Phase 2: autonomy bootcamp by Chanpreet077 · Pull Request #35 · UWARG/autonomy-bootcamp-2025-p2

Chanpreet077 · 2025-12-30T20:19:07Z

Implemented heartbeat sender/receiver, telemetry, and command workers and ran tests

ellyokes253 · 2025-12-30T21:43:24Z

logs/heartbeat_receiver/main.log

@@ -0,0 +1,2 @@
+18:47:03: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\common\modules\logger\logger_main_setup.py | setup_main_logger | 62] main logger initialized


in your main there should be the status of either "connected" or "disconnected" logged

ellyokes253 · 2025-12-30T21:44:04Z

logs/heartbeat_receiver/heartbeat_receiver_worker_30296.log

@@ -0,0 +1,2 @@
+18:47:06: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver_worker.py | heartbeat_receiver_worker | 57] Logger initialized


it would also be beneficial for including log statements here too

ellyokes253 · 2025-12-30T21:44:36Z

logs/heartbeat_sender/heartbeat_sender_worker_34636.log

@@ -0,0 +1,2 @@
+15:39:28: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 46] Logger initialized
+15:39:28: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 57] send_period_s=1


same comment as above, nice to see log statements to know what's happening in the worker

ellyokes253 · 2025-12-30T21:50:33Z

modules/command/command.py

+        yaw_error = (desired_yaw_deg - current_yaw_deg + 180) % 360 - 180
+
+        if abs(yaw_error) > 5:
+            direction = 1 if yaw_error >= 0 else -1


logic is flipped

modules/command/command_worker.py

ellyokes253 · 2025-12-30T21:59:06Z

modules/heartbeat/heartbeat_receiver_worker.py

+    controller: worker_controller.WorkerController,
+    output_queue: queue_proxy_wrapper.QueueProxyWrapper,


generally, to align with WorkerProperties used in bootcamp_main.py, the input/output queues come before the controller

ellyokes253 · 2025-12-30T22:00:00Z

modules/heartbeat/heartbeat_receiver_worker.py

+    ok, heartbeat_receiver_instance = heartbeat_receiver.HeartbeatReceiver.create(
+        connection, disconnect_threshold, local_logger
+    )
+    if not ok or heartbeat_receiver_instance is None:


the tuple that the object returns enables you to only need to check the boolean if the instantiation exists rather than having to check both items in the tuple - this applies to the rest of your code

ellyokes253 · 2025-12-30T22:06:24Z

modules/telemetry/telemetry.py

+                if time.time() - start_time > timeout_s:
+                    self._logger.warning("Telemetry timeout, restarting")
+                    start_time = time.time()
+                    self._last_attitude = None
+                    self._last_position = None


instead of nesting the 1 second timeout logic requirement, it may make more sense + add to the readabilty of your code to add it into the the requirement of your while loop instead of having it as while True

ellyokes253 · 2025-12-30T22:12:50Z

bootcamp_main.py

+        try:
+            report = report_queue.queue.get_nowait()
+            main_logger.info(f"Command report: {report}", True)
+        except queue.Empty:
+            pass


you can include this in the same try and except block from above

ellyokes253 · 2025-12-30T22:13:11Z

reviewed!

ellyokes253 · 2026-01-03T04:08:03Z

logs/heartbeat_receiver_log/main.log

+23:20:11: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\test_heartbeat_receiver.py | read_queue | 71] Receiver output: {'got_heartbeat': True, 'connected': True}
+23:20:13: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\test_heartbeat_receiver.py | read_queue | 71] Receiver output: {'got_heartbeat': False, 'connected': True}
+23:20:15: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\test_heartbeat_receiver.py | read_queue | 71] Receiver output: {'got_heartbeat': False, 'connected': True}
+23:20:17: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\test_heartbeat_receiver.py | read_queue | 71] Receiver output: {'got_heartbeat': False, 'connected': True}


the requirements of the bootcamp specify an output of either "connected" or "disconnected"

modules/telemetry/telemetry_worker.py

ellyokes253 · 2026-01-03T04:13:47Z

modules/heartbeat/heartbeat_receiver_worker.py

+        if not is_connected:
+            local_logger.info("Drone disconnected, stopping heartbeat receiver", True)
+            break


no need for this logic here, it's used in bootcamp_main.py

ellyokes253 · 2026-01-03T04:16:23Z

tests/integration/test_command.py

+    controller: worker_controller.WorkerController,
+    input_queue: queue_proxy_wrapper.QueueProxyWrapper,
+    output_queue: queue_proxy_wrapper.QueueProxyWrapper,


to match the syntax used in WorkerProperties that's in bootcamp_main.py, the input/output queues generally come before the controller in the parameters

ellyokes253 · 2026-01-03T04:17:43Z

tests/integration/test_telemetry.py

+    controller: worker_controller.WorkerController,
+    output_queue: queue_proxy_wrapper.QueueProxyWrapper,  # Add any necessary arguments


ellyokes253 · 2026-01-03T04:19:57Z

reviewed!

ellyokes253 · 2026-01-05T16:34:53Z

logs/heartbeat_receiver_log/main.log

+02:30:28: [INFO] [C:\dev\autonomy-bootcamp-2025-p2\tests\integration\test_heartbeat_receiver.py | read_queue | 71] Receiver output: Connected
+02:30:29: [INFO] [C:\dev\autonomy-bootcamp-2025-p2\tests\integration\test_heartbeat_receiver.py | read_queue | 71] Receiver output: Connected
+02:30:30: [INFO] [C:\dev\autonomy-bootcamp-2025-p2\tests\integration\test_heartbeat_receiver.py | read_queue | 71] Receiver output: Connected
+02:30:31: [INFO] [C:\dev\autonomy-bootcamp-2025-p2\tests\integration\test_heartbeat_receiver.py | read_queue | 71] Receiver output: Connected


this needs to show when it disconnects as well

Chanpreet077 added 8 commits December 30, 2025 15:17

Phase 2: autonomy bootcamp

051f64f

Format code with black

91335ba

added return type annotations

01baae5

formatted with black

92147fc

Add missing type annotations to heartbeat receiver

724db65

Fix constant naming to satisfy pylint

0298c49

Fix linting issues (black + type hints + pylint)

30af5aa

formatting with black

0b1b92e

ellyokes253 reviewed Dec 30, 2025

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ellyokes253 reviewed Dec 30, 2025

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Chanpreet077 added 2 commits December 30, 2025 23:05

new changes after review

bb46fe6

made changes after review

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ellyokes253 reviewed Jan 3, 2026

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modules/telemetry/telemetry_worker.py Show resolved Hide resolved

ellyokes253 reviewed Jan 3, 2026

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made changes according to review

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ellyokes253 reviewed Jan 5, 2026

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		@@ -0,0 +1,2 @@
		18:47:03: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\common\modules\logger\logger_main_setup.py \| setup_main_logger \| 62] main logger initialized

		@@ -0,0 +1,2 @@
		18:47:06: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver_worker.py \| heartbeat_receiver_worker \| 57] Logger initialized

		@@ -0,0 +1,2 @@
		15:39:28: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_sender_worker.py \| heartbeat_sender_worker \| 46] Logger initialized
		15:39:28: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_sender_worker.py \| heartbeat_sender_worker \| 57] send_period_s=1

		controller: worker_controller.WorkerController,
		output_queue: queue_proxy_wrapper.QueueProxyWrapper,

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Chanpreet077 commented Dec 30, 2025

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ellyokes253 Dec 30, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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ellyokes253 commented Dec 30, 2025

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ellyokes253 commented Jan 3, 2026

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ellyokes253 Dec 30, 2025 •

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