Raspberry Pi 5 self-hosted CI (#8828)

Co-authored-by: Glenn Jocher <glenn.jocher@ultralytics.com>
Co-authored-by: UltralyticsAssistant <web@ultralytics.com>
Co-authored-by: Ultralytics AI Assistant <135830346+UltralyticsAssistant@users.noreply.github.com>

.github/workflows/ci.yaml

@@ -33,6 +33,10 @@ on:
         description: "Run GPU"
         default: false
         type: boolean
+      raspberrypi:
+        description: "Run Raspberry Pi"
+        default: false
+        type: boolean
       conda:
         description: "Run Conda"
         default: false
@@ -221,6 +225,28 @@ jobs:
         env:
           CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
 
+  RaspberryPi:
+    if: github.repository == 'ultralytics/ultralytics' && (github.event_name == 'schedule' || github.event.inputs.raspberrypi == 'true')
+    timeout-minutes: 60
+    runs-on: raspberry-pi
+    steps:
+      - name: Activate Virtual Environment
+        run: |
+          python3.11 -m venv env
+          source env/bin/activate
+          echo PATH=$PATH >> $GITHUB_ENV
+      - name: Install requirements
+        run: |
+          python -m pip install --upgrade pip wheel
+          pip install -e . pytest mlflow pycocotools "ray[tune]<=2.9.3" --extra-index-url https://download.pytorch.org/whl/cpu
+      - name: Check environment
+        run: |
+          yolo checks
+          pip list
+      - name: Pytest tests
+        run: |
+          pytest --slow tests/
+
   Conda:
     if: github.repository == 'ultralytics/ultralytics' && (github.event_name == 'schedule' || github.event.inputs.conda == 'true')
     runs-on: ${{ matrix.os }}
@@ -281,11 +307,11 @@ jobs:
 
   Summary:
     runs-on: ubuntu-latest
-    needs: [HUB, Benchmarks, Tests, GPU, Conda] # Add job names that you want to check for failure
+    needs: [HUB, Benchmarks, Tests, GPU, RaspberryPi, Conda] # Add job names that you want to check for failure
     if: always() # This ensures the job runs even if previous jobs fail
     steps:
       - name: Check for failure and notify
-        if: (needs.HUB.result == 'failure' || needs.Benchmarks.result == 'failure' || needs.Tests.result == 'failure' || needs.GPU.result == 'failure' || needs.Conda.result == 'failure') && github.repository == 'ultralytics/ultralytics' && (github.event_name == 'schedule' || github.event_name == 'push')
+        if: (needs.HUB.result == 'failure' || needs.Benchmarks.result == 'failure' || needs.Tests.result == 'failure' || needs.GPU.result == 'failure' || needs.RaspberryPi.result == 'failure' || needs.Conda.result == 'failure' ) && github.repository == 'ultralytics/ultralytics' && (github.event_name == 'schedule' || github.event_name == 'push')
         uses: slackapi/slack-github-action@v1.25.0
         with:
           payload: |

pyproject.toml

@@ -101,6 +101,7 @@ export = [
     "openvino>=2024.0.0", # OpenVINO export
     "tensorflow<=2.13.1; python_version <= '3.11'", # TF bug https://github.com/ultralytics/ultralytics/issues/5161
     "tensorflowjs>=3.9.0; python_version <= '3.11'", # TF.js export, automatically installs tensorflow
+    "flatbuffers>=23.5.26,<100", # update old 'flatbuffers' included inside tensorflow package
     "numpy==1.23.5; platform_machine == 'aarch64'", # fix error: `np.bool` was a deprecated alias for the builtin `bool` when using TensorRT models on NVIDIA Jetson
     "h5py!=3.11.0; platform_machine == 'aarch64'", # fix h5py build issues due to missing aarch64 wheels in 3.11 release
 ]

tests/test_python.py

@@ -27,6 +27,7 @@ from ultralytics.utils import (
     Retry,
     checks,
     is_dir_writeable,
+    IS_RASPBERRYPI,
 )
 from ultralytics.utils.downloads import download
 from ultralytics.utils.torch_utils import TORCH_1_9, TORCH_1_13
@@ -221,15 +222,16 @@ def test_export_openvino():
     YOLO(f)(SOURCE)  # exported model inference
 
 
+@pytest.mark.skipif(WINDOWS, reason="CoreML not supported on Windows")  # RuntimeError: BlobWriter not loaded
+@pytest.mark.skipif(IS_RASPBERRYPI, reason="CoreML not supported on Raspberry Pi")
 @pytest.mark.skipif(checks.IS_PYTHON_3_12, reason="CoreML not supported in Python 3.12")
 def test_export_coreml():
     """Test exporting the YOLO model to CoreML format."""
-    if not WINDOWS:  # RuntimeError: BlobWriter not loaded with coremltools 7.0 on windows
+    if MACOS:
-        if MACOS:
+        f = YOLO(MODEL).export(format="coreml")
-            f = YOLO(MODEL).export(format="coreml")
+        YOLO(f)(SOURCE)  # model prediction only supported on macOS for nms=False models
-            YOLO(f)(SOURCE)  # model prediction only supported on macOS for nms=False models
+    else:
-        else:
+        YOLO(MODEL).export(format="coreml", nms=True)
-            YOLO(MODEL).export(format="coreml", nms=True)
 
 
 def test_export_tflite(enabled=False):

ultralytics/nn/autobackend.py

@@ -14,7 +14,7 @@ import torch
 import torch.nn as nn
 from PIL import Image
 
-from ultralytics.utils import ARM64, LINUX, LOGGER, ROOT, yaml_load
+from ultralytics.utils import ARM64, IS_JETSON, IS_RASPBERRYPI, LINUX, LOGGER, ROOT, yaml_load
 from ultralytics.utils.checks import check_requirements, check_suffix, check_version, check_yaml
 from ultralytics.utils.downloads import attempt_download_asset, is_url
 
@@ -183,6 +183,9 @@ class AutoBackend(nn.Module):
         elif onnx:
             LOGGER.info(f"Loading {w} for ONNX Runtime inference...")
             check_requirements(("onnx", "onnxruntime-gpu" if cuda else "onnxruntime"))
+            if IS_RASPBERRYPI or IS_JETSON:
+                # Fix error: module 'numpy.linalg._umath_linalg' has no attribute '_ilp64' when exporting to Tensorflow SavedModel on RPi and Jetson
+                check_requirements("numpy==1.23.5")
             import onnxruntime
 
             providers = ["CUDAExecutionProvider", "CPUExecutionProvider"] if cuda else ["CPUExecutionProvider"]

ultralytics/utils/benchmarks.py

@@ -35,7 +35,7 @@ import torch.cuda
 from ultralytics import YOLO, YOLOWorld
 from ultralytics.cfg import TASK2DATA, TASK2METRIC
 from ultralytics.engine.exporter import export_formats
-from ultralytics.utils import ASSETS, LINUX, LOGGER, MACOS, TQDM, WEIGHTS_DIR
+from ultralytics.utils import ARM64, ASSETS, IS_JETSON, IS_RASPBERRYPI, LINUX, LOGGER, MACOS, TQDM, WEIGHTS_DIR
 from ultralytics.utils.checks import IS_PYTHON_3_12, check_requirements, check_yolo
 from ultralytics.utils.files import file_size
 from ultralytics.utils.torch_utils import select_device
@@ -83,8 +83,10 @@ def benchmark(
         emoji, filename = "❌", None  # export defaults
         try:
             # Checks
+            if i == 5:  # CoreML
+                assert not (IS_RASPBERRYPI or IS_JETSON), "CoreML export not supported on Raspberry Pi or NVIDIA Jetson"
             if i == 9:  # Edge TPU
-                assert LINUX, "Edge TPU export only supported on Linux"
+                assert LINUX and not ARM64, "Edge TPU export only supported on non-aarch64 Linux"
             elif i == 7:  # TF GraphDef
                 assert model.task != "obb", "TensorFlow GraphDef not supported for OBB task"
             elif i in {5, 10}:  # CoreML and TF.js