robocars/robocar-tools
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feat(train): add new command to interact with aws and train models

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This commit is contained in:
Cyrille Nofficial
2021-10-17 19:15:44 +02:00
parent 5436dfebc2
commit 538cea18f2
1064 changed files with 282251 additions and 89305 deletions
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171
cmd/rc-tools/rc-tools.go
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@@ -1,20 +1,24 @@
package main
import (
"context"
"flag"
"fmt"
"github.com/cyrilix/robocar-base/cli"
"github.com/cyrilix/robocar-tools/data"
"github.com/cyrilix/robocar-tools/dkimpt"
"github.com/cyrilix/robocar-tools/part"
"github.com/cyrilix/robocar-tools/pkg/data"
"github.com/cyrilix/robocar-tools/pkg/train"
"github.com/cyrilix/robocar-tools/record"
"github.com/cyrilix/robocar-tools/video"
mqtt "github.com/eclipse/paho.mqtt.golang"
log "github.com/sirupsen/logrus"
"go.uber.org/zap"
"log"
"os"
)
const (
DefaultClientId = "robocar-tools"
DefaultClientId = "robocar-tools"
DefaultTrainSliceSize = 0
)
@@ -27,6 +31,8 @@ func main() {
var recordsPath string
var trainArchiveName string
var trainSliceSize int
var bucket, ociImage string
var debug bool
mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
@@ -35,9 +41,20 @@ func main() {
fmt.Printf("Usage of %s:\n", os.Args[0])
fmt.Printf(" display\n \tDisplay events on live frames\n")
fmt.Printf(" record \n \tRecord event for tensorflow training\n")
fmt.Printf(" train-archive \n \tGenerate zip archive for training \n")
fmt.Printf(" training \n \tManage training\n")
fmt.Printf(" import-donkey-records \n \tCopy donkeycar records to new format\n")
}
err := cli.SetIntDefaultValueFromEnv(&trainSliceSize, "RC_TRAIN_SLICE_SIZE", DefaultTrainSliceSize)
if err != nil {
log.Printf("unable to init TRAIN_SLICE_SIZE: %v", err)
}
cli.SetDefaultValueFromEnv(&ociImage, "TRAIN_OCI_IMAGE", "")
cli.SetDefaultValueFromEnv(&bucket, "TRAIN_BUCKET", "")
flag.BoolVar(&debug, "debug", false, "Display debug logs")
displayFlags := flag.NewFlagSet("display", flag.ExitOnError)
cli.InitMqttFlagSet(displayFlags, DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
displayFlags.StringVar(&frameTopic, "mqtt-topic-frame", os.Getenv("MQTT_TOPIC_FRAME"), "Mqtt topic that contains frame to display, use MQTT_TOPIC_FRAME if args not set")
@@ -55,17 +72,57 @@ func main() {
recordFlags.StringVar(&recordTopic, "mqtt-topic-records", os.Getenv("MQTT_TOPIC_RECORDS"), "Mqtt topic that contains record data for training, use MQTT_TOPIC_RECORDS if args not set")
recordFlags.StringVar(&recordsPath, "record-path", os.Getenv("RECORD_PATH"), "Path where to write records files, use RECORD_PATH if args not set")
trainArchiveFlags := flag.NewFlagSet("train-archive", flag.ExitOnError)
err := cli.SetIntDefaultValueFromEnv(&trainSliceSize, "TRAIN_SLICE_SIZE", DefaultTrainSliceSize)
if err != nil {
log.Printf("unable to parse horizon value arg: %v", err)
var basedir, destdir string
impdkFlags := flag.NewFlagSet("import-donkey-records", flag.ExitOnError)
impdkFlags.StringVar(&basedir, "from", "", "source directory")
impdkFlags.StringVar(&destdir, "to", "", "destination directory")
trainingFlags := flag.NewFlagSet("training", flag.ExitOnError)
trainingFlags.Usage = func(){
fmt.Printf("Usage of %s %s:\n", os.Args[0], trainingFlags.Name())
fmt.Printf(" list\n \tList existing training jobs\n")
fmt.Printf(" archive\n \tBuild tar.gz archive for training\n")
fmt.Printf(" run\n \tRun training job\n")
}
var modelPath, roleArn, trainJobName string
trainingRunFlags := flag.NewFlagSet("run", flag.ExitOnError)
trainingRunFlags.StringVar(&bucket, "bucket", os.Getenv("RC_TRAIN_BUCKET"), "AWS bucket where store data required, use RC_TRAIN_BUCKET if arg not set")
trainingRunFlags.StringVar(&recordsPath, "record-path", os.Getenv("RECORD_PATH"), "Input data path where records and img files are stored, use RECORD_PATH if arg not set")
trainingRunFlags.StringVar(&modelPath, "output-model-path", "", "Path where to write output model archive")
trainingRunFlags.IntVar(&trainSliceSize, "slice-size", trainSliceSize, "Number of record to shift with image, use RC_TRAIN_SLICE_SIZE if args not set")
trainingRunFlags.StringVar(&ociImage, "oci-image", os.Getenv("RC_TRAIN_OCI_IMAGE"), "OCI image to run (required), use RC_TRAIN_OCI_IMAGE if args not set")
trainingRunFlags.StringVar(&roleArn, "role-arn", os.Getenv("RC_TRAIN_ROLE"), "AWS ARN role to use to run training (required), use RC_TRAIN_ROLE if arg not set")
trainingRunFlags.StringVar(&trainJobName, "job-name", "", "Training job name (required)")
trainingListJobFlags := flag.NewFlagSet("list", flag.ExitOnError)
trainArchiveFlags := flag.NewFlagSet("archive", flag.ExitOnError)
trainArchiveFlags.StringVar(&recordsPath, "record-path", os.Getenv("RECORD_PATH"), "Path where records files are stored, use RECORD_PATH if args not set")
trainArchiveFlags.StringVar(&trainArchiveName, "output", os.Getenv("TRAIN_ARCHIVE_NAME"), "Zip archive file name, use TRAIN_ARCHIVE_NAME if args not set")
trainArchiveFlags.IntVar(&trainSliceSize, "slice-size", trainSliceSize, "Number of record to shift with image, use TRAIN_SLICE_SIZE if args not set")
flag.Parse()
config := zap.NewDevelopmentConfig()
if debug {
config.Level = zap.NewAtomicLevelAt(zap.DebugLevel)
} else {
config.Level = zap.NewAtomicLevelAt(zap.InfoLevel)
}
lgr, err := config.Build()
if err != nil {
log.Fatalf("unable to init logger: %v", err)
}
defer func() {
if err := lgr.Sync(); err != nil {
log.Printf("unable to Sync logger: %v\n", err)
}
}()
zap.ReplaceGlobals(lgr)
// Switch on the subcommand
// Parse the flags for appropriate FlagSet
// FlagSet.Parse() requires a set of arguments to parse as input
@@ -78,7 +135,7 @@ func main() {
}
client, err := cli.Connect(mqttBroker, username, password, clientId)
if err != nil {
log.Fatalf("unable to connect to mqtt bus: %v", err)
zap.S().Fatalf("unable to connect to mqtt bus: %v", err)
}
defer client.Disconnect(50)
runDisplay(client, framePath, frameTopic, fps, objectsTopic, roadTopic, withObjects, withRoad)
@@ -93,12 +150,43 @@ func main() {
}
defer client.Disconnect(50)
runRecord(client, recordsPath, recordTopic)
case trainArchiveFlags.Name():
if err := trainArchiveFlags.Parse(os.Args[2:]); err == flag.ErrHelp {
trainArchiveFlags.PrintDefaults()
case impdkFlags.Name():
if err := impdkFlags.Parse(os.Args[2:]); err == flag.ErrHelp {
impdkFlags.PrintDefaults()
os.Exit(0)
}
runTrainArchive(recordsPath, trainArchiveName, 2)
runImportDonkeyRecords(basedir, destdir)
case trainingFlags.Name():
if err := trainingFlags.Parse(os.Args[2:]); err == flag.ErrHelp {
trainingFlags.PrintDefaults()
os.Exit(0)
}
switch trainingFlags.Arg(0) {
case trainingListJobFlags.Name():
if err:= trainingListJobFlags.Parse(os.Args[3:]); err == flag.ErrHelp {
trainingListJobFlags.PrintDefaults()
os.Exit(0)
}
runTrainList()
case trainingRunFlags.Name():
if err := trainingRunFlags.Parse(os.Args[3:]); err == flag.ErrHelp {
trainingRunFlags.PrintDefaults()
os.Exit(0)
}
runTraining(bucket, ociImage, roleArn, trainJobName, recordsPath, trainSliceSize, modelPath)
case trainArchiveFlags.Name():
if err := trainArchiveFlags.Parse(os.Args[3:]); err == flag.ErrHelp {
trainArchiveFlags.PrintDefaults()
os.Exit(0)
}
runTrainArchive(recordsPath, trainArchiveName, trainSliceSize)
default:
trainingFlags.PrintDefaults()
os.Exit(0)
}
default:
flag.PrintDefaults()
os.Exit(1)
@@ -110,7 +198,7 @@ func runRecord(client mqtt.Client, recordsDir, recordTopic string) {
r, err := record.New(client, recordsDir, recordTopic)
if err != nil {
log.Fatalf("unable to init record part: %v", err)
zap.S().Fatalf("unable to init record part: %v", err)
}
defer r.Stop()
@@ -118,15 +206,25 @@ func runRecord(client mqtt.Client, recordsDir, recordTopic string) {
err = r.Start()
if err != nil {
log.Fatalf("unable to start service: %v", err)
zap.S().Fatalf("unable to start service: %v", err)
}
}
func runTrainArchive(basedir, archiveName string, sliceSize int) {
err := data.BuildArchive(basedir, archiveName, sliceSize)
err := data.WriteArchive(basedir, archiveName, sliceSize)
if err != nil {
log.Fatalf("unable to build archive file %v: %v", archiveName, err)
zap.S().Fatalf("unable to build archive file %v: %v", archiveName, err)
}
}
func runImportDonkeyRecords(basedir, destdir string) {
if destdir == "" || basedir == "" {
zap.S().Fatal("invalid arg")
}
err := dkimpt.ImportDonkeyRecords(basedir, destdir)
if err != nil {
zap.S().Fatalf("unable to import files from %v to %v: %v", basedir, destdir, err)
}
}
@@ -152,6 +250,43 @@ func runDisplay(client mqtt.Client, framePath string, frameTopic string, fps int
err := p.Start()
if err != nil {
log.Fatalf("unable to start service: %v", err)
zap.S().Fatalf("unable to start service: %v", err)
}
}
func runTraining(bucketName string, ociImage string, roleArn string, jobName, dataDir string, sliceSize int, outputModel string) {
l := zap.S()
if bucketName == "" {
l.Fatalf("no bucket define, see help")
}
if ociImage == "" {
l.Fatalf("no oci image define, see help")
}
if jobName == "" {
l.Fatalf("no job name define, see help")
}
if dataDir == "" {
l.Fatalf("no training data define, see help")
}
if outputModel == "" {
l.Fatalf("no output model path define, see help")
}
if sliceSize != 0 && sliceSize != 2 {
l.Fatalf("invalid value for sie-slice, only '0' or '2' are allowed")
}
training := train.New(bucketName, ociImage, roleArn)
err := training.TrainDir(context.Background(), jobName, dataDir, sliceSize, outputModel)
if err != nil {
l.Fatalf("unable to run training: %v", err)
}
}
func runTrainList() {
err := train.ListJob(context.Background())
if err != nil {
zap.S().Fatalf("unable to list training jobs: %w", err)
}
}