Server code actively refuses to connect with Udacity's Self Driving Car Simulator (Port 4567)

thetechdude124 commented 3 years ago

When running the drive.py and simulator files, the connection is never established - it simply says "accepted", rather than actually connecting. When I looked at the output log for the simulator, here's what I found:

`|Fatal|WebSocket.acceptException|System.Net.Sockets.SocketException: No connection could be made because the target machine actively refused it.

                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP, Boolean requireSocketPolicy) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPEndPoint remote_end_point) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPAddress[] ipAddresses, Int32 port) [0x00000] in <filename unknown>:0 `

This error happens every time I try and establish a connection. Here's the code on the server side (drive.py file):

import base64 #for lossless encoding transfer
from datetime import datetime #to set frame timestamp
import os #write + read files
import numpy as np
import shutil
import socketio #server
from flask import Flask #framework for web devices
from io import BytesIO #manipulate string and byte data in memory
import eventlet
import eventlet.wsgi 
import cv2

import tensorflow as tf
import keras
from keras.models import load_model
from PIL import Image

height = 320
width = 160     

def resize(image):
    return cv2.resize(image, (width, height), cv2.INTER_AREA)

#server init
sio = socketio.Server(always_connect = True )
#flask web app
application = Flask(__name__)

#init empty model and image array
net = None
image_array_before = None

#Speed limits
max_speed = 30
min_speed = 10

speed_limit = max_speed

#Server event handler
@sio.on('telemetry')
def telemetry(sid, data):

    if data:
        steering_angle = float(data["steering_angle"])
        throttle = float(data["throttle"])
        speed = float(data["speed"])    
        image = Image.open(BytesIO(base64.b64decode(data["image"])))

        #save frame
        timestamp = datetime.utcnow().strftime('%Y_%m_%d_%H_%M_%S_%f')[:-3]
        image_filename = os.path.join(r'path', timestamp)
        image.save('{}.jpg'.format(image_filename))

        try:
            image = np.asarray(image)
            image = resize(image)
            image = np.array([image])

            steering_angle = float(net.predict(image))

            global speed_limit
            if speed > speed_limit:   
                speed_limit = min_speed
            else:
                speed_limit = max_speed
            throttle = (1.0 - steering_angle**2 - (speed/speed_limit)**2)

            print ('{} {} {}'.format(steering_angle, throttle, speed))
            send_control(steering_angle, throttle)

        except Exception as e:
            print (e)

    else:

        sio.emit('manual', data={}, skip_sid = True)

@sio.on('connect')
def connect(sid, environ):
    print("connect ", sid)
    send_control(0,0) 

def send_control(steering_angle, throttle):
    sio.emit(
        "steer",
        data = {
            "steering_angle": steering_angle.__str__(),
            "throttle": throttle.__str__()
        },
        skip_sid = True)

if __name__ == "__main__":
    net = load_model('path')
    application = socketio.Middleware(sio, application)
    #deploy
    eventlet.wsgi.server(eventlet.listen(('localhost', 4567)), application)

I've tried to fix it via disabling the firewall and changing the hostname, but to no avail. Any idea what might be wrong? Thanks!

techwithanirudh commented 3 years ago

See this url about cv2 and ml https://youtu.be/mVUrErF5xq8

techwithanirudh commented 3 years ago

and try downgrading to python-socketio 4.2.1

techwithanirudh commented 3 years ago

and if it doesn't work try install version 2

techwithanirudh commented 3 years ago

of the Simulator

haisenberg996 commented 3 years ago

并尝试降级到python-socketio 4.2.1 感谢感谢，成功解决了我的问题

haisenberg996 commented 3 years ago

并尝试降级到python-socketio 4.2.1

很好奇，您是怎么想到这个解决方法的呢？

thetechdude124 commented 3 years ago

Thank you all so much! Downgrading socket io worked!

On Wed, Feb 3, 2021 at 10:16 PM haisenberg996 notifications@github.com wrote:

并尝试降级到python-socketio 4.2.1

很好奇，您是怎么想到这个解决方法的呢？

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/udacity/self-driving-car-sim/issues/131#issuecomment-772995642, or unsubscribe https://github.com/notifications/unsubscribe-auth/APUIVYH7HQAGS6AUO4IDHPTS5IGPVANCNFSM4V3ADASQ .

Subhainr commented 3 years ago

When running the drive.py and simulator files, the connection is never established - it simply says "accepted", rather than actually connecting. When I looked at the output log for the simulator, here's what I found:

`|Fatal|WebSocket.acceptException|System.Net.Sockets.SocketException: No connection could be made because the target machine actively refused it.

                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP, Boolean requireSocketPolicy) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPEndPoint remote_end_point) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPAddress[] ipAddresses, Int32 port) [0x00000] in <filename unknown>:0 `

This error happens every time I try and establish a connection. Here's the code on the server side (drive.py file):

import base64 #for lossless encoding transfer
from datetime import datetime #to set frame timestamp
import os #write + read files
import numpy as np
import shutil
import socketio #server
from flask import Flask #framework for web devices
from io import BytesIO #manipulate string and byte data in memory
import eventlet
import eventlet.wsgi 
import cv2

import tensorflow as tf
import keras
from keras.models import load_model
from PIL import Image

height = 320
width = 160     

def resize(image):
    return cv2.resize(image, (width, height), cv2.INTER_AREA)

#server init
sio = socketio.Server(always_connect = True )
#flask web app
application = Flask(__name__)

#init empty model and image array
net = None
image_array_before = None

#Speed limits
max_speed = 30
min_speed = 10

speed_limit = max_speed

#Server event handler
@sio.on('telemetry')
def telemetry(sid, data):

    if data:
        steering_angle = float(data["steering_angle"])
        throttle = float(data["throttle"])
        speed = float(data["speed"])    
        image = Image.open(BytesIO(base64.b64decode(data["image"])))

        #save frame
        timestamp = datetime.utcnow().strftime('%Y_%m_%d_%H_%M_%S_%f')[:-3]
        image_filename = os.path.join(r'path', timestamp)
        image.save('{}.jpg'.format(image_filename))

        try:
            image = np.asarray(image)
            image = resize(image)
            image = np.array([image])

            steering_angle = float(net.predict(image))

            global speed_limit
            if speed > speed_limit:   
                speed_limit = min_speed
            else:
                speed_limit = max_speed
            throttle = (1.0 - steering_angle**2 - (speed/speed_limit)**2)

            print ('{} {} {}'.format(steering_angle, throttle, speed))
            send_control(steering_angle, throttle)

        except Exception as e:
            print (e)

    else:

        sio.emit('manual', data={}, skip_sid = True)

@sio.on('connect')
def connect(sid, environ):
    print("connect ", sid)
    send_control(0,0) 

def send_control(steering_angle, throttle):
    sio.emit(
        "steer",
        data = {
            "steering_angle": steering_angle.__str__(),
            "throttle": throttle.__str__()
        },
        skip_sid = True)

if __name__ == "__main__":
    net = load_model('path')
    application = socketio.Middleware(sio, application)
    #deploy
    eventlet.wsgi.server(eventlet.listen(('localhost', 4567)), application)

I've tried to fix it via disabling the firewall and changing the hostname, but to no avail. Any idea what might be wrong? Thanks!

pip install python-engineio==3.13.2 pip install python-socketio==4.6.1

let me know. do in your created environment only Give a love by upvoting.

sumit-mandal commented 3 years ago

When running the drive.py and simulator files, the connection is never established - it simply says "accepted", rather than actually connecting. When I looked at the output log for the simulator, here's what I found: `|Fatal|WebSocket.acceptException|System.Net.Sockets.SocketException: No connection could be made because the target machine actively refused it.

                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP, Boolean requireSocketPolicy) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPEndPoint remote_end_point) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPAddress[] ipAddresses, Int32 port) [0x00000] in <filename unknown>:0 `

This error happens every time I try and establish a connection. Here's the code on the server side (drive.py file):

import base64 #for lossless encoding transfer
from datetime import datetime #to set frame timestamp
import os #write + read files
import numpy as np
import shutil
import socketio #server
from flask import Flask #framework for web devices
from io import BytesIO #manipulate string and byte data in memory
import eventlet
import eventlet.wsgi 
import cv2

import tensorflow as tf
import keras
from keras.models import load_model
from PIL import Image

height = 320
width = 160     

def resize(image):
    return cv2.resize(image, (width, height), cv2.INTER_AREA)

#server init
sio = socketio.Server(always_connect = True )
#flask web app
application = Flask(__name__)

#init empty model and image array
net = None
image_array_before = None

#Speed limits
max_speed = 30
min_speed = 10

speed_limit = max_speed

#Server event handler
@sio.on('telemetry')
def telemetry(sid, data):

    if data:
        steering_angle = float(data["steering_angle"])
        throttle = float(data["throttle"])
        speed = float(data["speed"])    
        image = Image.open(BytesIO(base64.b64decode(data["image"])))

        #save frame
        timestamp = datetime.utcnow().strftime('%Y_%m_%d_%H_%M_%S_%f')[:-3]
        image_filename = os.path.join(r'path', timestamp)
        image.save('{}.jpg'.format(image_filename))

        try:
            image = np.asarray(image)
            image = resize(image)
            image = np.array([image])

            steering_angle = float(net.predict(image))

            global speed_limit
            if speed > speed_limit:   
                speed_limit = min_speed
            else:
                speed_limit = max_speed
            throttle = (1.0 - steering_angle**2 - (speed/speed_limit)**2)

            print ('{} {} {}'.format(steering_angle, throttle, speed))
            send_control(steering_angle, throttle)

        except Exception as e:
            print (e)

    else:

        sio.emit('manual', data={}, skip_sid = True)

@sio.on('connect')
def connect(sid, environ):
    print("connect ", sid)
    send_control(0,0) 

def send_control(steering_angle, throttle):
    sio.emit(
        "steer",
        data = {
            "steering_angle": steering_angle.__str__(),
            "throttle": throttle.__str__()
        },
        skip_sid = True)

if __name__ == "__main__":
    net = load_model('path')
    application = socketio.Middleware(sio, application)
    #deploy
    eventlet.wsgi.server(eventlet.listen(('localhost', 4567)), application)

I've tried to fix it via disabling the firewall and changing the hostname, but to no avail. Any idea what might be wrong? Thanks!

pip install python-engineio==3.13.2 pip install python-socketio==4.6.1

let me know. do in your created environment only

your method worked. I was stuck for almost 2 days. You are saviour brother

mikel-brostrom commented 3 years ago

Downgrading the libraries as explained here worked for me! Thank you so much!

Subhainr commented 3 years ago

When running the drive.py and simulator files, the connection is never established - it simply says "accepted", rather than actually connecting. When I looked at the output log for the simulator, here's what I found: `|Fatal|WebSocket.acceptException|System.Net.Sockets.SocketException: No connection could be made because the target machine actively refused it.

                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP, Boolean requireSocketPolicy) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.Socket.Connect (System.Net.EndPoint remoteEP) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPEndPoint remote_end_point) [0x00000] in <filename unknown>:0 
                    at System.Net.Sockets.TcpClient.Connect (System.Net.IPAddress[] ipAddresses, Int32 port) [0x00000] in <filename unknown>:0 `

This error happens every time I try and establish a connection. Here's the code on the server side (drive.py file):

import base64 #for lossless encoding transfer
from datetime import datetime #to set frame timestamp
import os #write + read files
import numpy as np
import shutil
import socketio #server
from flask import Flask #framework for web devices
from io import BytesIO #manipulate string and byte data in memory
import eventlet
import eventlet.wsgi 
import cv2

import tensorflow as tf
import keras
from keras.models import load_model
from PIL import Image

height = 320
width = 160     

def resize(image):
    return cv2.resize(image, (width, height), cv2.INTER_AREA)

#server init
sio = socketio.Server(always_connect = True )
#flask web app
application = Flask(__name__)

#init empty model and image array
net = None
image_array_before = None

#Speed limits
max_speed = 30
min_speed = 10

speed_limit = max_speed

#Server event handler
@sio.on('telemetry')
def telemetry(sid, data):

    if data:
        steering_angle = float(data["steering_angle"])
        throttle = float(data["throttle"])
        speed = float(data["speed"])    
        image = Image.open(BytesIO(base64.b64decode(data["image"])))

        #save frame
        timestamp = datetime.utcnow().strftime('%Y_%m_%d_%H_%M_%S_%f')[:-3]
        image_filename = os.path.join(r'path', timestamp)
        image.save('{}.jpg'.format(image_filename))

        try:
            image = np.asarray(image)
            image = resize(image)
            image = np.array([image])

            steering_angle = float(net.predict(image))

            global speed_limit
            if speed > speed_limit:   
                speed_limit = min_speed
            else:
                speed_limit = max_speed
            throttle = (1.0 - steering_angle**2 - (speed/speed_limit)**2)

            print ('{} {} {}'.format(steering_angle, throttle, speed))
            send_control(steering_angle, throttle)

        except Exception as e:
            print (e)

    else:

        sio.emit('manual', data={}, skip_sid = True)

@sio.on('connect')
def connect(sid, environ):
    print("connect ", sid)
    send_control(0,0) 

def send_control(steering_angle, throttle):
    sio.emit(
        "steer",
        data = {
            "steering_angle": steering_angle.__str__(),
            "throttle": throttle.__str__()
        },
        skip_sid = True)

if __name__ == "__main__":
    net = load_model('path')
    application = socketio.Middleware(sio, application)
    #deploy
    eventlet.wsgi.server(eventlet.listen(('localhost', 4567)), application)

I've tried to fix it via disabling the firewall and changing the hostname, but to no avail. Any idea what might be wrong? Thanks!

pip install python-engineio==3.13.2 pip install python-socketio==4.6.1 let me know. do in your created environment only

your method worked. I was stuck for almost 2 days. You are saviour brother

Thank u vaiya, for ur kind words. Move on

Subhainr commented 3 years ago