phase 2 completed by tomalmog · Pull Request #30 · UWARG/autonomy-bootcamp-2025-p2

tomalmog · 2025-11-04T21:07:48Z

No description provided.

ellyokes253 · 2025-11-21T00:01:32Z

logs/command/main.log

+15:56:35: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/common/modules/logger/logger_main_setup.py | setup_main_logger | 62] main logger initialized
+15:56:36: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/test_command.py | main | 144] Connected!
+15:56:36: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/test_command.py | read_queue | 81] CHANGE ALTITUDE: 1.0
+15:56:36: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/test_command.py | read_queue | 81] CHANGE ALTITUDE: -1.0


there should be changing yaw values updated here too

ellyokes253 · 2025-11-21T00:02:35Z

logs/telemetry/telemetry_worker_90489.log

@@ -0,0 +1 @@
+15:56:21: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/telemetry/telemetry_worker.py | telemetry_worker | 45] Logger initialized


things should still be logged in your worker too

ellyokes253 · 2025-11-21T00:07:28Z

modules/command/command.py

+                delta_rad += 2 * math.pi
+            delta_deg = math.degrees(delta_rad)
+            if abs(delta_deg) > angle_tolerance_deg:
+                direction = 1 if delta_deg >= 0 else -1


flipped logic

ellyokes253 · 2025-11-21T00:09:39Z

modules/command/command_worker.py

+        5.0,  # default turning speed (deg/s)
+        local_logger,
+    )
+    if not ok or instance is None:


you can just check the boolean instead of checking both

ellyokes253 · 2025-11-21T00:10:57Z

modules/command/command_worker.py

+        if data is None:
+            break


just because there's nothing in the queue doesn't mean it should break

ellyokes253 · 2025-11-21T00:11:46Z

modules/command/command_worker.py

+        except Exception as e:  # pylint: disable=broad-except
+            local_logger.error(f"Command run failed: {e}", True)
+            success, output = False, None
+        if success and output is not None:


again only need to check boolean here

ellyokes253 · 2025-11-21T00:19:01Z

modules/heartbeat/heartbeat_receiver_worker.py

+            local_logger.error(f"Heartbeat receive failed: {e}", True)
+            state, missed = "Disconnected", 1
+        if missed:
+            missed_in_row += 1
+            if missed_in_row >= disconnect_threshold:
+                state = "Disconnected"
+        else:
+            missed_in_row = 0
+            state = "Connected"


this logic should go in your run

ellyokes253 · 2025-11-21T00:21:59Z

modules/heartbeat/heartbeat_sender_worker.py

    # =============================================================================================
    # Instantiate class object (heartbeat_sender.HeartbeatSender)
+    ok, instance = heartbeat_sender.HeartbeatSender.create(connection, heartbeat_period_s)
+    if not ok or instance is None:


same comment as above

ellyokes253 · 2025-11-21T00:43:14Z

modules/telemetry/telemetry_worker.py

    # =============================================================================================
    # Instantiate class object (telemetry.Telemetry)
+    ok, instance = telemetry.Telemetry.create(connection, timeout_s, local_logger)
+    if not ok or instance is None:


same as before

ellyokes253 · 2025-11-21T00:43:25Z

modules/telemetry/telemetry_worker.py

+        except Exception as e:  # pylint: disable=broad-except
+            local_logger.error(f"Telemetry gather failed: {e}", True)
+            success, data = False, None
+        if success and data is not None:


same as before

ellyokes253 · 2025-11-21T00:44:12Z

tests/integration/test_command.py

+        if item is None:
+            break


again, an empty queue shouldn't make it break

ellyokes253 · 2025-11-21T00:44:57Z

tests/integration/test_heartbeat_receiver.py

+        if item is None:
+            break


same as above

ellyokes253 · 2025-11-21T00:47:18Z

tests/integration/test_telemetry.py

+        if item is None:
+            break


same as above

ellyokes253 · 2025-11-21T00:49:10Z

bootcamp_main.py

+            HEIGHT_TOLERANCE_M,
+        ),
+        input_queues=[telem_to_command_queue],
+        output_queues=[],  # In a real system, add a main queue if needed


there still needs to be an output queue here

ellyokes253 · 2025-11-21T00:49:26Z

bootcamp_main.py

+        ok, mgr = worker_manager.WorkerManager.create(
+            worker_properties=props, local_logger=main_logger
+        )
+        if not ok or mgr is None:


again only need to check boolean

ellyokes253 · 2025-11-21T00:50:30Z

reviewed!

ellyokes253 · 2025-11-21T05:06:53Z

logs/command/command_worker_48793.log

+23:52:12: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.667, 0.000, 0.067)
+23:52:12: [INFO] CHANGE YAW: -63.43494882292201
+23:52:12: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 0.000, 0.065)
+23:52:12: [INFO] CHANGE YAW: -90.0


this should be in your main log

this still needs to be fixed

ellyokes253 · 2025-11-21T05:10:00Z

modules/heartbeat/heartbeat_receiver.py

-        args,  # Put your own arguments here
-    ):
+        disconnect_threshold: int,
+        local_logger: logger.Logger,


i would put this in your init instead of having it as a param for your run

ellyokes253 · 2025-11-21T05:12:04Z

bootcamp_main.py

+        try:
+            cmd_out = command_to_main_queue.queue.get(timeout=0.1)
+            if cmd_out is not None:
+                main_logger.info(f"Command: {cmd_out}")
+        except:  # pylint: disable=bare-except
+            pass


this can put in the same try except block

ellyokes253 · 2025-11-21T05:12:23Z

reviewed!

ellyokes253 · 2025-11-21T05:53:11Z

bootcamp_main.py

+            if current_state == "Disconnected":
+                break
+            # Drain any command outputs without blocking
+            while True:


you don't need the extra while True, it can still be in the same overall while loop

ellyokes253 · 2025-11-21T05:53:28Z

reviewed!

ellyokes253 · 2025-11-26T20:01:03Z

modules/heartbeat/heartbeat_receiver_worker.py

+    while not controller.is_exit_requested():
+        controller.check_pause()
+        try:
+            _ok, state = instance.run(local_logger)


no need to make this a tuple if you don't need the boolean

Tom Almog and others added 5 commits November 4, 2025 16:06

phase 2 completed

fbcf9cf

fixed formatting with black

eee0afa

removed unused import. we pray this works

405a27b

fixed linters

470a8f7

kept only the needed logs

f9e64dd

ellyokes253 reviewed Nov 21, 2025

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tests/integration/test_heartbeat_receiver.py Outdated

Comment on lines 75 to 76

if item is None:

break

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same as above

ellyokes253 reviewed Nov 21, 2025

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tests/integration/test_telemetry.py Outdated

Comment on lines 73 to 74

if item is None:

break

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same as above

ellyokes253 reviewed Nov 21, 2025

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fixed according to review

c1d2ada

ellyokes253 reviewed Nov 21, 2025

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removed inner loop

0b73661

tomalmog force-pushed the main branch from f050f39 to 0b73661 Compare November 25, 2025 01:19

ellyokes253 reviewed Nov 26, 2025

View reviewed changes

		@@ -0,0 +1 @@
		15:56:21: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/telemetry/telemetry_worker.py \| telemetry_worker \| 45] Logger initialized

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tomalmog commented Nov 4, 2025

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ellyokes253 commented Nov 21, 2025

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ellyokes253 commented Nov 21, 2025

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ellyokes253 commented Nov 21, 2025

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