Merge branch 'main' into cuda-tags

.github/workflows/macos.yml

@@ -23,7 +23,6 @@ jobs:
         brew install x264
         brew install jpeg-turbo
         brew install ffmpeg
-        brew install tensorflowlite # Needs to be last
     - name: build
       run: go build ./web/cmd/server
     - uses: actions/upload-artifact@v3

.github/workflows/test.yml

@@ -179,7 +179,7 @@ jobs:
             --platform linux/arm/v7 \
             -v `pwd`:/rdk \
             ghcr.io/viamrobotics/rdk-devenv:armhf-cache \
-            sudo -Hu testbot bash -lc 'sudo apt-get install -y python3-venv && cd /rdk && go test -v -tags=no_tflite ./...'
+            sudo -Hu testbot bash -lc 'sudo apt-get install -y python3-venv && cd /rdk && go test -v ./...'
 
   motion_tests:
     name: Test Longer-running Motion Plans if affected

Makefile

@@ -11,9 +11,6 @@ TAG_VERSION?=$(shell git tag --points-at | sort -Vr | head -n1)
 DATE_COMPILED?=$(shell date +'%Y-%m-%d')
 COMMON_LDFLAGS = -s -w -X 'go.viam.com/rdk/config.Version=${TAG_VERSION}' -X 'go.viam.com/rdk/config.GitRevision=${GIT_REVISION}' -X 'go.viam.com/rdk/config.DateCompiled=${DATE_COMPILED}'
 LDFLAGS = -ldflags "-extld=$(shell pwd)/etc/ld_wrapper.sh $(COMMON_LDFLAGS)"
-ifeq ($(shell command -v dpkg >/dev/null && dpkg --print-architecture),armhf)
-GOFLAGS += -tags=no_tflite
-endif
 
 default: build lint server
 

android.make

@@ -39,7 +39,6 @@ droid-rdk.%.aar: etc/android/prefix/aarch64 etc/android/prefix/x86_64
 	mkdir -p droidtmp/jni/$(JNI_ARCH)
 	cp -d etc/android/prefix/$(CPU_ARCH)/lib/*.so* droidtmp/jni/$(JNI_ARCH)
 	cd droidtmp && zip --symlinks -r ../$@ jni/$(JNI_ARCH)
-	cd ./services/mlmodel/tflitecpu/android/ && zip --symlinks -r ../../../../$@ jni/$(JNI_ARCH)
 
 droid-rdk.aar: droid-rdk.amd64.aar droid-rdk.arm64.aar
 	# multi-platform AAR -- twice the size, but portable

components/camera/transformpipeline/classifier_test.go

@@ -1,5 +1,3 @@
-//go:build !no_tflite
-
 package transformpipeline
 
 import (
@@ -17,7 +15,6 @@ import (
 	"go.viam.com/rdk/rimage"
 	"go.viam.com/rdk/robot"
 	robotimpl "go.viam.com/rdk/robot/impl"
-	"go.viam.com/rdk/services/mlmodel"
 	_ "go.viam.com/rdk/services/mlmodel/register"
 	"go.viam.com/rdk/services/vision"
 	_ "go.viam.com/rdk/services/vision/register"
@@ -28,25 +25,11 @@ func buildRobotWithClassifier(logger logging.Logger) (robot.Robot, error) {
 	cfg := &config.Config{}
 
 	// create fake source camera
-	tfliteSrv1 := resource.Config{
-		Name:  "object_classifier",
-		API:   mlmodel.API,
-		Model: resource.DefaultModelFamily.WithModel("tflite_cpu"),
-		Attributes: rutils.AttributeMap{
-			"model_path":  artifact.MustPath("vision/classification/object_classifier.tflite"),
-			"label_path":  artifact.MustPath("vision/classification/object_labels.txt"),
-			"num_threads": 1,
-		},
-	}
-	cfg.Services = append(cfg.Services, tfliteSrv1)
 	visionSrv1 := resource.Config{
-		Name:  "vision_classifier",
-		API:   vision.API,
-		Model: resource.DefaultModelFamily.WithModel("mlmodel"),
-		Attributes: rutils.AttributeMap{
-			"mlmodel_name": "object_classifier",
-		},
-		DependsOn: []string{"object_classifier"},
+		Name:       "vision_classifier",
+		API:        vision.API,
+		Model:      resource.DefaultModelFamily.WithModel("fake"),
+		Attributes: rutils.AttributeMap{},
 	}
 	cfg.Services = append(cfg.Services, visionSrv1)
 	cameraComp := resource.Config{
@@ -122,7 +105,7 @@ func TestClassifierSource(t *testing.T) {
 
 	// Max classifications was 5, but this image gets classified with just 2 labels, so we
 	// test that each label is present.
-	test.That(t, ovImg.GetXY(149, 48), test.ShouldResemble, rimage.Red)
-	test.That(t, ovImg.GetXY(100, 75), test.ShouldResemble, rimage.Red)
+	test.That(t, ovImg.GetXY(42, 50), test.ShouldResemble, rimage.Red)
+	test.That(t, ovImg.GetXY(268, 48), test.ShouldResemble, rimage.Red)
 	test.That(t, classifier.Close(context.Background()), test.ShouldBeNil)
 }

components/camera/transformpipeline/detector_test.go

@@ -1,5 +1,3 @@
-//go:build !no_tflite
-
 package transformpipeline
 
 import (
@@ -18,7 +16,6 @@ import (
 	"go.viam.com/rdk/rimage"
 	"go.viam.com/rdk/robot"
 	robotimpl "go.viam.com/rdk/robot/impl"
-	"go.viam.com/rdk/services/mlmodel"
 	_ "go.viam.com/rdk/services/mlmodel/register"
 	"go.viam.com/rdk/services/vision"
 	_ "go.viam.com/rdk/services/vision/register"
@@ -64,27 +61,6 @@ func buildRobotWithFakeCamera(logger logging.Logger) (robot.Robot, error) {
 		},
 	}
 	cfg.Services = append(cfg.Services, colorSrv1)
-	tfliteSrv2 := resource.Config{
-		Name:  "detector_tflite",
-		API:   mlmodel.API,
-		Model: resource.DefaultModelFamily.WithModel("tflite_cpu"),
-		Attributes: rutils.AttributeMap{
-			"model_path":  artifact.MustPath("vision/tflite/effdet0.tflite"),
-			"label_path":  artifact.MustPath("vision/tflite/effdetlabels.txt"),
-			"num_threads": 1,
-		},
-	}
-	cfg.Services = append(cfg.Services, tfliteSrv2)
-	visionSrv2 := resource.Config{
-		Name:  "vision_detector",
-		API:   vision.API,
-		Model: resource.DefaultModelFamily.WithModel("mlmodel"),
-		Attributes: rutils.AttributeMap{
-			"mlmodel_name": "detector_tflite",
-		},
-		DependsOn: []string{"detector_tflite"},
-	}
-	cfg.Services = append(cfg.Services, visionSrv2)
 	cameraComp := resource.Config{
 		Name:  "fake_cam",
 		API:   camera.API,
@@ -115,26 +91,6 @@ func buildRobotWithFakeCamera(logger logging.Logger) (robot.Robot, error) {
 		DependsOn: []string{"fake_cam"},
 	}
 	cfg.Components = append(cfg.Components, detectorComp)
-	// create 2nd fake detector camera
-	tfliteComp := resource.Config{
-		Name:  "tflite_detect",
-		API:   camera.API,
-		Model: resource.DefaultModelFamily.WithModel("transform"),
-		Attributes: rutils.AttributeMap{
-			"source": "fake_cam",
-			"pipeline": []rutils.AttributeMap{
-				{
-					"type": "detections",
-					"attributes": rutils.AttributeMap{
-						"detector_name":        "vision_detector",
-						"confidence_threshold": 0.35,
-					},
-				},
-			},
-		},
-		DependsOn: []string{"fake_cam"},
-	}
-	cfg.Components = append(cfg.Components, tfliteComp)
 	if err := cfg.Ensure(false, logger); err != nil {
 		return nil, err
 	}
@@ -173,29 +129,6 @@ func TestColorDetectionSource(t *testing.T) {
 	test.That(t, detector.Close(context.Background()), test.ShouldBeNil)
 }
 
-func TestTFLiteDetectionSource(t *testing.T) {
-	logger := logging.NewTestLogger(t)
-	ctx, cancel := context.WithCancel(context.Background())
-	defer cancel()
-
-	r, err := buildRobotWithFakeCamera(logger)
-	defer func() {
-		test.That(t, r.Close(context.Background()), test.ShouldBeNil)
-	}()
-	test.That(t, err, test.ShouldBeNil)
-
-	detector, err := camera.FromRobot(r, "tflite_detect")
-	test.That(t, err, test.ShouldBeNil)
-	defer detector.Close(ctx)
-
-	resImg, _, err := camera.ReadImage(ctx, detector)
-	test.That(t, err, test.ShouldBeNil)
-	ovImg := rimage.ConvertImage(resImg)
-	test.That(t, ovImg.GetXY(624, 402), test.ShouldResemble, rimage.Red)
-	test.That(t, ovImg.GetXY(815, 647), test.ShouldResemble, rimage.Red)
-	test.That(t, detector.Close(context.Background()), test.ShouldBeNil)
-}
-
 func BenchmarkColorDetectionSource(b *testing.B) {
 	logger := logging.NewTestLogger(b)
 	ctx, cancel := context.WithCancel(context.Background())
@@ -217,25 +150,3 @@ func BenchmarkColorDetectionSource(b *testing.B) {
 	}
 	test.That(b, detector.Close(context.Background()), test.ShouldBeNil)
 }
-
-func BenchmarkTFLiteDetectionSource(b *testing.B) {
-	logger := logging.NewTestLogger(b)
-	ctx, cancel := context.WithCancel(context.Background())
-	defer cancel()
-
-	r, err := buildRobotWithFakeCamera(logger)
-	defer func() {
-		test.That(b, r.Close(context.Background()), test.ShouldBeNil)
-	}()
-	test.That(b, err, test.ShouldBeNil)
-	detector, err := camera.FromRobot(r, "tflite_detect")
-	test.That(b, err, test.ShouldBeNil)
-	defer detector.Close(ctx)
-
-	b.ResetTimer()
-	// begin benchmarking
-	for i := 0; i < b.N; i++ {
-		_, _, _ = camera.ReadImage(ctx, detector)
-	}
-	test.That(b, detector.Close(context.Background()), test.ShouldBeNil)
-}

components/motor/register/register.go

@@ -9,7 +9,6 @@ import (
 	_ "go.viam.com/rdk/components/motor/gpio"
 	_ "go.viam.com/rdk/components/motor/gpiostepper"
 	_ "go.viam.com/rdk/components/motor/i2cmotors"
-	_ "go.viam.com/rdk/components/motor/roboclaw"
 	_ "go.viam.com/rdk/components/motor/tmcstepper"
 	_ "go.viam.com/rdk/components/motor/ulnstepper"
 )