testing yolo26n.pt, using serial for communication now

Author: sahillhp

data_collection.py collect.pydata_collection.py renamed to collect.py

@@ -0,0 +1,11 @@
+import serial
+
+PORT = "/dev/ttyTHS1"
+UART = serial.Serial(
+    port=PORT,
+    baudrate=9600,
+    bytesize=serial.EIGHTBITS,
+    parity=serial.PARITY_NONE,
+    stopbits=serial.STOPBITS_ONE,
+    timeout=1
+)

pi_serial.py

@@ -2,6 +2,7 @@ absl-py==2.2.2
 asttokens==3.0.0
 certifi==2024.12.14
 charset-normalizer==3.4.1
+config==0.5.1
 contourpy==1.3.1
 cycler==0.12.1
 decorator==5.2.1
@@ -11,9 +12,11 @@ executing==2.2.0
 filelock==3.17.0
 fonttools==4.55.6
 fsspec==2024.12.0
+future==1.0.0
 grpcio==1.71.0
 idna==3.10
 ipython==8.35.0
+iso8601==2.1.0
 jedi==0.19.2
 Jinja2==3.1.5
 joblib==1.4.2
@@ -24,7 +27,7 @@ matplotlib==3.10.0
 matplotlib-inline==0.1.7
 mpmath==1.3.0
 networkx==3.4.2
-numpy
+numpy==2.1.1
 opencv-python==4.11.0.86
 packaging==24.2
 paho-mqtt==2.1.0
@@ -47,15 +50,17 @@ requests==2.32.3
 scikit-learn==1.6.1
 scipy==1.15.1
 seaborn==0.13.2
+serial==0.0.97
+setuptools==80.9.0
 six==1.17.0
 stack-data==0.6.3
 supervision==0.25.1
 sympy==1.13.1
 tensorboard==2.19.0
 tensorboard-data-server==0.7.2
 threadpoolctl==3.6.0
-torch
-torchvision
+torch==2.6.0
+torchvision==0.21.0
 tqdm==4.67.1
 traitlets==5.14.3
 typing_extensions==4.12.2
@@ -64,4 +69,5 @@ ultralytics==8.3.111
 ultralytics-thop==2.0.14
 urllib3==2.3.0
 wcwidth==0.2.13
-Werkzeug==3.1.3
+Werkzeug==3.1.3
+wheel==0.45.1

requirements.txt

@@ -12,23 +12,26 @@
 ###############################################################################
 
 from pathlib import Path
+from typing import List
 import supervision as sv
 from supervision import Point, Detections
 from ultralytics import YOLO
 import torch
 import argparse
 import cv2
 from os import environ
-from paho.mqtt.client import Client as MqttClient
-from paho.mqtt.client import CallbackAPIVersion
+# from paho.mqtt.client import Client as MqttClient
+# from paho.mqtt.client import CallbackAPIVersion
 import json
 
+import pi_serial
+
 DEFAULT_MODEL_PATH = Path("./model.pt")
 DEFAULT_WEBCAM_PORT = 0
 DEFAULT_CONFIDENCE_THRESHOLD = 0.5
-LOCAL_MQTT_BROKER_URL = environ.get("LOCAL_MQTT_BROKER_URL", None)
-LOCAL_MQTT_BROKER_PORT = environ.get("LOCAL_MQTT_BROKER_PORT", 1883)
-MQTT_VISION_DATA_TOPIC = 'vision/data'
+# LOCAL_MQTT_BROKER_URL = environ.get("LOCAL_MQTT_BROKER_URL", None)
+# LOCAL_MQTT_BROKER_PORT = environ.get("LOCAL_MQTT_BROKER_PORT", 1883)
+# MQTT_VISION_DATA_TOPIC = 'vision/data'
 
 def main():
     # Parse command line arguments
@@ -77,11 +80,11 @@ def main():
             exit(1)
 
     # Create MQTT client
-    if LOCAL_MQTT_BROKER_URL is None:
-        mqtt_client = None
-    else:
-        mqtt_client = MqttClient(CallbackAPIVersion.VERSION2)
-        mqtt_client.connect(LOCAL_MQTT_BROKER_URL, LOCAL_MQTT_BROKER_PORT)
+    # if LOCAL_MQTT_BROKER_URL is None:
+    #     mqtt_client = None
+    # else:
+    #     mqtt_client = MqttClient(CallbackAPIVersion.VERSION2)
+    #     mqtt_client.connect(LOCAL_MQTT_BROKER_URL, LOCAL_MQTT_BROKER_PORT)
 
     # For webcam access
     if args.video == DEFAULT_WEBCAM_PORT or args.video.isdigit():
@@ -141,14 +144,14 @@ def main():
             continue
 
         # Get results from model
-        results = model(frame, verbose=False)[0]
+        results = model.predict(frame, verbose=False)[0]
         if not results:
             continue
 
         # Pull out bounding boxes, class IDs, confidence levels, and positions
-        boxes = results.boxes.data.cpu().numpy()
+        boxes = results.boxes.data.cuda().numpy()
         class_ids = boxes[:, -1].astype(int)
-        confidences = results.boxes.conf.cpu().numpy()
+        confidences = results.boxes.conf.cuda().numpy()
         xyxy = boxes[:, :4]
         # Create detections object
         detections = Detections(
@@ -206,28 +209,30 @@ def main():
         # Count objects crossing the line
         out_to_in, in_to_out = line_counter.trigger(detections=tracked_detections)
 
-        if mqtt_client is not None:
-            item_change_counts = dict()
-            # Iterate through all detections to send a message for each one that passed the line
-            for i, detection in enumerate(tracked_detections):
-                # Get the label for this detection
-                label = labels[i]
-                if out_to_in[i]:
-                    # Detection went from out to in
-                    if label in item_change_counts:
-                        # Subtract 1 from cart
-                        item_change_counts[label] -= 1
-                    else:
-                        item_change_counts[label] = -1
-                if in_to_out[i]:
-                    # Detection went from in to out
-                    if label in item_change_counts:
-                        # Add 1 to cart
-                        item_change_counts[label] += 1
-                    else:
-                        item_change_counts[label] = 1
-            if len(item_change_counts) > 0:
-                mqtt_client.publish(MQTT_VISION_DATA_TOPIC, payload=json.dumps(item_change_counts))
+        # if mqtt_client is not None:
+        item_change_counts = dict()
+        # Iterate through all detections to send a message for each one that passed the line
+        for i, detection in enumerate(tracked_detections):
+            # Get the label for this detection
+            label = labels[i]
+            if out_to_in[i]:
+                # Detection went from out to in
+                if label in item_change_counts:
+                    # Subtract 1 from cart
+                    item_change_counts[label] -= 1
+                else:
+                    item_change_counts[label] = -1
+            if in_to_out[i]:
+                # Detection went from in to out
+                if label in item_change_counts:
+                    # Add 1 to cart
+                    item_change_counts[label] += 1
+                else:
+                    item_change_counts[label] = 1
+        if len(item_change_counts) > 0:
+            data = json.dumps(item_change_counts) + '\n'
+            pi_serial.UART.write(data.encode('utf-8'))
+            # mqtt_client.publish(MQTT_VISION_DATA_TOPIC, payload=json.dumps(item_change_counts))
 
 
 

vision/best.pt

@@ -1,6 +1,6 @@
 import json
 from time import sleep
-import serial
+import pi_serial
 from typing import List, Tuple, Dict
 from data_classes import Item
 import math
@@ -12,9 +12,7 @@
 MAX_ITEM_REMOVALS_TO_CHECK = 3
 THRESHOLD_WEIGHT_PROBABILITY = 30
 
-ESP_SERIAL_PORT = "/dev/ttyTHS1"
-PI_SERIAL_PORT = "/dev/ttyUSB0"
-
+# ESP_SERIAL_PORT = "/dev/ttyTHS1"
 class Slot:
 
     _items: List[Item]
@@ -163,22 +161,14 @@ def main():
         mac_address_to_shelves[shelf._mac_address] = shelf
 
     # Set up uart ports
-    esp_uart_port = serial.Serial(
-        port=ESP_SERIAL_PORT,
-        baudrate=115200,
-        bytesize=serial.EIGHTBITS,
-        parity=serial.PARITY_NONE,
-        stopbits=serial.STOPBITS_ONE,
-        timeout=1
-    )
-    pi_uart_port = serial.Serial(
-        port=PI_SERIAL_PORT,
-        baudrate=9600,
-        bytesize=serial.EIGHTBITS,
-        parity=serial.PARITY_NONE,
-        stopbits=serial.STOPBITS_ONE,
-        timeout=1
-    )
+    # esp_uart_port = serial.Serial(
+    #     port=ESP_SERIAL_PORT,
+    #     baudrate=115200,
+    #     bytesize=serial.EIGHTBITS,
+    #     parity=serial.PARITY_NONE,
+    #     stopbits=serial.STOPBITS_ONE,
+    #     timeout=1
+    # )
 
     while True:
 
@@ -217,7 +207,7 @@ def main():
                 json_str = json.dumps(json_data) + "\n"
 
                 # Send it to pi
-                pi_uart_port.write(json_str.encode('utf-8'))
+                pi_serial.pi_uart_port.write(json_str.encode('utf-8'))
 
                 time_str = time.strftime("%H:%M:%S.") + f"{int((time.time() * 1000) % 1000):03d}"
                 if item_change.quantity > 0: