def main(cfg: OmegaConf):
with StdoutTee('train.stdout'), StderrTee('train.stderr'):
print(OmegaConf.to_yaml(cfg))
if cfg.runner.name == 'pl':
trainer, model = pl_train(cfg, LightningModel)
else:
assert cfg.runner.name == 'ray', 'Only pl and ray runners are supported'
# Shouldn't need to install ray unless doing distributed training
from ray_runner import ray_train
ray_train(cfg, LightningModel)
def main(cfg: OmegaConf):
with StdoutTee('train.stdout'), StderrTee('train.stderr'):
print(OmegaConf.to_yaml(cfg))
pl_module_cls = DistillLightningModel if cfg.train.get(
'crossfit_size', 1) == 1 else DistillCrossfitLightningModel
if cfg.runner.name == 'pl':
pl_train(cfg, pl_module_cls)
else:
assert cfg.runner.name == 'ray', 'Only pl and ray runners are supported'
# Shouldn't need to install ray unless doing distributed training
from ray_runner import ray_train
ray_train(cfg, pl_module_cls)
def main():
# This HTTP requests logger will be over-written everytime this script runs from the start
logging.basicConfig(format='%(asctime)s %(message)s',
datefmt='%m-%d-%Y %I:%M:%S %p',
filename='requests_logfile.txt',
filemode='w',
level=logging.DEBUG)
# print("\nPlease enter the following details to get a list of tags")
print("--------------------------------------------------------")
# RMS = input("RMS (Example: swtest.ava8.net): ")
# ID = input("Robot's ID: ")
# UN = input("Username: "******"Password: "******"base.ava8.net"
ID = "BA00155"
UN = "mitgbfb"
PS = "ap123"
print('\nConnecting to robot ', ID, ' for logging position.')
# TODO: configure local server to not rely on wifi dropouts
utils = robotutils.RobotUtils(RMS, UN, PS, ID)
# set the patrol log file name
cur_time = datetime.datetime.now().strftime("%Y_%m_%d_%H_%M_%S")
filename = '{}_TrajHist_{}.txt'.format(ID.upper(), cur_time)
starttime = time.time()
with StdoutTee(filename, buff=1):
sys.stdout.write("\nTrajectory History")
sys.stdout.write("\n--------------")
while True:
now = time.time()
timespent = now - starttime
try:
coord = utils.curRobotPosition()
# coord is a dict, add time and save
coord['Time'] = now
sys.stdout.write("\n{}".format(coord))
time.sleep(0.5)
except TypeError:
time.sleep(0.5)
finally:
time.sleep(0.5)
def main():
# This HTTP requests logger will be over-written everytime this script runs from the start
logging.basicConfig(format='%(asctime)s %(message)s',
datefmt='%m-%d-%Y %I:%M:%S %p',
filename='requests_logfile.txt',
filemode='w',
level=logging.DEBUG)
print("\nPlease enter the following details to get a list of tags")
print("--------------------------------------------------------")
RMS = input("RMS (Example: swtest.ava8.net): ")
ID = input("Robot's ID: ")
UN = input("Username: "******"Password: "******"\nRetrieving tags now.")
dic = {}
tagList = utils.getTagList()
# if there are no tags to be found, exit
if (tagList == None):
print(
'\nNo tags were found. Either check the credentials entered, if there are any '
+
'tags in the map, or if the robot is connected to the correct rms. Exiting program.\n'
)
time.sleep(10.0)
exit()
for key, values in tagList.items():
dic[values["name"].lower()] = key
# print list of tags and choose two of them
print("\n------------- TAGS ---------------------")
for key, values in dic.items():
print(key)
print("--------------------------------------------")
print("\nChoose two tags from the list displayed above")
print("---------------------------------------------")
# check and re-enter tag names till they are correct
while True:
tag1 = input("First tag: ")
if not (tag1 in dic):
print('\nPlease choose a tag from the list displayed above.\n')
time.sleep(1.0)
else:
break
while True:
tag2 = input("Second tag: ")
if not (tag2 in dic):
print('\nPlease choose a tag from the list displayed above.\n')
time.sleep(1.0)
else:
break
# get the duration
time.sleep(1.0)
duration = input("\nPlease enter the desired Patrol duration (in hours): ")
duration_in_secs = float(duration) * 3600
# set the patrol log file name
cur_time = datetime.datetime.now().strftime("%Y-%m-%d %H_%M_%S")
filename = '{} - Patrol Test Results - Duration {} - {}.txt'.format(
ID.upper(), duration, cur_time)
# set variables before starting the patrol
count = 1
timespent = 0.0
starttime = time.time()
with StdoutTee(filename, buff=1):
sys.stdout.write("\nStarted patrol")
sys.stdout.write("\n--------------")
while (timespent < duration_in_secs):
# calculate time spent
now = time.time()
timespent = now - starttime
# if charging is not complete, check if overall time spent exceeded duration. If it did, stop patroling.
# Otherwise, check current charge. If it's greater than highBatteryPct, set charging is complete,
# else sleep for BATTERY_CHECK_INTERVAL.
if (not charge_complete):
if (timespent > duration_in_secs):
sys.stdout.write("\nExiting patrol while charging.")
break
cur_charge = getChargeLevelSafe(utils)
if (cur_charge > highBatteryPct):
charge_complete = True
else:
time.sleep(BATTERY_CHECK_INTERVAL)
# if charging is still not complete, continue to check in the next loop.
if (not charge_complete):
continue
# patrol only when we have enough charge or when charging is complete
if (cur_charge > lowBatteryPct):
cur_time = datetime.datetime.now().strftime(
"%Y-%m-%d %H:%M:%S")
sys.stdout.write("\nIteration {} - {} - Driving to {}".format(
count, cur_time, tag1))
# drive to tag 1
state = utils.driveRobotToTag(dic[tag1])
utils.waitOnComplete()
# increase lap count
count = count + 1
cur_time = datetime.datetime.now().strftime(
"%Y-%m-%d %H:%M:%S")
sys.stdout.write("\nIteration {} - {} - Driving to {}".format(
count, cur_time, tag2))
# drive to tag 2
state = utils.driveRobotToTag(dic[tag2])
utils.waitOnComplete()
# increase lap count
count = count + 1
# get current charge and if there isn't enough, set charge_complete to False and return to dock
cur_charge = getChargeLevelSafe(utils)
if (cur_charge < lowBatteryPct):
charge_complete = False
sys.stdout.write("\nReturning to dock after " +
str(count - 1) + " rounds")
utils.dockRobot()
sys.stdout.write("\nCompleted patrol")
sys.stdout.write("\n----------------")
sys.stdout.write(
"\nCompleted patroling for {} hours, and completed a total of {} iterations\n\n"
.format(duration, count - 1))
#dock robot after patrol
sys.stdout.write("\nReturning to dock.")
utils.dockRobot()
def adjust_learning_rate(optimizer, epoch):
"""Sets the learning rate to the initial LR decayed by 10 every 30 epochs"""
lr = args.lr * (0.5 ** (epoch // 30))
for param_group in optimizer.param_groups:
param_group['lr'] = lr
def accuracy(output, target, topk=(1,)):
"""Computes the precision@k for the specified values of k"""
maxk = max(topk)
batch_size = target.size(0)
_, pred = output.topk(maxk, 1, True, True)
pred = pred.t()
correct = pred.eq(target.view(1, -1).expand_as(pred))
res = []
for k in topk:
correct_k = correct[:k].view(-1).float().sum(0)
res.append(correct_k.mul_(100.0 / batch_size))
return res
if __name__ == '__main__':
multiprocessing.freeze_support()
global args
args = parser.parse_args()
with StdoutTee(args.log_prefix + args.arch, buff=1024), StderrTee(args.log_prefix + args.arch+'_error', buff=1024):
main()
def main():
# This HTTP requests logger will be over-written everytime this script runs from the start
logging.basicConfig(format='%(asctime)s %(message)s',
datefmt='%m-%d-%Y %I:%M:%S %p',
filename='requests_logfile.txt',
filemode='w',
level=logging.DEBUG)
# print("\nPlease enter the following details to get a list of tags")
print("--------------------------------------------------------")
# RMS = input("RMS (Example: swtest.ava8.net): ")
# ID = input("Robot's ID: ")
# UN = input("Username: "******"Password: "******"base.ava8.net"
ID = "BA00155"
UN = "mitgbfb"
PS = "ap123"
print('\nConnecting to robot ', ID, ' for patrol.')
# TODO: configure local server to not rely on wifi dropouts
utils = robotutils.RobotUtils(RMS, UN, PS, ID)
# get current charge and set charge_complete accordingly
cur_charge = getChargeLevelSafe(utils)
charge_complete = False
if cur_charge > lowBatteryPct:
charge_complete = True
# get a dictionary of tags
time.sleep(1.0)
print("\nRetrieving tags now.")
dic = {}
tagList = utils.getTagList()
# if there are no tags to be found, exit
if (tagList == None):
print(
'\nNo tags were found. Either check the credentials entered, if there are any '
+
'tags in the map, or if the robot is connected to the correct rms. Exiting program.\n'
)
time.sleep(10.0)
exit()
for key, values in tagList.items():
dic[values["name"].lower()] = key
print('\nPlease specify the patrol route by aisles.')
aisles = input('\nWhat is the last occupied aisle? (choose: A/B/C/D)')
if aisles == 'A' or aisles == 'a':
listoftags = ["entering_staging", "a_1", "a_2", "a_1"]
elif aisles == 'B' or aisles == 'b':
listoftags = [
"entering_staging", "a_1", "a_2", "b_3", "b_4", "b_1", "b_2", "b_1"
]
elif aisles == 'C' or aisles == 'c':
listoftags = [
"entering_staging", "a_1", "a_2", "b_3", "b_4", "b_1", "b_2",
"c_3", "c_4", "c_1", "c_2", "c_1"
]
else:
listoftags = [
"entering_staging", "a_1", "a_2", "b_3", "b_4", "b_1", "b_2",
"c_3", "c_4", "c_1", "c_2", "d_3", "d_4", "d_1", "d_2", "e_3",
"e_4"
]
# check and re-enter tag names till they are correct
wrongtags = 0
for tagi in listoftags:
if not (tagi in dic):
print('\nThe tag ', tagi, 'is not a valid tag.')
wrongtags = wrongtags + 1
if wrongtags > 0:
print(
'\nThe patrol route contained invalid tags. Please check from the list of tags:'
)
print("\n------------- TAGS ---------------------")
for key, values in dic.items():
print(key)
print("----------------------------------")
# get a correct list for the robot
listoftags = []
("\nPlease re-enter the list: ")
listlength = int(input("\nEnter the total number of tags: "))
# iterate
for i in range(0, listlength):
while True:
tag_i = input("Tag {} of {}: ".format(i + 1, listlength))
if not (tag_i in dic):
print(
'\nPlease choose a tag from the list displayed above.\n'
)
time.sleep(1.0)
else:
break
listoftags.append(tag_i)
print("--------------------------------------------")
print("\nThe tags to patrol are: \n")
print(*listoftags, sep=", ")
print("---------------------------------------------")
duration = .1
sys.stdout.write("\nPerforming a single patrol route of specified tags")
duration_in_secs = float(duration) * 3600
# set the patrol log file name
cur_time = datetime.datetime.now().strftime("%Y_%m_%d_%H_%M_%S")
filename = '{}_PatrolTestResults_{}.txt'.format(ID.upper(), cur_time)
# set variables before starting the patrol
count = 1
timespent = 0.0
starttime = time.time()
# Define the UVC Lights
UVCLights = Messenger(None, None, None) #remote ip, port, host ip
UVCLights.ip = "172.18.0.50"
UVCLights.port = 8888
UVCLights.host = "172.18.0.1"
with StdoutTee(filename, buff=1):
lightson = input("\nTurn on UVC Lights? (Y/N)")
if lightson == 'Y' or lightson == 'y':
print('\nTurning on UVC Lights')
UVCLights.beginUVCLights()
else:
print('\n Okay, no UVC Lights')
sys.stdout.write("\nStarted patrol")
sys.stdout.write("\n--------------")
while (timespent < duration_in_secs and count < 2):
# calculate time spent
now = time.time()
timespent = now - starttime
# if charging is not complete, check if overall time spent exceeded duration. If it did, stop patroling.
# Otherwise, check current charge. If it's greater than highBatteryPct, set charging is complete,
# else sleep for BATTERY_CHECK_INTERVAL.
if (not charge_complete):
if (timespent > duration_in_secs):
sys.stdout.write("\nExiting patrol while charging.")
break
cur_charge = getChargeLevelSafe(utils)
if (cur_charge > highBatteryPct):
charge_complete = True
else:
time.sleep(BATTERY_CHECK_INTERVAL)
# if charging is still not complete, continue to check in the next loop.
if (not charge_complete):
continue
# patrol only when we have enough charge or when charging is complete
if (cur_charge > lowBatteryPct):
# Patrol the set of tags in a list
for tagi in listoftags:
cur_time = cur_time = datetime.datetime.now().strftime(
"%Y-%m-%d %H:%M:%S")
sys.stdout.write(
"\nIteration {} - {} - Driving to {}".format(
count, cur_time, tagi))
# drive to tag ii
state = utils.driveRobotToTag(dic[tagi])
utils.waitOnComplete()
# check battery status
# get current charge and if there isn't enough, set charge_complete to False and return to dock
cur_charge = getChargeLevelSafe(utils)
if (cur_charge < lowBatteryPct):
charge_complete = False
sys.stdout.write("\nReturning to dock after " +
str(count - 1) + " rounds")
count = count + 1
utils.dockRobot()
# increase lap count
count = count + 1
# get current charge and if there isn't enough, set charge_complete to False and return to dock
cur_charge = getChargeLevelSafe(utils)
if (cur_charge < lowBatteryPct):
charge_complete = False
sys.stdout.write("\nReturning to dock after " +
str(count - 1) + " rounds")
utils.dockRobot()
sys.stdout.write("\nCompleted patrol")
sys.stdout.write("\n----------------")
sys.stdout.write(
"\nCompleted patrolling for {} hours, and completed a total of {} iterations\n\n"
.format(duration, count - 1))
# turn off UVC lights
if lightson == 'Y' or lightson == 'y':
print('\nTurning off UVC Lights')
UVCLights.stopUVCLights()
#dock robot after patrol
sys.stdout.write("\nReturning to dock.")
utils.dockRobot()
def main():
# This HTTP requests logger will be over-written everytime this script runs from the start
logging.basicConfig(format='%(asctime)s %(message)s', datefmt='%m-%d-%Y %I:%M:%S %p', filename='requests_logfile.txt', filemode='w', level=logging.DEBUG)
# print("\nPlease enter the following details to get a list of tags")
print("--------------------------------------------------------")
# RMS = input("RMS (Example: swtest.ava8.net): ")
# ID = input("Robot's ID: ")
# UN = input("Username: "******"Password: "******"base.ava8.net"
ID = "BA00155"
UN = "mitgbfb"
PS = "ap123"
print('\nConnecting to robot ',ID,' for patrol.')
# TODO: configure local server to not rely on wifi dropouts
utils = robotutils.RobotUtils(RMS,UN,PS,ID)
# get current charge and set charge_complete accordingly
cur_charge = getChargeLevelSafe(utils)
charge_complete = False
if cur_charge > lowBatteryPct:
charge_complete = True
listoftags = []
duration = .1
sys.stdout.write("\nReturning to Base")
duration_in_secs = float(duration) * 3600
# set the patrol log file name
cur_time = datetime.datetime.now().strftime("%Y_%m_%d_%H_%M_%S")
filename='{}_RTB_{}.txt'.format(ID.upper(),cur_time)
# set variables before starting the patrol
count = 1
timespent = 0.0
starttime = time.time()
# Define the UVC Lights
UVCLights = Messenger(None,None,None) #remote ip, port, host ip
UVCLights.ip = "172.18.0.50"
UVCLights.port = 8888
UVCLights.host = "172.18.0.1"
with StdoutTee(filename, buff=1):
lightson = input("\nTurn on UVC Lights? (Y/N)")
if lightson == 'Y' or lightson == 'y':
print('\nTurning on UVC Lights')
UVCLights.beginUVCLights()
else:
UVCLights.stopUVCLights()
print('\n Okay, no UVC Lights')
sys.stdout.write("\n--------------")
while(timespent < duration_in_secs and count < 2):
# calculate time spent
now = time.time()
timespent = now - starttime
# if charging is not complete, check if overall time spent exceeded duration. If it did, stop patroling.
# Otherwise, check current charge. If it's greater than highBatteryPct, set charging is complete,
# else sleep for BATTERY_CHECK_INTERVAL.
if (not charge_complete):
if (timespent > duration_in_secs):
sys.stdout.write("\nExiting patrol while charging.")
break
cur_charge = getChargeLevelSafe(utils)
if (cur_charge > highBatteryPct):
charge_complete = True
else:
time.sleep(BATTERY_CHECK_INTERVAL)
# if charging is still not complete, continue to check in the next loop.
if (not charge_complete):
continue
# patrol only when we have enough charge or when charging is complete
if (cur_charge > lowBatteryPct):
# Patrol the set of tags in a list
for tagi in listoftags:
cur_time = cur_time = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")
sys.stdout.write("\nIteration {} - {} - Driving to {}".format(count, cur_time, tagi))
# drive to tag ii
state = utils.driveRobotToTag(dic[tagi])
utils.waitOnComplete()
# check battery status
# get current charge and if there isn't enough, set charge_complete to False and return to dock
cur_charge = getChargeLevelSafe(utils)
if (cur_charge < lowBatteryPct):
charge_complete = False
sys.stdout.write("\nReturning to dock after " + str(count-1) + " rounds")
count = count + 1
utils.dockRobot()
# increase lap count
count = count + 1
# get current charge and if there isn't enough, set charge_complete to False and return to dock
cur_charge = getChargeLevelSafe(utils)
if (cur_charge < lowBatteryPct):
charge_complete = False
sys.stdout.write("\nReturning to dock after " + str(count-1) + " rounds")
utils.dockRobot()
sys.stdout.write("\nCompleted patrol")
sys.stdout.write("\n----------------")
sys.stdout.write("\nCompleted patrolling for {} hours, and completed a total of {} iterations\n\n".format(duration, count-1))
# turn off UVC lights
if lightson == 'Y' or lightson == 'y':
print('\nTurning off UVC Lights')
UVCLights.stopUVCLights()
#dock robot after patrol
sys.stdout.write("\nReturning to dock.")
utils.dockRobot()
help="number of epochs")
args = parser.parse_args()
device = torch.device("cuda:0")
def make_base_model():
resnet18 = base_model.ResNet18(pretrained=True)
model = base_model.MyModel(resnet18).to(device)
return model
def make_gaussian_model():
resnet18 = gaussian_model.ResNet18(pretrained=True)
model = gaussian_model.GaussianModel(resnet18).to(device)
return model
epochs = args.epochs
with StdoutTee(f"{log_dir}/log-gaussian.txt", mode='w', buff=1):
run_train(model_name='gaussian',
model_f=make_gaussian_model,
EPOCHS=epochs,
log_dir=log_dir)
gc.collect()
with StdoutTee(f"{log_dir}/log-base.txt", mode='w', buff=1):
run_train(model_name='base',
model_f=make_base_model,
EPOCHS=epochs,
log_dir=log_dir)
for i, (input, target) in enumerate(train_loader):
# print('epoch', epoch, 'train input', input.size(),'target', target.size())
pass
time_end = time.time()
meter_train.update(time_end - time_start)
print('Load train data for epoch {} takes {:.2f} seconds'.format(
epoch, meter_train.sum))
time_start = time.time()
for i, (input, target) in enumerate(val_loader):
# print('epoch', epoch, 'test input', input.size(),'target', target.size())
pass
time_end = time.time()
meter_test.update(time_end - time_start)
# print meter for one epoch
print('Load test data for epoch {} takes {:.2f} seconds'.format(
epoch, meter_test.sum))
cost = time.time() - time_begin
print('Total cost: {:.2f} seconds = {:.2f} minutes'.format(
cost, cost / 60.))
if __name__ == '__main__':
log_dir = BASE + '/logs'
if not os.path.exists(log_dir):
os.mkdir(log_dir)
with StdoutTee(BASE + '/logs/test',
buff=1024), StderrTee(BASE + '/logs/test_error', buff=1024):
test_loader()
# vim: tabstop=8 expandtab shiftwidth=4 softtabstop=4