Gracefully stop all loops on crash of subprocess
This commit is contained in:
Ruben van de Ven
parent
9b39d7cd9b
commit
3d34263a71
5 changed files with 77 additions and 30 deletions
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@ -1,7 +1,9 @@
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from argparse import Namespace
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from dataclasses import dataclass, field
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import logging
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from multiprocessing import Event
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import pickle
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import sys
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import time
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from typing import Optional
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import numpy as np
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@ -21,8 +23,9 @@ class FrameEmitter:
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Emit frame in a separate threat so they can be throttled,
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or thrown away when the rest of the system cannot keep up
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'''
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def __init__(self, config: Namespace) -> None:
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def __init__(self, config: Namespace, is_running: Event) -> None:
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self.config = config
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self.is_running = is_running
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context = zmq.Context()
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self.frame_sock = context.socket(zmq.PUB)
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@ -36,7 +39,7 @@ class FrameEmitter:
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frame_duration = 1./fps
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prev_time = time.time()
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while True:
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while self.is_running.is_set():
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ret, img = video.read()
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# seek to 0 if video has finished. Infinite loop
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@ -58,8 +61,8 @@ class FrameEmitter:
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else:
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prev_time = new_frame_time
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def run_frame_emitter(config: Namespace):
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router = FrameEmitter(config)
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def run_frame_emitter(config: Namespace, is_running: Event):
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router = FrameEmitter(config, is_running)
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router.emit_video()
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@ -1,19 +1,32 @@
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import logging
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from logging.handlers import SocketHandler
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from multiprocessing import Process, Queue
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from multiprocessing import Event, Process, Queue
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import sys
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from trap.config import parser
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from trap.frame_emitter import run_frame_emitter
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from trap.prediction_server import InferenceServer, run_inference_server
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from trap.prediction_server import run_prediction_server
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from trap.socket_forwarder import run_ws_forwarder
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from trap.tracker import run_tracker
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logger = logging.getLogger("trap.plumbing")
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class ExceptionHandlingProcess(Process):
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def run(self):
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assert 'is_running' in self._kwargs
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try:
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super(Process, self).run()
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except Exception as e:
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logger.exception(e)
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self._kwargs['is_running'].clear()
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def start():
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args = parser.parse_args()
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loglevel = logging.NOTSET if args.verbose > 1 else logging.DEBUG if args.verbose > 0 else logging.INFO
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# print(args)
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# exit()
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logging.basicConfig(
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level=loglevel,
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)
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@ -21,6 +34,9 @@ def start():
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# set per handler, so we can set it lower for the root logger if remote logging is enabled
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root_logger = logging.getLogger()
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[h.setLevel(loglevel) for h in root_logger.handlers]
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isRunning = Event()
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isRunning.set()
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if args.remote_log_addr:
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@ -29,15 +45,17 @@ def start():
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socket_handler = SocketHandler(args.remote_log_addr, args.remote_log_port)
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root_logger.addHandler(socket_handler)
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# instantiating process with arguments
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procs = [
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Process(target=run_ws_forwarder, args=(args,), name='forwarder'),
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Process(target=run_frame_emitter, args=(args,), name='frame_emitter'),
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Process(target=run_tracker, args=(args,), name='tracker'),
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ExceptionHandlingProcess(target=run_ws_forwarder, kwargs={'config': args, 'is_running': isRunning}, name='forwarder'),
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ExceptionHandlingProcess(target=run_frame_emitter, kwargs={'config': args, 'is_running': isRunning}, name='frame_emitter'),
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ExceptionHandlingProcess(target=run_tracker, kwargs={'config': args, 'is_running': isRunning}, name='tracker'),
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]
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if not args.bypass_prediction:
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procs.append(
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Process(target=run_inference_server, args=(args,), name='inference'),
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ExceptionHandlingProcess(target=run_prediction_server, kwargs={'config': args, 'is_running':isRunning}, name='inference'),
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)
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logger.info("start")
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@ -1,6 +1,7 @@
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# adapted from Trajectron++ online_server.py
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from argparse import Namespace
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import logging
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from multiprocessing import Queue
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from multiprocessing import Event, Queue
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import os
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import pickle
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import time
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@ -108,9 +109,13 @@ def get_maps_for_input(input_dict, scene, hyperparams):
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return maps_dict
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class InferenceServer:
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def __init__(self, config: dict):
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class PredictionServer:
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def __init__(self, config: Namespace, is_running: Event):
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self.config = config
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self.is_running = is_running
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if self.config.eval_device == 'cpu':
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logger.warning("Running on CPU. Specifying --eval_device cuda:0 should dramatically speed up prediction")
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context = zmq.Context()
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self.trajectory_socket: zmq.Socket = context.socket(zmq.SUB)
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@ -199,7 +204,7 @@ class InferenceServer:
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trajectron.set_environment(online_env, init_timestep)
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timestep = init_timestep + 1
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while True:
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while self.is_running.is_set():
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timestep += 1
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# for timestep in range(init_timestep + 1, eval_scene.timesteps):
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@ -350,9 +355,19 @@ class InferenceServer:
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data = json.dumps(response)
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logger.info(f"Total frame delay = {time.time()-frame.time}s ({len(trajectron.nodes)} nodes & {trajectron.scene_graph.get_num_edges()} edges. Trajectron: {end - start}s)")
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self.prediction_socket.send_string(data)
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logger.info('Stopping')
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def run_inference_server(config):
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s = InferenceServer(config)
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def run_prediction_server(config: Namespace, is_running: Event):
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# attempt to trace the warnings coming from pytorch
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# def warn_with_traceback(message, category, filename, lineno, file=None, line=None):
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# log = file if hasattr(file,'write') else sys.stderr
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# traceback.print_stack(file=log)
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# log.write(warnings.formatwarning(message, category, filename, lineno, line))
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# warnings.showwarning = warn_with_traceback
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s = PredictionServer(config, is_running)
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s.run()
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@ -2,6 +2,7 @@
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from argparse import Namespace
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import asyncio
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import logging
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from multiprocessing import Event
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from typing import Set, Union, Dict, Any
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from typing_extensions import Self
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@ -103,8 +104,9 @@ class StaticFileWithHeaderHandler(tornado.web.StaticFileHandler):
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class WsRouter:
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def __init__(self, config: Namespace):
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def __init__(self, config: Namespace, is_running: Event):
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self.config = config
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self.is_running = is_running
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context = zmq.asyncio.Context()
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self.trajectory_socket = context.socket(zmq.PUB)
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@ -138,25 +140,31 @@ class WsRouter:
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def start(self):
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evt_loop = asyncio.new_event_loop()
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asyncio.set_event_loop(evt_loop)
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self.evt_loop = asyncio.new_event_loop()
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asyncio.set_event_loop(self.evt_loop)
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# loop = tornado.ioloop.IOLoop.current()
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logger.info(f"Listen on {self.config.ws_port}")
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self.application.listen(self.config.ws_port)
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loop = asyncio.get_event_loop()
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task = evt_loop.create_task(self.prediction_forwarder())
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task = self.evt_loop.create_task(self.prediction_forwarder())
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evt_loop.run_forever()
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self.evt_loop.run_forever()
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async def prediction_forwarder(self):
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logger.info("Starting prediction forwarder")
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while True:
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while self.is_running.is_set():
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msg = await self.prediction_socket.recv_string()
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logger.debug(f"Forward prediction message of {len(msg)} chars")
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WebSocketPredictionHandler.write_to_clients(msg)
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# die together:
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self.evt_loop.stop()
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logger.info('Stopping')
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def run_ws_forwarder(config: Namespace):
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router = WsRouter(config)
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def run_ws_forwarder(config: Namespace, is_running: Event):
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router = WsRouter(config, is_running)
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router.start()
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@ -1,6 +1,7 @@
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from argparse import Namespace
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import json
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import logging
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from multiprocessing import Event
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import pickle
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import time
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import numpy as np
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@ -20,8 +21,9 @@ Detections = [Detection]
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logger = logging.getLogger("trap.tracker")
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class Tracker:
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def __init__(self, config: Namespace):
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def __init__(self, config: Namespace, is_running: Event):
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self.config = config
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self.is_running = is_running
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context = zmq.Context()
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self.frame_sock = context.socket(zmq.SUB)
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@ -54,7 +56,7 @@ class Tracker:
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def track(self):
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while True:
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while self.is_running.is_set():
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msg = self.frame_sock.recv()
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frame: Frame = pickle.loads(msg) # frame delivery in current setup: 0.012-0.03s
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# logger.info(f"Frame delivery delay = {time.time()-frame.time}s")
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@ -89,6 +91,7 @@ class Tracker:
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#TODO calculate fps (also for other loops to see asynchonity)
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# fpsfilter=fpsfilter*.9+(1/dt)*.1 #trust value in order to stabilize fps display
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logger.info('Stopping')
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def detect_persons(self, frame) -> Detections:
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@ -128,6 +131,6 @@ class Tracker:
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return [([d[0], d[1], d[2]-d[0], d[3]-d[1]], d[4], d[5]) for d in detections]
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def run_tracker(config: Namespace):
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router = Tracker(config)
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def run_tracker(config: Namespace, is_running: Event):
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router = Tracker(config, is_running)
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router.track()
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