Small fixes and updates for the python 3.11 upgrade (#1172)

* Removed deprecated padding in ui 
* Used modern form of package versioning in setup.
* Fix telemetry test after paho upgrade
* Fix tensorrt interpreter for tf 2.15, which now returns a list instead of a dictionary.
* Peg pytorch to version 2.1 to avoid incompatibilities with nvidia libraries 
* Fix warnings caused by using legacy warn() method instead of warning().
* Switch of fastai trying to use cuda as this crashes if an Nvidia GPU is found. 
* Bump version

donkeycar/__init__.py

@@ -3,7 +3,7 @@
 from pyfiglet import Figlet
 import logging
 
-__version__ = '5.1.dev1'
+__version__ = '5.1.dev2'
 
 logging.basicConfig(level=os.environ.get('LOGLEVEL', 'INFO').upper())
 

donkeycar/management/kivy_ui.py

@@ -148,7 +148,7 @@ def read_file(self):
                 Logger.info(f'Donkeyrc: Donkey file {self.file_path} loaded.')
                 return data
         else:
-            Logger.warn(f'Donkeyrc: Donkey file {self.file_path} does not '
+            Logger.warning(f'Donkeyrc: Donkey file {self.file_path} does not '
                         f'exist.')
             return {}
 

donkeycar/parts/actuator.py

@@ -18,7 +18,7 @@
 try:
     import RPi.GPIO as GPIO
 except ImportError as e:
-    logger.warn(f"RPi.GPIO was not imported. {e}")
+    logger.warning(f"RPi.GPIO was not imported. {e}")
     globals()["GPIO"] = None
 
 from donkeycar.parts.pins import OutputPin, PwmPin, PinState
@@ -800,10 +800,10 @@ def run(self, throttle:float) -> None:
                         where 1 is full forward and -1 is full backwards.
         """
         if throttle is None:
-            logger.warn("TwoWheelSteeringThrottle throttle is None")
+            logger.warning("TwoWheelSteeringThrottle throttle is None")
             return
         if throttle > 1 or throttle < -1:
-            logger.warn( f"TwoWheelSteeringThrottle throttle is {throttle}, but it must be between 1(forward) and -1(reverse)")
+            logger.warning( f"TwoWheelSteeringThrottle throttle is {throttle}, but it must be between 1(forward) and -1(reverse)")
             throttle = clamp(throttle, -1, 1)
 
         self.speed = throttle
@@ -843,16 +843,16 @@ def run(self, throttle:float, steering:float) -> Tuple[float, float]:
                  where 1 is full forward and -1 is full backwards.
         """
         if throttle is None:
-            logger.warn("TwoWheelSteeringThrottle throttle is None")
+            logger.warning("TwoWheelSteeringThrottle throttle is None")
             return
         if steering is None:
-            logger.warn("TwoWheelSteeringThrottle steering is None")
+            logger.warning("TwoWheelSteeringThrottle steering is None")
             return
         if throttle > 1 or throttle < -1:
-            logger.warn( f"TwoWheelSteeringThrottle throttle is {throttle}, but it must be between 1(forward) and -1(reverse)")
+            logger.warning( f"TwoWheelSteeringThrottle throttle is {throttle}, but it must be between 1(forward) and -1(reverse)")
             throttle = clamp(throttle, -1, 1)
         if steering > 1 or steering < -1:
-            logger.warn( f"TwoWheelSteeringThrottle steering is {steering}, but it must be between 1(right) and -1(left)")
+            logger.warning( f"TwoWheelSteeringThrottle steering is {steering}, but it must be between 1(right) and -1(left)")
             steering = clamp(steering, -1, 1)
 
         left_motor_speed = throttle
@@ -920,10 +920,10 @@ def run(self, throttle:float) -> None:
                         where 1 is full forward and -1 is full backwards.
         """
         if throttle is None:
-            logger.warn("TwoWheelSteeringThrottle throttle is None")
+            logger.warning("TwoWheelSteeringThrottle throttle is None")
             return
         if throttle > 1 or throttle < -1:
-            logger.warn( f"TwoWheelSteeringThrottle throttle is {throttle}, but it must be between 1(forward) and -1(reverse)")
+            logger.warning( f"TwoWheelSteeringThrottle throttle is {throttle}, but it must be between 1(forward) and -1(reverse)")
             throttle = clamp(throttle, -1, 1)
 
         self.speed = throttle

donkeycar/parts/controller.py

@@ -42,11 +42,11 @@ def init(self):
         except ModuleNotFoundError:
             self.num_axes = 0
             self.num_buttons = 0
-            logger.warn("no support for fnctl module. joystick not enabled.")
+            logger.warning("no support for fnctl module. joystick not enabled.")
             return False
 
         if not os.path.exists(self.dev_fn):
-            logger.warn(f"{self.dev_fn} is missing")
+            logger.warning(f"{self.dev_fn} is missing")
             return False
 
         '''
@@ -965,7 +965,7 @@ def emergency_stop(self):
         '''
         initiate a series of steps to try to stop the vehicle as quickly as possible
         '''
-        logger.warn('E-Stop!!!')
+        logger.warning('E-Stop!!!')
         self.mode = "user"
         self.recording = False
         self.constant_throttle = False

donkeycar/parts/fastai.py

@@ -158,11 +158,10 @@ def train(self,
         model = self.interpreter.model
 
         dataLoader = DataLoaders.from_dsets(train_data, validation_data, bs=batch_size, shuffle=False)
-        if torch.cuda.is_available():
-            dataLoader.cuda()
+        # old way of enabling gpu now crashes with torch 2.1.*
+        # if torch.cuda.is_available():
+        #     dataLoader.cuda()
 
-        #dataLoaderTest = self.dataBlock.dataloaders.test_dl(validation_data, with_labels=True)
-        #print(dataLoader.train[0])
 
         callbacks = [
             EarlyStoppingCallback(monitor='valid_loss',

donkeycar/parts/interpreter.py

@@ -347,12 +347,12 @@ def load(self, model_path: str) -> None:
     def predict_from_dict(self, input_dict):
         for k, v in input_dict.items():
             input_dict[k] = self.expand_and_convert(v)
-        out_dict = self.graph_func(**input_dict)
+        out_list = self.graph_func(**input_dict)
         # Squeeze here because we send a batch of size one, so pick first
         # element. To return the order of outputs as defined in the model we
         # need to iterate through the model's output shapes here
-        outputs = [out_dict[k].numpy().squeeze(axis=0) for k in
-                   self.output_keys]
+        outputs = [k.numpy().squeeze(axis=0) for k in out_list]
+
         # don't return list if output is 1d
         return outputs if len(outputs) > 1 else outputs[0]
 

donkeycar/parts/kinematics.py

@@ -582,7 +582,7 @@ def run(self, steering) -> float:
             return 0
 
         if steering > 1 or steering < -1:
-            logger.warn(f"steering = {steering}, but must be between 1(right) and -1(left)")
+            logger.warning(f"steering = {steering}, but must be between 1(right) and -1(left)")
 
         steering = clamp(steering, -1, 1)
 
@@ -632,14 +632,14 @@ def differential_steering(throttle: float, steering: float, steering_zero: float
             logger.error("throttle must be a number")
             return 0, 0
         if throttle > 1 or throttle < -1:
-            logger.warn(f"throttle = {throttle}, but must be between 1(right) and -1(left)")
+            logger.warning(f"throttle = {throttle}, but must be between 1(right) and -1(left)")
         throttle = clamp(throttle, -1, 1)
 
         if not is_number_type(steering):
             logger.error("steering must be a number")
             return 0, 0
         if steering > 1 or steering < -1:
-            logger.warn(f"steering = {steering}, but must be between 1(right) and -1(left)")
+            logger.warning(f"steering = {steering}, but must be between 1(right) and -1(left)")
         steering = clamp(steering, -1, 1)
 
         left_throttle = throttle

donkeycar/parts/pins.py

@@ -400,7 +400,7 @@ def pwm_pin(
     gpio_pin_pull = [None, GPIO.PUD_OFF, GPIO.PUD_DOWN, GPIO.PUD_UP]
     gpio_pin_scheme = {PinScheme.BOARD: GPIO.BOARD, PinScheme.BCM: GPIO.BCM}
 except ImportError:
-    logger.warn("RPi.GPIO was not imported.")
+    logger.warning("RPi.GPIO was not imported.")
     globals()["GPIO"] = None
 
 
@@ -753,7 +753,7 @@ def duty_cycle(self, duty: float) -> None:
     pigpio_pin_edge = [None, pigpio.RISING_EDGE, pigpio.FALLING_EDGE, pigpio.EITHER_EDGE]
     pigpio_pin_pull = [None, pigpio.PUD_OFF, pigpio.PUD_DOWN, pigpio.PUD_UP]
 except ImportError:
-    logger.warn("pigpio was not imported.")
+    logger.warning("pigpio was not imported.")
     globals()["pigpio"] = None
 
 

donkeycar/parts/serial_port.py

@@ -92,7 +92,7 @@ def readBytes(self, count:int=0) -> Tuple[bool, bytes]:
                 input = self.ser.read(count)
             return (waiting, input)
         except (serial.serialutil.SerialException, TypeError):
-            logger.warn("failed reading bytes from serial port")
+            logger.warning("failed reading bytes from serial port")
             return (False, b'')
 
     def read(self, count:int=0) -> Tuple[bool, str]:
@@ -135,11 +135,11 @@ def readln(self) -> Tuple[bool, str]:
                 input = buffer.decode(self.charset)
             return (waiting, input)
         except (serial.serialutil.SerialException, TypeError):
-            logger.warn("failed reading line from serial port")
+            logger.warning("failed reading line from serial port")
             return (False, "")
         except UnicodeDecodeError:
             # the first read often includes mis-framed garbase
-            logger.warn("failed decoding unicode line from serial port")
+            logger.warning("failed decoding unicode line from serial port")
             return (False, "")
 
     def writeBytes(self, value:bytes):
@@ -150,7 +150,7 @@ def writeBytes(self, value:bytes):
             try:
                 self.ser.write(value)  
             except (serial.serialutil.SerialException, TypeError):
-                logger.warn("Can't write to serial port")
+                logger.warning("Can't write to serial port")
 
     def write(self, value:str):
         """

donkeycar/parts/tachometer.py

@@ -310,7 +310,7 @@ def __init__(self, gpio_pin: InputPin, debounce_ns:int=0, debug=False):
         self.debounce_ns:int = debounce_ns
         self.debounce_time:int = 0
         if self.debounce_ns > 0:
-            logger.warn("GpioEncoder debounce_ns will be ignored.")
+            logger.warning("GpioEncoder debounce_ns will be ignored.")
         self.lock = threading.Lock()
 
     def _cb(self):

donkeycar/tests/test_keras.py

@@ -78,7 +78,7 @@ def test_keras_vs_tflite_and_tensorrt(keras_pilot, tmp_dir):
         # lstm cells are not yet supported in tensor RT
         out3 = k_trt.run(*args)
         assert out3 == approx(out1, rel=TOLERANCE, abs=TOLERANCE)
-    print("\n", out1, out2, out3)
+    print('keras:', out1, 'tflite:', out2, 'trt:', out3)
 
 
 

setup.cfg

@@ -86,7 +86,7 @@ dev =
     mypy
 
 torch =
-    torch
+    torch==2.1.*
     pytorch-lightning
     torchvision
     torchaudio