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Phase 2 completed #40

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33bbaa9
Phase 2 completed
Jan 19, 2026
95c93ad
Reformatted with black
Jan 20, 2026
b758fc2
Fixed a few more issues
Jan 20, 2026
bece705
Fixed linters
Jan 28, 2026
cecc9b2
Fix heartbeat sender test timer to account for wait_heartbeat()
Feb 5, 2026
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159 changes: 159 additions & 0 deletions bootcamp_main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,10 +30,21 @@
# ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
# =================================================================================================
# Set queue max sizes (<= 0 for infinity)
HEARTBEAT_RECEIVER_QUEUE_MAX_SIZE = 5
TELEMETRY_QUEUE_MAX_SIZE = 5
COMMAND_QUEUE_MAX_SIZE = 5

# Set worker counts
HEARTBEAT_SENDER_WORKER_COUNT = 1
HEARTBEAT_RECEIVER_WORKER_COUNT = 1
TELEMETRY_WORKER_COUNT = 1
COMMAND_WORKER_COUNT = 1

# Any other constants
# Target position for the drone to face and match altitude
TARGET = command.Position(10, 20, 30)
# Run duration in seconds
RUN_DURATION = 100

# =================================================================================================
# ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
Expand Down Expand Up @@ -74,43 +85,191 @@ 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
# Heartbeat receiver outputs connection status to main
heartbeat_receiver_queue = queue_proxy_wrapper.QueueProxyWrapper(
mp_manager,
HEARTBEAT_RECEIVER_QUEUE_MAX_SIZE,
)
# Telemetry outputs TelemetryData to Command worker
telemetry_to_command_queue = queue_proxy_wrapper.QueueProxyWrapper(
mp_manager,
TELEMETRY_QUEUE_MAX_SIZE,
)
# Command outputs command status strings to main
command_queue = queue_proxy_wrapper.QueueProxyWrapper(
mp_manager,
COMMAND_QUEUE_MAX_SIZE,
)

# Create worker properties for each worker type (what inputs it takes, how many workers)
# Heartbeat sender
result, heartbeat_sender_properties = worker_manager.WorkerProperties.create(
count=HEARTBEAT_SENDER_WORKER_COUNT,
target=heartbeat_sender_worker.heartbeat_sender_worker,
work_arguments=(connection,),
input_queues=[],
output_queues=[],
controller=controller,
local_logger=main_logger,
)
if not result:
main_logger.error("Failed to create arguments for Heartbeat Sender")
return -1

assert heartbeat_sender_properties is not None

# Heartbeat receiver
result, heartbeat_receiver_properties = worker_manager.WorkerProperties.create(
count=HEARTBEAT_RECEIVER_WORKER_COUNT,
target=heartbeat_receiver_worker.heartbeat_receiver_worker,
work_arguments=(connection,),
input_queues=[],
output_queues=[heartbeat_receiver_queue],
controller=controller,
local_logger=main_logger,
)
if not result:
main_logger.error("Failed to create arguments for Heartbeat Receiver")
return -1

assert heartbeat_receiver_properties is not None

# Telemetry
result, telemetry_properties = worker_manager.WorkerProperties.create(
count=TELEMETRY_WORKER_COUNT,
target=telemetry_worker.telemetry_worker,
work_arguments=(connection,),
input_queues=[],
output_queues=[telemetry_to_command_queue],
controller=controller,
local_logger=main_logger,
)
if not result:
main_logger.error("Failed to create arguments for Telemetry")
return -1

assert telemetry_properties is not None

# Command
result, command_properties = worker_manager.WorkerProperties.create(
count=COMMAND_WORKER_COUNT,
target=command_worker.command_worker,
work_arguments=(connection, TARGET),
input_queues=[telemetry_to_command_queue],
output_queues=[command_queue],
controller=controller,
local_logger=main_logger,
)
if not result:
main_logger.error("Failed to create arguments for Command")
return -1

assert command_properties is not None

# Create the workers (processes) and obtain their managers
worker_managers: list[worker_manager.WorkerManager] = []

result, heartbeat_sender_manager = worker_manager.WorkerManager.create(
worker_properties=heartbeat_sender_properties,
local_logger=main_logger,
)
if not result:
main_logger.error("Failed to create manager for Heartbeat Sender")
return -1

assert heartbeat_sender_manager is not None
worker_managers.append(heartbeat_sender_manager)

result, heartbeat_receiver_manager = worker_manager.WorkerManager.create(
worker_properties=heartbeat_receiver_properties,
local_logger=main_logger,
)
if not result:
main_logger.error("Failed to create manager for Heartbeat Receiver")
return -1

assert heartbeat_receiver_manager is not None
worker_managers.append(heartbeat_receiver_manager)

result, telemetry_manager = worker_manager.WorkerManager.create(
worker_properties=telemetry_properties,
local_logger=main_logger,
)
if not result:
main_logger.error("Failed to create manager for Telemetry")
return -1

assert telemetry_manager is not None
worker_managers.append(telemetry_manager)

result, command_manager = worker_manager.WorkerManager.create(
worker_properties=command_properties,
local_logger=main_logger,
)
if not result:
main_logger.error("Failed to create manager for Command")
return -1

assert command_manager is not None
worker_managers.append(command_manager)

# Start worker processes
for manager in worker_managers:
manager.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
start_time = time.time()
is_connected = True

while (time.time() - start_time) < RUN_DURATION and is_connected:
# Read connection status from heartbeat receiver
try:
status = heartbeat_receiver_queue.queue.get(timeout=0.1)
if status is not None:
main_logger.info(f"Connection status: {status}")
if status == "disconnected":
is_connected = False
except queue.Empty:
pass

# Read command status from command worker
try:
command_status = command_queue.queue.get(timeout=0.1)
if command_status is not None:
main_logger.info(f"Command: {command_status}")
except queue.Empty:
pass

# Stop the processes
controller.request_exit()

main_logger.info("Requested exit")

# Fill and drain queues from END TO START
command_queue.fill_and_drain_queue()
telemetry_to_command_queue.fill_and_drain_queue()
heartbeat_receiver_queue.fill_and_drain_queue()

main_logger.info("Queues cleared")

# Clean up worker processes
for manager in worker_managers:
manager.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
10 changes: 10 additions & 0 deletions logs/2026-01-14_23-24-01/heartbeat_sender_drone_26060.log
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23:41:06: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 40] Logger initialized
23:41:55: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
23:41:56: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
23:41:57: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
23:41:58: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
23:41:59: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
23:42:00: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
23:42:01: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
23:42:02: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
23:42:03: [ERROR] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 56] Drone: Sent incorrect message type or didn't recieve a message in time: None
1 change: 1 addition & 0 deletions logs/2026-01-14_23-24-01/main.log
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23:24:01: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\common\modules\logger\logger_main_setup.py | setup_main_logger | 62] main logger initialized
5 changes: 5 additions & 0 deletions logs/2026-01-14_23-41-54/heartbeat_sender_drone_26244.log
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23:43:51: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 40] Logger initialized
23:44:03: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
23:44:04: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
23:44:05: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
23:44:06: [ERROR] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 61] Drone: Most likely sent heartbeats too fast: measured period was 0.9728507995605469s
14 changes: 14 additions & 0 deletions logs/2026-01-14_23-41-54/heartbeat_sender_worker_31068.log
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23:41:54: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 49] Logger initialized
23:41:54: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 63] HeartbeatSender created successfully
23:41:54: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:41:55: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:41:56: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:41:57: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:41:58: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:41:59: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:42:00: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:42:01: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:42:02: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:42:03: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:42:04: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:42:05: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 80] Heartbeat sender worker exiting
2 changes: 2 additions & 0 deletions logs/2026-01-14_23-41-54/main.log
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23:41:54: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\common\modules\logger\logger_main_setup.py | setup_main_logger | 62] main logger initialized
23:41:54: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\test_heartbeat_sender.py | main | 91] Connected!
15 changes: 15 additions & 0 deletions logs/2026-01-14_23-44-02/heartbeat_sender_worker_1000.log
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23:44:02: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 49] Logger initialized
23:44:02: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 63] HeartbeatSender created successfully
23:44:02: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:44:03: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:44:04: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:44:05: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:44:06: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:44:07: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:44:08: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:44:09: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:44:10: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:44:11: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:44:12: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:44:13: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 73] Heartbeat sent
23:44:14: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 80] Heartbeat sender worker exiting
2 changes: 2 additions & 0 deletions logs/2026-01-14_23-44-02/main.log
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23:44:02: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\common\modules\logger\logger_main_setup.py | setup_main_logger | 62] main logger initialized
23:44:02: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\test_heartbeat_sender.py | main | 91] Connected!
4 changes: 4 additions & 0 deletions logs/2026-01-18_10-53-02/heartbeat_sender_drone_36704.log
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10:53:04: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 40] Logger initialized
10:53:06: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
10:53:07: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 71] Drone: Recieved heartbeat!
10:53:08: [ERROR] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\mock_drones\heartbeat_sender_drone.py | main | 56] Drone: Sent incorrect message type or didn't recieve a message in time: None
15 changes: 15 additions & 0 deletions logs/2026-01-18_10-53-02/heartbeat_sender_worker_35588.log
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10:53:05: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 49] Logger initialized
10:53:05: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 63] HeartbeatSender created successfully
10:53:05: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 75] Heartbeat sent
10:53:06: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 75] Heartbeat sent
10:53:07: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 75] Heartbeat sent
10:53:08: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 75] Heartbeat sent
10:53:09: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 75] Heartbeat sent
10:53:10: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 75] Heartbeat sent
10:53:11: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 75] Heartbeat sent
10:53:12: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 75] Heartbeat sent
10:53:13: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 75] Heartbeat sent
10:53:14: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 75] Heartbeat sent
10:53:15: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 75] Heartbeat sent
10:53:16: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 75] Heartbeat sent
10:53:17: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\heartbeat\heartbeat_sender_worker.py | heartbeat_sender_worker | 85] Heartbeat sender worker exiting
2 changes: 2 additions & 0 deletions logs/2026-01-18_10-53-02/main.log
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10:53:02: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\modules\common\modules\logger\logger_main_setup.py | setup_main_logger | 62] main logger initialized
10:53:04: [INFO] [C:\Users\Mark\Desktop\WARG\autonomy-bootcamp-2026-p2\tests\integration\test_heartbeat_sender.py | main | 91] Connected!
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