feat(cube_detector): add cube detector/tracker

compose-files/fit-demo/docker-compose.yml

@@ -15,6 +15,10 @@ services:
         condition: service_started
       fit-demo-kinect:
         condition: service_healthy
+      fit-demo-cube-detector:
+        condition: service_healthy
+      fit-demo-cube-tracker:
+        condition: service_healthy
       fit-demo-scene:
         condition: service_healthy
       fit-demo-calibration:
@@ -28,6 +32,8 @@ services:
       - "6799:6799"
     networks:
           - fit-demo-kinect-network
+          - fit-demo-cube-detector-network
+          - fit-demo-cube-tracker-network
           - fit-demo-scene-network
           - fit-demo-project-network
           - fit-demo-asset-network
@@ -42,6 +48,8 @@ services:
       - ARCOR2_BUILD_URL=http://fit-demo-build:5008
       - ARCOR2_CALIBRATION_URL=http://fit-demo-calibration:5014
       - ARCOR2_KINECT_AZURE_URL=http://192.168.104.100:5017 # Run kinect using pants
+      - ARCOR2_CUBE_DETECTOR_URL=http://fit-demo-cube-detector:5020
+      - ARCOR2_CUBE_TRACKER_URL=http://fit-demo-cube-tracker:5021
 
   fit-demo-build:
     image: arcor2/arcor2_build:1.0.3
@@ -65,6 +73,7 @@ services:
       - fit-demo-scene-network
       - fit-demo-dobot-magician-network
       - fit-demo-dobot-m1-network
+      - fit-demo-cube-tracker-network
     environment:
       - ARCOR2_SCENE_SERVICE_URL=http://fit-demo-scene:5013
       - ARCOR2_PROJECT_PATH=/root/project
@@ -81,6 +90,31 @@ services:
     environment:
       - ARCOR2_KINECT_AZURE_MOCK=true
 
+  fit-demo-cube-detector:
+    image: arcor2/arcor2_cube_detector:0.1.0
+    container_name: fit-demo-cube-detector
+    networks:
+      - fit-demo-kinect-network
+      - fit-demo-cube-detector-network
+    ports:
+        - "5020:5020"
+    environment:
+      - ARCOR2_KINECT_AZURE_URL=http://192.168.104.100:5017
+      - ARCOR2_CUBE_DETECTOR_URL=http://fit-demo-cube-detector:5020
+
+  fit-demo-cube-tracker:
+    image: arcor2/arcor2_cube_tracker:0.1.0
+    container_name: fit-demo-cube-tracker
+    networks:
+      - fit-demo-cube-tracker-network
+      - fit-demo-cube-detector-network
+      - fit-demo-execution-network
+    ports:
+        - "5021:5021"
+    environment:
+      - ARCOR2_CUBE_TRACKER_URL=http://fit-demo-cube-tracker:5021
+      - ARCOR2_CUBE_DETECTOR_URL=http://fit-demo-cube-detector:5020
+
   fit-demo-calibration:
     image: arcor2/arcor2_calibration:1.0.0
     networks:
@@ -214,6 +248,8 @@ networks:
   fit-demo-project-network:
   fit-demo-asset-network:
   fit-demo-kinect-network:
+  fit-demo-cube-detector-network:
+  fit-demo-cube-tracker-network:
   fit-demo-dobot-magician-network:
   fit-demo-dobot-m1-network:
   fit-demo-calibration-network:

src/docker/arcor2_cube_detector/BUILD

@@ -0,0 +1,5 @@
+docker_image(
+    name="arcor2_cube_detector",
+    repository="arcor2/arcor2_cube_detector",
+    image_tags=["0.1.0"],
+)

src/docker/arcor2_cube_detector/Dockerfile

@@ -0,0 +1,22 @@
+FROM python:3.10.10-slim-bullseye as deps
+COPY src.python.arcor2_cube_detector.scripts/cube_detector.pex /binary.pex
+RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app
+
+FROM python:3.10.10-slim-bullseye as srcs
+COPY src.python.arcor2_cube_detector.scripts/cube_detector.pex /binary.pex
+RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app
+
+FROM python:3.10.10-slim-bullseye
+
+# curl is for healthcheck
+RUN apt-get update \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=20.3.5-1 libglib2.0-0=2.66.8-1 libgomp1=10.2.1-6 libusb-1.0-0=2:1.0.24-3 curl=7.74.0-1.3+deb11u7 \
+        && apt-get clean \
+        && rm -rf /var/lib/apt/lists/*
+
+ENTRYPOINT ["/bin/app/pex"]
+COPY --from=deps /bin/app /bin/app
+COPY --from=srcs /bin/app /bin/app
+
+EXPOSE 5020
+HEALTHCHECK --interval=5s --start-period=60s CMD curl -f http://localhost:5020/healthz/ready || exit 1

src/docker/arcor2_cube_tracker/BUILD

@@ -0,0 +1,5 @@
+docker_image(
+    name="arcor2_cube_tracker",
+    repository="arcor2/arcor2_cube_tracker",
+    image_tags=["0.1.0"],
+)

src/docker/arcor2_cube_tracker/Dockerfile

@@ -0,0 +1,22 @@
+FROM python:3.10.10-slim-bullseye as deps
+COPY src.python.arcor2_cube_tracker.scripts/cube_tracker.pex /binary.pex
+RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=deps --compile /bin/app
+
+FROM python:3.10.10-slim-bullseye as srcs
+COPY src.python.arcor2_cube_tracker.scripts/cube_tracker.pex /binary.pex
+RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python3.10 /binary.pex venv --scope=srcs --compile /bin/app
+
+FROM python:3.10.10-slim-bullseye
+
+# curl is for healthcheck
+RUN apt-get update \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=20.3.5-1 libglib2.0-0=2.66.8-1 libgomp1=10.2.1-6 libusb-1.0-0=2:1.0.24-3 curl=7.74.0-1.3+deb11u7 \
+        && apt-get clean \
+        && rm -rf /var/lib/apt/lists/*
+
+ENTRYPOINT ["/bin/app/pex"]
+COPY --from=deps /bin/app /bin/app
+COPY --from=srcs /bin/app /bin/app
+
+EXPOSE 5021
+HEALTHCHECK --interval=5s --start-period=60s CMD curl -f http://localhost:5021/healthz/ready || exit 1

src/python/arcor2_cube_detector/BUILD

@@ -0,0 +1,5 @@
+arcor2_python_distribution(
+    name="arcor2_cube_detector",
+    description="Cube detector",
+    binaries={"arcor2_cube_detector": "src/python/arcor2_cube_detector/scripts:cube_detector"},
+)

src/python/arcor2_cube_detector/CHANGELOG.md

@@ -0,0 +1,3 @@
+# Changelog
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),

src/python/arcor2_cube_detector/README.md

@@ -0,0 +1,11 @@
+# Cube Detector Service
+
+## Usage Instructions
+
+- By default, the service runs on port 5020.
+
+## Environment variables
+
+- `ARCOR2_CUBE_DETECTOR_URL=http://0.0.0.0:5020` - by default, the service listens on port 5020.
+- `ARCOR2_CUBE_DETECTOR_MOCK=1` - the service will start in a mock (simulator) mode.
+- `ARCOR2_CUBE_DETECTOR_DEBUG=1` - switches logger to the `DEBUG` level. 

src/python/arcor2_cube_detector/VERSION

@@ -0,0 +1 @@
+0.1.0

src/python/arcor2_cube_detector/__init__.py

@@ -0,0 +1,13 @@
+import os
+
+from arcor2 import package_version
+
+_ROOT = os.path.abspath(os.path.dirname(__file__))
+
+
+def version() -> str:
+    return package_version(__name__)
+
+
+def get_data(path: str) -> str:
+    return os.path.join(_ROOT, "data", path)