donkeydrifter 0.1.0__py3-none-any.whl

LICENSES/MIT-donkeycar.txt

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2017 Will Roscoe
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

build/lib/LICENSES/MIT-donkeycar.txt

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2017 Will Roscoe
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

build/lib/build/lib/LICENSES/MIT-donkeycar.txt

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2017 Will Roscoe
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

build/lib/build/lib/build/lib/LICENSES/MIT-donkeycar.txt

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2017 Will Roscoe
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

build/lib/build/lib/build/lib/donkeycar/__init__.py

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+import os
+import sys
+import logging
+
+from ._version import __version__
+
+logging.basicConfig(level=os.environ.get('LOGLEVEL', 'INFO').upper())
+
+if sys.version_info.major < 3 or sys.version_info.minor < 11:
+    msg = f'Donkey Requires Python 3.11 or greater. You are using {sys.version}'
+    raise ValueError(msg)
+
+# The default recursion limits in CPython are too small.
+sys.setrecursionlimit(10**5)
+
+from .vehicle import Vehicle
+from .memory import Memory
+from . import utils
+from . import config
+from . import contrib
+from .config import load_config

build/lib/build/lib/build/lib/donkeycar/_version.py

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+__version__ = '0.1.0'

build/lib/build/lib/build/lib/donkeycar/benchmarks/tub.py

@@ -0,0 +1,44 @@
+import json
+import os
+import shutil
+import timeit
+from pathlib import Path
+
+import numpy as np
+
+from donkeycar.parts.datastore import Tub
+
+
+def benchmark():
+    # Change with a non SSD storage path
+    path = Path('/media/rahulrav/Cruzer/tub')
+    if os.path.exists(path.absolute().as_posix()):
+        shutil.rmtree(path)
+
+    inputs = ['input']
+    types = ['int']
+    tub = Tub(path.absolute().as_posix(), inputs, types)
+    write_count = 1000
+    for i in range(write_count):
+        record = {'input': i}
+        tub.put_record(record)
+
+    # old tub starts counting at 1
+    deletions = set(np.random.randint(1, write_count + 1, 100))
+    for index in deletions:
+        index = int(index)
+        tub.remove_record(index)
+
+    files = path.glob('*.json')
+    for record_file in files:
+        contents = record_file.read_text()
+        if contents:
+            contents = json.loads(contents)
+            print('Record %s' % contents)
+
+
+if __name__ == "__main__":
+    timer = timeit.Timer(benchmark)
+    time_taken = timer.timeit(number=1)
+    print('Time taken %s seconds' % time_taken)
+    print('\nDone.')

build/lib/build/lib/build/lib/donkeycar/benchmarks/tub_v2.py

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+import os
+import shutil
+import timeit
+from pathlib import Path
+
+import numpy as np
+
+from donkeycar.parts.tub_v2 import Tub
+
+
+def benchmark():
+    # Change to a non SSD storage path
+    path = Path('/media/rahulrav/Cruzer/benchmark')
+
+    # Recreate paths
+    if os.path.exists(path.absolute().as_posix()):
+        shutil.rmtree(path)
+
+    inputs = ['input']
+    types = ['int']
+    tub = Tub(path.as_posix(), inputs, types, max_catalog_len=1000)
+    write_count = 1000
+    for i in range(write_count):
+        record = {'input': i}
+        tub.write_record(record)
+
+    deletions = np.random.randint(0, write_count, 100)
+    tub.delete_records(deletions)
+ 
+    for record in tub:
+        print('Record %s' % record)
+
+    tub.close()
+
+
+if __name__ == "__main__":
+    timer = timeit.Timer(benchmark)
+    time_taken = timer.timeit(number=1)
+    print('Time taken %s seconds' % time_taken)
+    print('\nDone.')

build/lib/build/lib/build/lib/donkeycar/config.py

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+# -*- coding: utf-8 -*-
+"""
+Created on Wed Sep 13 21:27:44 2017
+
+@author: wroscoe
+"""
+import os
+import types
+import logging
+
+logger = logging.getLogger(__name__)
+
+
+class Config:
+    
+    def from_pyfile(self, filename):
+        d = types.ModuleType('config')
+        d.__file__ = filename
+        try:
+            with open(filename, mode='rb') as config_file:
+                exec(compile(config_file.read(), filename, 'exec'), d.__dict__)
+        except IOError as e:
+            e.strerror = 'Unable to load configuration file (%s)' % e.strerror
+            raise
+        self.from_object(d)
+        return True
+    
+    def from_object(self, obj):
+        for key in dir(obj):
+            if key.isupper():
+                setattr(self, key, getattr(obj, key))
+
+    def from_dict(self, d, keys=[]):
+        msg = 'Overwriting config with: '
+        for k, v in d.items():
+            if k.isupper():
+                if k in keys or not keys:
+                    setattr(self, k, v)
+                    msg += f'{k}:{v}, '
+        logger.info(msg)
+
+    def __str__(self):
+        result = []
+        for key in dir(self):
+            if key.isupper():
+                result.append((key, getattr(self, key)))
+        return str(result)
+
+    def show(self):
+        for attr in dir(self):
+            if attr.isupper():
+                print(attr, ":", getattr(self, attr))
+
+    def to_pyfile(self, path):
+        lines = []
+        for attr in dir(self):
+            if attr.isupper():
+                v = getattr(self, attr)
+                if isinstance(v, str):
+                    v = f'"{v}"'
+                lines.append(f'{attr} = {v}{os.linesep}')
+        with open(path, 'w') as f:
+            f.writelines(lines)
+
+
+def load_config(config_path=None, myconfig="myconfig.py"):
+    
+    if config_path is None:
+        main_path = os.getcwd()
+        config_path = os.path.join(main_path, 'config.py')
+        if not os.path.exists(config_path):
+            local_config = os.path.join(os.path.curdir, 'config.py')
+            if os.path.exists(local_config):
+                config_path = local_config
+    
+    logger.info(f'loading config file: {config_path}')
+    cfg = Config()
+    cfg.from_pyfile(config_path)
+
+    # look for the optional myconfig.py in the same path.
+    personal_cfg_path = config_path.replace("config.py", myconfig)
+    if os.path.exists(personal_cfg_path):
+        logger.info(f"loading personal config over-rides from {myconfig}")
+        personal_cfg = Config()
+        personal_cfg.from_pyfile(personal_cfg_path)
+        cfg.from_object(personal_cfg)
+    else:
+        logger.warning(f"personal config: file not found {personal_cfg_path}")
+
+    return cfg

build/lib/build/lib/build/lib/donkeycar/contrib/robohat/code-robocarstore.py

@@ -0,0 +1,186 @@
+# Donkey Car Driver for Robotics Masters Robo HAT MM1
+#
+# Notes:
+#   This is to be run using CircuitPython 5.0
+#   Date: 15/05/2019
+#   Updated: 20/02/2020
+#
+#
+
+import time
+import board
+import busio
+from rear_light import RearLight
+
+from digitalio import DigitalInOut, Direction
+from pulseio import PWMOut, PulseIn, PulseOut
+
+import adafruit_logging as logging
+logger = logging.getLogger('code')
+logger.setLevel(logging.INFO)
+
+# Customisation these variables
+SMOOTHING_INTERVAL_IN_S = 0.025
+DEBUG = False
+ACCEL_RATE = 10
+
+def servo_duty_cycle(pulse_ms, frequency=60):
+    """
+    Formula for working out the servo duty_cycle at 16 bit input
+    """
+    period_ms = 1.0 / frequency * 1000.0
+    duty_cycle = int(pulse_ms / 1000 / (period_ms / 65535.0))
+    return duty_cycle
+
+
+def state_changed(control):
+    """
+    Reads the RC channel and smooths value
+    """
+    prev = control.value
+    control.channel.pause()
+    for i in range(0, len(control.channel)):
+        val = control.channel[i]
+        # prevent ranges outside of control space
+        if(val < 1000 or val > 2000):
+            continue
+        # set new value
+        control.value = (control.value + val) / 2
+
+    # if DEBUG:
+    #     print("%f\t%s (%i): %i (%i)" % (time.monotonic(), control.name, len(
+    #         control.channel), control.value, servo_duty_cycle(control.value)))
+    control.channel.clear()
+    control.channel.resume()
+
+class Control:
+    """
+    Class for a RC Control Channel
+    """
+
+    def __init__(self, name, servo, channel, value):
+        self.name = name
+        self.servo = servo
+        self.channel = channel
+        self.value = value
+        self.servo.duty_cycle = servo_duty_cycle(value)
+
+
+# set up on-board LED
+led = DigitalInOut(board.LED)
+led.direction = Direction.OUTPUT
+
+# set up serial UART to Raspberry Pi
+# note UART(TX, RX, baudrate)
+uart = busio.UART(board.TX1, board.RX1, baudrate=115200, timeout=0.001)
+
+# set up servos
+steering_pwm = PWMOut(board.SERVO2, duty_cycle=2 ** 15, frequency=60)
+throttle_pwm = PWMOut(board.SERVO1, duty_cycle=2 ** 15, frequency=60)
+
+# set up RC channels.  NOTE: input channels are RCC3 & RCC4 (not RCC1 & RCC2)
+steering_channel = PulseIn(board.RCC4, maxlen=64, idle_state=0)
+throttle_channel = PulseIn(board.RCC3, maxlen=64, idle_state=0)
+
+# setup Control objects.  1500 pulse is off and center steering
+steering = Control("Steering", steering_pwm, steering_channel, 1500)
+throttle = Control("Throttle", throttle_pwm, throttle_channel, 1500)
+
+# Setup Neopixels
+rear_light = RearLight()
+
+# Hardware Notification: starting
+logger.info("preparing to start...")
+for i in range(0, 2):
+    led.value = True
+    time.sleep(0.5)
+    led.value = False
+    time.sleep(0.5)
+    rear_light.turn_on_brake_light()
+    time.sleep(0.1)
+    rear_light.turn_off_brake_light()
+    time.sleep(0.1)
+
+last_update = time.monotonic()
+
+# GOTO: main()
+def main():
+    global last_update
+
+    data = bytearray('')
+    datastr = ''
+    last_input = 0
+    steering_val = steering.value
+    throttle_val = throttle.value
+
+    while True:
+        # only update every smoothing interval (to avoid jumping)
+        if(last_update + SMOOTHING_INTERVAL_IN_S > time.monotonic()):
+            continue
+        last_update = time.monotonic()
+
+        # check for new RC values (channel will contain data)
+        if(len(throttle.channel) != 0):
+            # state_changed_throttle(throttle)
+            state_changed(throttle)
+
+        if(len(steering.channel) != 0):
+            state_changed(steering)
+
+        logger.info("Get: steering=%i, throttle=%i" % (int(steering.value), int(throttle.value)))
+
+        # write the RC values to the RPi Serial
+        uart.write(b"%i, %i\r\n" % (int(steering.value), int(throttle.value)))
+
+        while True:
+            # wait for data on the serial port and read 1 byte
+            byte = uart.read(1)
+
+            # if no data, break and continue with RC control
+            if(byte == None):
+                break
+            last_input = time.monotonic()
+
+            logger.debug("Read from UART: %s" % (byte))
+
+            # if data is recieved, check if it is the end of a stream
+            if(byte == b'\r'):
+                data = bytearray('')
+                # datastr = ''
+                break
+
+            data[len(data):len(data)] = byte
+
+            # convert bytearray to string
+            datastr = ''.join([chr(c) for c in data]).strip()
+
+        # if we make it here, there is serial data from the previous step
+        if(len(datastr) >= 10):
+            steering_val = steering.value
+            throttle_val = throttle.value
+            try:
+                steering_val= int(datastr[:4])
+                throttle_val = int(datastr[-4:])
+            except ValueError:
+                None
+
+            data = bytearray('')
+            datastr = ''
+            last_input = time.monotonic()
+            logger.info("Set: steering=%i, throttle=%i" % (steering_val, throttle_val))
+
+        if(last_input + 10 < time.monotonic()):
+            # set the servo for RC control
+            steering.servo.duty_cycle = servo_duty_cycle(steering.value)
+            throttle.servo.duty_cycle = servo_duty_cycle(throttle.value)
+            rear_light.run(steering.value, throttle.value)
+        else:
+            # set the servo for serial data (recieved)
+            steering.servo.duty_cycle = servo_duty_cycle(steering_val)
+            throttle.servo.duty_cycle = servo_duty_cycle(throttle_val)
+            rear_light.run(steering_val, throttle_val)
+
+
+# Run
+logger.info("Run!")
+main()

build/lib/build/lib/build/lib/donkeycar/contrib/robohat/code.py

@@ -0,0 +1,188 @@
+# Donkey Car Driver for Robotics Masters Robo HAT MM1
+#
+# Notes:
+#   This is to be run using CircuitPython 5.3
+#   Date: 15/05/2019
+#   Updated: 20/02/2020
+#   Updated: 8/03/2020 (sctse999)
+#   Updated: 11/05/2020 (wallarug)
+#
+#
+
+import time
+import board
+import busio
+
+from digitalio import DigitalInOut, Direction
+from pulseio import PWMOut, PulseIn, PulseOut
+
+import adafruit_logging as logging
+logger = logging.getLogger('code')
+logger.setLevel(logging.INFO)
+
+# Customisation these variables
+DEBUG = False
+USB_SERIAL = False
+SMOOTHING_INTERVAL_IN_S = 0.025
+ACCEL_RATE = 10
+
+## cannot have DEBUG and USB_SERIAL
+if USB_SERIAL:
+    DEBUG = False
+
+## functions
+def servo_duty_cycle(pulse_ms, frequency = 60):
+    """
+    Formula for working out the servo duty_cycle at 16 bit input
+    """
+    period_ms = 1.0 / frequency * 1000.0
+    duty_cycle = int(pulse_ms / 1000 / (period_ms / 65535.0))
+    return duty_cycle
+
+
+def state_changed(control):
+    """
+    Reads the RC channel and smooths value
+    """
+    control.channel.pause()
+    for i in range(0, len(control.channel)):
+        val = control.channel[i]
+        # prevent ranges outside of control space
+        if(val < 1000 or val > 2000):
+            continue
+        # set new value
+        control.value = (control.value + val) / 2
+
+    if DEBUG:
+        logger.debug("%f\t%s (%i): %i (%i)" % (time.monotonic(), control.name, len(
+            control.channel), control.value, servo_duty_cycle(control.value)))
+    control.channel.clear()
+    control.channel.resume()
+
+
+class Control:
+    """
+    Class for a RC Control Channel
+    """
+
+    def __init__(self, name, servo, channel, value):
+        self.name = name
+        self.servo = servo
+        self.channel = channel
+        self.value = value
+        self.servo.duty_cycle = servo_duty_cycle(value)
+
+
+# set up on-board LED
+led = DigitalInOut(board.LED)
+led.direction = Direction.OUTPUT
+
+# set up serial UART to Raspberry Pi
+# note UART(TX, RX, baudrate)
+uart = busio.UART(board.TX1, board.RX1, baudrate=115200, timeout=0.001)
+
+# set up servos
+steering_pwm = PWMOut(board.SERVO2, duty_cycle=2 ** 15, frequency=60)
+throttle_pwm = PWMOut(board.SERVO1, duty_cycle=2 ** 15, frequency=60)
+
+# set up RC channels.  NOTE: input channels are RCC3 & RCC4 (not RCC1 & RCC2)
+steering_channel = PulseIn(board.RCC4, maxlen=64, idle_state=0)
+throttle_channel = PulseIn(board.RCC3, maxlen=64, idle_state=0)
+
+# setup Control objects.  1500 pulse is off and center steering
+steering = Control("Steering", steering_pwm, steering_channel, 1500)
+throttle = Control("Throttle", throttle_pwm, throttle_channel, 1500)
+
+# Hardware Notification: starting
+logger.info("preparing to start...")
+for i in range(0, 2):
+    led.value = True
+    time.sleep(0.5)
+    led.value = False
+    time.sleep(0.5)
+
+last_update = time.monotonic()
+
+# GOTO: main()
+def main():
+    global last_update
+
+    data = bytearray('')
+    datastr = ''
+    last_input = 0
+    steering_val = steering.value
+    throttle_val = throttle.value
+
+    while True:
+        # only update every smoothing interval (to avoid jumping)
+        if(last_update + SMOOTHING_INTERVAL_IN_S > time.monotonic()):
+            continue
+        last_update = time.monotonic()
+
+        # check for new RC values (channel will contain data)
+        if(len(throttle.channel) != 0):
+            state_changed(throttle)
+
+        if(len(steering.channel) != 0):
+            state_changed(steering)
+
+        if DEBUG:
+            logger.info("Get: steering=%i, throttle=%i" % (int(steering.value), int(throttle.value)))
+        
+        if(USB_SERIAL):
+            # simulator USB
+            print("%i, %i" % (int(steering.value), int(throttle.value)))
+        else:
+            # write the RC values to the RPi Serial
+            uart.write(b"%i, %i\r\n" % (int(steering.value), int(throttle.value)))
+
+        while True:
+            # wait for data on the serial port and read 1 byte
+            byte = uart.read(1)
+
+            # if no data, break and continue with RC control
+            if(byte == None):
+                break
+            last_input = time.monotonic()
+
+            if (DEBUG):
+                logger.debug("Read from UART: %s" % (byte))
+
+            # if data is recieved, check if it is the end of a stream
+            if(byte == b'\r'):
+                data = bytearray('')
+                break
+
+            data[len(data):len(data)] = byte
+
+            # convert bytearray to string
+            datastr = ''.join([chr(c) for c in data]).strip()
+
+        # if we make it here, there is serial data from the previous step
+        if(len(datastr) >= 10):
+            steering_val = steering.value
+            throttle_val = throttle.value
+            try:
+                steering_val = int(datastr[:4])
+                throttle_val = int(datastr[-4:])
+            except ValueError:
+                None
+
+            data = bytearray('')
+            datastr = ''
+            last_input = time.monotonic()
+            logger.info("Set: steering=%i, throttle=%i" % (steering_val, throttle_val))
+
+        if(last_input + 10 < time.monotonic()):
+            # set the servo for RC control
+            steering.servo.duty_cycle = servo_duty_cycle(steering.value)
+            throttle.servo.duty_cycle = servo_duty_cycle(throttle.value)
+        else:
+            # set the servo for serial data (recieved)
+            steering.servo.duty_cycle = servo_duty_cycle(steering_val)
+            throttle.servo.duty_cycle = servo_duty_cycle(throttle_val)
+
+
+# Run
+logger.info("Run!")
+main()