Merge pull request #34 from nathanbowness/yoloV8Switch

Update tracking to have a delay to simulate processing. Update README

.github/workflows/docker-publish-latest-jetson.yaml

@@ -18,9 +18,13 @@ jobs:
       - name: Checkout branch
         uses: actions/checkout@v3
 
-      # Get the commit count from the repository to tag the image
-      - name: Get Commit Count
-        run: echo "COMMIT_COUNT=$(git rev-list --count HEAD)" >> $GITHUB_ENV
+      # Read the version from version.yaml
+      - name: Read Version from version.yaml
+        id: read_version
+        run: |
+          VERSION=$(cat version.yaml | grep 'version:' | cut -d ' ' -f 2)
+          echo "VERSION=$VERSION" >> $GITHUB_ENV
+          echo "Using version: $VERSION"
 
       - name: Log in to DockerHub
         run: echo "${{ secrets.DOCKER_PASSWORD }}" | docker login -u "${{ secrets.DOCKER_USERNAME }}" --password-stdin
@@ -34,4 +38,4 @@ jobs:
           push: true
           tags: |
             ${{ secrets.DOCKER_USERNAME }}/uav-experiments:latest-jetson-jetpack5
-            ${{ secrets.DOCKER_USERNAME }}/uav-experiments:0.1.${{ env.COMMIT_COUNT }}-jetson-jetpack5
+            ${{ secrets.DOCKER_USERNAME }}/uav-experiments:${{ env.VERSION }}-jetson-jetpack5

.github/workflows/docker-publish-latest.yaml

@@ -11,9 +11,13 @@ jobs:
       - name: Checkout branch
         uses: actions/checkout@v3
 
-      # Get the commit count from the repository to tag the image
-      - name: Get Commit Count
-        run: echo "COMMIT_COUNT=$(git rev-list --count HEAD)" >> $GITHUB_ENV
+      # Read the version from version.yaml
+      - name: Read Version from version.yaml
+        id: read_version
+        run: |
+          VERSION=$(cat version.yaml | grep 'version:' | cut -d ' ' -f 2)
+          echo "VERSION=$VERSION" >> $GITHUB_ENV
+          echo "Using version: $VERSION"
 
       - name: Log in to DockerHub
         run: echo "${{ secrets.DOCKER_PASSWORD }}" | docker login -u "${{ secrets.DOCKER_USERNAME }}" --password-stdin
@@ -26,4 +30,4 @@ jobs:
           push: true
           tags: |
             ${{ secrets.DOCKER_USERNAME }}/uav-experiments:latest
-            ${{ secrets.DOCKER_USERNAME }}/uav-experiments:0.1.${{ env.COMMIT_COUNT }}
+            ${{ secrets.DOCKER_USERNAME }}/uav-experiments:${{ env.VERSION }}

README.md

@@ -29,9 +29,9 @@ docker build . -f Dockerfile-jetson-jetpack5 uav-experiments:latest-jetson-jetpa
 ```
 
 ## Update Image Tag 
-You can update the tag to simply the process for running the container locally. The local name `tracking` will be used for all following examples and commands to simplify the documentation.
+You can update the tag to simply the process for running the container locally. The local name `tracking-image` will be used for all following examples and commands to simplify the documentation.
 ```bash
-docker tag nbowness/uav-experiments:latest-jetson-jetpack5 tracking
+docker tag nbowness/uav-experiments:latest-jetson-jetpack5 tracking-image
 ```
 
 ## Running the Container On WSL, Linux
@@ -40,7 +40,7 @@ docker tag nbowness/uav-experiments:latest-jetson-jetpack5 tracking
 docker run -v "$(pwd)"/data:/data -v "$(pwd)"/configuration:/configuration -v "$(pwd)"/output:/output -it tracking-image
 
 # Run elements, non interactive
-docker run -v "$(pwd)"/data:/data -v "$(pwd)"/configuration:/configuration -v "$(pwd)"/output:/output tracking-image python3 tracking.py --skip-radar
+docker run -v "$(pwd)"/data:/data -v "$(pwd)"/configuration:/configuration -v "$(pwd)"/output:/output -it tracking-image python3 tracking.py --skip-radar
 
 # Run with UI elements active.
 xhost +local:docker && docker run -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v ~/.Xauthority:/root/.Xauthority -v "$(pwd)"/data:/data -v "$(pwd)"/configuration:/configuration -v "$(pwd)"/output:/output -it tracking-image
@@ -54,7 +54,9 @@ docker run -v "$(pwd)"/data:/data -v "$(pwd)"/configuration:/configuration -it t
 When running on Jetson. Jetson equips iGPU rather than the dGPU. The OS is also a customized l4t rather than standard Linux. You can use --runtime=nvidia and by default, it will enable GPU for usage.
 ```bash
 # Run the container interactively
-docker run -v "$(pwd)"/data:/data  --runtime=nvidia -it tracking-image-json
+docker run -v "$(pwd)"/data:/data -v "$(pwd)"/output:/output --ipc=host --runtime=nvidia -it tracking-image
+# After being inside the container, you can run the following:
+python3 tracking.py --radar-start-delay 30 # Add 30 second delay, since loading the Yolo model on Jetson takes a while
 ```
 
 ### Easily overwrite configuration in the container

configuration/RadarConfig.yaml

@@ -24,11 +24,11 @@ cfarParams:
 run: LIVE # Options are LIVE, RERUN
 sourcePath: "/data/radar/run2-TD/" # Path to the data to be processed for RERUN mode
 
-recordData: true # Record radar data to disk
+recordData: True # Record radar data to disk
 recordDataPath: "/output" # Path to the data to be recorded
 
 # How many Radar results to keep in the buffer for analysis and CFAR 
 processingWindow: 200
 
 # Print radar runtime settings to console on startup
-printSettings: true
+printSettings: True

radar/configuration/RadarConfiguration.py

@@ -126,8 +126,8 @@ def load_config(self):
             self.apply_defaults()
 
         # Print settings if enabled
-        if self.print_settings:
-            print(self)
+        # if self.print_settings:
+        #     print(self)
 
     def apply_defaults(self):
         """

radar/radar_tracking.py

@@ -4,6 +4,7 @@
 import numpy as np
 
 import multiprocessing as mp
+import time
 
 from radar.cfar import get_range_bin_for_indexs
 from radar.configuration.RunType import RunType
@@ -56,7 +57,7 @@ def process_live_data(self, stop_event):
         Process the radar data from the radar module until the stop event is set.
         """
         if self.config.record_data:
-            print(f"Running radar tracking on live data. Recording raw results to folder: {self.config.output_path}")
+            print(f"Running radar tracking on live data. Recording raw results to folder: {self.output_dir}")
             os.makedirs(self.output_dir, exist_ok=True)
             self.export_radar_config_to_file(self.output_dir)
         else:
@@ -67,6 +68,11 @@ def process_live_data(self, stop_event):
 
         while not stop_event.is_set():
             voltage_data = get_td_data_voltage(self.radar_module)
+            if voltage_data is None:
+                # There was likely an error - reset error code, try again
+                self.radar_module.error = False
+                continue
+
             if self.config.record_data:
                 voltage_data.print_data_to_file(self.output_dir)
 
@@ -99,7 +105,8 @@ def process_time_domain_data(self, td_data):
         # TODO - convert the TDData to FDDataMatrix, for processing.. Need FD for this (or do it in the RadarWindow itself)
         # self.radar_window.add_raw_record(td_data)
         # self.radar_window.calculate_detections(record_timestamp=td_data.timestamp)
-
+
+        time.sleep(0.2) # Simulate the processing time
         # Until we have enough records for CFAR or analysis, just continue 
         if(len(self.radar_window.get_raw_records()) < self.radar_window.required_cells_cfar):
             return
@@ -129,7 +136,7 @@ def export_radar_config_to_file(self, output_dir, output_file="RadarConfiguratio
             f"Ramp Time [ms]:\t{self.config.ramp_time_fmcw_chirp}\n"
             f"Attenuation [dB]:\t{sysParmas.atten}\n"
             f"Bin Size [mm]:\t{formatted_bin_size_mm}\n"
-            f"Number of Samples:\t512\n"
+            f"Number of Samples:\t1024\n"
             f"Bin Size [Hz]:\t{sysParmas.freq_bin}\n"
             f"Zero Pad Factor:\t{sysParmas.zero_pad}\n"
             f"Normalization:\t{sysParmas.norm}\n"

radar/radarprocessing/get_td_sensor_data.py

@@ -39,6 +39,10 @@ def get_td_data_voltage(radar_module: RadarModule, ramp_type: str = "UP-Ramp") -
     Return the TD data in voltage format.
     """
     radar_module.GetTdData(measurement=ramp_type)
+    # If there's an error return, we'll try again
+    if radar_module.error:
+        return None
+
     time = pd.Timestamp.now()
     n_samples = 1024
 

version.yaml

@@ -0,0 +1 @@
+version: 0.1.2