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Finished phase 2 of bootcamp #47

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143 changes: 142 additions & 1 deletion bootcamp_main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,10 +30,20 @@
# ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
# =================================================================================================
# Set queue max sizes (<= 0 for infinity)
STATUS_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
HEARTBEAT_PERIOD = 1.0
TELEMETRY_TIMEOUT = 1.0
TARGET = command.Position(10, 20, 30)

# =================================================================================================
# ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
Expand Down Expand Up @@ -74,43 +84,174 @@ def main() -> int:
# ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
# =============================================================================================
# Create a worker controller
controller = worker_controller.WorkerController()

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

# Create queues
status_queue = queue_proxy_wrapper.QueueProxyWrapper(manager, STATUS_QUEUE_MAX_SIZE)
telemetry_queue = queue_proxy_wrapper.QueueProxyWrapper(manager, TELEMETRY_QUEUE_MAX_SIZE)
command_queue = queue_proxy_wrapper.QueueProxyWrapper(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, HEARTBEAT_PERIOD),
input_queues=[],
output_queues=[],
controller=controller,
local_logger=main_logger,
)

if not result:
print("Failed to create properties for HeartbeatSender")
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, HEARTBEAT_PERIOD),
input_queues=[],
output_queues=[status_queue],
controller=controller,
local_logger=main_logger,
)

if not result:
print("Failed to create properties for HeartbeatRececiver")
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, TELEMETRY_TIMEOUT),
input_queues=[],
output_queues=[telemetry_queue],
controller=controller,
local_logger=main_logger,
)

if not result:
print("Failed to create properties 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_queue],
output_queues=[command_queue],
controller=controller,
local_logger=main_logger,
)

if not result:
print("Failed to create properties for Command")
return -1

assert command_properties is not None

# Create the workers (processes) and obtain their managers
worker_managers = []

# Start worker processes
result, heartbeat_sender_manager = worker_manager.WorkerManager.create(
worker_properties=heartbeat_sender_properties,
local_logger=main_logger,
)
if not result:
print("Failed to create manager for HeartbeatSender")
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:
print("Failed to create manager for HeartbeatReceiver")
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:
print("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:
print("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
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@ellyokes253 ellyokes253 Feb 9, 2026

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need to check for drone disconnecting

start_time = time.time()
while time.time() - start_time < 100:
try:
status = status_queue.queue.get(timeout=0.1)
main_logger.info(f"Heartbeat status: {status}")
except queue.Empty:
pass

try:
command_string = command_queue.queue.get(timeout=0.1)
main_logger.info(f"Command: {command_string}")
except queue.Empty:
pass
Comment on lines +228 to +232
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@ellyokes253 ellyokes253 Feb 9, 2026

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this can go in the same try and except block


# Stop the processes
controller.request_exit()

main_logger.info("Requested exit")

# Fill and drain queues from END TO START
telemetry_queue.fill_and_drain_queue()
status_queue.fill_and_drain_queue()
command_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
28 changes: 28 additions & 0 deletions logs/command/command_drone_31992.log
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23:37:48: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 45] Logger initialized
23:37:48: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:48: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:51: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:52: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:52: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:53: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:53: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:54: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:54: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:55: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:55: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:56: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:56: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:57: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:57: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:58: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:58: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:59: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:37:59: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:38:00: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:38:00: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:38:01: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:38:01: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:38:02: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:38:02: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:38:03: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 76] Received a valid command
23:38:06: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/mock_drones/command_drone.py | main | 83] Passed!
27 changes: 27 additions & 0 deletions logs/command/command_worker_31997.log
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23:37:48: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 46] Logger initialized
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@ellyokes253 ellyokes253 Feb 9, 2026

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your average velocity should be here

23:37:48: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE ALTITUDE: 1
23:37:48: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE ALTITUDE: -1
23:37:51: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: 63.43494882292201
23:37:52: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: 90.0
23:37:52: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: 116.56505117707799
23:37:53: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: 45.0
23:37:53: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: 63.43494882292201
23:37:54: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: 90.0
23:37:54: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: 26.565051177077976
23:37:55: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: 45.0
23:37:55: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: 90.0
23:37:56: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: 45.0
23:37:56: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: 90.0
23:37:57: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: 135.0
23:37:57: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: -26.565051177077994
23:37:58: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: -45.0
23:37:58: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: -90.0
23:37:59: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: -45.0
23:37:59: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: -90.0
23:38:00: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: -135.0
23:38:00: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: -63.43494882292201
23:38:01: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: -90.0
23:38:01: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: -116.565051177078
23:38:02: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: -45.0
23:38:02: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: -63.43494882292201
23:38:03: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 64] Command: CHANGE YAW: -90.0
28 changes: 28 additions & 0 deletions logs/command/main.log
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23:37:48: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/modules/common/modules/logger/logger_main_setup.py | setup_main_logger | 62] main logger initialized
23:37:48: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | main | 124] Connected!
23:37:48: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE ALTITUDE: 1
23:37:48: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE ALTITUDE: -1
23:37:51: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: 63.43494882292201
23:37:52: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: 90.0
23:37:52: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: 116.56505117707799
23:37:53: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: 45.0
23:37:53: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: 63.43494882292201
23:37:54: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: 90.0
23:37:54: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: 26.565051177077976
23:37:55: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: 45.0
23:37:55: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: 90.0
23:37:56: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: 45.0
23:37:56: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: 90.0
23:37:57: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: 135.0
23:37:57: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: -26.565051177077994
23:37:58: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: -45.0
23:37:58: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: -90.0
23:37:59: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: -45.0
23:37:59: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: -90.0
23:38:00: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: -135.0
23:38:00: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: -63.43494882292201
23:38:01: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: -90.0
23:38:01: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: -116.565051177078
23:38:02: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: -45.0
23:38:02: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: -63.43494882292201
23:38:03: [INFO] [/Users/sahij/Desktop/autonomy/autonomy-bootcamp-2025-p2/tests/integration/test_command.py | read_queue | 72] Main: CHANGE YAW: -90.0
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