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drive.py
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drive.py
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import argparse
import base64
import json
import numpy as np
import socketio
import eventlet
import eventlet.wsgi
import time
from PIL import Image
from PIL import ImageOps
from flask import Flask, render_template
from io import BytesIO
from keras.models import model_from_json
from keras.models import load_model
from keras.preprocessing.image import ImageDataGenerator, array_to_img, img_to_array
import os
import shutil
from datetime import datetime
sio = socketio.Server()
app = Flask(__name__)
model = None
prev_image_array = None
@sio.on('telemetry')
def telemetry(sid, data):
# The current steering angle of the car
steering_angle = data["steering_angle"]
# The current throttle of the car
throttle = data["throttle"]
# The current speed of the car
speed = data["speed"]
# The current image from the center camera of the car
imgString = data["image"]
image = Image.open(BytesIO(base64.b64decode(imgString)))
image_array = np.asarray(image)
image_array = image_array[60:140:4, 0:-1:4, 0]
image_array = image_array / 255 - 0.5
transformed_image_array = image_array.reshape(( 1,
image_array.shape[0],
image_array.shape[1],
1))
steering_angle = float(model.predict(transformed_image_array, batch_size=1))
throttle = 0.2
print(steering_angle, throttle)
send_control(steering_angle, throttle)
#Save the image
if args.image_folder != '':
timestamp = datetime.utcnow().strftime('%Y_%m_%d_%H_%M_%S_%f')[:-3]
image_filename = os.path.join(args.image_folder, timestamp)
image.save('{}.jpg'.format(image_filename))
@sio.on('connect')
def connect(sid, environ):
print("connect ", sid)
send_control(0, 0)
def send_control(steering_angle, throttle):
sio.emit("steer", data={
'steering_angle': steering_angle.__str__(),
'throttle': throttle.__str__()
}, skip_sid=True)
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='Remote Driving')
parser.add_argument('model', type=str,
help='Path to model definition json. Model weights should be on the same path.')
parser.add_argument(
'image_folder',
type=str,
nargs='?',
default='',
help='Path to image folder. This is where the images from the run will be saved.'
)
args = parser.parse_args()
with open(args.model, 'r') as jfile:
model = model_from_json(json.loads(jfile.read()))
model.compile("adam", "mse")
weights = args.model.replace('json', 'h5')
model.load_weights(weights)
if args.image_folder != '':
print("Creating image folder at {}".format(args.image_folder))
if not os.path.exists(args.image_folder):
os.makedirs(args.image_folder)
else:
shutil.rmtree(args.image_folder)
os.makedirs(args.image_folder)
print("RECORDING THIS RUN ...")
else:
print("NOT RECORDING THIS RUN ...")
# wrap Flask application with engineio's middleware
app = socketio.Middleware(sio, app)
# deploy as an eventlet WSGI server
eventlet.wsgi.server(eventlet.listen(('', 4567)), app)