test AI simulation.py

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

sio = socketio.Server()

app = Flask(__name__)

maxSpeed = 10

def  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('telemetry')
def  telemetry(sid, data):
    speed = float(data['speed'])
    image = Image.open(BytesIO(base64.b64decode(data['image'])))
    image = np.asarray(image)
    image = preProcess(image)
    image = np.array([image])
    steering = float(model.predict(image))
    throttle = 1.0 - speed/maxSpeed
    print('{} {} {}'.format(steering, throttle, speed))
    sendControl(steering, throttle)

@sio.on('connect')
def connect(sid):
    print('Connected')
    sendControl(1, 1)

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

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