Drive.py

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

sio = socketio.Server()

app =Flask(__name__)
speed_limit = 10
def img_preprocess(img):
  img = img[60:140,:,:]
  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 = img_preprocess(image)
    image = np.array([image])
    throttle = 1.0 - speed/speed_limit
    steering_angle = float(model.predict(image))
    print('Angle:',steering_angle,'Throttle:',throttle,'Speed:',speed)
    send_control(steering_angle,throttle)

@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__()
    })


if __name__ == '__main__':
    model = load_model('/home/aman-py/Desktop/Self-Driving-Car/model .h5')
    app = socketio.Middleware(sio,app)
    eventlet.wsgi.server(eventlet.listen(('',4567)),app)