update pipfile and .aicoe-ci (#26)

.aicoe-ci.yaml

@@ -1,15 +1,15 @@
 # Setup and configuring aicoe-ci with configuration file `.aicoe-ci.yaml`
 # Example `.aicoe-ci.yaml` with a full list of config options is available here: https://github.com/AICoE/aicoe-ci/blob/master/docs/.aicoe-ci.yaml
 ---
-check: []
-# Uncomment following line to build a public image of this repo
-# - thoth-build
+check:
+  - thoth-build
 # Uncomment following lines to build a public image of this repo
-# build:
-#   build-stratergy: Source
-#   build-source-script: "image:///opt/app-root/builder"
-#   base-image: quay.io/thoth-station/s2i-custom-notebook:latest
-#   registry: quay.io
-#   registry-org: aicoe
-#   registry-project: <CHANGE-ME>
-#   registry-secret: aicoe-pusher-secret
+build:
+  base-image: "quay.io/thoth-station/s2i-elyra-custom-notebook:v0.4.1"
+  build-source-script: "image:///opt/app-root/builder"
+  custom-tag: latest
+  build-strategy: Source
+  registry: quay.io
+  registry-org: aicoe
+  registry-project: summit-2021-octo-keynote
+  registry-secret: aicoe-pusher-secret

.pre-commit-config.yaml

@@ -26,6 +26,7 @@ repos:
     rev: 6.1.1
     hooks:
       - id: pydocstyle
+        exclude: apps/donkeycars/
 
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v4.0.1
@@ -51,6 +52,7 @@ repos:
     rev: "0.5.0"
     hooks:
       - id: black-nb
+        exclude: apps/donkeycars/
 
   # Enable this in repositories with python packages.
   # - repo: https://github.com/mgedmin/check-manifest
@@ -63,6 +65,7 @@ repos:
     hooks:
       - id: flake8
         additional_dependencies: ["pep8-naming"]
+        exclude: apps/donkeycars/
         # Ignore all format-related checks as Black takes care of those.
         args:
           ["--ignore", "E2,W5", "--select", "E,W,F,N", "--max-line-length=120"]

Pipfile

@@ -0,0 +1,16 @@
+[[source]]
+url = "https://pypi.org/simple"
+verify_ssl = true
+name = "pypi"
+
+[packages]
+aicoe-donkeycar = "*"
+opencv-python-headless = "*"
+tensorflow = "*"
+pandas = "*"
+imgaug = "0.3.0"
+
+[dev-packages]
+
+[requires]
+python_version = "3.8"

apps/donkeycars/default_car/calibrate.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python3
+"""
+Scripts to drive a donkey 2 car
+
+Usage:
+    manage.py (drive)
+
+
+Options:
+    -h --help          Show this screen.
+"""
+import os
+import time
+
+from docopt import docopt
+
+import donkeycar as dk
+
+# import parts
+from donkeycar.parts.controller import LocalWebController, JoystickController, WebFpv
+from donkeycar.parts.throttle_filter import ThrottleFilter
+from donkeycar.utils import *
+
+from socket import gethostname
+
+
+def drive(cfg):
+    """
+    Construct a working robotic vehicle from many parts.
+    Each part runs as a job in the Vehicle loop, calling either
+    it's run or run_threaded method depending on the constructor flag `threaded`.
+    All parts are updated one after another at the framerate given in
+    cfg.DRIVE_LOOP_HZ assuming each part finishes processing in a timely manner.
+    Parts may have named outputs and inputs. The framework handles passing named outputs
+    to parts requesting the same named input.
+    """
+
+    # Initialize car
+    V = dk.vehicle.Vehicle()
+
+    ctr = LocalWebController(port=cfg.WEB_CONTROL_PORT)
+    V.add(
+        ctr,
+        inputs=["cam/image_array", "tub/num_records"],
+        outputs=["angle", "throttle", "user/mode", "recording"],
+        threaded=True,
+    )
+
+    # this throttle filter will allow one tap back for esc reverse
+    th_filter = ThrottleFilter()
+    V.add(th_filter, inputs=["throttle"], outputs=["throttle"])
+
+    drive_train = None
+
+    # Drive train setup
+    if cfg.DONKEY_GYM or cfg.DRIVE_TRAIN_TYPE == "MOCK":
+        pass
+
+    elif cfg.DRIVE_TRAIN_TYPE == "SERVO_ESC":
+
+        from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle
+
+        steering_controller = PCA9685(cfg.STEERING_CHANNEL, cfg.PCA9685_I2C_ADDR, busnum=cfg.PCA9685_I2C_BUSNUM)
+        steering = PWMSteering(
+            controller=steering_controller, left_pulse=cfg.STEERING_LEFT_PWM, right_pulse=cfg.STEERING_RIGHT_PWM
+        )
+
+        throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL, cfg.PCA9685_I2C_ADDR, busnum=cfg.PCA9685_I2C_BUSNUM)
+        throttle = PWMThrottle(
+            controller=throttle_controller,
+            max_pulse=cfg.THROTTLE_FORWARD_PWM,
+            zero_pulse=cfg.THROTTLE_STOPPED_PWM,
+            min_pulse=cfg.THROTTLE_REVERSE_PWM,
+        )
+
+        drive_train = dict()
+        drive_train["steering"] = steering
+        drive_train["throttle"] = throttle
+
+        V.add(steering, inputs=["angle"], threaded=True)
+        V.add(throttle, inputs=["throttle"], threaded=True)
+
+    elif cfg.DRIVE_TRAIN_TYPE == "MM1":
+        from donkeycar.parts.robohat import RoboHATDriver
+
+        drive_train = RoboHATDriver(cfg)
+        V.add(drive_train, inputs=["angle", "throttle"])
+
+    ctr.drive_train = drive_train
+    ctr.drive_train_type = cfg.DRIVE_TRAIN_TYPE
+
+    class ShowHowTo:
+        def __init__(self):
+            print(f"Go to http://{gethostname()}.local:{ctr.port}/calibrate to calibrate ")
+
+        def run(self):
+            pass
+
+    V.add(ShowHowTo())
+
+    # run the vehicle for 20 seconds
+    V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)
+
+
+if __name__ == "__main__":
+    args = docopt(__doc__)
+    cfg = dk.load_config()
+
+    if args["drive"]:
+        drive(cfg)