some changes 👍

- changed drive.py -> driver.py
- create DriveApp class for python GUI
- DriveApp & driver.py implemented
- run.py added & implemented
- other small changes.
- some basic testing and debugging

Pretty much for v0.0.1 release.

driver.py

@@ -0,0 +1,194 @@
+#
+# ------------------- AGC ----------------------
+# Drive.py | Created by Neil Nie & Michael Meng
+#      Main file of the self driving car
+# (c) Neil Nie 2017, Please refer to the license
+# ----------------------------------------------
+#
+
+# from steering.rambo import Rambo
+from steering.autumn import AutumnModel
+from steering.steering_predictor import SteeringPredictor
+from steering.mc import MC
+from cruise.cruise_predictor import CruisePredictor
+from cruise.sc import SC
+from semantic_segmentation.segmentor import Segmentor
+from semantic_segmentation.segmentation_analyzer import SegAnalyzer
+from path_planning.global_path import GlobalPathPlanner
+import configs.configs as configs
+from localization.gps import GPS
+
+from imutils.video import VideoStream
+import helper
+import os
+import cv2
+import numpy as np
+from steering.auto_pilot import AutoPilot as AP
+from steering.rambo import Rambo
+from termcolor import colored
+import time
+
+
+class Driver:
+
+    def __init__(self, steering_model, cc=False, seg_vis=False, obj_det=False, det_vis=False, gps=False):
+
+        self.steering_model = steering_model
+        self.cc = cc
+        self.seg_vis = seg_vis
+        self.obj_det = seg_vis
+        self.det_vis = det_vis
+        self.gps = gps
+
+        self.steering_predictor, self.c_predictor, self.segmentor, self.seg_analyzer = self.init_ml_models()
+
+        if self.gps:
+            self.init_nav()
+
+        if configs.default_st_port:  # check for serial setting
+            print(colored("using system default serial ports", "blue"))
+            self.mc = MC(0)
+            self.c_controller = SC(1)
+        else:
+            print(colored("------ serial ports -------", "blue"))
+            print(colored("-------- steering ---------", "blue"))
+            os.system("ls /dev/ttyUSB*")
+            st_port = helper.get_serial_port()
+            self.mc = MC(st_port)
+
+            print(colored("--------- cruise ---------", "blue"))
+            os.system("ls /dev/ttyUSB*")
+            cc_port = helper.get_serial_port()  # get serial ports
+            self.c_controller = SC(cc_port)     # init CC controller
+            print(colored("--------------------------", "blue"))
+
+    def init_ml_models(self):
+
+        if self.steering_model == "Own":
+            steering_predictor = SteeringPredictor()  # init steering predictor
+        elif self.steering_model == "Komanda":
+            steering_predictor = None
+        elif self.steering_model == "Rambo":
+            steering_predictor = Rambo("steering/final_model.hdf5", "steering/X_train_mean.npy")
+        elif self.steering_model == "Autumn":
+            steering_predictor = AutumnModel(configs.cnn_graph, configs.lstm_json, configs.cnn_weights, configs.lstm_weights)
+        elif self.steering_model == "AutoPilot":
+            steering_predictor = None
+        else:
+            raise Exception("Unknown model type: " + self.steering_model + ". Please enter a valid model type")
+
+        if self.cc:
+            c_predictor = CruisePredictor()          # init cruise predictor
+        else:
+            c_predictor = None
+
+        segmentor = Segmentor("ENET")  # init segmentor
+        seg_analyzer = SegAnalyzer(0.05)  # init seg analyzer
+
+        return steering_predictor, c_predictor, segmentor, seg_analyzer
+
+    def init_nav(self):
+
+        print(colored("------ GPS-------", "blue"))
+        os.system("ls /dev/ttyUSB*")
+        gps_port = helper.get_serial_port()
+        self.gps = GPS(gps_port)
+
+        start = self.gps.query_gps_location()
+        print("start: " + str(start))
+        destination = helper.get_destination()
+
+        self.gp_planner = GlobalPathPlanner()
+        directions = self.gp_planner.direction(start, destination)
+        print(directions)
+
+    def drive(self):
+
+        cap = cv2.VideoCapture(configs.CV_CAP_STR)
+
+        vid_left = VideoStream(src=configs.left_vid_src).start()
+        vid_center = VideoStream(src=configs.cent_vid_src).start()
+        vid_right = VideoStream(src=configs.right_vid_src).start()
+
+        if cap.isOpened():
+
+            windowName = "car detection"
+            cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
+            cv2.resizeWindow(windowName, 1280, 480)
+            cv2.moveWindow(windowName, 0, 0)
+            cv2.setWindowTitle(windowName, "car detection")
+
+            print(colored("program begins", "blue"))
+
+            while True:
+
+                # -----------------------------------------------------
+                # Check to see if the user closed the window
+                if cv2.getWindowProperty(windowName, 0) < 0:
+                    break
+
+                left_frame = vid_left.read()
+                center_frame = vid_center.read()
+                right_frame = vid_right.read()
+
+                ret_val, image = cap.read()
+
+                # --------------------------- steering --------------------
+                #
+                if self.steering_model == "Rambo":
+                    resize = cv2.resize(image,(256, 192))
+                    angle = -1 * self.steering_predictor.predict(cv2.cvtColor(resize), cv2.COLOR_BGR2GRAY)
+                    steering_img = self.steering_predictor.post_process_image(cv2.resize(image,(320, 160)), angle)
+
+                elif self.steering_model == "Own":
+                    angle, steering_img = self.steering_predictor.predict_steering(image)
+
+                elif self.steering_model == "Autumn":
+                    angle = self.steering_predictor.predict(image)
+                    steering_img = self.steering_predictor.post_process_image(image=cv2.resize(image, (320, 160)), angle=angle)
+                else:
+                    raise Exception("Not implemented: " + self.steering_model + ". Please enter a valid model type")
+
+                # -------------- execute steering commands ----------------
+                steering_img = cv2.resize(steering_img, (640, 480))
+                self.mc.turn(configs.st_fac * angle)
+
+
+                # ------------------ segmentation -------------------------
+
+                if cv2.waitKey(33) == ord('a'):
+                    speed = 1
+                    visual = cv2.resize(image, (640, 480))
+                else:
+                    result, visual = self.segmentor.semantic_segmentation(image, visualize=self.seg_vis)
+                    speed = self.seg_analyzer.analyze_image(result)
+
+                if speed == 0:
+                    print(colored("STOP!", "red"))
+                    self.c_controller.drive(-1)
+                    time.sleep(2)
+                else:
+                    self.c_controller.drive(1)
+
+                # ------------------------- ------------ -------------------
+
+                buff1 = np.concatenate((steering_img, visual), axis=1)
+                # vidBuf = np.concatenate((buff1, buff2), axis=0)
+                vidBuf = buff1
+
+                # ------------------ show the stuff -------------------
+                # -----------------------------------------------------
+                cv2.imshow(windowName, vidBuf)
+                key = cv2.waitKey(10)
+
+                if key == 27:  # ESC key
+                    cv2.destroyAllWindows()
+                    print(colored("-------------------------", "blue"))
+                    print(colored("Thank you! Program ended.", "blue"))
+                    print(colored("-------------------------", "blue"))
+                    break
+
+        else:
+            print("Fatal error, camera is not open")
+
+