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phase 2 completed #30

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fbcf9cf
phase 2 completed
Nov 4, 2025
eee0afa
fixed formatting with black
Nov 4, 2025
405a27b
removed unused import. we pray this works
Nov 4, 2025
470a8f7
fixed linters
Nov 4, 2025
f9e64dd
kept only the needed logs
Nov 20, 2025
c1d2ada
fixed according to review
Nov 21, 2025
0b73661
removed inner loop
Nov 21, 2025
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119 changes: 118 additions & 1 deletion bootcamp_main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,6 @@
"""

import multiprocessing as mp
import queue
import time

from pymavlink import mavutil
Expand All @@ -30,10 +29,24 @@
# ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
# =================================================================================================
# Set queue max sizes (<= 0 for infinity)
TELEM_TO_COMMAND_QUEUE_MAX = 32
HEARTBEAT_RECV_TO_MAIN_QUEUE_MAX = 64
COMMAND_TO_MAIN_QUEUE_MAX = 64

# Set worker counts
HEARTBEAT_SENDER_COUNT = 1
HEARTBEAT_RECEIVER_COUNT = 1
TELEMETRY_COUNT = 1
COMMAND_COUNT = 1

# Any other constants
HEARTBEAT_PERIOD_S = 1.0
DISCONNECT_THRESHOLD = 5
TELEMETRY_PERIOD_S = 1.0
Z_SPEED_M_S = 1.0
ANGLE_TOLERANCE_DEG = 5.0
HEIGHT_TOLERANCE_M = 0.5
TARGET_POSITION = command.Position(10, 20, 30)

# =================================================================================================
# ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
Expand Down Expand Up @@ -74,43 +87,147 @@ def main() -> int:
# ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
# =============================================================================================
# Create a worker controller
controller = worker_controller.WorkerController()

# Create a multiprocess manager for synchronized queues
mp_manager = mp.Manager()

# Create queues
telem_to_command_queue = queue_proxy_wrapper.QueueProxyWrapper(
mp_manager, TELEM_TO_COMMAND_QUEUE_MAX
)
hb_recv_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
mp_manager, HEARTBEAT_RECV_TO_MAIN_QUEUE_MAX
)
command_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
mp_manager, COMMAND_TO_MAIN_QUEUE_MAX
)

# Create worker properties for each worker type (what inputs it takes, how many workers)
# Heartbeat sender
hb_sender_result, hb_sender_props = worker_manager.WorkerProperties.create(
count=HEARTBEAT_SENDER_COUNT,
target=heartbeat_sender_worker.heartbeat_sender_worker,
work_arguments=(connection, HEARTBEAT_PERIOD_S),
input_queues=[],
output_queues=[],
controller=controller,
local_logger=main_logger,
)
if not hb_sender_result:
return -1

# Heartbeat receiver
hb_recv_result, hb_recv_props = worker_manager.WorkerProperties.create(
count=HEARTBEAT_RECEIVER_COUNT,
target=heartbeat_receiver_worker.heartbeat_receiver_worker,
work_arguments=(
connection,
HEARTBEAT_PERIOD_S,
DISCONNECT_THRESHOLD,
),
input_queues=[],
output_queues=[hb_recv_to_main_queue],
controller=controller,
local_logger=main_logger,
)
if not hb_recv_result:
return -1

# Telemetry
telemetry_result, telemetry_props = worker_manager.WorkerProperties.create(
count=TELEMETRY_COUNT,
target=telemetry_worker.telemetry_worker,
work_arguments=(connection, TELEMETRY_PERIOD_S),
input_queues=[],
output_queues=[telem_to_command_queue],
controller=controller,
local_logger=main_logger,
)
if not telemetry_result:
return -1

# Command
command_result, command_props = worker_manager.WorkerProperties.create(
count=COMMAND_COUNT,
target=command_worker.command_worker,
work_arguments=(
connection,
TARGET_POSITION,
TELEMETRY_PERIOD_S,
Z_SPEED_M_S,
ANGLE_TOLERANCE_DEG,
HEIGHT_TOLERANCE_M,
),
input_queues=[telem_to_command_queue],
output_queues=[command_to_main_queue],
controller=controller,
local_logger=main_logger,
)
if not command_result:
return -1

# Create the workers (processes) and obtain their managers
worker_managers: list[worker_manager.WorkerManager] = []
for props in (hb_sender_props, hb_recv_props, telemetry_props, command_props):
# Get Pylance to stop complaining
assert props is not None
ok, mgr = worker_manager.WorkerManager.create(
worker_properties=props, local_logger=main_logger
)
if not ok:
return -1
assert mgr is not None
worker_managers.append(mgr)

# Start worker processes
for mgr in worker_managers:
mgr.start_workers()

main_logger.info("Started")

# Main's work: read from all queues that output to main, and log any commands that we make
# Continue running for 100 seconds or until the drone disconnects
end_time = time.time() + 100
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
# Drain any command outputs without blocking
while True:
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@ellyokes253 ellyokes253 Nov 21, 2025

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

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

# Stop the processes
controller.request_exit()

main_logger.info("Requested exit")

# Fill and drain queues from END TO START
telem_to_command_queue.fill_and_drain_queue()
hb_recv_to_main_queue.fill_and_drain_queue()
command_to_main_queue.fill_and_drain_queue()

main_logger.info("Queues cleared")

# Clean up worker processes
for mgr in worker_managers:
mgr.join_workers()

main_logger.info("Stopped")

# We can reset controller in case we want to reuse it
# Alternatively, create a new WorkerController instance
controller.clear_exit()

# =============================================================================================
# ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
Expand Down
28 changes: 28 additions & 0 deletions logs/command/command_drone_48796.log
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23:51:57: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 45] Logger initialized
23:51:57: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:51:58: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:01: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:01: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:02: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:02: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:03: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:03: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:04: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:04: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:05: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:05: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:06: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:06: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:07: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:07: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:08: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:08: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:09: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:09: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:10: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:10: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:11: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:11: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:12: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:12: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:52:16: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/command_drone.py | main | 83] Passed!
58 changes: 58 additions & 0 deletions logs/command/command_worker_48793.log
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23:51:57: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command_worker.py | command_worker | 52] Logger initialized
23:51:57: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 0.000, 4.000)
23:51:57: [INFO] CHANGE ALTITUDE: 1.0
23:51:58: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 0.000, 1.000)
23:51:58: [INFO] CHANGE ALTITUDE: -1.0
23:51:58: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 0.000, 0.667)
23:51:59: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 0.000, 0.500)
23:51:59: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 0.000, 0.400)
23:52:00: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 0.000, 0.333)
23:52:00: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 0.000, 0.286)
23:52:01: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 2.500, 0.250)
23:52:01: [INFO] CHANGE YAW: 63.43494882292201
23:52:01: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 4.444, 0.222)
23:52:01: [INFO] CHANGE YAW: 90.0
23:52:02: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 6.000, 0.200)
23:52:02: [INFO] CHANGE YAW: 116.56505117707799
23:52:02: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (1.818, 5.455, 0.182)
23:52:02: [INFO] CHANGE YAW: 45.0
23:52:03: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (3.333, 5.000, 0.167)
23:52:03: [INFO] CHANGE YAW: 63.43494882292201
23:52:03: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (4.615, 4.615, 0.154)
23:52:03: [INFO] CHANGE YAW: 90.0
23:52:04: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (4.286, 2.857, 0.143)
23:52:04: [INFO] CHANGE YAW: 26.565051177077994
23:52:04: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (4.000, 1.333, 0.133)
23:52:04: [INFO] CHANGE YAW: 45.0
23:52:05: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (3.750, 0.000, 0.125)
23:52:05: [INFO] CHANGE YAW: 90.0
23:52:05: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (2.353, 0.000, 0.118)
23:52:05: [INFO] CHANGE YAW: 45.0
23:52:06: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (1.111, 0.000, 0.111)
23:52:06: [INFO] CHANGE YAW: 90.0
23:52:06: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 0.000, 0.105)
23:52:06: [INFO] CHANGE YAW: 135.0
23:52:07: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 1.000, 0.100)
23:52:07: [INFO] CHANGE YAW: -26.565051177077994
23:52:07: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 1.905, 0.095)
23:52:07: [INFO] CHANGE YAW: -45.0
23:52:08: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.000, 2.727, 0.091)
23:52:08: [INFO] CHANGE YAW: -90.0
23:52:08: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (0.870, 2.609, 0.087)
23:52:08: [INFO] CHANGE YAW: -45.0
23:52:09: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (1.667, 2.500, 0.083)
23:52:09: [INFO] CHANGE YAW: -90.0
23:52:09: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (2.400, 2.400, 0.080)
23:52:09: [INFO] CHANGE YAW: -135.0
23:52:10: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (2.308, 1.538, 0.077)
23:52:10: [INFO] CHANGE YAW: -63.43494882292201
23:52:10: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (2.222, 0.741, 0.074)
23:52:10: [INFO] CHANGE YAW: -90.0
23:52:11: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (2.143, 0.000, 0.071)
23:52:11: [INFO] CHANGE YAW: -116.56505117707799
23:52:11: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/command/command.py | run | 100] Average velocity: (1.379, 0.000, 0.069)
23:52:11: [INFO] CHANGE YAW: -45.0
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
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@ellyokes253 ellyokes253 Nov 21, 2025

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this should be in your main log

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@ellyokes253 ellyokes253 Nov 21, 2025

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this still needs to be fixed

4 changes: 4 additions & 0 deletions logs/command/main.log
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23:51:56: [INFO] [/Users/tomalmog/Clubs/WARG/p2/modules/common/modules/logger/logger_main_setup.py | setup_main_logger | 62] main logger initialized
23:51:57: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/test_command.py | main | 144] Connected!
23:51:57: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/test_command.py | read_queue | 81] CHANGE ALTITUDE: 1.0
23:51:58: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/test_command.py | read_queue | 81] CHANGE ALTITUDE: -1.0
13 changes: 13 additions & 0 deletions logs/heartbeat_receiver/heartbeat_receiver_drone_48745.log
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23:51:18: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | main | 42] Logger initialized
23:51:18: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | send_heartbeats | 59] Drone: Sent a heartbeat
23:51:19: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | send_heartbeats | 59] Drone: Sent a heartbeat
23:51:20: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | send_heartbeats | 59] Drone: Sent a heartbeat
23:51:21: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | send_heartbeats | 59] Drone: Sent a heartbeat
23:51:22: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | send_heartbeats | 59] Drone: Sent a heartbeat
23:51:31: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | send_heartbeats | 59] Drone: Sent a heartbeat
23:51:32: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | send_heartbeats | 59] Drone: Sent a heartbeat
23:51:33: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | send_heartbeats | 59] Drone: Sent a heartbeat
23:51:34: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | send_heartbeats | 59] Drone: Sent a heartbeat
23:51:35: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | send_heartbeats | 59] Drone: Sent a heartbeat
23:51:37: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | send_heartbeats | 59] Drone: Sent a heartbeat
23:51:38: [INFO] [/Users/tomalmog/Clubs/WARG/p2/tests/integration/mock_drones/heartbeat_receiver_drone.py | main | 79] Passesd!
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