6c8fd9318f
Replace the NotImplementedError stub with a working HailoPoseAdapter for Pi5 + Hailo-8. yolov8s_pose has no on-chip NMS, so the adapter does host-side DFL box decode + keypoint decode + greedy NMS + letterbox un-map + COCO-17 assembly (numpy decode ported from Hailo's MIT PoseEstPostProcessing, locked by a synthetic 9-tensor unit test; the HailoRT device wiring is gated + device-validated on bringup). daemon.main() gains a POSE_BACKEND switch (hailo|movenet).
63 lines
2.7 KiB
Python
63 lines
2.7 KiB
Python
import os
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def run_loop(runtime, client, queue, *, clock, sleep, iterations=None,
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sync_every=150, heartbeat_every=900, flush_every=300,
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frame_interval=0.0):
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counters = {"frames": 0, "syncs": 0, "beats": 0, "flushes": 0, "errors": 0}
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i = 0
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while iterations is None or i < iterations:
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i += 1
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try:
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runtime.step(clock())
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counters["frames"] += 1
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except Exception:
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counters["errors"] += 1
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try:
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if sync_every and i % sync_every == 0:
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cfg = client.fetch_config()
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if cfg is not None:
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from edge.zones import zones_from_config
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runtime.apply_zones(zones_from_config(cfg))
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counters["syncs"] += 1
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if heartbeat_every and i % heartbeat_every == 0:
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if client.send_heartbeat({"fps": 0.0, "frames": counters["frames"]}):
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counters["beats"] += 1
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if flush_every and i % flush_every == 0:
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queue.flush()
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counters["flushes"] += 1
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except Exception:
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counters["errors"] += 1
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if frame_interval:
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sleep(frame_interval)
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return counters
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def main() -> None: # pragma: no cover (integration entrypoint, exercised on device)
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import time
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from edge.config import load_config
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from edge.cloudclient import CloudClient
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from edge.alert import PostClient
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from edge.queue import OfflineQueue
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from edge.runtime import PipelineRuntime
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from edge.adapters.uvc_source import UvcSource
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cfg = load_config(dict(os.environ))
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nonce = lambda: os.urandom(8).hex()
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now = time.time
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base = cfg.cafe24_url.rstrip("/")
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client = CloudClient(base, cfg.device_id, cfg.secret, nonce, now)
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post = PostClient(base + "/api/events", cfg.device_id, cfg.secret, nonce, now)
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queue = OfflineQueue(os.environ.get("QUEUE_DB", "queue.db"), post)
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source = UvcSource(int(os.environ.get("UVC_DEVICE", "0")))
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# POSE_BACKEND selects the accelerator path: "hailo" (Pi5 + Hailo-8, needs HAILO_HEF)
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# or the default CPU "movenet" (needs MOVENET_ONNX).
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if os.environ.get("POSE_BACKEND", "movenet").lower() == "hailo":
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from edge.adapters.hailo_pose import HailoPoseAdapter
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pose = HailoPoseAdapter(os.environ["HAILO_HEF"])
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else:
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from edge.adapters.movenet_pose import MoveNetPoseAdapter
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pose = MoveNetPoseAdapter(os.environ["MOVENET_ONNX"])
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runtime = PipelineRuntime(cfg, source, pose, queue)
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run_loop(runtime, client, queue, clock=now, sleep=time.sleep, iterations=None,
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frame_interval=1.0 / float(os.environ.get("TARGET_FPS", "12")))
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