drive.py

import socketio
import eventlet
import numpy as np
from flask import Flask
from keras.models import load_model
import base64
from io import BytesIO
from PIL import Image
import cv2

sio = socketio.Server()

app = Flask(__name__) #'__main__'

MAX_SPEED = 8
MIN_SPEED = 5

speed_limit = MAX_SPEED
def img_preprocess(img):
    img = img[60:135,:,:]
    img = cv2.cvtColor(img, cv2.COLOR_RGB2YUV)
    # img = cv2.GaussianBlur(img,  (3, 3), 0)
    img = cv2.resize(img, (200, 66))
    # img = img/255.
    return img


@sio.on('telemetry')
def telemetry(sid, data):
    speed = float(data['speed'])
    
    image = Image.open(BytesIO(base64.b64decode(data['image'])))
    image = np.asarray(image)
    image = img_preprocess(image)
    image = np.array([image])
    
    steering_angle = float(model.predict(image))
    
    global speed_limit
    if speed > speed_limit:
        speed_limit = MIN_SPEED
    else:
        speed_limit = MAX_SPEED
    
    throttle = 1.0 - steering_angle**2 - (speed/speed_limit)**2
    print('{} {} {}'.format(steering_angle, throttle, speed))
    send_control(steering_angle, throttle)



@sio.on('connect')
def connect(sid, environ):
    print('Connected')
    send_control(0, 0)

def send_control(steering_angle, throttle):
    sio.emit('steer', data = {
        'steering_angle': steering_angle.__str__(),
        'throttle': throttle.__str__()
    })


if __name__ == '__main__':
    model = load_model('min_loss_model_vgg_50-2.h5')
    app = socketio.Middleware(sio, app)
    eventlet.wsgi.server(eventlet.listen(('', 4567)), app)