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Phase 2: autonomy bootcamp #35

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051f64f
Phase 2: autonomy bootcamp
Chanpreet077 Dec 30, 2025
91335ba
Format code with black
Chanpreet077 Dec 30, 2025
01baae5
added return type annotations
Chanpreet077 Dec 30, 2025
92147fc
formatted with black
Chanpreet077 Dec 30, 2025
724db65
Add missing type annotations to heartbeat receiver
Chanpreet077 Dec 30, 2025
0298c49
Fix constant naming to satisfy pylint
Chanpreet077 Dec 30, 2025
30af5aa
Fix linting issues (black + type hints + pylint)
Chanpreet077 Dec 30, 2025
0b1b92e
formatting with black
Chanpreet077 Dec 30, 2025
bb46fe6
new changes after review
Chanpreet077 Dec 31, 2025
41dfb60
made changes after review
Chanpreet077 Jan 1, 2026
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made changes according to review
Chanpreet077 Jan 4, 2026
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175 changes: 152 additions & 23 deletions bootcamp_main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,11 +29,15 @@
# =================================================================================================
# ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
# =================================================================================================
# Set queue max sizes (<= 0 for infinity)

# Set worker counts

# Any other constants
HEARTBEAT_MAX = 10
TELEMETRY_MAX = 10
REPORT_MAX = 10
HEARTBEAT_SEND_WORKER = 1
HEARTBEAT_REC_WORKER = 1
TELEMETRY_WORKER = 1
COMMAND_WORKER = 1
TARGET = command.Position(1.0, 1.0, 1.0)
RUNTIME = 100

# =================================================================================================
# ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
Expand Down Expand Up @@ -73,44 +77,169 @@ def main() -> int:
# =============================================================================================
# ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
# =============================================================================================
# Create a worker controller
# 1) Controller
controller = (
worker_controller.WorkerController()
) # or WorkerController(main_logger) if required

# 2) MP manager
mp_manager = mp.Manager()

# 3) Queues (QueueProxyWrapper)
heartbeat_queue = queue_proxy_wrapper.QueueProxyWrapper(mp_manager, HEARTBEAT_MAX)
telemetry_queue = queue_proxy_wrapper.QueueProxyWrapper(mp_manager, TELEMETRY_MAX)
report_queue = queue_proxy_wrapper.QueueProxyWrapper(mp_manager, REPORT_MAX)

# 4) WorkerProperties.create(...) for each worker

ok, hb_sender_props = worker_manager.WorkerProperties.create(
controller=controller,
count=HEARTBEAT_SEND_WORKER,
target=heartbeat_sender_worker.heartbeat_sender_worker,
work_arguments={
"connection": connection,
"controller": controller,
},
input_queues=[],
output_queues=[],
local_logger=main_logger,
)
if not ok:
main_logger.error("Failed to create HeartbeatSender properties")
return -1

# Create a multiprocess manager for synchronized queues
ok, hb_recv_props = worker_manager.WorkerProperties.create(
controller=controller,
count=HEARTBEAT_REC_WORKER,
target=heartbeat_receiver_worker.heartbeat_receiver_worker,
work_arguments={
"connection": connection,
"heartbeat_queue": heartbeat_queue,
"controller": controller,
},
input_queues=[],
output_queues=[heartbeat_queue],
local_logger=main_logger,
)
if not ok:
main_logger.error("Failed to create HeartbeatReceiver properties")
return -1

# Create queues
ok, telem_props = worker_manager.WorkerProperties.create(
controller=controller,
count=TELEMETRY_WORKER,
target=telemetry_worker.telemetry_worker,
work_arguments={
"connection": connection,
"telemetry_queue": telemetry_queue,
"controller": controller,
},
input_queues=[],
output_queues=[telemetry_queue],
local_logger=main_logger,
)
if not ok:
main_logger.error("Failed to create Telemetry properties")
return -1

# Create worker properties for each worker type (what inputs it takes, how many workers)
# Heartbeat sender
ok, cmd_props = worker_manager.WorkerProperties.create(
controller=controller,
count=COMMAND_WORKER,
target=command_worker.command_worker,
work_arguments={
"connection": connection,
"target": TARGET,
"telemetry_queue": telemetry_queue,
"report_queue": report_queue,
"controller": controller,
},
input_queues=[telemetry_queue],
output_queues=[report_queue],
local_logger=main_logger,
)
if not ok:
main_logger.error("Failed to create Command properties")
return -1

# Heartbeat receiver
# 5) WorkerManager.create(...) for each
ok, hb_sender_mgr = worker_manager.WorkerManager.create(
worker_properties=hb_sender_props, local_logger=main_logger
)
if not ok:
main_logger.error("Failed to create HeartbeatSender manager")
return -1

# Telemetry
ok, hb_recv_mgr = worker_manager.WorkerManager.create(
worker_properties=hb_recv_props, local_logger=main_logger
)
if not ok:
main_logger.error("Failed to create HeartbeatReceiver manager")
return -1

# Command
ok, telem_mgr = worker_manager.WorkerManager.create(
worker_properties=telem_props, local_logger=main_logger
)
if not ok:
main_logger.error("Failed to create Telemetry manager")
return -1

# Create the workers (processes) and obtain their managers
ok, cmd_mgr = worker_manager.WorkerManager.create(
worker_properties=cmd_props, local_logger=main_logger
)
if not ok:
main_logger.error("Failed to create Command manager")
return -1

# Start worker processes
# 6) start workers
hb_sender_mgr.start_workers()
hb_recv_mgr.start_workers()
telem_mgr.start_workers()
cmd_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
# 7) Main loop: read outputs
start_time = time.time()
while (time.time() - start_time) < RUNTIME:

# Stop the processes
try:
hb_status = heartbeat_queue.queue.get_nowait()
main_logger.info(f"Heartbeat status: {hb_status}", True)

main_logger.info("Requested exit")
if hb_status == "Disconnected":
main_logger.warning("Drone disconnected, exiting", True)
break
except queue.Empty:
pass

# Fill and drain queues from END TO START
try:
report = report_queue.queue.get_nowait()
main_logger.info(f"Command report: {report}", True)
except queue.Empty:
pass
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@ellyokes253 ellyokes253 Dec 30, 2025

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


time.sleep(0.1)

# 8) Stop
controller.request_exit()
main_logger.info("Requested exit")

# 9) Fill & drain queues
report_queue.fill_and_drain_queue()
telemetry_queue.fill_and_drain_queue()
heartbeat_queue.fill_and_drain_queue()
main_logger.info("Queues cleared")

# Clean up worker processes
# 10) Join workers (either direction is usually ok after drain+exit)
cmd_mgr.join_workers()
telem_mgr.join_workers()
hb_recv_mgr.join_workers()
hb_sender_mgr.join_workers()

main_logger.info("Stopped")

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

# =============================================================================================
# ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
Expand Down
28 changes: 28 additions & 0 deletions logs/command/command_drone_29508.log
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14:16:23: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 45] Logger initialized
14:16:24: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:24: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:27: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:28: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:28: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:29: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:29: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:30: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:30: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:31: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:31: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:32: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:32: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:33: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:33: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:34: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:34: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:35: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:35: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:36: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:36: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:37: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:37: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:38: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:38: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:39: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 76] Received a valid command
14:16:42: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 83] Passed!
32 changes: 32 additions & 0 deletions logs/command/command_worker_31860.log
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14:16:24: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\command\command_worker.py | command_worker | 47] Logger initialized
14:16:24: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\command\command.py | run | 102] Average velocity so far: (0.00, 0.00, 4.00)
14:16:24: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\command\command.py | run | 102] Average velocity so far: (0.00, 0.00, 1.00)
14:16:25: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\command\command.py | run | 102] Average velocity so far: (0.00, 0.00, 0.67)
14:16:25: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\command\command.py | run | 102] Average velocity so far: (0.00, 0.00, 0.50)
14:16:26: [INFO] [C:\Users\1makk\OneDrive\Documents\JavaProjects\autonomy-bootcamp-2025-p2\modules\command\command.py | run | 102] Average velocity so far: (0.00, 0.00, 0.40)
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