RSDK-9058: remove tflite from rdk (#4476)

.github/workflows/macos.yml

@@ -23,7 +23,6 @@ jobs:
         brew install x264
         brew install jpeg-turbo
         brew install ffmpeg
-        brew install tensorflowlite # Needs to be last
     - name: build
       run: go build ./web/cmd/server
     - uses: actions/upload-artifact@v3

.github/workflows/test.yml

@@ -179,7 +179,7 @@ jobs:
             --platform linux/arm/v7 \
             -v `pwd`:/rdk \
             ghcr.io/viamrobotics/rdk-devenv:armhf-cache \
-            sudo -Hu testbot bash -lc 'sudo apt-get install -y python3-venv && cd /rdk && go test -v -tags=no_tflite ./...'
+            sudo -Hu testbot bash -lc 'sudo apt-get install -y python3-venv && cd /rdk && go test -v ./...'
 
   motion_tests:
     name: Test Longer-running Motion Plans if affected

Makefile

@@ -11,9 +11,6 @@ TAG_VERSION?=$(shell git tag --points-at | sort -Vr | head -n1)
 DATE_COMPILED?=$(shell date +'%Y-%m-%d')
 COMMON_LDFLAGS = -s -w -X 'go.viam.com/rdk/config.Version=${TAG_VERSION}' -X 'go.viam.com/rdk/config.GitRevision=${GIT_REVISION}' -X 'go.viam.com/rdk/config.DateCompiled=${DATE_COMPILED}'
 LDFLAGS = -ldflags "-extld=$(shell pwd)/etc/ld_wrapper.sh $(COMMON_LDFLAGS)"
-ifeq ($(shell command -v dpkg >/dev/null && dpkg --print-architecture),armhf)
-GOFLAGS += -tags=no_tflite
-endif
 
 default: build lint server
 

android.make

@@ -39,7 +39,6 @@ droid-rdk.%.aar: etc/android/prefix/aarch64 etc/android/prefix/x86_64
 	mkdir -p droidtmp/jni/$(JNI_ARCH)
 	cp -d etc/android/prefix/$(CPU_ARCH)/lib/*.so* droidtmp/jni/$(JNI_ARCH)
 	cd droidtmp && zip --symlinks -r ../$@ jni/$(JNI_ARCH)
-	cd ./services/mlmodel/tflitecpu/android/ && zip --symlinks -r ../../../../$@ jni/$(JNI_ARCH)
 
 droid-rdk.aar: droid-rdk.amd64.aar droid-rdk.arm64.aar
 	# multi-platform AAR -- twice the size, but portable

components/camera/transformpipeline/classifier_test.go

@@ -1,5 +1,3 @@
-//go:build !no_tflite
-
 package transformpipeline
 
 import (
@@ -17,7 +15,6 @@ import (
 	"go.viam.com/rdk/rimage"
 	"go.viam.com/rdk/robot"
 	robotimpl "go.viam.com/rdk/robot/impl"
-	"go.viam.com/rdk/services/mlmodel"
 	_ "go.viam.com/rdk/services/mlmodel/register"
 	"go.viam.com/rdk/services/vision"
 	_ "go.viam.com/rdk/services/vision/register"
@@ -28,25 +25,11 @@ func buildRobotWithClassifier(logger logging.Logger) (robot.Robot, error) {
 	cfg := &config.Config{}
 
 	// create fake source camera
-	tfliteSrv1 := resource.Config{
-		Name:  "object_classifier",
-		API:   mlmodel.API,
-		Model: resource.DefaultModelFamily.WithModel("tflite_cpu"),
-		Attributes: rutils.AttributeMap{
-			"model_path":  artifact.MustPath("vision/classification/object_classifier.tflite"),
-			"label_path":  artifact.MustPath("vision/classification/object_labels.txt"),
-			"num_threads": 1,
-		},
-	}
-	cfg.Services = append(cfg.Services, tfliteSrv1)
 	visionSrv1 := resource.Config{
-		Name:  "vision_classifier",
-		API:   vision.API,
-		Model: resource.DefaultModelFamily.WithModel("mlmodel"),
-		Attributes: rutils.AttributeMap{
-			"mlmodel_name": "object_classifier",
-		},
-		DependsOn: []string{"object_classifier"},
+		Name:       "vision_classifier",
+		API:        vision.API,
+		Model:      resource.DefaultModelFamily.WithModel("fake"),
+		Attributes: rutils.AttributeMap{},
 	}
 	cfg.Services = append(cfg.Services, visionSrv1)
 	cameraComp := resource.Config{
@@ -122,7 +105,7 @@ func TestClassifierSource(t *testing.T) {
 
 	// Max classifications was 5, but this image gets classified with just 2 labels, so we
 	// test that each label is present.
-	test.That(t, ovImg.GetXY(149, 48), test.ShouldResemble, rimage.Red)
-	test.That(t, ovImg.GetXY(100, 75), test.ShouldResemble, rimage.Red)
+	test.That(t, ovImg.GetXY(42, 50), test.ShouldResemble, rimage.Red)
+	test.That(t, ovImg.GetXY(268, 48), test.ShouldResemble, rimage.Red)
 	test.That(t, classifier.Close(context.Background()), test.ShouldBeNil)
 }

components/camera/transformpipeline/detector_test.go

@@ -1,5 +1,3 @@
-//go:build !no_tflite
-
 package transformpipeline
 
 import (
@@ -18,7 +16,6 @@ import (
 	"go.viam.com/rdk/rimage"
 	"go.viam.com/rdk/robot"
 	robotimpl "go.viam.com/rdk/robot/impl"
-	"go.viam.com/rdk/services/mlmodel"
 	_ "go.viam.com/rdk/services/mlmodel/register"
 	"go.viam.com/rdk/services/vision"
 	_ "go.viam.com/rdk/services/vision/register"
@@ -64,27 +61,6 @@ func buildRobotWithFakeCamera(logger logging.Logger) (robot.Robot, error) {
 		},
 	}
 	cfg.Services = append(cfg.Services, colorSrv1)
-	tfliteSrv2 := resource.Config{
-		Name:  "detector_tflite",
-		API:   mlmodel.API,
-		Model: resource.DefaultModelFamily.WithModel("tflite_cpu"),
-		Attributes: rutils.AttributeMap{
-			"model_path":  artifact.MustPath("vision/tflite/effdet0.tflite"),
-			"label_path":  artifact.MustPath("vision/tflite/effdetlabels.txt"),
-			"num_threads": 1,
-		},
-	}
-	cfg.Services = append(cfg.Services, tfliteSrv2)
-	visionSrv2 := resource.Config{
-		Name:  "vision_detector",
-		API:   vision.API,
-		Model: resource.DefaultModelFamily.WithModel("mlmodel"),
-		Attributes: rutils.AttributeMap{
-			"mlmodel_name": "detector_tflite",
-		},
-		DependsOn: []string{"detector_tflite"},
-	}
-	cfg.Services = append(cfg.Services, visionSrv2)
 	cameraComp := resource.Config{
 		Name:  "fake_cam",
 		API:   camera.API,
@@ -115,26 +91,6 @@ func buildRobotWithFakeCamera(logger logging.Logger) (robot.Robot, error) {
 		DependsOn: []string{"fake_cam"},
 	}
 	cfg.Components = append(cfg.Components, detectorComp)
-	// create 2nd fake detector camera
-	tfliteComp := resource.Config{
-		Name:  "tflite_detect",
-		API:   camera.API,
-		Model: resource.DefaultModelFamily.WithModel("transform"),
-		Attributes: rutils.AttributeMap{
-			"source": "fake_cam",
-			"pipeline": []rutils.AttributeMap{
-				{
-					"type": "detections",
-					"attributes": rutils.AttributeMap{
-						"detector_name":        "vision_detector",
-						"confidence_threshold": 0.35,
-					},
-				},
-			},
-		},
-		DependsOn: []string{"fake_cam"},
-	}
-	cfg.Components = append(cfg.Components, tfliteComp)
 	if err := cfg.Ensure(false, logger); err != nil {
 		return nil, err
 	}
@@ -173,29 +129,6 @@ func TestColorDetectionSource(t *testing.T) {
 	test.That(t, detector.Close(context.Background()), test.ShouldBeNil)
 }
 
-func TestTFLiteDetectionSource(t *testing.T) {
-	logger := logging.NewTestLogger(t)
-	ctx, cancel := context.WithCancel(context.Background())
-	defer cancel()
-
-	r, err := buildRobotWithFakeCamera(logger)
-	defer func() {
-		test.That(t, r.Close(context.Background()), test.ShouldBeNil)
-	}()
-	test.That(t, err, test.ShouldBeNil)
-
-	detector, err := camera.FromRobot(r, "tflite_detect")
-	test.That(t, err, test.ShouldBeNil)
-	defer detector.Close(ctx)
-
-	resImg, _, err := camera.ReadImage(ctx, detector)
-	test.That(t, err, test.ShouldBeNil)
-	ovImg := rimage.ConvertImage(resImg)
-	test.That(t, ovImg.GetXY(624, 402), test.ShouldResemble, rimage.Red)
-	test.That(t, ovImg.GetXY(815, 647), test.ShouldResemble, rimage.Red)
-	test.That(t, detector.Close(context.Background()), test.ShouldBeNil)
-}
-
 func BenchmarkColorDetectionSource(b *testing.B) {
 	logger := logging.NewTestLogger(b)
 	ctx, cancel := context.WithCancel(context.Background())
@@ -217,25 +150,3 @@ func BenchmarkColorDetectionSource(b *testing.B) {
 	}
 	test.That(b, detector.Close(context.Background()), test.ShouldBeNil)
 }
-
-func BenchmarkTFLiteDetectionSource(b *testing.B) {
-	logger := logging.NewTestLogger(b)
-	ctx, cancel := context.WithCancel(context.Background())
-	defer cancel()
-
-	r, err := buildRobotWithFakeCamera(logger)
-	defer func() {
-		test.That(b, r.Close(context.Background()), test.ShouldBeNil)
-	}()
-	test.That(b, err, test.ShouldBeNil)
-	detector, err := camera.FromRobot(r, "tflite_detect")
-	test.That(b, err, test.ShouldBeNil)
-	defer detector.Close(ctx)
-
-	b.ResetTimer()
-	// begin benchmarking
-	for i := 0; i < b.N; i++ {
-		_, _, _ = camera.ReadImage(ctx, detector)
-	}
-	test.That(b, detector.Close(context.Background()), test.ShouldBeNil)
-}

etc/.golangci.yaml

@@ -5,10 +5,6 @@ run:
   deadline: 900s
   modules-download-mode: readonly
   skip-dirs-use-default: false
-  skip-dirs:
-    # TFlite uses FlatBuffer generated code that's ugly
-    - ml/inference/tflite_metadata$
-    - ml/inference/tflite$
   tests: true
 linters:
   enable-all: true

etc/Dockerfile.cache

@@ -5,7 +5,7 @@ FROM $MAIN_TAG:$BASE_TAG as builder
 COPY --chown=1000:1000 ./ /tmp/rdk
 WORKDIR /tmp/rdk
 RUN --mount=type=secret,id=netrc,uid=1000,dst=/home/testbot/.netrc sudo -Hu testbot bash -lc 'if [ `dpkg --print-architecture` = armhf ]; then \
-        GOFLAGS=-tags=no_tflite make build-go tool-install; \
+        make build-go tool-install; \
     else \
         make build-go lint-go; \
     fi'

etc/ld_wrapper.sh

@@ -31,7 +31,7 @@ fi
 STRIPPED_ARGS="-g -O2"
 
 # list of arguments to prefix with -Bstatic
-STATIC_ARGS="-lx264 -lnlopt -ltensorflowlite_c -lstdc++"
+STATIC_ARGS="-lx264 -lnlopt -lstdc++"
 
 # add explicit static standard library flags
 FILTERED=("-static-libgcc" "-static-libstdc++")

etc/setup.sh

@@ -27,7 +27,7 @@ do_piOS(){
 	echo "deb [signed-by=/usr/share/keyrings/nodesource.gpg] https://deb.nodesource.com/node_18.x $(grep VERSION_CODENAME /etc/os-release | cut -d= -f2) main" > /etc/apt/sources.list.d/nodesource.list
 
 	# Install most things
-	apt-get update && apt-get install -y build-essential nodejs libnlopt-dev libx264-dev libtensorflowlite-dev ffmpeg libjpeg62-turbo-dev
+	apt-get update && apt-get install -y build-essential nodejs libnlopt-dev libx264-dev ffmpeg libjpeg62-turbo-dev
 
 	# Install Gostream dependencies
 	sudo apt-get install -y --no-install-recommends libopus-dev libx11-dev libxext-dev libopusfile-dev
@@ -170,7 +170,6 @@ do_brew(){
 	brew "licensefinder"
 	brew "opus"
 	brew "opusfile"
-	brew "tensorflowlite" # Needs to be last
 	EOS
 
 	if [ $? -ne 0 ]; then

etc/subsystem_manifest/README.md

@@ -34,7 +34,7 @@ Sample manifest:
             },
             {
                 "api": "rdk:service:ml_model",
-                "model": "rdk:builtin:tflitecpu"
+                "model": "rdk:builtin:fake"
                 "attribute_schema": {
                      "..."
                  },

examples/customresources/demos/complexmodule/moduletest/module_test.go

@@ -1,5 +1,3 @@
-//go:build !no_tflite
-
 // Package main tests out all four custom models in the complexmodule.
 package main_test
 

examples/customresources/demos/multiplemodules/moduletest/module_test.go

@@ -1,5 +1,3 @@
-//go:build !no_tflite
-
 // Package main tests out all the custom models in the multiplemodules.
 package main_test
 

examples/customresources/demos/remoteserver/server_test.go

@@ -1,5 +1,3 @@
-//go:build !no_tflite
-
 package main_test
 
 import (

go.mod

@@ -44,7 +44,6 @@ require (
 	github.com/golang/geo v0.0.0-20210211234256-740aa86cb551
 	github.com/golang/protobuf v1.5.4
 	github.com/golangci/golangci-lint v1.61.0
-	github.com/google/flatbuffers v2.0.6+incompatible
 	github.com/google/go-cmp v0.6.0
 	github.com/google/uuid v1.6.0
 	github.com/grpc-ecosystem/go-grpc-middleware v1.4.0
@@ -58,7 +57,6 @@ require (
 	github.com/lestrrat-go/jwx v1.2.29
 	github.com/lmittmann/ppm v1.0.2
 	github.com/lucasb-eyer/go-colorful v1.2.0
-	github.com/mattn/go-tflite v1.0.4
 	github.com/matttproud/golang_protobuf_extensions v1.0.4
 	github.com/mkch/gpio v0.0.0-20190919032813-8327cd97d95e
 	github.com/montanaflynn/stats v0.7.0
@@ -246,6 +244,7 @@ require (
 	github.com/golangci/revgrep v0.5.3 // indirect
 	github.com/golangci/unconvert v0.0.0-20240309020433-c5143eacb3ed // indirect
 	github.com/gonuts/binary v0.2.0 // indirect
+	github.com/google/flatbuffers v2.0.6+incompatible // indirect
 	github.com/google/go-containerregistry v0.15.2 // indirect
 	github.com/google/pprof v0.0.0-20240827171923-fa2c70bbbfe5 // indirect
 	github.com/google/s2a-go v0.1.8 // indirect
@@ -300,7 +299,6 @@ require (
 	github.com/mattn/go-colorable v0.1.13 // indirect
 	github.com/mattn/go-isatty v0.0.20 // indirect
 	github.com/mattn/go-localereader v0.0.1 // indirect
-	github.com/mattn/go-pointer v0.0.1 // indirect
 	github.com/mattn/go-runewidth v0.0.16 // indirect
 	github.com/mgechev/revive v1.3.9 // indirect
 	github.com/miekg/dns v1.1.53 // indirect