collision_testing.py

[Spatialghost]

Hi, help please update collision_testing. py. All working, but arrors in lines 71 and 74.

import airsim
#from AirSimClient import CarClient, CarControls, ImageRequest, AirSimImageType, AirSimClientBase
import os
import time
import tensorflow as tf
import pickle
import sys

from image_helper import loadgray, IMAGEDIR
from tf_softmax_layer import inference

TMPFILE = IMAGEDIR + '/active.png'
PARAMFILE = 'params.pkl'
IMGSIZE = 1032
INITIAL_THROTTLE= 0.65
BRAKING_DURATION = 15

connect to the AirSim simulator

client = airsim.CarClient()
client.confirmConnection()
print('Connected')
client.enableApiControl(True)
car_controls = airsim.CarControls()

client.reset()

go forward

car_controls.throttle = INITIAL_THROTTLE
car_controls.steering = 0
client.setCarControls(car_controls)

Load saved training params as ordinary NumPy

W,b = pickle.load(open('params.pkl', 'rb'))

with tf.Graph().as_default():

# Placeholder for an image
x = tf.placeholder('float', [None, IMGSIZE])

# Our inference engine, intialized with weights we just loaded
output = inference(x, IMGSIZE, 2, W, b)

# TensorFlow initialization boilerplate
sess = tf.Session()
init_op = tf.global_variables_initializer()
sess.run(init_op)

# Once the brakes come on, we need to keep them on for a while before exiting; otherwise,
# the vehicle will resume moving.
brakingCount = 0

# Loop until we detect a collision
while True:

    # Get RGBA camera images from the car
    responses = client.simGetImages([airsim.ImageRequest("1", airsim.ImageType.Scene)])

    # Save it to a temporary file
    image = responses[0].image_data_uint8
    AirSimClientBase.write_file(os.path.normpath(TMPFILE), image)  ### NameError: name 'AirSimClientBase' is not defined

    # Read-load the image as a grayscale array
    image = loadgray(TMPFILE) ### FileNotFoundError: [Errno 2] No such file or directory: './carpix/active.png'

    # Run the image through our inference engine.
    # Engine returns a softmax output inside a list, so we grab the first
    # element of the list (the actual softmax vector), whose second element
    # is the absence of an obstacle.
    safety = sess.run(output, feed_dict={x:[image]})[0][1]

    # Slam on the brakes if it ain't safe!
    if safety < 0.5:

        if brakingCount > BRAKING_DURATION:
            print('BRAKING TO AVOID COLLISSION')
            sys.stdout.flush()
            break
        
        car_controls.brake = 1.0
        client.setCarControls(car_controls)

        brakingCount += 1
        
    # Wait a bit on each iteration
    time.sleep(0.1)

client.enableApiControl(False)