Fix GitHub CI and Test Cases (#143)

* Removed old workflows

* Added run tests workflow

* Fixed tests for asserting images are the same

* Fixed error in run test workflow

* Added PyTorch installation command

* Changed Python version to 3.8 to 3.8.10

* Changed back to 3.8 and changed platform to Windows

* Switched back to Ubuntu

* Skip tests if device is CPU to see if workflow fails because hardware isn't available

* Edited test cases for detect target

* Added boolean for Half value in detect target module

* Added enable_half parameter in detect target

* Fixed test cases

* Removed enable_half from run

* Created constant for enable_half

* Added 2 spaces between top level functions

* Added precision to variable name

* Added docstring for detect target constructor parameters

* Added comment for enable_half_precision in tests for detect target

* Changed expected error to use np.sqrt function

* Fixed issues with comments

* Store if half precision is to be used or not used

* Addressed PR comments: Added override full

* Store if half precision is to be used or not used

* Addressed PR comments: Added override full

* Added override full to main_2024

* Updated comment

.github/workflows/run-tests.yml

@@ -0,0 +1,41 @@
+# This workflow will install Python dependencies and run tests with PyTest using Python 3.8
+# For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
+
+name: Run tests
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      # Checkout repository
+      - uses: actions/checkout@v3
+
+      # Set Python version
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.8
+
+      # Set up submodules and submodule dependencies
+      - name: Set up submodule and submodule dependencies
+        run: |
+          git submodule update --init --recursive --remote
+          pip install -r ./modules/common/requirements.txt
+
+      # Install computer-vision-python dependencies
+      - name: Install project dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -r requirements.txt
+          pip install -r requirements-pytorch.txt
+
+      # Run tests with PyTest
+      - name: Run tests
+        run: pytest -vv

main_2023.py

@@ -40,6 +40,7 @@ def main() -> int:
     # Parse whether or not to force cpu from command line
     parser = argparse.ArgumentParser()
     parser.add_argument("--cpu", action="store_true", help="option to force cpu")
+    parser.add_argument("--full", action="store_true", help="option to force full precision")
     args = parser.parse_args()
 
     # Set constants
@@ -53,6 +54,7 @@ def main() -> int:
         DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]
         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
         DETECT_TARGET_SAVE_PREFIX = config["detect_target"]["save_prefix"]
     except KeyError:
         print("Config key(s) not found")
@@ -91,6 +93,7 @@ def main() -> int:
         (
             DETECT_TARGET_DEVICE,
             DETECT_TARGET_MODEL_PATH,
+            DETECT_TARGET_OVERRIDE_FULL_PRECISION,
             DETECT_TARGET_SAVE_PREFIX,
             video_input_to_detect_target_queue,
             detect_target_to_main_queue,

main_2024.py

@@ -42,6 +42,7 @@ def main() -> int:
     # Parse whether or not to force cpu from command line
     parser = argparse.ArgumentParser()
     parser.add_argument("--cpu", action="store_true", help="option to force cpu")
+    parser.add_argument("--full", action="store_true", help="option to force full precision")
     args = parser.parse_args()
 
     # Set constants
@@ -55,6 +56,7 @@ def main() -> int:
         DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]
         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
         DETECT_TARGET_SAVE_PREFIX = config["detect_target"]["save_prefix"]
 
         FLIGHT_INTERFACE_ADDRESS = config["flight_interface"]["address"]
@@ -100,6 +102,7 @@ def main() -> int:
         (
             DETECT_TARGET_DEVICE,
             DETECT_TARGET_MODEL_PATH,
+            DETECT_TARGET_OVERRIDE_FULL_PRECISION,
             DETECT_TARGET_SAVE_PREFIX,
             video_input_to_detect_target_queue,
             detect_target_to_main_queue,

modules/detect_target/detect_target.py

@@ -17,10 +17,19 @@ class DetectTarget:
     """
     Contains the YOLOv8 model for prediction.
     """
-    def __init__(self, device: "str | int", model_path: str, save_name: str = ""):
+    def __init__(self, device: "str | int", model_path: str, override_full: bool, save_name: str = ""):
+        """
+        device: name of target device to run inference on (i.e. "cpu" or cuda device 0, 1, 2, 3).
+        model_path: path to the YOLOv8 model.
+        override_full: Force full precision floating point calculations.
+        save_name: filename prefix for logging detections and annotated images.
+        """
         self.__device = device
         self.__model = ultralytics.YOLO(model_path)
         self.__counter = 0
+        self.__enable_half_precision = False if self.__device == "cpu" else True
+        if override_full:
+            self.__enable_half_precision = False
         self.__filename_prefix = ""
         if save_name != "":
             self.__filename_prefix = save_name + "_" + str(int(time.time())) + "_"
@@ -33,7 +42,7 @@ def run(self, data: image_and_time.ImageAndTime) -> "tuple[bool, np.ndarray | No
         image = data.image
         predictions = self.__model.predict(
             source=image,
-            half=True,
+            half=self.__enable_half_precision,
             device=self.__device,
             stream=False,
         )

modules/detect_target/detect_target_worker.py

@@ -11,18 +11,19 @@
 # pylint: disable=too-many-arguments
 def detect_target_worker(device: "str | int",
                          model_path: str,
+                         override_full: bool,
                          save_name: str,
                          input_queue: queue_proxy_wrapper.QueueProxyWrapper,
                          output_queue: queue_proxy_wrapper.QueueProxyWrapper,
                          controller: worker_controller.WorkerController):
     """
     Worker process.
 
-    model_path and save_name are initial settings.
+    device, model_path, override_full, and save_name are initial settings.
     input_queue and output_queue are data queues.
     controller is how the main process communicates to this worker process.
     """
-    detector = detect_target.DetectTarget(device, model_path, save_name)
+    detector = detect_target.DetectTarget(device, model_path, override_full, save_name)
 
     while not controller.is_exit_requested():
         controller.check_pause()

tests/test_detect_target.py

@@ -14,6 +14,7 @@
 
 DEVICE =                        0 if torch.cuda.is_available() else "cpu"
 MODEL_PATH =                    "tests/model_example/yolov8s_ultralytics_pretrained_default.pt"
+OVERRIDE_FULL =                 False  # Tests are able to handle both full and half precision.
 IMAGE_BUS_PATH =                "tests/model_example/bus.jpg"
 IMAGE_BUS_ANNOTATED_PATH =      "tests/model_example/bus_annotated.png"
 IMAGE_ZIDANE_PATH =             "tests/model_example/zidane.jpg"
@@ -25,9 +26,10 @@ def detector():
     """
     Construct DetectTarget.
     """
-    detection = detect_target.DetectTarget(DEVICE, MODEL_PATH)
+    detection = detect_target.DetectTarget(DEVICE, MODEL_PATH, OVERRIDE_FULL)
     yield detection
 
+
 @pytest.fixture()
 def image_bus():
     """
@@ -39,6 +41,7 @@ def image_bus():
     assert bus_image is not None
     yield bus_image
 
+
 @pytest.fixture()
 def image_zidane():
     """
@@ -51,11 +54,39 @@ def image_zidane():
     yield zidane_image
 
 
+def rmse(actual: np.ndarray,
+         expected: np.ndarray) -> float:
+        """
+        Helper function to compute root mean squared error.
+        """
+        mean_squared_error = np.square(actual - expected).mean()
+
+        return np.sqrt(mean_squared_error)
+
+
+def test_rmse():
+        """
+        Root mean squared error.
+        """
+        # Setup
+        sample_actual = np.array([1, 2, 3, 4, 5])
+        sample_expected = np.array([1.6, 2.5, 2.9, 3, 4.1])
+        EXPECTED_ERROR = np.sqrt(0.486)
+
+        # Run
+        actual_error = rmse(sample_actual, sample_expected)
+
+        # Test
+        np.testing.assert_almost_equal(actual_error, EXPECTED_ERROR)
+
+
 class TestDetector:
     """
     Tests `DetectTarget.run()` .
     """
 
+    __IMAGE_DIFFERENCE_TOLERANCE = 1
+
     def test_single_bus_image(self,
                               detector: detect_target.DetectTarget,
                               image_bus: image_and_time.ImageAndTime):
@@ -72,7 +103,9 @@ def test_single_bus_image(self,
         # Test
         assert result
         assert actual is not None
-        np.testing.assert_array_equal(actual, expected)
+
+        error = rmse(actual, expected)
+        assert error < self.__IMAGE_DIFFERENCE_TOLERANCE
 
     def test_single_zidane_image(self,
                                  detector: detect_target.DetectTarget,
@@ -90,7 +123,9 @@ def test_single_zidane_image(self,
         # Test
         assert result
         assert actual is not None
-        np.testing.assert_array_equal(actual, expected)
+
+        error = rmse(actual, expected)
+        assert error < self.__IMAGE_DIFFERENCE_TOLERANCE
 
     def test_multiple_zidane_image(self,
                                    detector: detect_target.DetectTarget,
@@ -121,4 +156,6 @@ def test_multiple_zidane_image(self,
             result, actual = output
             assert result
             assert actual is not None
-            np.testing.assert_array_equal(actual, expected)
+
+            error = rmse(actual, expected)
+            assert error < self.__IMAGE_DIFFERENCE_TOLERANCE

tests/test_detect_target_worker.py

@@ -21,6 +21,7 @@
 IMAGE_ZIDANE_PATH = "tests/model_example/zidane.jpg"
 
 WORK_COUNT = 3
+OVERRIDE_FULL = False
 
 
 def simulate_previous_worker(image_path: str, in_queue: queue_proxy_wrapper.QueueProxyWrapper):
@@ -46,7 +47,7 @@ def simulate_previous_worker(image_path: str, in_queue: queue_proxy_wrapper.Queu
 
     worker = mp.Process(
         target=detect_target_worker.detect_target_worker,
-        args=(device, MODEL_PATH, "", image_in_queue, image_out_queue, controller),
+        args=(device, MODEL_PATH, OVERRIDE_FULL, "", image_in_queue, image_out_queue, controller),
     )
 
     # Run