self, session_id): data = tornado.escape.json_decode(self.request.body) + print(data) + pilot = next(filter(lambda p: p.name == data['pilot'], self.application.pilots)) + V['pilot'] = pilot.load() - if data['action'] == 'delete_images': - sessions_path = self.application.sessions_path - path = os.path.join(sessions_path, session_id) - for i in data['imgs']: - os.remove(os.path.join(path, i)) - print('%s removed' %i) - - - -class DriveHandler(tornado.web.RequestHandler): - def get(self, vehicle_id): - ''' - Serves page for users to control the vehicle. - ''' - V = self.application.get_vehicle(vehicle_id) - self.render("templates/monitor.html") +class DriveAPI(tornado.web.RequestHandler): def post(self, vehicle_id): ''' Receive post requests as user changes the angle and throttle of the vehicle on a the index webpage ''' + + V = self.application.get_vehicle(vehicle_id) + data = tornado.escape.json_decode(self.request.body) angle = data['angle'] throttle = data['throttle'] - V = self.application.get_vehicle(vehicle_id) + #Set recording mode if data['recording'] == 'true': @@ -252,14 +253,16 @@ def post(self, vehicle_id): print(V) - -class VehicleHandler(tornado.web.RequestHandler): +class ControlAPI(tornado.web.RequestHandler): def post(self, vehicle_id): ''' Receive post requests from vehicle with camera image. Return the angle and throttle the car should be goin. ''' + + V = self.application.get_vehicle(vehicle_id) + img = self.request.files['img'][0]['body'] img = Image.open(io.BytesIO(img)) img_arr = dk.utils.img_to_arr(img) @@ -267,10 +270,9 @@ def post(self, vehicle_id): #Hack to take json from a file #data = json.loads(self.request.files['json'][0]['body'].decode("utf-8") ) - V = self.application.vehicles[vehicle_id] #Get angle/throttle from pilot loaded by the server. - pilot_angle, pilot_throttle = V['pilot'].decide(img) + pilot_angle, pilot_throttle = V['pilot'].decide(img_arr) V['img'] = img V['pilot_angle'] = pilot_angle @@ -293,17 +295,18 @@ def post(self, vehicle_id): angle, throttle = V['pilot_angle'], V['pilot_throttle'] print('%s: A: %s T:%s' %(V['drive_mode'], angle, throttle)) + #retun angel/throttle values to vehicle with json response self.write(json.dumps({'angle': str(angle), 'throttle': str(throttle)})) -class CameraMJPEGHandler(tornado.web.RequestHandler): +class VideoAPI(tornado.web.RequestHandler): @tornado.web.asynchronous @tornado.gen.coroutine - def get(self, vehicle_id, file): + def get(self, vehicle_id): ''' Show a video of the pictures captured by the vehicle. ''' @@ -330,3 +333,101 @@ def get(self, vehicle_id, file): else: yield tornado.gen.Task(ioloop.add_timeout, ioloop.time() + interval) + +##################### +# # +# pilots # +# # +##################### + + +class PilotListView(tornado.web.RequestHandler): + def get(self): + ''' + Render a list of pilots. + ''' + ph = dk.pilots.PilotHandler(self.application.models_path) + pilots = ph.default_pilots() + data = {'pilots': pilots} + self.render("templates/pilots_list.html", **data) + + + + +##################### +# # +# sessions # +# # +##################### + + + +class SessionImageView(tornado.web.RequestHandler): + def get(self, session_id, img_name): + + print('SessionImageHandler') + + sessions_path = self.application.sessions_path + path = os.path.join(sessions_path, session_id, img_name) + f = Image.open(path) + o = io.BytesIO() + f.save(o, format="JPEG") + s = o.getvalue() + self.set_header('Content-type', 'image/jpg') + self.set_header('Content-length', len(s)) + + print('writing image') + self.write(s) + + + +class SessionListView(tornado.web.RequestHandler): + + def get(self): + ''' + Receive post requests from vehicle with camera image. + Return the angle and throttle the car should be goin. + ''' + + session_dirs = [f for f in os.scandir(self.application.sessions_path) if f.is_dir() ] + data = {'session_dirs': session_dirs} + self.render("templates/session_list.html", **data) + + + +class SessionView(tornado.web.RequestHandler): + + def get(self, session_id): + ''' + Receive post requests from vehicle with camera image. + Return the angle and throttle the car should be goin. + ''' + from operator import itemgetter + + + sessions_path = self.application.sessions_path + path = os.path.join(sessions_path, session_id) + imgs = [dk.utils.merge_two_dicts({'name':f.name}, dk.sessions.parse_img_filepath(f.path)) for f in os.scandir(path) if f.is_file() ] + + sorted_imgs = sorted(imgs, key=itemgetter('name')) + session = {'name':session_id, 'imgs': sorted_imgs[:100]} + data = {'session': session} + self.render("templates/session_view.html", **data) + + def post(self, session_id): + data = tornado.escape.json_decode(self.request.body) + + if data['action'] == 'delete_images': + sessions_path = self.application.sessions_path + path = os.path.join(sessions_path, session_id) + + for i in data['imgs']: + os.remove(os.path.join(path, i)) + print('%s removed' %i) + + + + + + + diff --git a/donkey/templates/base.html b/donkey/templates/base.html index 04936bdc0..69f91675e 100644 --- a/donkey/templates/base.html +++ b/donkey/templates/base.html @@ -45,8 +45,8 @@ diff --git a/donkey/templates/pilots_list.html b/donkey/templates/pilots_list.html new file mode 100644 index 000000000..cf24d24d4 --- /dev/null +++ b/donkey/templates/pilots_list.html @@ -0,0 +1,23 @@ + +{% extends "base.html" %} +{% block content %} +
+

Pilots

+ + + +
+{% end %} diff --git a/donkey/templates/session_view.html b/donkey/templates/session.html similarity index 100% rename from donkey/templates/session_view.html rename to donkey/templates/session.html diff --git a/donkey/templates/static/main.js b/donkey/templates/static/main.js index ec9d86364..1e489fcf5 100644 --- a/donkey/templates/static/main.js +++ b/donkey/templates/static/main.js @@ -1,180 +1,192 @@ -$( document ).ready(function() { - console.log( "document ready!" ); - velocity.bind() - - var joystick_options = { - zone: document.getElementById('joystick_container'), // active zone - color: '#668AED', - size: 350, - }; - - var manager = nipplejs.create(joystick_options); - - bindNipple(manager); - -}); - - -//Defaults -var postLoopRunning=false; -var sendURL = "" - - -function sendControl(angle, throttle, drive_mode, recording) { - //Send post request to server. - data = JSON.stringify({ 'angle': angle, - 'throttle':throttle, - 'drive_mode':drive_mode, - 'recording':recording}) - $.post(sendURL, data) -} - - -// Send control updates to the server every .1 seconds. -function postLoop () { - setTimeout(function () { - sendControl($('#angleInput').val(), - $('#throttleInput').val(), - 'user', - 'true') - - if (postLoopRunning) { - postLoop(); - } else { - // Send zero angle, throttle and stop recording - sendControl(0, 0, 'user', 'false') - } - }, 100) -} - - -function bindNipple(manager) { - manager.on('start end', function(evt, data) { - $('#angleInput').val(0); - $('#throttleInput').val(0); - - if (!postLoopRunning) { - postLoopRunning=true; - postLoop(); - } else { - postLoopRunning=false; - } - }).on('move', function(evt, data) { - angle = data['angle']['radian'] - distance = data['distance'] +var driveHandler = (function() { + //functions used to drive the vehicle. - $('#angleInput').val(Math.round(distance * Math.cos(angle)/2)); - $('#throttleInput').val(Math.round(distance * Math.sin(angle)/2)); - }); -} + var angle = 0 + var throttle = 0 + var driveMode = 'user' + var recording = false + var pilot = 'None' + var angleEl = "#angleInput" + var throttleEl = "#throttleInput" -$(document).keydown(function(e) { - if(e.which == 73) { - // 'i' throttle up - velocity.throttleUp() - } + var joystickLoopRunning=false; + var vehicle_id = "" + var driveURL = "" + var vehicleURL = "" - if(e.which == 75) { - // 'k' slow down - velocity.throttleDown() - } + var load = function() { - if(e.which == 74) { - // 'j' turn left - velocity.angleLeft() - } + vehicle_id = $('#vehicle_id').data('id') + driveURL = '/api/vehicles/drive/' + vehicle_id + "/" + vehicleURL = '/api/vehicles/' + vehicle_id + "/" - if(e.which == 76) { - // 'l' turn right - velocity.angleRight() - } + bindKeys() + bindPilotSelect() - if(e.which == 65) { - // 'a' turn on auto mode - velocity.updateDriveMode('auto') - } - if(e.which == 68) { - // 'a' turn on auto mode - velocity.updateDriveMode('user') - } - if(e.which == 83) { - // 'a' turn on auto mode - velocity.updateDriveMode('auto_angle') + var joystick_options = { + zone: document.getElementById('joystick_container'), // active zone + color: '#668AED', + size: 350, + }; + + var manager = nipplejs.create(joystick_options); + + bindNipple(manager) + }; + + + + var bindKeys = function() { + //Bind a function to capture the coordinates of the click. + $(angleEl).change(function(e) { + postDrive() + }); + $(throttleEl).change(function(e) { + postDrive() + }); + + $(document).keydown(function(e) { + if(e.which == 73) { + // 'i' throttle up + throttleUp() + } + + if(e.which == 75) { + // 'k' slow down + throttleDown() + } + + if(e.which == 74) { + // 'j' turn left + angleLeft() + } + + if(e.which == 76) { + // 'l' turn right + angleRight() + } + + if(e.which == 65) { + // 'a' turn on auto mode + updateDriveMode('auto') + } + if(e.which == 68) { + // 'a' turn on auto mode + updateDriveMode('user') + } + if(e.which == 83) { + // 'a' turn on auto mode + updateDriveMode('auto_angle') + } + }); + }; + + + function bindNipple(manager) { + manager.on('start end', function(evt, data) { + $('#angleInput').val(0); + $('#throttleInput').val(0); + + if (!joystickLoopRunning) { + joystickLoopRunning=true; + joystickLoop(); + } else { + joystickLoopRunning=false; + } + + }).on('move', function(evt, data) { + radian = data['angle']['radian'] + distance = data['distance'] + + angle = Math.round(distance * Math.cos(radian)/2) + throttle = Math.round(distance * Math.sin(radian)/2) + recording = true + + }); } -}); -var velocity = (function() { - //functions to change velocity of vehicle + var bindPilotSelect = function(){ + $('#pilot_select').on('change', function () { + pilot = $(this).val(); // get selected value + postPilot() + }); + }; - var angle = 0 - var throttle = 0 - var driveMode = 'user' - var angleEl = "#angleInput" - var throttleEl = "#throttleInput" - var sendURL = "" - var bind = function(data){ - //Bind a function to capture the coordinates of the click. - $(angleEl).change(function(e) { - sendVelocity() - }); - $(throttleEl).change(function(e) { - sendVelocity() - }); + var postPilot = function(){ + data = JSON.stringify({ 'pilot': pilot }) + console.log(data) + $.post(vehicleURL, data) + } + + + var updateDisplay = function() { + $(throttleEl).val(throttle); + $(angleEl).val(angle); + $('#driveMode').val(driveMode); }; - var sendVelocity = function() { + var postDrive = function() { //Send angle and throttle values - data = JSON.stringify({ 'angle': angle, 'throttle':throttle, 'drive_mode':driveMode, 'recording':'false'}) - $.post(sendURL, data) + updateDisplay() + data = JSON.stringify({ 'angle': angle, 'throttle':throttle, + 'drive_mode':driveMode, 'recording': recording}) + console.log(data) + $.post(driveURL, data) }; + + // Send control updates to the server every .1 seconds. + function joystickLoop () { + setTimeout(function () { + postDrive() + + if (joystickLoopRunning) { + joystickLoop(); + } else { + // Send zero angle, throttle and stop recording + angle = 0 + throttle = 0 + recording = 0 + postDrive() + } + }, 100) + } + var throttleUp = function(){ //Bind a function to capture the coordinates of the click. throttle = Math.min(throttle + 5, 400); - $(throttleEl).val(throttle) - sendVelocity() + postDrive() }; var throttleDown = function(){ //Bind a function to capture the coordinates of the click. throttle = Math.max(throttle - 10, -200); - $(throttleEl).val(throttle); - sendVelocity() + postDrive() }; var angleLeft = function(){ //Bind a function to capture the coordinates of the click. angle = Math.max(angle - 10, -90) - $(angleEl).val(angle); - sendVelocity() + postDrive() }; var angleRight = function(){ //Bind a function to capture the coordinates of the click. angle = Math.min(angle + 10, 90) - $(angleEl).val(angle); - sendVelocity() + postDrive() }; var updateDriveMode = function(mode){ //Bind a function to capture the coordinates of the click. driveMode = mode; - $('#driveMode').val(mode); - sendVelocity() + postDrive() }; - return { - bind: bind, - throttleUp: throttleUp, - throttleDown: throttleDown, - angleLeft: angleLeft, - angleRight: angleRight, - sendVelocity: sendVelocity, - updateDriveMode: updateDriveMode - }; + + return { load: load }; })(); diff --git a/donkey/templates/monitor.html b/donkey/templates/vehicle.html similarity index 71% rename from donkey/templates/monitor.html rename to donkey/templates/vehicle.html index 1366dfb30..e06597e62 100644 --- a/donkey/templates/monitor.html +++ b/donkey/templates/vehicle.html @@ -2,7 +2,7 @@ {% block content %}
-

Donkey Control

+

Vehicle: {{vehicle['id']}}

Use this website to drive your vehicle. Data will only be recorded when you are actively steering.
@@ -10,11 +10,19 @@

Donkey Control

Image Stream (MJPEG)

- +
+ + Pilot: +
@@ -53,5 +61,20 @@

Donkey Control

Click/touch to use joystic.
+
+ +
+
+ + + {% end %} \ No newline at end of file diff --git a/donkey/templates/choose_vehicle.html b/donkey/templates/vehicle_list.html similarity index 90% rename from donkey/templates/choose_vehicle.html rename to donkey/templates/vehicle_list.html index 52b563a04..0addcf4e8 100644 --- a/donkey/templates/choose_vehicle.html +++ b/donkey/templates/vehicle_list.html @@ -7,7 +7,7 @@

Vehicles