Merge branch 'cluster-estimation-worker-integration-redo' of https://…

…github.com/UWARG/computer-vision-python into cluster-estimation-worker-integration-redo

config.yaml

@@ -35,8 +35,7 @@ geolocation:
     camera_orientation_pitch: -1.57079632679
     camera_orientation_roll: 0.0
 
-# default values set
-cluster_merge:
-    min_activation_threshold: 0
-    min_new_points_to_run: 0
+cluster_estimation:
+    min_activation_threshold: 25
+    min_new_points_to_run: 5
     random_state: 0

documentation/main_multiprocess_example.py

@@ -11,9 +11,9 @@
 from documentation.multiprocess_example.add_random import add_random_worker
 from documentation.multiprocess_example.concatenator import concatenator_worker
 from documentation.multiprocess_example.countup import countup_worker
-from modules.common.logger.modules import logger
-from modules.common.logger.modules import logger_setup_main
-from modules.common.logger.read_yaml.modules import read_yaml
+from modules.common.modules.logger import logger
+from modules.common.modules.logger import logger_main_setup
+from modules.common.modules.read_yaml import read_yaml
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
 from utilities.workers import worker_manager
@@ -44,7 +44,7 @@ def main() -> int:
     assert config is not None
 
     # Setup main logger
-    result, main_logger, _ = logger_setup_main.setup_main_logger(config)
+    result, main_logger, _ = logger_main_setup.setup_main_logger(config)
     if not result:
         print("ERROR: Failed to create main logger")
         return -1

documentation/multiprocess_example/add_random/add_random.py

@@ -5,7 +5,7 @@
 import time
 import random
 
-from modules.common.logger.modules import logger
+from modules.common.modules.logger import logger
 from .. import intermediate_struct
 
 

documentation/multiprocess_example/add_random/add_random_worker.py

@@ -5,7 +5,7 @@
 import os
 import pathlib
 
-from modules.common.logger.modules import logger
+from modules.common.modules.logger import logger
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
 from . import add_random

documentation/multiprocess_example/concatenator/concatenator.py

@@ -4,7 +4,7 @@
 
 import time
 
-from modules.common.logger.modules import logger
+from modules.common.modules.logger import logger
 from .. import intermediate_struct
 
 

documentation/multiprocess_example/concatenator/concatenator_worker.py

@@ -5,7 +5,7 @@
 import os
 import pathlib
 
-from modules.common.logger.modules import logger
+from modules.common.modules.logger import logger
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
 from . import concatenator

documentation/multiprocess_example/countup/countup.py

@@ -4,7 +4,7 @@
 
 import time
 
-from modules.common.logger.modules import logger
+from modules.common.modules.logger import logger
 
 
 class Countup:

documentation/multiprocess_example/countup/countup_worker.py

@@ -5,7 +5,7 @@
 import os
 import pathlib
 
-from modules.common.logger.modules import logger
+from modules.common.modules.logger import logger
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
 from . import countup

main_2024.py

@@ -65,7 +65,7 @@ def main() -> int:
     assert config_logger is not None
 
     # Setup main logger
-    result, main_logger, logging_path = logger_setup_main.setup_main_logger(config_logger)
+    result, main_logger, logging_path = logger_main_setup.setup_main_logger(config_logger)
     if not result:
         print("ERROR: Failed to create main logger")
         return -1
@@ -88,6 +88,8 @@ def main() -> int:
         DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]
         DETECT_TARGET_OPTION_INT = config["detect_target"]["option"]
         DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(DETECT_TARGET_OPTION_INT)
+        DETECT_TARGET_OPTION_INT = config["detect_target"]["option"]
+        DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(DETECT_TARGET_OPTION_INT)
         DETECT_TARGET_DEVICE = "cpu" if args.cpu else config["detect_target"]["device"]
         DETECT_TARGET_MODEL_PATH = config["detect_target"]["model_path"]
         DETECT_TARGET_OVERRIDE_FULL_PRECISION = args.full
@@ -113,9 +115,13 @@ def main() -> int:
         GEOLOCATION_CAMERA_ORIENTATION_PITCH = config["geolocation"]["camera_orientation_pitch"]
         GEOLOCATION_CAMERA_ORIENTATION_ROLL = config["geolocation"]["camera_orientation_roll"]
 
-        MIN_ACTIVATION_THRESHOLD = config["cluster_merge"]["min_activation_threshold"]
-        MIN_NEW_POINTS_TO_RUN = config["cluster_merge"]["min_new_points_to_run"]
-        RANDOM_STATE = config["cluster_merge"]["random_state"]
+        MIN_ACTIVATION_THRESHOLD = config["cluster_estimation"]["min_activation_threshold"]
+        MIN_NEW_POINTS_TO_RUN = config["cluster_estimation"]["min_new_points_to_run"]
+        RANDOM_STATE = config["cluster_estimation"]["random_state"]
+
+        MIN_ACTIVATION_THRESHOLD = config["cluster_estimation"]["min_activation_threshold"]
+        MIN_NEW_POINTS_TO_RUN = config["cluster_estimation"]["min_new_points_to_run"]
+        RANDOM_STATE = config["cluster_estimation"]["random_state"]
         # pylint: enable=invalid-name
     except KeyError as exception:
         main_logger.error(f"Config key(s) not found: {exception}", True)
@@ -420,7 +426,8 @@ def main() -> int:
             geolocation_data = geolocation_to_cluster_estimation_queue.queue.get_nowait()
             geolocation_data = geolocation_to_cluster_estimation_queue.queue.get_nowait()
         except queue.Empty:
-            geolocation_data = None
+            cluster_estimation_data = None
+            cluster_estimation_data = None
 
         if geolocation_data is not None:
             for detection_world in geolocation_data:

modules/data_merge/data_merge_worker.py

@@ -2,13 +2,16 @@
 Merges detections and telemetry by time.
 """
 
+import os
+import pathlib
 import queue
 
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
 from .. import detections_and_time
 from .. import merged_odometry_detections
 from .. import odometry_and_time
+from ..common.modules.logger import logger
 
 
 def data_merge_worker(
@@ -28,7 +31,14 @@ def data_merge_worker(
     Merge work is done in the worker process as the queues and control mechanisms
     are naturally available.
     """
-    # TODO: Logging?
+    worker_name = pathlib.Path(__file__).stem
+    process_id = os.getpid()
+    result, local_logger = logger.Logger.create(f"{worker_name}_{process_id}", True)
+    if not result:
+        print("ERROR: Worker failed to create logger")
+        return
+
+    assert local_logger is not None
 
     # Mitigate potential deadlock caused by early program exit
     try:
@@ -39,7 +49,7 @@ def data_merge_worker(
             timeout=timeout,
         )
     except queue.Empty:
-        print("ERROR: Queue timed out on startup")
+        local_logger.error("Queue timed out on startup", True)
         return
 
     while not controller.is_exit_requested():
@@ -72,15 +82,27 @@ def data_merge_worker(
                 previous_odometry.odometry_data,
                 detections.detections,
             )
+
+            odometry_timestamp = previous_odometry.timestamp
         else:
             result, merged = merged_odometry_detections.MergedOdometryDetections.create(
                 current_odometry.odometry_data,
                 detections.detections,
             )
 
+            odometry_timestamp = current_odometry.timestamp
+
+        local_logger.info(
+            f"Odometry timestamp: {odometry_timestamp}, detections timestamp: {detections.timestamp}, detections - odometry: {detections.timestamp - odometry_timestamp}",
+            True,
+        )
+
         if not result:
+            local_logger.warning("Failed to create merged odometry and detections", True)
             continue
 
+        local_logger.info(str(merged), True)
+
         # Get Pylance to stop complaining
         assert merged is not None
 

modules/decision/landing_pad_tracking.py

@@ -54,10 +54,14 @@ def mark_confirmed_positive(self, detection: object_in_world.ObjectInWorld) -> N
 
     def run(
         self, detections: "list[object_in_world.ObjectInWorld]"
-    ) -> "tuple[bool, object_in_world.ObjectInWorld | None]":
+    ) -> "tuple[bool, list[object_in_world.ObjectInWorld] | None]":
         """
-        Updates the list of unconfirmed positives and returns the a first confirmed positive if
-        one exists, else the unconfirmed positive with the lowest variance.
+        Updates the list of unconfirmed positives and returns the confirmed positives if
+        they exist, otherwise returns the unconfirmed positives.
+
+        detections: New detections.
+
+        Return: List of confirmed/unconfirmed positives.
         """
         for detection in detections:
             match_found = False
@@ -82,16 +86,16 @@ def run(
             # If new landing pad, add to list of unconfirmed positives
             self.__unconfirmed_positives.append(detection)
 
-        # If there are confirmed positives, return the first one
+        # If there are confirmed positives, return them
         if len(self.__confirmed_positives) > 0:
-            return True, self.__confirmed_positives[0]
+            return True, self.__confirmed_positives
 
-        # If the list is empty, all landing pads have been visited, none are viable
-        if len(self.__unconfirmed_positives) == 0:
-            return False, None
+        # If there are unconfirmed positives, return them
+        if len(self.__unconfirmed_positives) > 0:
+            # Sort list by variance in ascending order
+            self.__unconfirmed_positives.sort(key=lambda x: x.spherical_variance)
 
-        # Sort list by variance in ascending order
-        self.__unconfirmed_positives.sort(key=lambda x: x.spherical_variance)
+            return True, self.__unconfirmed_positives
 
-        # Return detection with lowest variance
-        return True, self.__unconfirmed_positives[0]
+        # All landing pads have been visited, none are viable
+        return False, None

modules/detect_target/detect_target_worker.py

@@ -8,7 +8,7 @@
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
 from . import detect_target_factory
-from ..common.logger.modules import logger
+from ..common.modules.logger import logger
 
 
 def detect_target_worker(

modules/detections_and_time.py

@@ -108,10 +108,15 @@ def __str__(self) -> str:
         To string.
         """
         return (
-            f"{self.__class__}, time: {int(self.timestamp)}, size: {len(self)}\n"
-            + f"{self.detections}"
+            f"{self.__class__}, time: {self.timestamp}, size: {len(self)}\n" + f"{self.detections}"
         )
 
+    def __repr__(self) -> str:
+        """
+        For collections (e.g. list).
+        """
+        return str(self)
+
     def __len__(self) -> int:
         """
         Gets the number of detected objects.