Merge pull request #22 from yconst/dev

Model improvements and image related efficiency improvements

burro/composers/composers.py

@@ -4,9 +4,9 @@
 from config import config
 
 from rover import Rover
-from sensors import PiVideoStream
+from sensors.cameras import PiVideoStream
 from models import list_models
-from pilots import (KerasCategorical,
+from pilots import (KerasRegression, KerasCategorical,
     RC, F710, MixedRC, MixedF710)
 from mixers import AckermannSteeringMixer, DifferentialSteeringMixer
 from drivers import NAVIO2PWM, Adafruit_MotorHAT
@@ -18,12 +18,12 @@
 
 class Composer(object):
 
-    def new_vehicle(self):
+    def new_vehicle(self, type=config.car.type):
         rover = Rover()
         self.board_type = methods.board_type()
         self.setup_pilots(rover)
         self.setup_recorders(rover)
-        self.setup_mixers(rover)
+        self.setup_mixers(rover, type)
         self.setup_remote(rover)
         self.setup_indicators(rover)
         self.setup_sensors(rover)
@@ -57,18 +57,26 @@ def setup_pilots(self, rover):
     def setup_recorders(self, rover):
         rover.recorder = FileRecorder()
 
-    def setup_mixers(self, rover):
+    def setup_mixers(self, rover, type):
         if self.board_type is 'navio':
-            logging.info("Found NAVIO2 HAT - Setting up Ackermann car")
-            throttle_driver = NAVIO2PWM(2)
-            steering_driver = NAVIO2PWM(0)
-            rover.mixer = AckermannSteeringMixer(
-                steering_driver=steering_driver,
-                throttle_driver=throttle_driver)
+            if type == 'differential':
+                logging.info("Found NAVIO2 HAT - Setting up differential car")
+                left_driver = NAVIO2PWM(config.differential_car.left_channel)
+                right_driver = NAVIO2PWM(config.differential_car.right_channel)
+                rover.mixer = DifferentialSteeringMixer(
+                    left_driver=left_driver,
+                    right_driver=right_driver)
+            else:
+                logging.info("Found NAVIO2 HAT - Setting up Ackermann car")
+                throttle_driver = NAVIO2PWM(config.ackermann_car.throttle_channel)
+                steering_driver = NAVIO2PWM(config.ackermann_car.steering_channel)
+                rover.mixer = AckermannSteeringMixer(
+                    steering_driver=steering_driver,
+                    throttle_driver=throttle_driver)
         elif self.board_type is 'adafruit':
             logging.info("Found Adafruit Motor HAT - Setting up differential car")
-            left_driver = Adafruit_MotorHAT(config.differential.left_terminal)
-            right_driver = Adafruit_MotorHAT(config.differential.right_terminal)
+            left_driver = Adafruit_MotorHAT(config.differential_car.left_channel+1)
+            right_driver = Adafruit_MotorHAT(config.differential_car.right_channel+1)
             rover.mixer = DifferentialSteeringMixer(
                 left_driver=left_driver,
                 right_driver=right_driver)

burro/config/defaults.ini

@@ -17,14 +17,20 @@ rotation = 0
 crop_top = 0
 crop_bottom = 0
 
-[ackermann_car]
+[car]
+type="ackermann"
 reverse_steering = False
 max_steering_angle = 30.
+
+[ackermann_car]
+throttle_channel = 2
+steering_channel = 0
 drift_gain = 0.15
 
 [differential_car]
-left_terminal = 1
-right_terminal = 2
+# For Adafruit HAT nth channel is n+1th terminal
+left_channel = 0
+right_channel = 1
 left_mult = 1.0
 right_mult = 1.0
 left_reverse = False

burro/methods.py

@@ -3,6 +3,7 @@
 import os
 import subprocess
 import re
+import time
 
 import numpy as np
 
@@ -40,14 +41,14 @@ def from_one_hot(y):
 functions to help converting between angles and yaw input values.
 '''
 
-def angle_to_yaw(angle, limit=config.ackermann_car.max_steering_angle):
+def angle_to_yaw(angle, limit=config.car.max_steering_angle):
     '''
     Convert from angle to yaw
     '''
     return angle / float(limit)
 
 
-def yaw_to_angle(yaw, limit=config.ackermann_car.max_steering_angle):
+def yaw_to_angle(yaw, limit=config.car.max_steering_angle):
     '''
     Convert from yaw to angle
     '''
@@ -89,3 +90,14 @@ def board_type():
         return 'navio'
     elif '0x60' in addresses:
         return 'adafruit'
+
+
+'''
+TIME TOOLS
+'''
+
+def current_milis(): 
+    '''
+    Return the current time in miliseconds
+    '''
+    return int(round(time.time() * 1000))

burro/mixers/mixers.py

@@ -31,7 +31,7 @@ def __init__(self,
     def update(self, throttle, angle):
         throttle = min(1, max(-1, -throttle))
         yaw = min(1, max(-1, methods.angle_to_yaw(angle)))
-        if not config.ackermann_car.reverse_steering:
+        if not config.car.reverse_steering:
             yaw = -yaw
         self.throttle_driver.update(throttle)
         self.steering_driver.update(yaw)
@@ -53,6 +53,10 @@ def update(self, throttle, angle):
         r_speed = (throttle + angle * throttle / 90.) * config.differential_car.right_mult
         l_speed = min(max(l_speed, -1), 1)
         r_speed = min(max(r_speed, -1), 1)
+        if config.car.reverse_steering:
+            t_speed = l_speed
+            l_speed = r_speed
+            r_speed = t_speed
         if config.differential_car.left_reverse:
             l_speed = -l_speed
         if config.differential_car.right_reverse:

burro/pilots/__init__.py

@@ -1,4 +1,5 @@
-from pilots import BasePilot, KerasCategorical
+from pilots import (BasePilot, 
+	KerasCategorical, KerasRegression)
 from rc import RC
 from mixed import MixedRC, MixedF710
 from f710 import F710

burro/pilots/pilots.py

@@ -97,10 +97,10 @@ def decide(self, img_arr):
         img_arr = np.expand_dims(img_arr, axis=0)
         prediction = self.model.predict(img_arr)
         if len(prediction) == 2:
-            yaw = prediction[0]
-            throttle = prediction[1]
+            yaw = methods.angle_to_yaw(prediction[0][0])
+            throttle = prediction[1][0]
         else:
-            yaw = prediction
+            yaw = methods.angle_to_yaw(prediction[0][0])
             throttle = 0
 
         avf = config.model.average_factor

burro/recorders/filerecorder.py

@@ -1,13 +1,12 @@
-
 import time
 import os
+import shutil
 
 from PIL import Image
 
 import methods
 from config import config
 
-def current_milli_time(): return int(round(time.time() * 1000))
 
 class BaseRecorder(object):
 
@@ -16,6 +15,9 @@ def __init__(self):
         self.is_recording = False
 
     def record_frame(self, image_array, angle, throttle):
+        '''
+        Record a single image frame
+        '''
         pass
 
 
@@ -39,9 +41,9 @@ def make_instance_dir(self, sessions_path):
             os.makedirs(instance_path)
         return instance_path
 
-    def record_frame(self, image_array, angle, throttle):
+    def record_frame(self, image_buffer, angle, throttle):
         '''
-        Record a single frame, with frame index, angle and throttle values
+        Record a single image buffer, with frame index, angle and throttle values
         as its filename
         '''
         # throttle is inversed, i.e. forward is negative, backwards positive
@@ -60,11 +62,13 @@ def record_frame(self, image_array, angle, throttle):
             self.frame_count,
             file_angle,
             file_throttle)
-        im = Image.fromarray(image_array)
-        im.save(filepath)
+        with open (filepath, 'w') as fd:
+            image_buffer.seek(0)
+            shutil.copyfileobj(image_buffer, fd, -1)
         self.frame_count += 1
 
-    def create_img_filepath(self, directory, frame_count, angle, throttle):
+    def create_img_filepath(self, directory, frame_count, 
+        angle, throttle, file_type='png'):
         '''
         Generate the complete filepath for saving an image
         '''
@@ -77,6 +81,6 @@ def create_img_filepath(self, directory, frame_count, angle, throttle):
                        "_agl_" +
                        str(angle) +
                        "_mil_" +
-                       str(current_milli_time()) +
-                       '.jpg')
+                       str(methods.current_milis()) +
+                       '.' + file_type)
         return filepath

burro/remotes/frontend/script.js

@@ -66,7 +66,7 @@ ws.onmessage = function (event) {
 
 const ImageView =  {
 	view: function() {
-		return m("img", {class:"viewport", src:"data:image/jpeg;base64," + Store.data.image})
+		return m("img", {class:"viewport", src:"data:image/png;base64," + Store.data.image})
 	}
 }
 

burro/remotes/remotes.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python
 #-*- coding:utf-8 -*-
 
 import json
@@ -18,11 +17,13 @@
 
 
 class MainHandler(web.RequestHandler):
+
     def get(self):
         self.render('index.html')
 
 
 class SocketHandler(websocket.WebSocketHandler):
+
     def check_origin(self, origin):
         return True
 
@@ -53,7 +54,7 @@ def on_close(self):
 
     def send_status(self):
         v = self.application.vehicle
-        img64 = v.vision_sensor.capture_base64()
+        img64 = v.vision_sensor.base64()
         status = {
             "image": img64,
             "controls": {
@@ -80,6 +81,7 @@ def send_settings(self):
 
 
 class WebRemote(web.Application):
+
     def __init__(self, vehicle):
         self.vehicle = vehicle
         base_dir = os.path.dirname(__file__)
@@ -100,7 +102,3 @@ def start(self):
         self.thread = threading.Thread(target=self.loop.start)
         self.thread.daemon = True
         self.thread.start()
-
-
-if __name__ == "__main__":
-    main()

burro/rover.py

@@ -27,27 +27,29 @@ def run(self):
             self.step()
             stop_time = time.time()
             self.f_time = stop_time - start_time
-            time.sleep(max(0.01, 0.05 - self.f_time))
+            time.sleep(max(0.005, 0.05 - self.f_time))
 
     def step(self):
         pilot_angle, pilot_throttle = self.pilot.decide(
             self.vision_sensor.frame)
 
+        self.mixer.update(pilot_throttle, pilot_angle)
+
+        self.pilot_angle = pilot_angle
+        self.pilot_throttle = pilot_throttle
+
         if self.record:
             self.recorder.record_frame(
-                self.vision_sensor.frame, pilot_angle, pilot_throttle)
+                self.vision_sensor.image_buffer(), 
+                pilot_angle, pilot_throttle)
 
         if self.recorder.is_recording:
             self.indicator.set_state('recording')
         elif self.record:
             self.indicator.set_state('standby')
         else:
             self.indicator.set_state('ready')
-
-        self.pilot_angle = pilot_angle
-        self.pilot_throttle = pilot_throttle
-
-        self.mixer.update(pilot_throttle, pilot_angle)
+
 
     def selected_pilot_index(self):
         return self.pilots.index(self.pilot)

burro/sensors/__init__.py

@@ -1 +0,0 @@
-from sensors import *