From 7c4f28700e3f5bd401e89e1f749ce1c886f61db2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Petr=20Klep=C3=A1rn=C3=ADk?= Date: Thu, 16 May 2024 18:18:59 +0200 Subject: [PATCH] version 0.12.1 - "--out_csv_dir" and "--out_prefix" removed - FCW_MIDDLEWARE_TASK_ID - extended_measuring enabled with middleware client - Measuring used in fcw_example.py --- README.md | 4 +- .../fcw_client_python/client_python.py | 6 +- .../client_python_middleware.py | 12 +- fcw-client/fcw_client/client_common.py | 1 + fcw-client/poetry.lock | 177 ++++---- fcw-client/pyproject.toml | 4 +- fcw-core-utils/poetry.lock | 10 +- fcw-core-utils/pyproject.toml | 2 +- fcw-core/fcw_core/fcw_example.py | 53 +-- fcw-core/poetry.lock | 71 +-- fcw-core/pyproject.toml | 5 +- fcw-service/poetry.lock | 429 ++++++++++-------- fcw-service/pyproject.toml | 6 +- 13 files changed, 414 insertions(+), 366 deletions(-) diff --git a/README.md b/README.md index aeea251..540fa07 100644 --- a/README.md +++ b/README.md @@ -46,7 +46,7 @@ cd CollisionWarningService docker build -f docker/fcw_service.Dockerfile -t but5gera/fcw_service:latest . ``` Download sample files:\ -https://raw.githubusercontent.com/5G-ERA/CollisionWarningService/main/config/video3.mp4 \ +https://raw.githubusercontent.com/5G-ERA/CollisionWarningService/main/videos/video3.mp4 \ https://raw.githubusercontent.com/5G-ERA/CollisionWarningService/main/config/video3.yaml \ https://raw.githubusercontent.com/5G-ERA/CollisionWarningService/main/config/config.yaml @@ -121,7 +121,7 @@ docker run -p 5896:5896 -p 8554:8554 --network host --gpus all but5gera/fcw_serv #### Local startup -The FCW service can also be started locally using [fcw-service/interface.py](fcw/service/interface.py), +The FCW service can also be started locally using [fcw-service/interface.py](fcw-service/fcw_service/interface.py), but the fcw-service package must be installed and the NETAPP_PORT environment variable should be set (default is 5896). Run FCW service in same virtual environment as standalone example: diff --git a/fcw-client/examples/fcw_client_python/client_python.py b/fcw-client/examples/fcw_client_python/client_python.py index dc1f66a..4d8f2ce 100644 --- a/fcw-client/examples/fcw_client_python/client_python.py +++ b/fcw-client/examples/fcw_client_python/client_python.py @@ -35,7 +35,7 @@ CAMERA_CONFIG_FILE = Path("../../../videos/video3.yaml") # CAMERA_CONFIG_FILE = Path("../../../videos/bringauto.yaml") -# stopped flag for SIGTERM handler (stopping video frames sending). +# Stopped flag for SIGTERM handler (stopping video frames sending). stopped = False collision_warning_client: Optional[CollisionWarningClient] = None @@ -66,10 +66,6 @@ def main() -> None: ) parser.add_argument("-c", "--config", type=Path, help="Collision warning config", default=CONFIG_FILE) parser.add_argument("--camera", type=Path, help="Camera settings", default=CAMERA_CONFIG_FILE) - parser.add_argument("-o", "--out_csv_dir", type=str, help="Output CSV dir", default=None) - parser.add_argument( - "-p", "--out_prefix", type=str, help="Prefix of output csv file with measurements", default=None - ) parser.add_argument("-t", "--play_time", type=int, help="Video play time in seconds", default=5000) parser.add_argument("--fps", type=int, help="Video FPS", default=None) parser.add_argument("source_video", type=str, help="Video stream (file or url)", nargs="?", default=TEST_VIDEO_FILE) diff --git a/fcw-client/examples/fcw_client_python/client_python_middleware.py b/fcw-client/examples/fcw_client_python/client_python_middleware.py index ae13ce1..546284b 100644 --- a/fcw-client/examples/fcw_client_python/client_python_middleware.py +++ b/fcw-client/examples/fcw_client_python/client_python_middleware.py @@ -26,7 +26,7 @@ # Testing video file. TEST_VIDEO_FILE = str("../../../videos/video3.mp4") # TEST_VIDEO_FILE = str("rtsp://127.0.0.1:8554/webcam.h264") -# TEST_VIDEO_FILE = str("../../../videos/bringauto_2023-03-20.mp4") +# TEST_VIDEO_FILE = str("../../../videos/bringauto_2023-03-20_short.mp4") # Testing configuration of the algorithm. CONFIG_FILE = Path("../../../config/config.yaml") @@ -46,7 +46,9 @@ # Middleware password. MIDDLEWARE_PASSWORD = str(os.getenv("MIDDLEWARE_PASSWORD", "password")) # Middleware Network Application ID (task ID). -MIDDLEWARE_TASK_ID = str(os.getenv("MIDDLEWARE_TASK_ID", "00000000-0000-0000-0000-000000000000")) +MIDDLEWARE_TASK_ID = str( + os.getenv("FCW_MIDDLEWARE_TASK_ID", str(os.getenv("MIDDLEWARE_TASK_ID", "00000000-0000-0000-0000-000000000000"))) +) # Middleware robot ID (robot ID). MIDDLEWARE_ROBOT_ID = str(os.getenv("MIDDLEWARE_ROBOT_ID", "00000000-0000-0000-0000-000000000000")) @@ -77,14 +79,10 @@ def main() -> None: ) parser.add_argument("-c", "--config", type=Path, help="Collision warning config", default=CONFIG_FILE) parser.add_argument("--camera", type=Path, help="Camera settings", default=CAMERA_CONFIG_FILE) - parser.add_argument("-o", "--out_csv_dir", type=str, help="Output CSV dir", default=None) - parser.add_argument( - "-p", "--out_prefix", type=str, help="Prefix of output csv file with measurements", default=None - ) parser.add_argument("-t", "--play_time", type=int, help="Video play time in seconds", default=5000) parser.add_argument("--fps", type=int, help="Video FPS", default=None) parser.add_argument("source_video", type=str, help="Video stream (file or url)", nargs="?", default=TEST_VIDEO_FILE) - parser.add_argument("-m", "--measuring", type=bool, help="Enable extended measuring logs", default=False) + parser.add_argument("-m", "--measuring", type=bool, help="Enable extended measuring logs", default=True) parser.add_argument("--viz", type=bool, help="Whether to enable remote visualization", default=True) parser.add_argument("--viz_zmq_port", type=int, help="Port of the ZMQ visualization server", default=5558) parser.add_argument("--stats", type=bool, help="Store output data sizes", default=True) diff --git a/fcw-client/fcw_client/client_common.py b/fcw-client/fcw_client/client_common.py index 5dfc895..3d7c537 100644 --- a/fcw-client/fcw_client/client_common.py +++ b/fcw-client/fcw_client/client_common.py @@ -272,6 +272,7 @@ def __init__( {"results": CallbackInfoClient(ChannelType.JSON, self.results_callback)}, logging_level=logging.getLogger().level, stats=stats, + extended_measuring=extended_measuring, ) logger.info(f"Register with netapp_info: {netapp_info}") self.client.connect_to_middleware(netapp_info.middleware_info) diff --git a/fcw-client/poetry.lock b/fcw-client/poetry.lock index e4f0eab..6573f48 100644 --- a/fcw-client/poetry.lock +++ b/fcw-client/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand. 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changed by hand. +# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand. [[package]] name = "contourpy" @@ -742,18 +742,18 @@ files = [ [[package]] name = "zipp" -version = "3.18.1" +version = "3.18.2" description = "Backport of pathlib-compatible object wrapper for zip files" optional = false python-versions = ">=3.8" files = [ - {file = "zipp-3.18.1-py3-none-any.whl", hash = "sha256:206f5a15f2af3dbaee80769fb7dc6f249695e940acca08dfb2a4769fe61e538b"}, - {file = "zipp-3.18.1.tar.gz", hash = "sha256:2884ed22e7d8961de1c9a05142eb69a247f120291bc0206a00a7642f09b5b715"}, + {file = "zipp-3.18.2-py3-none-any.whl", hash = "sha256:dce197b859eb796242b0622af1b8beb0a722d52aa2f57133ead08edd5bf5374e"}, + {file = "zipp-3.18.2.tar.gz", hash = "sha256:6278d9ddbcfb1f1089a88fde84481528b07b0e10474e09dcfe53dad4069fa059"}, ] [package.extras] docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"] -testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"] +testing = ["big-O", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"] [metadata] lock-version = "2.0" diff --git a/fcw-core-utils/pyproject.toml b/fcw-core-utils/pyproject.toml index bed3f05..aa88018 100644 --- a/fcw-core-utils/pyproject.toml +++ b/fcw-core-utils/pyproject.toml @@ -1,6 +1,6 @@ [tool.poetry] name = "fcw-core-utils" -version = "0.12.0" +version = "0.12.1" description = "Early collision warning Network Application for Transportation use case - core utils part" authors = ["Petr Kleparnik ", "Roman Juranek "] readme = "README.md" diff --git a/fcw-core/fcw_core/fcw_example.py b/fcw-core/fcw_core/fcw_example.py index 3586f5e..fc2053f 100644 --- a/fcw-core/fcw_core/fcw_example.py +++ b/fcw-core/fcw_core/fcw_example.py @@ -11,6 +11,9 @@ import csv import logging import sys + +from era_5g_interface.measuring import Measuring + logging.basicConfig(stream=sys.stdout, level=logging.INFO, format="%(asctime)s [%(levelname)s] %(name)s: %(message)s") logger = logging.getLogger("FCW example") @@ -34,8 +37,6 @@ def parse_arguments(): parser.add_argument("--camera", type=FileType("r"), required=True, help="Camera settings") parser.add_argument("-o", "--output", type=str, help="Output video") parser.add_argument("--viz", action="store_true") - parser.add_argument("--out_csv_dir", type=str, help="Output CSV dir", default=None) - parser.add_argument("-p", "--out_prefix", type=str, help="Prefix of output csv file with measurements", default="fcw_example_test_") parser.add_argument("-t", "--play_time", type=int, help="Video play time in seconds", default=60) parser.add_argument("--fps", type=int, help="Video FPS", default=None) parser.add_argument("source_video", type=str, help="Video stream (file or url)") @@ -105,12 +106,16 @@ def main(args=None): marker, marker_anchor = vehicle_marker_image(scale=3) delays = [] - timestamps = [ - ["start_timestamp_ns", - "recv_timestamp_ns", - "send_timestamp_ns", - "end_timestamp_ns"] - ] + measuring_items = { + "key_timestamp": 0, + "final_timestamp": 0, + "worker_recv_timestamp": 0, + "worker_before_process_timestamp": 0, + "worker_after_process_timestamp": 0, + "worker_send_timestamp": 0, + } + prefix = f"client-final" + measuring = Measuring(measuring_items, enabled=True, filename_prefix=prefix) rate_timer = RateTimer(rate=fps, iteration_miss_warning=True) @@ -121,15 +126,12 @@ def main(args=None): if not ret or img is None: logger.info("Video ended") break + key_timestamp = time.perf_counter_ns() - time0 = time.time_ns() img_undistorted = camera.rectify_image(img) - time1 = time.time_ns() - time_elapsed_s = (time1 - time0) * 1.0e-9 - logger.info(f"rectify_image time: {time_elapsed_s:.3f}") - - time0 = time.time_ns() - + time0 = time.perf_counter_ns() + measuring.log_measuring(key_timestamp, "worker_recv_timestamp", time0) + measuring.log_measuring(key_timestamp, "worker_before_process_timestamp", time0) # Detect object in image detections = detector.detect(img_undistorted) # Get bounding boxes as numpy array @@ -149,17 +151,13 @@ def main(args=None): # Get list of current offenses dangerous_objects = guard.dangerous_objects() - time1 = time.time_ns() + time1 = time.perf_counter_ns() + measuring.log_measuring(key_timestamp, "worker_after_process_timestamp", time1) + measuring.log_measuring(key_timestamp, "worker_send_timestamp", time1) logger.info(f"Delay: {(time1 - time0) * 1.0e-9:.3f}s") delays.append((time1 - time0)) - timestamps.append( - [ - time0, - time0, - time1, - time1 - ] - ) + measuring.log_measuring(key_timestamp, "final_timestamp", time1) + measuring.store_measuring(key_timestamp) if render_output: # Visualization @@ -212,13 +210,6 @@ def main(args=None): logger.info(f"Total streaming time: {(end_time - start_time) * 1.0e-9:.3f}s") logger.info(f"Delay median: {statistics.median(delays) * 1.0e-9:.3f}s") - if args.out_csv_dir is not None: - out_csv_filename = f'{args.out_prefix}' - out_csv_filepath = os.path.join(args.out_csv_dir, out_csv_filename + ".csv") - with open(out_csv_filepath, "w", newline='') as csv_file: - csv_writer = csv.writer(csv_file) - csv_writer.writerows(timestamps) - try: cv2.destroyAllWindows() except Exception as ex: diff --git a/fcw-core/poetry.lock b/fcw-core/poetry.lock index 77fb45c..513ec17 100644 --- a/fcw-core/poetry.lock +++ b/fcw-core/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand. [[package]] name = "certifi" @@ -271,13 +271,13 @@ tests = ["pytest", "pytest-cov", "pytest-xdist"] [[package]] name = "fcw-core-utils" -version = "0.12.0" +version = "0.12.1" description = "Early collision warning Network Application for Transportation use case - core utils part" optional = false python-versions = ">=3.8" files = [ - {file = "fcw_core_utils-0.12.0-py3-none-any.whl", hash = "sha256:a755345ee9b17458ef830fccf1a16d3f67e26b308536c1915b09f031c6422f82"}, - {file = "fcw_core_utils-0.12.0.tar.gz", hash = "sha256:ff205dadce8004555d6186208b1a5455d20219a11207eb1b27fbada1a5ab377f"}, + {file = "fcw_core_utils-0.12.1-py3-none-any.whl", hash = "sha256:ffcb15a375f4e0278e4cac5e120aad0dd7375f954b16a3406e1b73933c5f66dd"}, + {file = "fcw_core_utils-0.12.1.tar.gz", hash = "sha256:e2fd0a37b465fea0505a4479080e51f43cea724655f9b2ece4004d1d72a8aad9"}, ] [package.dependencies] @@ -288,13 +288,13 @@ shapely = ">=2.0.4" [[package]] name = "filelock" -version = "3.13.4" +version = "3.14.0" description = "A platform independent file lock." optional = false python-versions = ">=3.8" files = [ - 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core part" authors = ["Petr Kleparnik ", "Roman Juranek "] readme = "README.md" @@ -24,9 +24,10 @@ psutil = ">=5.9.8" tqdm = ">=4.66.1" seaborn = ">=0.13.2" ultralytics = ">=8.1.19" -fcw-core-utils = "^0.12.0" +fcw-core-utils = "^0.12.1" matplotlib = ">=3.7.4" setuptools = ">=69.2.0" +wheel = ">=0.38.0" #pip install --upgrade --force-reinstall torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/cu121 diff --git a/fcw-service/poetry.lock b/fcw-service/poetry.lock index 49083db..f7c29a8 100644 --- a/fcw-service/poetry.lock +++ b/fcw-service/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand. 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