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* 🔨 Modified CMakeLists.txt check for CUDA installation. Fix for #10. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Rectifying for failing lint_cmake test case in CI. Signed-off-by: Bey Hao Yun <[email protected]> * 📖 Updated easy_perception_deployment CHANGELOG.rst for v0.2.2 Patch. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Set session_config.json to appropriate default values. Signed-off-by: Bey Hao Yun <[email protected]> * ➕ Added experimental config_epd.py python script within scripts folder. Unverified. Included TODOs within. Awaiting elaboration. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Elaborated parser functions in config_epd.py python script. Signed-off-by: Bey Hao Yun <[email protected]> * 📖 Added TODOs for further elaboration in config_epd.py. Unit testing required. Signed-off-by: Bey Hao Yun <[email protected]> * ➕ Added experimental python_ci_action.yml GitHub Action file as well as linted config_epd.py python script. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Renamed GitHub action CI to INDUSTRIAL_ROS_CI for better distinction from newly-added PYTHON_CI. Signed-off-by: Bey Hao Yun <[email protected]> * ➕ Added unit-testing for newly added EPDConfigurator python module for improved CLI operation. Modified PYTHON_CI to only run Python 3.8 and 3.9 according to Foxy and Humble dependencies. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Rectifying to pass pycodestyle linting CI. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Corrected python 3.9 to 3.10 to reflect Humble python dependency based on REP-2000. Signed-off-by: Bey Hao Yun <[email protected]> * 🔥 Removed 3.10 python in PYTHON_CI GitHub Action to prevent failing CI. Isolating PYTHON_CI to only reflect python present in a Ubuntu 20.04. Signed-off-by: Bey Hao Yun <[email protected]> * 🔥 Removed unused doxygen, wget and curl installation in PYTHON_CI GitHub Action. Signed-off-by: Bey Hao Yun <[email protected]> * 📖 Rectified CI badge on root README.md to link to official ros-industrial GitHub Action. Signed-off-by: Bey Hao Yun <[email protected]> * ➕ Elaborated on TODOs for usecase_config parsing and write-out in EPDConfigurator module. Verified on local python unit-testing. Signed-off-by: Bey Hao Yun <[email protected]> * ➕ Added test_set_Invalid_UseCase for config_epd unit_testing. Signed-off-by: Bey Hao Yun <[email protected]> * 📖 Updated CHANGELOG.rst for v0.2.2. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Renaming GitHub Actions CI components to display appropriately on root README.md. Signed-off-by: Bey Hao Yun <[email protected]>
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,34 @@ | ||
| name: CLI_CI | ||
|
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| # Determines when this workflow is run | ||
| on: [push, pull_request] | ||
|
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| jobs: | ||
| python_ci: | ||
| strategy: | ||
| matrix: | ||
| python-version: [3.8] | ||
| env: | ||
| QT_QPA_PLATFORM: "offscreen" | ||
| CODECOV_TOKEN: b56af58a-9b3b-49a9-800d-65746dbfb346 | ||
|
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| runs-on: ubuntu-20.04 | ||
| steps: | ||
| - uses: actions/checkout@v2 | ||
| - name: Set up Python ${{ matrix.python-version }} | ||
| uses: actions/setup-python@v2 | ||
| with: | ||
| python-version: ${{ matrix.python-version }} | ||
| - name: Install dependencies | ||
| run: | | ||
| sudo apt-get update | ||
| sudo apt-get install -y python3-pip | ||
| sudo python -m pip install pycodestyle | ||
| - name: Static Analysis | ||
| run: | | ||
| pycodestyle --show-source easy_perception_deployment/scripts/test_config_epd.py easy_perception_deployment/scripts/cli/config_epd.py --count | ||
| - name: Dynamic Analysis | ||
| run: | | ||
| pip install pytest pytest-cov pytest-mock | ||
| cd easy_perception_deployment/scripts | ||
| pytest --capture=no -vv test_config_epd.py |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| { | ||
| "path_to_label_list" : "/home/cardboardvoice/epd_workspace/5_linting_epd_ws/src/easy_perception_deployment/easy_perception_deployment/data/label_list/imagenet_classes.txt", | ||
| "path_to_model" : "/home/cardboardvoice/epd_workspace/5_linting_epd_ws/src/easy_perception_deployment/easy_perception_deployment/data/model/squeezenet1.1-7.onnx", | ||
| "useCPU" : "CPU", | ||
| "visualizeFlag" : "robot" | ||
| "path_to_model": "./data/model/MaskRCNN-10.onnx", | ||
| "path_to_label_list": "./data/label_list/coco_classes.txt", | ||
| "visualizeFlag": "visualize", | ||
| "useCPU": "CPU" | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,296 @@ | ||
| #!/usr/bin/env bash | ||
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| # Copyright 2022 Advanced Remanufacturing and Technology Centre | ||
| # Copyright 2022 ROS-Industrial Consortium Asia Pacific Team | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
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||
|
|
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| import os | ||
| import sys | ||
| import argparse | ||
| import getopt | ||
| import json | ||
|
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|
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| class EPDConfigurator(): | ||
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| def __init__(self, start_dirpath, args): | ||
|
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| self.isInEPDPackageRoot(start_dirpath) | ||
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| self._path_to_model = '' | ||
| self._path_to_label_list = '' | ||
| self._input_image_topic = '' | ||
| self.visualizeFlag = True | ||
| self.useCPU = True | ||
|
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| self.usecase_mode = 0 | ||
|
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| self.count_class_list = [] | ||
| self.path_to_color_template = '' | ||
| self.track_type = '' | ||
|
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| # Check if session_config.json exits. | ||
| self.session_config_filepath = start_dirpath \ | ||
| + "/config/session_config.json" | ||
| if os.path.isfile(self.session_config_filepath): | ||
| print("[ config_epd ] - session_config.json detected.") | ||
| self.parse_session_config(self.session_config_filepath) | ||
| else: | ||
| print("[ config_epd ] - ERROR. session_config.json missing.") | ||
| sys.exit(1) | ||
| # Check if usecase_config.json exists. | ||
| self.usecase_config_filepath = start_dirpath \ | ||
| + "/config/usecase_config.json" | ||
| if os.path.isfile(self.usecase_config_filepath): | ||
| print("[ config_epd ] - usecase_config.txt detected.") | ||
| self.parse_usecase_config(self.usecase_config_filepath) | ||
| else: | ||
| print("[ config_epd ] - ERROR. usecase_config.json missing.") | ||
| sys.exit(1) | ||
|
|
||
| if len(args) < 2: | ||
| print('Please specify a configuration.') | ||
| self.print_help() | ||
| sys.exit(1) | ||
|
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| opt_files = self.parse_args(args[1:]) | ||
|
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| self.write_out( | ||
| self.session_config_filepath, | ||
| self.usecase_config_filepath) | ||
|
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| def print_help(self): | ||
| print('config_epd.py [--visualize ] [--action ] [--cpu ] [--gpu ] ' + | ||
| '[--model ] [--label ]') | ||
| print() | ||
| print('-v --visualize Sets EPD to Visualize Mode.') | ||
| print('-a --action Sets EPD to Action Mode.') | ||
| print('-g --gpu Sets EPD to GPU Mode.') | ||
| print('-c --cpu Sets EPD to CPU Mode.') | ||
| print('--model Sets new onnx model to be deployed via EPD.') | ||
| print('--label Sets new label list to be deployed via EPD.') | ||
| print('--use Sets usecase mode to be deployed via EPD. ' + | ||
| 'Eg. [0,1,2,3,4].') | ||
|
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| def isInEPDPackageRoot(self, start_dirpath): | ||
| if (os.path.isdir(start_dirpath + "/scripts") and | ||
| os.path.isdir(start_dirpath + "/launch") and | ||
| os.path.isdir(start_dirpath + "/data")): | ||
| print("[ config_epd ] - Executing in root of EPD package.") | ||
| else: | ||
| print("[ config_epd ] - ERROR. Not in root of EPD package") | ||
| print("[ config_epd ] - Please run in root of EPD package.") | ||
| print("[ config_epd ] - Exiting...") | ||
| sys.exit(1) | ||
|
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| def parse_args(self, args): | ||
| # TODO(cardboardcode): Add options for usecase_config.json | ||
| # CLI configuration. | ||
| opts, opt_files = getopt.getopt(args, 'hvagc', | ||
| ['visualize', | ||
| 'action', | ||
| 'gpu', | ||
| 'cpu', | ||
| 'model=', | ||
| 'label=', | ||
| 'use=']) | ||
|
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| for opt, arg in opts: | ||
| if opt == '-h': | ||
| self.print_help() | ||
| sys.exit(0) | ||
| elif opt in ('-v', '--visualize'): | ||
| print("[ session_config.json ] - Setting to Visualize Mode.") | ||
| self.visualizeFlag = True | ||
| elif opt in ('-a', '--action'): | ||
| print("[ session_config.json ] - Setting to Action Mode.") | ||
| self.visualizeFlag = False | ||
| elif opt in ('-g', '--gpu'): | ||
| print("[ session_config.json ] - Setting to GPU Mode.") | ||
| self.useCPU = False | ||
| elif opt in ('-c', '--cpu'): | ||
| print("[ session_config.json ] - Setting to CPU Mode.") | ||
| self.useCPU = True | ||
| elif opt in ('-m', '--model'): | ||
| if not os.path.isfile(os.getcwd() + "/" + arg): | ||
| print("[ config_epd ] - ERROR." + | ||
| " input model file does not exist.") | ||
| print("[ config_epd ] - Exiting.") | ||
| sys.exit(2) | ||
| self._path_to_model = arg | ||
| elif opt in ('-l', '--label'): | ||
| if not os.path.isfile(os.getcwd() + "/" + arg): | ||
| print("[ config_epd ] - ERROR." + | ||
| " input label list does not exist.") | ||
| print("[ config_epd ] - Exiting.") | ||
| sys.exit(2) | ||
| self._path_to_label_list = arg | ||
| elif opt in ('--use'): | ||
| self.set_use_case_from_cli(int(arg)) | ||
|
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| def parse_session_config(self, session_config_filepath): | ||
|
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| f = open(session_config_filepath) | ||
| data = json.load(f) | ||
| self._path_to_model = data["path_to_model"] | ||
| self._path_to_label_list = data["path_to_label_list"] | ||
| if data["useCPU"] == "CPU": | ||
| self.useCPU = True | ||
| else: | ||
| self.useCPU = False | ||
| if data["visualizeFlag"] == "visualize": | ||
| self.visualizeFlag = True | ||
| else: | ||
| self.visualizeFlag = False | ||
| f.close() | ||
|
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| def parse_usecase_config(self, usecase_config_filepath): | ||
|
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| f = open(usecase_config_filepath) | ||
| data = json.load(f) | ||
| self.usecase_mode = data["usecase_mode"] | ||
| if self.usecase_mode == 0: | ||
| print("[ Use Case ] - CLASSIFICATION") | ||
| elif self.usecase_mode == 1: | ||
| print("[ Use Case ] - COUNTING") | ||
| self.count_class_list = data["class_list"] | ||
| # DEBUG | ||
| print("class_list =", self.count_class_list) | ||
| elif self.usecase_mode == 2: | ||
| print("[ Use Case ] - COLOR-MATCHING") | ||
| self.path_to_color_template = data["path_to_color_template"] | ||
| # DEBUG | ||
| print("path_to_color_template =", self.path_to_color_template) | ||
| elif self.usecase_mode == 3: | ||
| print("[ Use Case ] - LOCALIZATION") | ||
| elif self.usecase_mode == 4: | ||
| print("[ Use Case ] - TRACKING") | ||
| self.track_type = data["track_type"] | ||
| # DEBUG | ||
| print("track_type =", self.track_type) | ||
| else: | ||
| print("[ Use Case ] - INVALID. Please rectify" + | ||
| " usecase_config.json. Exiting...") | ||
| f.close() | ||
| sys.exit(1) | ||
| f.close() | ||
|
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| def set_use_case_from_cli(self, usecase_mode): | ||
| self.usecase_mode = usecase_mode | ||
|
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| if usecase_mode == 0: | ||
| print("[ session_config.json ] - " + | ||
| "Setting Use Case Mode to CLASSIFICATION.") | ||
| elif usecase_mode == 1: | ||
| print("[ session_config.json ] - " + | ||
| "Setting Use Case Mode to COUNTING.") | ||
| n = int(input("Please enter number of object class names : ")) | ||
| self.count_class_list.clear() | ||
| for i in range(0, n): | ||
| ele = input("Please enter class name: ") | ||
| self.count_class_list.append(ele) | ||
| elif usecase_mode == 2: | ||
| print("[ session_config.json ] - " + | ||
| "Setting Use Case Mode to COLOR-MATCHING.") | ||
| self.path_to_color_template = input("Please enter \ | ||
| Color Image File Path: ") | ||
| elif usecase_mode == 3: | ||
| print("[ session_config.json ] - " + | ||
| "Setting Use Case Mode to LOCALIZATION.") | ||
| elif usecase_mode == 4: | ||
| print("[ session_config.json ] - " + | ||
| "Setting Use Case Mode to TRACKING.") | ||
| self.track_type = input("Please enter Tracker Type \ | ||
| [KCF, MEDIANFLOW, CSRT]: ") | ||
| else: | ||
| print("[ session_config.json ] - " + | ||
| "Invalid Use Case Mode provided. Exiting...") | ||
| sys.exit(1) | ||
|
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| def write_out(self, session_config_filepath, usecase_config_filepath): | ||
|
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| if self.visualizeFlag: | ||
| visualizeFlag_string = "visualize" | ||
| else: | ||
| visualizeFlag_string = "robot" | ||
|
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| if self.useCPU: | ||
| useCPU_string = "CPU" | ||
| else: | ||
| useCPU_string = "GPU" | ||
|
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| dict = { | ||
| "path_to_model": self._path_to_model, | ||
| "path_to_label_list": self._path_to_label_list, | ||
| "visualizeFlag": visualizeFlag_string, | ||
| "useCPU": useCPU_string | ||
| } | ||
| json_object_1 = json.dumps(dict, indent=4) | ||
|
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| with open(session_config_filepath, 'w') as outfile_1: | ||
| outfile_1.write(json_object_1) | ||
|
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| if self.usecase_mode == 0: | ||
| dict = { | ||
| "usecase_mode": self.usecase_mode | ||
| } | ||
| json_object_2 = json.dumps(dict, indent=4) | ||
| with open(usecase_config_filepath, 'w') as outfile_2: | ||
| outfile_2.write(json_object_2) | ||
| elif self.usecase_mode == 1: | ||
| dict = { | ||
| "usecase_mode": self.usecase_mode, | ||
| "class_list": self.count_class_list | ||
| } | ||
| json_object_2 = json.dumps(dict, indent=4) | ||
| with open(usecase_config_filepath, 'w') as outfile_2: | ||
| outfile_2.write(json_object_2) | ||
| elif self.usecase_mode == 2: | ||
| dict = { | ||
| "usecase_mode": self.usecase_mode, | ||
| "path_to_color_template": self.path_to_color_template | ||
| } | ||
| json_object_2 = json.dumps(dict, indent=4) | ||
| with open(usecase_config_filepath, 'w') as outfile_2: | ||
| outfile_2.write(json_object_2) | ||
| elif self.usecase_mode == 3: | ||
| dict = { | ||
| "usecase_mode": self.usecase_mode | ||
| } | ||
| json_object_2 = json.dumps(dict, indent=4) | ||
| with open(usecase_config_filepath, 'w') as outfile_2: | ||
| outfile_2.write(json_object_2) | ||
| elif self.usecase_mode == 4: | ||
| dict = { | ||
| "usecase_mode": self.usecase_mode, | ||
| "track_type": self.track_type | ||
| } | ||
| json_object_2 = json.dumps(dict, indent=4) | ||
| with open(usecase_config_filepath, 'w') as outfile_2: | ||
| outfile_2.write(json_object_2) | ||
|
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| def main(args=None): | ||
| # Checks if this script is run in the root of the | ||
| # easy_perception_deployment ROS2 package. | ||
| start_dirpath = os.getcwd() | ||
| # Check if the following folders/files are in the directory | ||
| # when script is being executed: | ||
| # /data, /scripts, /launch, CMakeLists.txt and package.xml | ||
| configurator = EPDConfigurator(start_dirpath, args) | ||
|
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|
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| if __name__ == "__main__": | ||
| main(sys.argv) |
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