remove detectors upload routine (#244)

* remove detectors upload mechanism via internal queue

* mark the field tags from rosys.image as deprecated

* review adjustments

* remove obsolete step method

* make sure deprecation warnings are printed

---------

Co-authored-by: Niklas Neugebauer <niklas@zauberzeug.com>
Co-authored-by: Falko Schindler <falko@zauberzeug.com>

rosys/rosys.py

@@ -6,6 +6,7 @@
 import signal
 import threading
 import time as pytime
+import warnings
 from collections.abc import Awaitable, Callable
 from dataclasses import dataclass
 from typing import Any, ClassVar, Literal
@@ -21,6 +22,8 @@
 from .helpers import is_test as is_test_
 from .persistence.registry import backup, restore, sync_backup
 
+warnings.filterwarnings('once', category=DeprecationWarning, module='rosys')
+
 log = logging.getLogger('rosys.core')
 
 config = Config()

rosys/vision/detector.py

@@ -9,7 +9,6 @@
 from ..event import Event
 from .detections import Category, Detections
 from .image import Image
-from .uploads import Uploads
 
 
 class Autoupload(Enum):
@@ -93,7 +92,6 @@ def __init__(self, *, name: str | None = None) -> None:
         """detection on an image is completed (argument: image)"""
 
         self.log = logging.getLogger('rosys.detector')
-        self.uploads = Uploads()
 
     @abc.abstractmethod
     async def detect(self,

rosys/vision/detector_hardware.py

@@ -1,5 +1,5 @@
 import asyncio
-from datetime import datetime, timedelta
+from datetime import datetime
 from typing import Any, Literal
 
 import socketio
@@ -46,22 +46,17 @@ def on_sio_disconnect() -> None:
         def on_sio_connect_error(err) -> None:
             self.log.warning('sio connect error on %s: %s', port, err)
 
-        rosys.on_repeat(self.step, 1.0)
+        rosys.on_repeat(self._ensure_connection, 10.0)
 
     @property
     def is_connected(self) -> bool:
         return self.sio.connected
 
-    async def step(self) -> None:
+    async def _ensure_connection(self) -> None:
         if not self.is_connected:
             self.log.info('trying reconnect %s', self.name)
             if not await self.connect():
                 self.log.error('connection to %s at port %s failed; trying again', self.name, self.port)
-                await rosys.sleep(3.0)
-                return
-
-        await self.try_start_one_upload()
-        await self.upload_priority_queue()
 
     async def connect(self) -> bool:
         try:
@@ -76,25 +71,6 @@ async def connect(self) -> bool:
     async def disconnect(self) -> None:
         await self.sio.disconnect()
 
-    async def try_start_one_upload(self) -> None:
-        if datetime.now() < self.uploads.last_upload + timedelta(minutes=self.uploads.minimal_minutes_between_uploads):
-            return
-
-        upload_images = self.uploads.get_queued()
-        if upload_images:
-            rosys.background_tasks.create(self.upload(upload_images[0]), name='upload_image')
-            self.uploads.queue.clear()  # old images should not be uploaded later when the robot is inactive
-            self.uploads.last_upload = datetime.now()
-
-    async def upload_priority_queue(self) -> None:
-        upload_images = self.uploads.get_priority_queued()
-        if upload_images:
-            async def upload_priority_images():
-                for image in upload_images:
-                    await self.upload(image)
-            rosys.background_tasks.create(upload_priority_images(), name='upload_priority_images')
-            self.uploads.priority_queue.clear()
-
     async def upload(self,
                      image: Image,
                      *,
@@ -125,7 +101,6 @@ async def upload(self,
                 detections_dict['point_detections'] = detections_dict.pop('points')
                 detections_dict['segmentation_detections'] = detections_dict.pop('segmentations')
                 data_dict['detections'] = detections_dict
-            data_dict['tags'] = list(image.tags.union(tags))
             data_dict['source'] = source
             data_dict['creation_date'] = _creation_date_to_isoformat(creation_date)
             await self.sio.emit('upload', data_dict)

rosys/vision/detector_simulation.py

@@ -51,12 +51,6 @@ def __init__(self,
         self.simulated_objects: list[SimulatedObject] = []
         self.detection_delay = detection_delay
 
-        rosys.on_repeat(self.step, 0.1)
-
-    def step(self) -> None:
-        self.uploads.queue.clear()
-        self.uploads.priority_queue.clear()
-
     async def detect(self,
                      image: Image,
                      *,

rosys/vision/image.py

@@ -1,5 +1,6 @@
 from __future__ import annotations
 
+import warnings
 from dataclasses import dataclass, field
 from typing import ClassVar
 
@@ -34,6 +35,11 @@ class Image:
 
     DEFAULT_PLACEHOLDER_SIZE: ClassVar[tuple[int, int]] = (320, 240)
 
+    def __post_init__(self) -> None:
+        if self.tags:
+            warnings.warn('The "tags" field is deprecated and will be removed in a future version.',
+                          DeprecationWarning, stacklevel=2)
+
     @property
     def detections(self) -> Detections | None:
         if not self._detections: