feat(ModelZoo): model descriptors versioning (autowarefoundation#2158)

Introduce a version field to the interface.

Make use of it in the lidar_apollo_segmentation_tvm packages and the
yolo_v2 example of tvm_utility.

Issue-Id: SCM-4000
Signed-off-by: Ambroise Vincent <ambroise.vincent@arm.com>
Change-Id: I6d666f886b0a9f01128bfa4cf30e189d23f3481e

Signed-off-by: Ambroise Vincent <ambroise.vincent@arm.com>
Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

common/tvm_utility/design/tvm-utility-design.md

@@ -30,6 +30,14 @@ int main() {
 }
 ```
 
+#### Version checking
+
+The `InferenceEngineTVM::version_check` function can be used to check the version of the neural network in use against the range of earliest to latest supported versions.
+
+The `InferenceEngineTVM` class holds the latest supported version, which needs to be updated when the targeted version changes; after having tested the effect of the version change on the packages dependent on this one.
+
+The earliest supported version depends on each package making use of the inference, and so should be defined (and maintained) in those packages.
+
 #### Models
 
 Dependent packages are expected to use the `get_neural_network` cmake function from this package in order to get the compiled TVM models.

common/tvm_utility/include/tvm_utility/pipeline.hpp

@@ -12,7 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#ifndef TVM_UTILITY__PIPELINE_HPP_
+#define TVM_UTILITY__PIPELINE_HPP_
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
+#include <common/types.hpp>
 
 #include <tvm_vendor/dlpack/dlpack.h>
 #include <tvm_vendor/tvm/runtime/c_runtime_api.h>
@@ -26,11 +30,21 @@
 #include <utility>
 #include <vector>
 
-#ifndef TVM_UTILITY__PIPELINE_HPP_
-#define TVM_UTILITY__PIPELINE_HPP_
+using autoware::common::types::char8_t;
 
 namespace tvm_utility
 {
+
+/**
+ * @brief Possible version status for a neural network.
+ */
+enum class Version {
+  OK,
+  Unknown,
+  Untested,
+  Unsupported,
+};
+
 namespace pipeline
 {
 
@@ -176,6 +190,7 @@ using NetworkNode = std::pair<std::string, std::vector<int64_t>>;
 typedef struct
 {
   // Network info
+  std::array<char8_t, 3> modelzoo_version;
   std::string network_name;
   std::string network_backend;
 
@@ -294,12 +309,37 @@ class InferenceEngineTVM : public InferenceEngine
     return output_;
   }
 
+  /**
+   * @brief Get version information from the config structure and check if there is a mismatch
+   *        between the supported version(s) and the actual version.
+   * @param[in] version_from Earliest supported model version.
+   * @return The version status.
+   */
+  Version version_check(const std::array<char8_t, 3> & version_from) const
+  {
+    auto x{config_.modelzoo_version[0]};
+    auto y{config_.modelzoo_version[1]};
+    Version ret{Version::OK};
+
+    if (x == 0) {
+      ret = Version::Unknown;
+    } else if (x > version_up_to[0] || (x == version_up_to[0] && y > version_up_to[1])) {
+      ret = Version::Untested;
+    } else if (x < version_from[0] || (x == version_from[0] && y < version_from[1])) {
+      ret = Version::Unsupported;
+    }
+
+    return ret;
+  }
+
 private:
   InferenceEngineTVMConfig config_;
   TVMArrayContainerVector output_;
   tvm::runtime::PackedFunc set_input;
   tvm::runtime::PackedFunc execute;
   tvm::runtime::PackedFunc get_output;
+  // Latest supported model version.
+  const std::array<char8_t, 3> version_up_to{2, 1, 0};
 };
 
 }  // namespace pipeline

common/tvm_utility/package.xml

@@ -29,6 +29,7 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>ament_index_cpp</depend>
+  <depend>autoware_auto_common</depend>
   <depend>libopenblas-dev</depend>
   <depend>libopencv-dev</depend>
   <depend>tvm_vendor</depend>

common/tvm_utility/test/yolo_v2_tiny/main.cpp

@@ -1,4 +1,4 @@
-// Copyright 2021 Arm Limited and Contributors.
+// Copyright 2021-2022 Arm Limited and Contributors.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -245,6 +245,9 @@ TEST(PipelineExamples, SimplePipeline)
 
   tvm_utility::pipeline::Pipeline<PrePT, IET, PostPT> pipeline(PreP, IE, PostP);
 
+  auto version_status = IE.version_check({2, 0, 0});
+  EXPECT_NE(version_status, tvm_utility::Version::Unsupported);
+
   // Push data input the pipeline and get the output
   auto output = pipeline.schedule(IMAGE_FILENAME);
 

common/tvm_utility/tvm_utility-extras.cmake

@@ -14,7 +14,7 @@
 
 # Get user-provided variables
 set(DOWNLOAD_ARTIFACTS OFF CACHE BOOL "enable artifacts download")
-set(MODELZOO_VERSION "1.3.0-20220902" CACHE STRING "targeted ModelZoo version")
+set(MODELZOO_VERSION "2.1.0-20221102" CACHE STRING "targeted ModelZoo version")
 
 #
 # Download the selected neural network if it is not already present on disk.

perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp

@@ -158,6 +158,14 @@ class LIDAR_APOLLO_SEGMENTATION_TVM_PUBLIC ApolloLidarSegmentation
   std::shared_ptr<const DetectedObjectsWithFeature> detectDynamicObjects(
     const sensor_msgs::msg::PointCloud2 & input);
 
+  /// \brief Get the name of the neural network used.
+  /// \return The name.
+  const std::string & network_name() const;
+
+  /// \brief Check the model's version against supported versions.
+  /// \return The version status.
+  tvm_utility::Version version_check() const;
+
 private:
   const int32_t range_;
   const float32_t score_threshold_;
@@ -166,6 +174,8 @@ class LIDAR_APOLLO_SEGMENTATION_TVM_PUBLIC ApolloLidarSegmentation
   const int32_t min_pts_num_;
   const float32_t height_thresh_;
   const pcl::PointCloud<pcl::PointXYZI>::Ptr pcl_pointcloud_ptr_;
+  // Earliest supported model version.
+  const std::array<char8_t, 3> model_version_from{2, 0, 0};
 
   // Pipeline
   using PrePT = ApolloLidarSegmentationPreProcessor;

perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp

@@ -19,6 +19,7 @@
 #include <tvm_utility/pipeline.hpp>
 
 #include <memory>
+#include <string>
 #include <vector>
 
 using autoware::common::types::bool8_t;
@@ -192,6 +193,13 @@ std::shared_ptr<const DetectedObjectsWithFeature> ApolloLidarSegmentation::detec
 
   return output;
 }
+
+const std::string & ApolloLidarSegmentation::network_name() const { return config.network_name; }
+
+tvm_utility::Version ApolloLidarSegmentation::version_check() const
+{
+  return IE->version_check(model_version_from);
+}
 }  // namespace lidar_apollo_segmentation_tvm
 }  // namespace perception
 }  // namespace autoware

perception/lidar_apollo_segmentation_tvm/test/main.cpp

@@ -44,6 +44,9 @@ void test_segmentation(bool use_intensity_feature, bool use_constant_feature, bo
     range, score_threshold, use_intensity_feature, use_constant_feature, z_offset, min_height,
     max_height, objectness_thresh, min_pts_num, height_thresh);
 
+  auto version_status = segmentation.version_check();
+  EXPECT_NE(version_status, tvm_utility::Version::Unsupported);
+
   std::random_device rd;
   std::mt19937 gen(42);
   std::uniform_real_distribution<float32_t> dis(-50.0, 50.0);

perception/lidar_apollo_segmentation_tvm_nodes/src/lidar_apollo_segmentation_tvm_node.cpp

@@ -15,6 +15,7 @@
 #include <common/types.hpp>
 #include <lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp>
 #include <lidar_apollo_segmentation_tvm_nodes/lidar_apollo_segmentation_tvm_node.hpp>
+#include <rclcpp/logging.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
 #include <memory>
@@ -50,6 +51,21 @@ ApolloLidarSegmentationNode::ApolloLidarSegmentationNode(const rclcpp::NodeOptio
     declare_parameter("min_pts_num", rclcpp::ParameterValue{3}).get<int32_t>(),
     declare_parameter("height_thresh", rclcpp::ParameterValue{0.5}).get<float32_t>())}
 {
+  // Log unexpected versions of the neural network.
+  auto version_status = m_detector_ptr->version_check();
+  if (version_status != tvm_utility::Version::OK) {
+    auto network_name = m_detector_ptr->network_name();
+    if (version_status == tvm_utility::Version::Unknown) {
+      RCLCPP_INFO(
+        get_logger(), "The '%s' network doesn't provide a version number.", network_name.c_str());
+    } else if (version_status == tvm_utility::Version::Untested) {
+      RCLCPP_WARN(
+        get_logger(), "The version of the '%s' network is untested.", network_name.c_str());
+    } else if (version_status == tvm_utility::Version::Unsupported) {
+      RCLCPP_ERROR(
+        get_logger(), "The version of the '%s' network is unsupported.", network_name.c_str());
+    }
+  }
 }
 
 void ApolloLidarSegmentationNode::pointCloudCallback(