Server code actively refuses to connect with Udacity's Self Driving Car Simulator (Port 4567)

[thetechdude124]

When running the drive.py and simulator files, the connection is never established - it simply says "accepted", rather than actually connecting. When I looked at the output log for the simulator, here's what I found:

`|Fatal|WebSocket.acceptException|System.Net.Sockets.SocketException: No connection could be made because the target machine actively refused it.

                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP, Boolean requireSocketPolicy) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPEndPoint remote_end_point) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPAddress[] ipAddresses, Int32 port) [0x00000] in <filename unknown>:0 `

This error happens every time I try and establish a connection. Here's the code on the server side (drive.py file):

import base64 #for lossless encoding transfer
from datetime import datetime #to set frame timestamp
import os #write + read files
import numpy as np
import shutil
import socketio #server
from flask import Flask #framework for web devices
from io import BytesIO #manipulate string and byte data in memory
import eventlet
import eventlet.wsgi 
import cv2

import tensorflow as tf
import keras
from keras.models import load_model
from PIL import Image

height = 320
width = 160     

def resize(image):
    return cv2.resize(image, (width, height), cv2.INTER_AREA)

#server init
sio = socketio.Server(always_connect = True )
#flask web app
application = Flask(__name__)

#init empty model and image array
net = None
image_array_before = None

#Speed limits
max_speed = 30
min_speed = 10

speed_limit = max_speed

#Server event handler
@sio.on('telemetry')
def telemetry(sid, data):

    if data:
        steering_angle = float(data["steering_angle"])
        throttle = float(data["throttle"])
        speed = float(data["speed"])    
        image = Image.open(BytesIO(base64.b64decode(data["image"])))
        
        #save frame
        timestamp = datetime.utcnow().strftime('%Y_%m_%d_%H_%M_%S_%f')[:-3]
        image_filename = os.path.join(r'path', timestamp)
        image.save('{}.jpg'.format(image_filename))
        
        try:
            image = np.asarray(image)
            image = resize(image)
            image = np.array([image])

            steering_angle = float(net.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)

        except Exception as e:
            print (e)

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

@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__":
    net = load_model('path')
    application = socketio.Middleware(sio, application)
    #deploy
    eventlet.wsgi.server(eventlet.listen(('localhost', 4567)), application)

I've tried to fix it via disabling the firewall and changing the hostname, but to no avail. Any idea what might be wrong? Thanks!

[techwithanirudh]

See this url about cv2 and ml https://youtu.be/mVUrErF5xq8

[techwithanirudh]

and try downgrading to python-socketio 4.2.1

[techwithanirudh]

and if it doesn't work try install version 2

[techwithanirudh]

of the Simulator

[haisenberg996]

并尝试降级到python-socketio 4.2.1
感谢感谢，成功解决了我的问题

[haisenberg996]

并尝试降级到python-socketio 4.2.1

很好奇，您是怎么想到这个解决方法的呢？

[thetechdude124]

Thank you all so much! Downgrading socket io worked!

…

On Wed, Feb 3, 2021 at 10:16 PM haisenberg996 ***@***.***> wrote: 并尝试降级到python-socketio 4.2.1 很好奇，您是怎么想到这个解决方法的呢？ — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#131 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/APUIVYH7HQAGS6AUO4IDHPTS5IGPVANCNFSM4V3ADASQ> .

[Subhainr]

When running the drive.py and simulator files, the connection is never established - it simply says "accepted", rather than actually connecting. When I looked at the output log for the simulator, here's what I found:

`|Fatal|WebSocket.acceptException|System.Net.Sockets.SocketException: No connection could be made because the target machine actively refused it.

                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP, Boolean requireSocketPolicy) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPEndPoint remote_end_point) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPAddress[] ipAddresses, Int32 port) [0x00000] in <filename unknown>:0 `

This error happens every time I try and establish a connection. Here's the code on the server side (drive.py file):

import base64 #for lossless encoding transfer
from datetime import datetime #to set frame timestamp
import os #write + read files
import numpy as np
import shutil
import socketio #server
from flask import Flask #framework for web devices
from io import BytesIO #manipulate string and byte data in memory
import eventlet
import eventlet.wsgi 
import cv2

import tensorflow as tf
import keras
from keras.models import load_model
from PIL import Image

height = 320
width = 160     

def resize(image):
    return cv2.resize(image, (width, height), cv2.INTER_AREA)

#server init
sio = socketio.Server(always_connect = True )
#flask web app
application = Flask(__name__)

#init empty model and image array
net = None
image_array_before = None

#Speed limits
max_speed = 30
min_speed = 10

speed_limit = max_speed

#Server event handler
@sio.on('telemetry')
def telemetry(sid, data):

    if data:
        steering_angle = float(data["steering_angle"])
        throttle = float(data["throttle"])
        speed = float(data["speed"])    
        image = Image.open(BytesIO(base64.b64decode(data["image"])))
        
        #save frame
        timestamp = datetime.utcnow().strftime('%Y_%m_%d_%H_%M_%S_%f')[:-3]
        image_filename = os.path.join(r'path', timestamp)
        image.save('{}.jpg'.format(image_filename))
        
        try:
            image = np.asarray(image)
            image = resize(image)
            image = np.array([image])

            steering_angle = float(net.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)

        except Exception as e:
            print (e)

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

@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__":
    net = load_model('path')
    application = socketio.Middleware(sio, application)
    #deploy
    eventlet.wsgi.server(eventlet.listen(('localhost', 4567)), application)

I've tried to fix it via disabling the firewall and changing the hostname, but to no avail. Any idea what might be wrong? Thanks!

pip install python-engineio==3.13.2
pip install python-socketio==4.6.1

let me know. do in your created environment only
Give a love by upvoting.

[sumit-mandal]

When running the drive.py and simulator files, the connection is never established - it simply says "accepted", rather than actually connecting. When I looked at the output log for the simulator, here's what I found:
`|Fatal|WebSocket.acceptException|System.Net.Sockets.SocketException: No connection could be made because the target machine actively refused it.

                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP, Boolean requireSocketPolicy) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPEndPoint remote_end_point) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPAddress[] ipAddresses, Int32 port) [0x00000] in <filename unknown>:0 `

This error happens every time I try and establish a connection. Here's the code on the server side (drive.py file):

import base64 #for lossless encoding transfer
from datetime import datetime #to set frame timestamp
import os #write + read files
import numpy as np
import shutil
import socketio #server
from flask import Flask #framework for web devices
from io import BytesIO #manipulate string and byte data in memory
import eventlet
import eventlet.wsgi 
import cv2

import tensorflow as tf
import keras
from keras.models import load_model
from PIL import Image

height = 320
width = 160     

def resize(image):
    return cv2.resize(image, (width, height), cv2.INTER_AREA)

#server init
sio = socketio.Server(always_connect = True )
#flask web app
application = Flask(__name__)

#init empty model and image array
net = None
image_array_before = None

#Speed limits
max_speed = 30
min_speed = 10

speed_limit = max_speed

#Server event handler
@sio.on('telemetry')
def telemetry(sid, data):

    if data:
        steering_angle = float(data["steering_angle"])
        throttle = float(data["throttle"])
        speed = float(data["speed"])    
        image = Image.open(BytesIO(base64.b64decode(data["image"])))
        
        #save frame
        timestamp = datetime.utcnow().strftime('%Y_%m_%d_%H_%M_%S_%f')[:-3]
        image_filename = os.path.join(r'path', timestamp)
        image.save('{}.jpg'.format(image_filename))
        
        try:
            image = np.asarray(image)
            image = resize(image)
            image = np.array([image])

            steering_angle = float(net.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)

        except Exception as e:
            print (e)

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

@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__":
    net = load_model('path')
    application = socketio.Middleware(sio, application)
    #deploy
    eventlet.wsgi.server(eventlet.listen(('localhost', 4567)), application)

I've tried to fix it via disabling the firewall and changing the hostname, but to no avail. Any idea what might be wrong? Thanks!

pip install python-engineio==3.13.2
pip install python-socketio==4.6.1

let me know. do in your created environment only

your method worked. I was stuck for almost 2 days. You are saviour brother

[mikel-brostrom]

Downgrading the libraries as explained here worked for me! Thank you so much!

[Subhainr]

When running the drive.py and simulator files, the connection is never established - it simply says "accepted", rather than actually connecting. When I looked at the output log for the simulator, here's what I found:
`|Fatal|WebSocket.acceptException|System.Net.Sockets.SocketException: No connection could be made because the target machine actively refused it.

                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP, Boolean requireSocketPolicy) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPEndPoint remote_end_point) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPAddress[] ipAddresses, Int32 port) [0x00000] in <filename unknown>:0 `

This error happens every time I try and establish a connection. Here's the code on the server side (drive.py file):

import base64 #for lossless encoding transfer
from datetime import datetime #to set frame timestamp
import os #write + read files
import numpy as np
import shutil
import socketio #server
from flask import Flask #framework for web devices
from io import BytesIO #manipulate string and byte data in memory
import eventlet
import eventlet.wsgi 
import cv2

import tensorflow as tf
import keras
from keras.models import load_model
from PIL import Image

height = 320
width = 160     

def resize(image):
    return cv2.resize(image, (width, height), cv2.INTER_AREA)

#server init
sio = socketio.Server(always_connect = True )
#flask web app
application = Flask(__name__)

#init empty model and image array
net = None
image_array_before = None

#Speed limits
max_speed = 30
min_speed = 10

speed_limit = max_speed

#Server event handler
@sio.on('telemetry')
def telemetry(sid, data):

    if data:
        steering_angle = float(data["steering_angle"])
        throttle = float(data["throttle"])
        speed = float(data["speed"])    
        image = Image.open(BytesIO(base64.b64decode(data["image"])))
        
        #save frame
        timestamp = datetime.utcnow().strftime('%Y_%m_%d_%H_%M_%S_%f')[:-3]
        image_filename = os.path.join(r'path', timestamp)
        image.save('{}.jpg'.format(image_filename))
        
        try:
            image = np.asarray(image)
            image = resize(image)
            image = np.array([image])

            steering_angle = float(net.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)

        except Exception as e:
            print (e)

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

@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__":
    net = load_model('path')
    application = socketio.Middleware(sio, application)
    #deploy
    eventlet.wsgi.server(eventlet.listen(('localhost', 4567)), application)

I've tried to fix it via disabling the firewall and changing the hostname, but to no avail. Any idea what might be wrong? Thanks!

pip install python-engineio==3.13.2
pip install python-socketio==4.6.1
let me know. do in your created environment only

your method worked. I was stuck for almost 2 days. You are saviour brother

Thank u vaiya, for ur kind words. Move on

[Subhainr]

Downgrading the libraries as explained here worked for me! Thank you so much!

U r Welcome!!

[AserElkhateeb99]

and try downgrading to python-socketio 4.2.1
how you did it?

[hpt1988]

pip3 install “python-socketio<4.3” “python-engineio<3.9 is the solution

[githubrandomuser2017]

When I looked at the output log for the simulator,

@thetechdude124 Where did you find the simulator's output log? I'm running the simulator on a Mac.