def telemetry(sid, data):
# The current steering angle of the car
steering_angle = data["steering_angle"]
# The current throttle of the car
throttle = data["throttle"]
# The current speed of the car
speed = data["speed"]
# The current image from the center camera of the car
imgString = data["image"]
image = Image.open(BytesIO(base64.b64decode(imgString)))
image_prep = np.asarray(image)
image_array = preprocess(image_prep)
### Maybe use recording flag to start image data collection?
recording = False
for event in pygame.event.get():
if event.type == pygame.JOYAXISMOTION:
print("Joystick moved")
if event.type == pygame.JOYBUTTONDOWN:
print("Joystick button pressed.")
### Get joystick and initialize
### Modify/Add here for keyboard interface
joystick = pygame.joystick.Joystick(0)
joystick.init()
# We are using PS3 left joystick: so axis (0,1) run in pairs, left/right for 2, up/down for 3
# Change this if you want to switch to another axis on your joystick!
# Normally they are centered on (0,0)
leftright = joystick.get_axis(0)/2.0
updown = joystick.get_axis(1)
### Again - may want to try using "recording" flag here to gather images and steering angles for training.
if leftright < -0.01 or leftright > 0.01:
if joystick.get_button(0) == 0:
recording = True
if recording:
print("Recording: ")
print("Right Stick Left|Right Axis value {:>6.3f}".format(leftright) )
print("Right Stick Up|Down Axis value {:>6.3f}".format(updown) )
transformed_image_array = image_array[None, :, :, :]
# This model currently assumes that the features of the model are just the images. Feel free to change this.
steering_angle = float(model.predict(transformed_image_array, batch_size=1)) + leftright
# The driving model currently just outputs a constant throttle. Feel free to edit this.
### we can force the car to slow down using the up joystick movement.
throttle = 0.5 + updown
print(steering_angle, throttle)
send_control(steering_angle, throttle)
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