removed inner loop

Author: Tom Almog

bootcamp_main.py

@@ -192,17 +192,17 @@ def main() -> int:
     current_state = "Unknown"
     while time.time() < end_time:
         try:
+            # Heartbeat state
             state = hb_recv_to_main_queue.queue.get(timeout=HEARTBEAT_PERIOD_S * 2)
             current_state = str(state)
             main_logger.info(f"Heartbeat state: {current_state}")
             if current_state == "Disconnected":
                 break
-        except:  # pylint: disable=bare-except
-            pass
-        # Also read any command outputs
-        try:
-            cmd_out = command_to_main_queue.queue.get(timeout=0.1)
-            if cmd_out is not None:
+            # Drain any command outputs without blocking
+            while True:
+                cmd_out = command_to_main_queue.queue.get_nowait()
+                if cmd_out is None:
+                    continue
                 main_logger.info(f"Command: {cmd_out}")
         except:  # pylint: disable=bare-except
             pass

modules/heartbeat/heartbeat_receiver.py

@@ -22,6 +22,7 @@ def create(
         cls,
         connection: mavutil.mavfile,
         heartbeat_period_s: float,
+        disconnect_threshold: int,
         local_logger: logger.Logger,
     ) -> "tuple[bool, HeartbeatReceiver | None]":
         """
@@ -32,6 +33,7 @@ def create(
                 HeartbeatReceiver.__private_key,
                 connection,
                 heartbeat_period_s,
+                disconnect_threshold,
             )
         except:  # pylint: disable=bare-except
             local_logger.error("Failed to create HeartbeatReceiver", True)
@@ -42,17 +44,18 @@ def __init__(
         key: object,
         connection: mavutil.mavfile,
         heartbeat_period_s: float,
+        disconnect_threshold: int,
     ) -> None:
         assert key is HeartbeatReceiver.__private_key, "Use create() method"
 
         # Do any intializiation here
         self.__connection = connection
         self.__period_s = heartbeat_period_s
         self.__missed_in_row = 0
+        self.__disconnect_threshold = disconnect_threshold
 
     def run(
         self,
-        disconnect_threshold: int,
         local_logger: logger.Logger,
     ) -> "tuple[bool, str]":
         """
@@ -74,7 +77,9 @@ def run(
         else:
             self.__missed_in_row = 0
 
-        state = "Connected" if self.__missed_in_row < disconnect_threshold else "Disconnected"
+        state = (
+            "Connected" if self.__missed_in_row < self.__disconnect_threshold else "Disconnected"
+        )
         local_logger.info(f"State: {state}", True)
         return True, state
 

modules/heartbeat/heartbeat_receiver_worker.py

@@ -52,6 +52,7 @@ def heartbeat_receiver_worker(
     ok, instance = heartbeat_receiver.HeartbeatReceiver.create(
         connection,
         heartbeat_period_s,
+        disconnect_threshold,
         local_logger,
     )
     if not ok:
@@ -63,7 +64,7 @@ def heartbeat_receiver_worker(
     while not controller.is_exit_requested():
         controller.check_pause()
         try:
-            _ok, state = instance.run(disconnect_threshold, local_logger)
+            _ok, state = instance.run(local_logger)
         except Exception as e:  # pylint: disable=broad-except
             local_logger.error(f"Heartbeat receive failed: {e}", True)
             state = "Disconnected"