drive.py

import socketio
import eventlet
from flask import Flask
from keras.models import load_model
import base64
from io import BytesIO
from PIL import Image

from utils import *

sio = socketio.Server()
app = Flask(__name__)

class SimplePIController:
    def __init__(self, Kp, Ki):
        self.Kp = Kp
        self.Ki = Ki
        self.set_point = 0.
        self.error = 0.
        self.integral = 0.

    def set_desired(self, desired):
        self.set_point = desired

    def update(self, measurement):
        # proportional error
        self.error = self.set_point - measurement

        # integral error
        self.integral += self.error

        return self.Kp * self.error + self.Ki * self.integral


controller = SimplePIController(0.1, 0.002)
set_speed = 12
controller.set_desired(set_speed)


@sio.on('telemetry')
def telemetry(sid, data):
    if data:
        speed = data["speed"]
        image = Image.open(BytesIO(base64.b64decode(data['image']))) # The current image from the center camera of the car
        image = np.asarray(image)
        image = preprocess(image)
        image = np.array([image]) 
        steering_angle = float(model.predict(image))
        throttle = controller.update(float(speed))
        send_control(steering_angle, throttle)

    else:
        sio.emit('manual', data={}, skip_sid=True)


@sio.on('connect')
def connect(sid, environ):
    print("Connected to the client!")
    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__':
    model = load_model('model.h5')
    app = socketio.Middleware(sio, app)
    eventlet.wsgi.server(eventlet.listen(('', 4567)), app)