New .yml file for performing inference on the jetbot

data_collection.ipynb

@@ -0,0 +1,267 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Error loading module `ublox_gps`: No module named 'serial'\n"
+     ]
+    },
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "2e48bbd61f5b48b7addfb65f463e3b07",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "Controller()"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "import ipywidgets.widgets as widgets\n",
+    "from jetbot import Robot, Camera, bgr8_to_jpeg, Heartbeat\n",
+    "import traitlets\n",
+    "import os\n",
+    "import ipywidgets as widgets\n",
+    "from IPython.display import display\n",
+    "import traitlets\n",
+    "from jetbot import Camera, bgr8_to_jpeg\n",
+    "from datetime import datetime\n",
+    "\n",
+    "# establish a connection with the controller\n",
+    "controller = widgets.Controller(index=0) # change index if necessary\n",
+    "display(controller)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# link controller to motors\n",
+    "robot = Robot()\n",
+    "\n",
+    "left_link = traitlets.dlink((controller.axes[1], 'value'), (robot.left_motor, 'value'), transform=lambda x: -x)\n",
+    "right_link = traitlets.dlink((controller.axes[3], 'value'), (robot.right_motor, 'value'), transform=lambda x: -x)\n",
+    "\n",
+    "# establish video feed\n",
+    "image = widgets.Image(format='jpeg', width=300, height=300)\n",
+    "camera = Camera.instance()\n",
+    "camera_link = traitlets.dlink((camera, 'value'), (image, 'value'), transform=bgr8_to_jpeg)\n",
+    "\n",
+    "# create killswitch function that ceases the JetBot's functions if disconnected\n",
+    "def handle_heartbeat_status(change):\n",
+    "    if change['new'] == Heartbeat.Status.dead:\n",
+    "        camera_link.unlink()\n",
+    "        left_link.unlink()\n",
+    "        right_link.unlink()\n",
+    "        robot.stop()\n",
+    "\n",
+    "heartbeat = Heartbeat(period=0.5)\n",
+    "heartbeat.observe(handle_heartbeat_status, names='status')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# global state\n",
+    "run_initialized = False\n",
+    "run_dirs = {}\n",
+    "\n",
+    "# initialize directory structure\n",
+    "def init_run_dirs():\n",
+    "    global run_initialized, run_dirs\n",
+    "    suffix = suffix_input.value.strip()\n",
+    "    if not suffix:\n",
+    "        print(\"❌ Please enter a suffix before saving.\")\n",
+    "        return False\n",
+    "\n",
+    "    base_dir = os.path.join('./data', suffix)\n",
+    "    labels = ['left', 'forward', 'right']\n",
+    "    run_dirs = {}\n",
+    "\n",
+    "    for label in labels:\n",
+    "        subfolder = f\"{label}_{suffix}\"\n",
+    "        full_path = os.path.join(base_dir, subfolder)\n",
+    "        os.makedirs(full_path, exist_ok=True)\n",
+    "        run_dirs[label] = full_path\n",
+    "\n",
+    "    run_initialized = True\n",
+    "    print(f\"✅ Initialized run folders under: {base_dir}\")\n",
+    "    return True\n",
+    "\n",
+    "# save snapshot\n",
+    "def save_snapshot(label):\n",
+    "    if not run_initialized:\n",
+    "        if not init_run_dirs():\n",
+    "            return\n",
+    "    dir_path = run_dirs[label]\n",
+    "    suffix = suffix_input.value.strip()\n",
+    "    filename = f\"{label}_{suffix}_{len(os.listdir(dir_path))}.jpg\"\n",
+    "    path = os.path.join(dir_path, filename)\n",
+    "    with open(path, 'wb') as f:\n",
+    "        f.write(image.value)\n",
+    "\n",
+    "# save and update counter\n",
+    "def save_and_update(label):\n",
+    "    save_snapshot(label)\n",
+    "    count_widgets[label].value = len(os.listdir(run_dirs[label]))\n",
+    "    \n",
+    "# controller bindings\n",
+    "def make_button_handler(label):\n",
+    "    def handler(change):\n",
+    "        if change['new'] == 1.0:\n",
+    "            save_and_update(label)\n",
+    "    return handler"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# create filename suffix input\n",
+    "suffix_input = widgets.Text(\n",
+    "    value='',\n",
+    "    placeholder='enter run name (e.g. run1)',\n",
+    "    description='run name:',\n",
+    "    layout=widgets.Layout(width='300px')\n",
+    ")\n",
+    "\n",
+    "# widgets\n",
+    "button_layout = widgets.Layout(width='128px', height='64px')\n",
+    "count_widgets = {\n",
+    "    'left': widgets.IntText(layout=button_layout, value=0),\n",
+    "    'forward': widgets.IntText(layout=button_layout, value=0),\n",
+    "    'right': widgets.IntText(layout=button_layout, value=0),\n",
+    "}\n",
+    "buttons = {\n",
+    "    'left': widgets.Button(description='⬅️ (LB)', layout=button_layout),\n",
+    "    'forward': widgets.Button(description='⬆️ (L2/R2)', layout=button_layout),\n",
+    "    'right': widgets.Button(description='➡️ (RB)', layout=button_layout),\n",
+    "}\n",
+    "buttons['left'].on_click(lambda x: save_and_update('left'))\n",
+    "buttons['forward'].on_click(lambda x: save_and_update('forward'))\n",
+    "buttons['right'].on_click(lambda x: save_and_update('right'))\n",
+    "\n",
+    "controller.buttons[4].observe(make_button_handler('left'), names='value')\n",
+    "controller.buttons[5].observe(make_button_handler('right'), names='value')\n",
+    "controller.buttons[6].observe(make_button_handler('forward'), names='value')\n",
+    "controller.buttons[7].observe(make_button_handler('forward'), names='value')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "c92139a8cdd24be686bc9e04b4958d98",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "Text(value='', description='Run name:', layout=Layout(width='300px'), placeholder='Enter run name (e.g. run1)'…"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "9d1eb473c0dc4e559f7b340bee27a5f4",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "HBox(children=(IntText(value=0, layout=Layout(height='64px', width='128px')), IntText(value=0, layout=Layout(h…"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "3c988fa66b4e49c88536e68aa344a86d",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "HBox(children=(Button(description='⬅️ (LB)', layout=Layout(height='64px', width='128px'), style=ButtonStyle())…"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "b67e4caba6bf4b9c92454ad8acadf93f",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "Image(value=b'\\xff\\xd8\\xff\\xe0\\x00\\x10JFIF\\x00\\x01\\x01\\x00\\x00\\x01\\x00\\x01\\x00\\x00\\xff\\xdb\\x00C\\x00\\x02\\x01\\x0…"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "# display GUI\n",
+    "display(suffix_input)\n",
+    "display(widgets.HBox([count_widgets['left'], count_widgets['forward'], count_widgets['right']]))\n",
+    "display(widgets.HBox([buttons['left'], buttons['forward'], buttons['right']]))\n",
+    "display(image) # comment out as needed if JetBot keeps freezing"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.6.9"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 4
+}