refactor

main.py

@@ -1,9 +1,9 @@
-from src.main_node.Communication.Communication import *
+from src.MainNode.Communication.communication import *
 import settings
 import socket
 import threading
-from src.Social_Study import questions
-from src.Pi.PiBot.PiBot2 import PiBot2
+from src.SocialStudy import questions
+from src.Pi.PiBot.pibot2 import PiBot2
 """
 determine if main or pi
 """
@@ -15,8 +15,8 @@
     from src.DRL.train import train
 elif hostname == settings.PC:
     IS_PI = False
-   # from src.main_node.Utils.OverHead import OverHead
-    # from src.main_node.Utils.stream_oh_inference import run
+   # from src.MainNode.Utils.OverHead import OverHead
+    # from src.MainNode.Utils.stream_oh_inference import run
 else:
     raise Exception("Must configure this device in settings.py")
 

settings.py

@@ -1,5 +1,4 @@
 import socket
-import os
 """
 To set some things straight
 """
@@ -13,13 +12,13 @@
 HOSTNAME = socket.gethostname()
 if HOSTNAME == PC:
     # ensure that mosquitto is in the path
-    ACTION_FILE = r".\actions.txt"
-    RESPONSE_FILE = r".\responses.json"
+    ACTION_FILE = r".\outputs\actions.txt"
+    RESPONSE_FILE = r".\outputs\responses.json"
 else:
-    ACTION_FILE = "/home/pi/RealDilemma/actions.txt"
-    RESPONSE_FILE = r"/home/pi/RealDilemma/responses.json"
+    ACTION_FILE = "/home/pi/RealDilemma/outputs/actions.txt"
+    RESPONSE_FILE = r"/home/pi/RealDilemma/outputs/responses.json"
 
-QUESTIONS_FILE = "./Questions.json"
+QUESTIONS_FILE = "./outputs/Questions.json"
 RPIS = {
           "Jimi": "192.168.137.63",
           "Frank": "192.168.137.118",

src/DRL/gym-pibot/gym_pibot/envs/pibot_env.py

@@ -1,7 +1,7 @@
 import gym
 from gym import error, spaces, utils
 from gym.utils import seeding
-from src.Pi.PiBot.PiBot import PiBot
+from src.Pi.PiBot.pibot import PiBot
 import numpy as np
 
 ENERGY_THRES = 4000# thres for total amount of different motors used in robo
@@ -25,12 +25,8 @@ def __init__(self):
           3: self.PiBot.turn_ccw,
           4: self.PiBot.turn_servo
       }
-
       self.reward_range = (0, MAX_REWARD)
-      # Actions: [[0:Forwards, 1:Backwards, 2:turn_cw, 3:turn_ccw, 4:Turn Servo], power]
-      #.action_space = spaces.Box(
-      #    low=np.array([0, 0]), high=np.array([5, 10]))
-      #self.action_space = spaces.Box(low=np.array([0, 0]), high=np.array([4, 10]), dtype=np.int32)
+      # Actions: [[0:Forwards, 1:Backwards, 2:turn_cw, 3:turn_ccw, 4:Turn Servo]]
       self.action_space = spaces.Discrete(5)
       # Initial observation will just be the ultrasound sensor and amount of distance travelled (either forward or backward)
       self.observation_space = spaces.Box(low=np.array([0, 0]), high=np.array([4, 1000]), dtype=np.int32)
@@ -41,7 +37,6 @@ def reset(self):
     :return:
     """
     # initial condition
-
     self.PiBot.reset()
     return self.PiBot.get_state()
 
@@ -65,7 +60,6 @@ def do_action(self, action):
       """ Converts the action space into PiBot action"""
       control = self.CONTROL_LOOKUP[action[0]]
       # perform action with a default of 1s
-      #control(action[1])
       control(1)
 
   def _get_reward(self):

src/DRL/gym-pibot/gym_pibot/envs/pibot_env2.py

@@ -1,7 +1,5 @@
 import gym
 from gym import error, spaces, utils
-from gym.utils import seeding
-from src.Pi.PiBot.PiBot2 import PiBot2
 import numpy as np
 
 ENERGY_THRES = 4000# thres for total amount of different motors used in robo
@@ -17,7 +15,7 @@ class PiBotEnv2(gym.Env):
 
   def __init__(self, PiBot, servo=False):
       super(PiBotEnv2, self).__init__()
-      self.PiBot = PiBot # we are using the newer pibot
+      self.PiBot = PiBot
       self.SERVO = servo
       self.CONTROL_LOOKUP = {
           0: self.PiBot.forward,
@@ -48,7 +46,6 @@ def reset(self):
     :return:
     """
     # initial condition
-
     self.PiBot.reset()
     state = self._get_state()
 

src/DRL/train/train.py

@@ -48,60 +48,3 @@ def train(steps, pibot, model, model_name) -> str:
     del pibot
     del env
     return fpath
-
-def train_PPO2_w_servo(steps, pibot) -> str:
-    # If the environment don't follow the interface, an error will be thrown
-    env = PiBotEnv2(pibot)
-    check_env(env, warn=True)
-    # The algorithms require a vectorized environment to run
-    env = DummyVecEnv([partial(PiBotEnv2, PiBot=pibot, servo=True)])
-    model = PPO2(MlpPolicy, env, verbose=1)
-    model.learn(total_timesteps=steps)
-    fpath = os.path.join(TRAIN_DIR, HOSTNAME+"_PPO2_W_SERVO")
-    model.save(fpath)
-    with open(POLICYF, "r") as f:
-      policies = json.load(f)
-    policies["PPO2_W_SERVO"] = fpath
-    with open(POLICYF, "w") as f:
-        json.dump(policies, f)
-    del pibot
-    del env
-    return fpath
-
-def train_A2C(steps, pibot) -> str:
-    # If the environment don't follow the interface, an error will be thrown
-    env = PiBotEnv2(pibot)
-    check_env(env, warn=True)
-    # The algorithms require a vectorized environment to run
-    env = DummyVecEnv([partial(PiBotEnv2, PiBot=pibot)])
-    model = A2C(MlpPolicy, env, verbose=1)
-    model.learn(total_timesteps=steps)
-    fpath = os.path.join(TRAIN_DIR, HOSTNAME+"_A2C")
-    model.save(fpath)
-    with open(POLICYF, "r") as f:
-      policies = json.load(f)
-    policies["A2C"] = fpath
-    with open(POLICYF, "w") as f:
-        json.dump(policies, f)
-    del pibot
-    del env
-    return fpath
-
-def train_A2C_SERVO(steps, pibot) -> str:
-    # If the environment don't follow the interface, an error will be thrown
-    env = PiBotEnv2(pibot, servo=False)
-    check_env(env, warn=True)
-    # The algorithms require a vectorized environment to run
-    env = DummyVecEnv([partial(PiBotEnv2, PiBot=pibot)])
-    model = A2C(MlpPolicy, env, verbose=1)
-    model.learn(total_timesteps=steps)
-    fpath = os.path.join(TRAIN_DIR, HOSTNAME+"_A2C")
-    model.save(fpath)
-    with open(POLICYF, "r") as f:
-      policies = json.load(f)
-    policies["A2C"] = fpath
-    with open(POLICYF, "w") as f:
-        json.dump(policies, f)
-    del pibot
-    del env
-    return fpath

src/main_node/Communication/Communication.py → src/MainNode/Communication/communication.py

@@ -1,6 +1,4 @@
-import socket
-import json
-from settings import RPIS, MAIN_NODE_HOST_NAME, H_TITLE, ACTION_FILE
+from settings import MAIN_NODE_HOST_NAME, H_TITLE, ACTION_FILE
 import os
 """
 connecting main node to pis

src/main_node/ObjectDetection/training/inference.py → src/MainNode/ObjectDetection/training/inference.py

@@ -2,7 +2,7 @@
 script to perform inference on trained models:
 credit to https://tensorflow-object-detection-api-tutorial.readthedocs.io/en/latest/auto_examples/plot_object_detection_checkpoint.html
 """
-from src.main_node.Communication import main_node
+from src.MainNode.Communication import main_node
 import os
 os.environ["CUDA_VISIBLE_DEVICES"] = "-1"   # need to supress GPU due to high memory usage
 os.environ['TF_CPP_MIN_LOG_LEVEL'] = '2'    # Suppress TensorFlow logging (1)

src/main_node/README.md → src/MainNode/README.md

@@ -1,4 +1,4 @@
-This directory contains the scripts that will be run by the main node in the system
-All of the overhead camera percepts will be generated by the main node as it is more
-computationally expensive and therefore will be more efficiently carried out on a computer 
+This directory contains the scripts that will be run by the main node in the system
+All of the overhead camera percepts will be generated by the main node as it is more
+computationally expensive and therefore will be more efficiently carried out on a computer 
 more powerful than the pis. 

src/main_node/Utils/stream_oh_inference.py → src/MainNode/Utils/stream_oh_inference.py

@@ -1,4 +1,4 @@
-from src.main_node.ObjectDetection.training.inference import run_inference
+from src.MainNode.ObjectDetection.training.inference import run_inference
 LABELMAP: str = r"src/ObjectDetection/data/training/annotations/label_map.pbtxt" # to be used for model inference
 IMG_DIR: str = r"src/ObjectDetection/data/inference/*"
 

src/Pi/PiBot/PiBot2.py

@@ -2,7 +2,7 @@
 import time
 import numpy as np
 from threading import Thread
-from src.Pi.PiBot.PiBot import PiBot
+from src.Pi.PiBot.pibot import PiBot
 
 class PiBot2(PiBot):
     """
@@ -72,24 +72,7 @@ def _update_us(self):
             if self.stop_us:
                 return
             self._ultrasound = self.read_ultrasound()
-    """
-    def _start_comm(self):
-        # start the thread to read frames from the video stream
-        Thread(target=self.update, args=()).start()
-        return self
 
-    def _update_comm(self):
-        # keep looping infinitely until the thread is stopped
-        while True:
-            # if the thread indicator variable is set, stop the thread
-            data, addr = self.s.recvfrom(1024)
-            data = data.decode('utf-8')
-            print("Message from: " + str(addr))
-            print("From connected user: " + data)
-            data = data.upper()
-            print("Sending: " + data)
-            self.s.sendto(data.encode('utf-8'), addr)
-    """
     def forward(self, duty, n):
         """
         move forward: action = 0