refactoring(data): Refactoring inter-process data passing WIP

Add immutable Msg again (still 2-3x slower than main)

foosball/models.py

@@ -116,24 +116,11 @@ def to_string(self) -> str:
         return f'{self.title} {self.value}'
 
 
-class InfoLog:
-    def __init__(self, infos=None):
-        self.infos: [Info] = [] if infos is None else infos
+def filter_info(infos: [Info], infoVerbosity: Verbosity = Verbosity.TRACE) -> [Info]:
+    return [i for i in infos if infoVerbosity is not None and infoVerbosity.value <= i.verbosity.value]
 
-    def __iter__(self):
-        return (i for i in self.infos)
-
-    def append(self, info: Info):
-        self.infos.append(info)
-
-    def extend(self, info_log):
-        self.infos.extend(info_log.infos)
-
-    def filter(self, infoVerbosity: Verbosity = Verbosity.TRACE) -> [Info]:
-        return [i for i in self.infos if infoVerbosity is not None and infoVerbosity.value <= i.verbosity.value]
-
-    def to_string(self):
-        return " - ".join([i.to_string() for i in self.infos])
+def infos_to_string(infos: [Info]):
+    return " - ".join([i.to_string() for i in infos])
 
 
 @dataclass

foosball/pipe/BaseProcess.py

@@ -6,41 +6,26 @@
 from dataclasses import dataclass
 from queue import Empty, Full
 
-from foosball.models import InfoLog
+from foosball.models import Info
 from foosball.pipe.Pipe import clear, SENTINEL
 
 
 # TODO: check why merging into one Msg is having a huge impact on FPS
 @dataclass
 class Msg:
     data: dict
-    info: InfoLog
+    info: [Info]
     timestamp: dt.datetime = dt.datetime.now()
 
-    def __init__(self, data=None, info=InfoLog(), timestamp=dt.datetime.now()):
+    def __init__(self, data=None, info:[Info] = None, timestamp=dt.datetime.now(), msg: "Msg" = None):
         if data is None:
             data = dict()
-        self.data = data
-        self.info = info
+        if info is None:
+            info = list()
+        self.data = {**(msg.data if msg is not None else {}), **data}
+        self.info = (msg.info if msg is not None else []) + info
         self.timestamp = timestamp
 
-    def __getitem__(self, key):
-        return self.data[key]
-
-    def __setitem__(self, key, value):
-        self.data[key] = value
-
-    def add(self, name: str, data: any, info: InfoLog = None):
-        self.data[name] = data
-        info_log = InfoLog() if info is None else info
-        if self.info is not None:
-            self.info.extend(info_log)
-        else:
-            self.info = InfoLog()
-
-    def remove(self, name) -> any:
-        return self.data.pop(name)
-
 
 class BaseProcess(multiprocessing.Process):
     def __init__(self, send_receive_timeout=0.5, *args, **kwargs):

foosball/tracking/ai.py

@@ -10,7 +10,7 @@
 from . import Tracking
 from .render import r_text, BLACK
 from ..detectors.color import GoalColorConfig, BallColorDetector, BallColorConfig, GoalColorDetector
-from ..models import FrameDimensions, Frame, InfoLog, Verbosity
+from ..models import FrameDimensions, Frame, Verbosity, Info, filter_info, infos_to_string
 from ..sink.opencv import DisplaySink, Key, BallColorCalibration, GoalColorCalibration
 from ..source import Source
 
@@ -108,7 +108,7 @@ def step_frame():
                     self.fps.update()
                     result = msg.data.get('Renderer', None)
                     frame = result.frame if result is not None else None
-                    info: InfoLog = msg.info
+                    info: [Info] = msg.info
                     self.fps.stop()
                     fps = int(self.fps.fps())
                     if not self.headless:
@@ -122,7 +122,7 @@ def step_frame():
                             break
                     else:
                         print(
-                            f"{info.filter(self.infoVerbosity).to_string() if self.infoVerbosity is not None else ''} - FPS: {fps} {BLANKS}",
+                            f"{infos_to_string(filter_info(info, self.infoVerbosity)) if self.infoVerbosity is not None else ''} - FPS: {fps} {BLANKS}",
                             end="\r")
                 except Empty:
                     # logger.debug("No new frame")

foosball/tracking/analyzer/ScoreAnalyzer.py

@@ -6,7 +6,7 @@
 
 from . import AbstractAnalyzer
 from ...hooks import AudioHook, Webhook
-from ...models import Team, Goals, Score, Track, Info, Verbosity, InfoLog
+from ...models import Team, Goals, Score, Track, Info, Verbosity, Info
 from ...pipe.BaseProcess import Msg
 from ...utils import contains
 
@@ -52,10 +52,9 @@ def goal_shot(self, goals: Goals, track: Track) -> Optional[Team]:
             self.logger.error(f"Error {e}")
         return None
 
-    def analyze(self, msg: Msg, timestamp: dt.datetime) -> [ScoreAnalyzerResult, InfoLog]:
+    def analyze(self, msg: Msg, timestamp: dt.datetime) -> [ScoreAnalyzerResult, [Info]]:
         goals = msg.data["Tracker"].goals
         track = msg.data["Tracker"].ball_track
-        info = InfoLog()
         team_scored = None
         try:
             self.check_reset_score()
@@ -81,8 +80,10 @@ def analyze(self, msg: Msg, timestamp: dt.datetime) -> [ScoreAnalyzerResult, Inf
             self.logger.error("Error in analyzer ", e)
             traceback.print_exc()
         self.last_track = track
-        info.append(Info(verbosity=Verbosity.INFO, title="Score", value=self.score.to_string()))
-        return [ScoreAnalyzerResult(score=self.score, team_scored=team_scored), info]
+        return [
+            ScoreAnalyzerResult(score=self.score, team_scored=team_scored),
+            [Info(verbosity=Verbosity.INFO, title="Score", value=self.score.to_string())]
+        ]
 
     def check_reset_score(self):
         if self.score_reset.is_set():

foosball/tracking/analyzer/__init__.py

@@ -2,7 +2,7 @@
 from abc import ABC, abstractmethod
 from datetime import datetime
 
-from foosball.models import InfoLog
+from foosball.models import Info
 from foosball.pipe.BaseProcess import Msg
 
 
@@ -13,7 +13,7 @@ def __init__(self, name: str = "UnknownAnalyzer", **kwargs):
         self.logger = logging.getLogger(name)
 
     @abstractmethod
-    def analyze(self, msg: Msg, timestamp: datetime) -> [dict, InfoLog]:
+    def analyze(self, msg: Msg, timestamp: datetime) -> [dict, [Info]]:
         pass
 
     @abstractmethod

foosball/tracking/analyzer/analyze.py

@@ -1,8 +1,6 @@
 import traceback
 
 from .ScoreAnalyzer import ScoreAnalyzer
-from ... import hooks
-from ...models import Team
 from ...pipe.BaseProcess import BaseProcess, Msg
 
 
@@ -23,11 +21,14 @@ def reset_score(self):
                 a.reset()
 
     def process(self, msg: Msg) -> Msg:
+        results = {}
+        infos = []
         for a in self.analyzers:
             try:
                 [result, info] = a.analyze(msg, msg.timestamp)
-                msg.add(a.name, result, info=info)
+                results[a.name] = result
+                infos.extend(info)
             except Exception as e:
                 self.logger.error("Error in Analyzer - analyzers ", e)
                 traceback.print_exc()
-        return msg
+        return Msg(msg=msg, info=infos, data=results)

foosball/tracking/preprocess.py

@@ -1,3 +1,4 @@
+import timeit
 import traceback
 from enum import Enum
 from multiprocessing import Queue
@@ -11,7 +12,7 @@
 from ..arUcos.models import Aruco
 from ..detectors.color import GoalDetector, GoalColorConfig
 from ..models import Frame, PreprocessorResult, Point, Rect, Blob, Goals, FrameDimensions, ScaleDirection, \
-    InfoLog, Info, Verbosity
+    Info, Verbosity
 from ..pipe.BaseProcess import BaseProcess, Msg
 from ..pipe.Pipe import clear
 from ..utils import ensure_cpu, generate_processor_switches, relative_change, scale
@@ -94,7 +95,7 @@ def process(self, msg: Msg) -> Msg:
         frame = self.proc(frame)
         frame = scale(frame, self.dims, ScaleDirection.DOWN)
         preprocessed = frame
-        info: InfoLog = InfoLog()
+        info: [Info] = []
         try:
             if self.goals_calibration:
                 try:
@@ -147,8 +148,9 @@ def process(self, msg: Msg) -> Msg:
         except Exception as e:
             self.logger.error(f"Error in preprocess {e}")
             traceback.print_exc()
-        msg.add("Preprocessor", PreprocessorResult(original=self.iproc(frame), preprocessed=self.iproc(preprocessed), homography_matrix=self.homography_matrix, goals=self.goals), info=info)
-        return msg
+        return Msg(msg=msg, info=info, data={
+            "Preprocessor": PreprocessorResult(original=self.iproc(frame), preprocessed=self.iproc(preprocessed), homography_matrix=self.homography_matrix, goals=self.goals)
+        })
 
     @staticmethod
     def corners2pt(corners) -> [int, int]:

foosball/tracking/render.py

@@ -5,7 +5,7 @@
 import numpy as np
 
 from const import INFO_VERBOSITY
-from ..models import Goal, Score, FrameDimensions, Blob, InfoLog, Verbosity, RendererResult
+from ..models import Goal, Score, FrameDimensions, Blob, Verbosity, RendererResult, Info, infos_to_string, filter_info
 from ..pipe.BaseProcess import Msg, BaseProcess
 from ..utils import generate_processor_switches
 logger = logging.getLogger(__name__)
@@ -32,7 +32,7 @@ def text_color(key, value):
         return GREEN
 
 
-def r_info(frame, shape: tuple[int, int, int], info: InfoLog, text_scale=1.0, thickness=1) -> None:
+def r_info(frame, shape: tuple[int, int, int], info: [Info], text_scale=1.0, thickness=1) -> None:
     [height, width, channels] = shape
     # loop over the info tuples and draw them on our frame
     x = 0
@@ -113,7 +113,7 @@ def __init__(self, dims: FrameDimensions, headless=False, useGPU: bool = False,
     def process(self, msg: Msg) -> Msg:
         score_analyzer = msg.data["ScoreAnalyzer"]
         tracker = msg.data["Tracker"]
-        info: InfoLog = msg.info
+        info: [Info] = msg.info
         try:
             if not self.headless:
                 shape = tracker.frame.shape
@@ -131,8 +131,10 @@ def process(self, msg: Msg) -> Msg:
                 r_track(f, track, self.dims.scale)
                 r_score(f, score, text_scale=1, thickness=4)
                 if self.infoVerbosity is not None:
-                    r_info(f, shape, info.filter(self.infoVerbosity), text_scale=0.5, thickness=1)
-                msg.add("Renderer", RendererResult(frame=self.iproc(f)), info=InfoLog())
+                    r_info(f, shape, filter_info(info, self.infoVerbosity), text_scale=0.5, thickness=1)
+                return Msg(msg=msg, info=None, data={
+                    "Renderer": RendererResult(frame=self.iproc(f))
+                })
         except Exception as e:
             logger.error(f"Error in renderer {e}")
             traceback.print_exc()

foosball/tracking/tracker.py

@@ -6,7 +6,7 @@
 from const import CalibrationMode
 from .preprocess import WarpMode, project_blob
 from ..detectors.color import BallColorDetector, BallColorConfig
-from ..models import TrackerResult, Track, Info, Blob, Goals, InfoLog, Verbosity
+from ..models import TrackerResult, Track, Info, Blob, Goals, Verbosity
 from ..pipe.BaseProcess import BaseProcess, Msg
 from ..pipe.Pipe import clear
 from ..utils import generate_processor_switches
@@ -46,12 +46,12 @@ def update_ball_track(self, detected_ball: Blob) -> Track:
             self.ball_track.appendleft(None)
         return self.ball_track
 
-    def get_info(self, ball_track: Track) -> InfoLog:
-        info = InfoLog(infos=[
+    def get_info(self, ball_track: Track) -> [Info]:
+        info = [
             Info(verbosity=Verbosity.DEBUG, title="Track length", value=f"{str(sum([1 for p in ball_track or [] if p is not None])).rjust(2, ' ')}"),
             Info(verbosity=Verbosity.TRACE, title="Calibration", value=f"{self.calibrationMode if self.calibrationMode is not None else 'off'}"),
             Info(verbosity=Verbosity.TRACE, title="Tracker", value=f"{'off' if self.off else 'on'}")
-        ])
+        ]
         if self.calibration:
             [lower, upper] = self.ball_detector.config.bounds
             info.append(Info(verbosity=Verbosity.TRACE, title="lower", value=f'({",".join(map(str,lower))})'))
@@ -74,7 +74,7 @@ def process(self, msg: Msg) -> Msg:
         ball = None
         goals = data.goals
         ball_track = None
-        tracker_info = InfoLog()
+        tracker_info = []
         try:
             if not self.off:
                 if self.calibration:
@@ -104,7 +104,6 @@ def process(self, msg: Msg) -> Msg:
             traceback.print_exc()
         # TODO: splitting into Preprocess and Tracker data maybe renders this obsolete
         if not self.verbose:
-            msg.add("Tracker", TrackerResult(frame=data.original, goals=goals, ball_track=ball_track, ball=ball), info=tracker_info)
+            return Msg(msg=msg, info=tracker_info, data={"Tracker": TrackerResult(frame=data.original, goals=goals, ball_track=ball_track, ball=ball)})
         else:
-            msg.add("Tracker", TrackerResult(frame=data.preprocessed, goals=goals, ball_track=ball_track, ball=ball), info=tracker_info)
-        return msg
+            return Msg(msg=msg, info=tracker_info, data={"Tracker": TrackerResult(frame=data.preprocessed, goals=goals, ball_track=ball_track, ball=ball)})