tensorkart/play.py at master · DistributedSystemsGroup/tensorkart · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
#!/usr/bin/env python

from BaseHTTPServer import BaseHTTPRequestHandler, HTTPServer
from utils import take_screenshot, prepare_image
from utils import XboxController
import tensorflow as tf
import model
import threading
from termcolor import cprint
import json
import random
PORT_NUMBER = 8082

# Start session
sess = tf.InteractiveSession()
sess.run(tf.global_variables_initializer())

gas = 0
# Load Model
saver = tf.train.Saver()
saver.restore(sess, "./model.ckpt")

# Init contoller for manual override
real_controller = XboxController()

class ControllerState(object):
    def __init__(self):
        self.START_BUTTON = 0
        self.Z_TRIG = 0
        self.B_BUTTON = 0
        self.A_BUTTON = 0
        self.R_TRIG = 0
        self.L_TRIG = 0
        self.X_AXIS = 0
        self.Y_AXIS = 0

def amp(steer):
    threshold = 15
    gain = 1.7
    # threshold = 25
    # gain = 1.9
    if steer > threshold:
        steer = max(gain*steer, 80)
    elif steer < -threshold:
        steer = max(gain*steer, -80)
    # else:
    #     steer *= 0.5
    return int(steer)

# Play
class myHandler(BaseHTTPRequestHandler):
    def log_message(self, format, *args):
        pass

    def do_GET(self):
        global gas
        ### determine manual override
        manual_override = real_controller.manual_override()

        if (not manual_override):

            ## Look
            image = take_screenshot()
            vec = prepare_image(image)


            ## Think
            joystick = model.y.eval(session=sess, feed_dict={model.x: [vec], model.keep_prob: 1.0})[0]
            steer = joystick[0]
            print steer
            gas = 1 - gas
            # gas = 1
            # joystick[1] =  gas # slow down a bit
            ####### amplification
            # steer = amp(int(steer * 80))
            steer = int(steer * 80)
            # print steer
            Y_axis = 0


        else:
            joystick = real_controller.read()
            joystick[1] *= -1 # flip y (this is in the config when it runs normally)
            steer = int(joystick[0] * 80)
            gas = int(joystick[2])
            Y_axis = int(joystick[1] * 80)
        # joystick[1] =  0 # Y axis
        # joystick[3] =  0 # X button
        # joystick[4] =  0 # RB button


        ## Act


        output = [
            steer,
            gas,
            Y_axis
            # joystick[0], # LEFT RIGHT ANALOG
            # joystick[1], #  UP DOWN ANALOG
            # joystick[2], # A
            # joystick[3], # X
            # joystick[4], # RB
        ]

        ### print to console
        if (manual_override):
            cprint("Manual: " + str(output), 'yellow')
        else:
            cprint("AI: " + str(output), 'green')
        # TODO: include other buttons as in controller.c (input-bot)
        json_output = ControllerState()
        json_output.X_AXIS = steer
        json_output.Y_AXIS = Y_axis
        json_output.A_BUTTON = gas

        self.send_response(200)
        self.send_header("Content-type", "text/plain")
        self.end_headers()
        self.wfile.write(json.dumps(json_output.__dict__))
        return


if __name__ == '__main__':
    server = HTTPServer(('', PORT_NUMBER), myHandler)
    print 'Started httpserver on port ' , PORT_NUMBER
    thread = threading.Thread(target=server.serve_forever, args=())
    thread.daemon = True
    thread.start()
    raw_input('Serving now... press <Enter> to shut down.')
    print 'Shutting down...'