drive.py

import eventlet.wsgi
import socketio
import eventlet
import numpy as np
from flask import Flask
from keras.models import load_model
import base64
from io import BytesIO
from PIL import Image
import cv2

sio = socketio.Server()

app = Flask(__name__)
speed_limit = 5

def image_preprocess(img):
  img = img[60:135,:,:]
  img = cv2.cvtColor(img, cv2.COLOR_RGB2YUV)
  img = cv2.GaussianBlur(img, (3,3), 0)
  img = cv2.resize(img, (200,66))
  img = img/255
  return img

@sio.on('connect')
def connect(sid,environ):
  print('connected')
  send_control(0,0)


def send_control(steering_angle,throttle):
  sio.emit('steer',data={
    'steering_angle':steering_angle.__str__(),
    'throttle':throttle.__str__()
  })

@sio.on('telemetry')
def telemetry(sid,data):
  speed = float(data['speed'])
  image = Image.open(BytesIO(base64.b64decode(data['image'])))
  image = np.asarray(image)
  image = image_preprocess(image)
  image = np.array([image])
  steering_angle = float(model.predict(image))
  throttle = 1.0 - speed/speed_limit

  print('{} {} {}'.format(steering_angle,throttle,speed))
  send_control(steering_angle,throttle)


if __name__=='__main__':
    model= load_model('model/model.h5')
    app = socketio.Middleware(sio,app)
    eventlet.wsgi.server(eventlet.listen(('',4567)),app)