Completed phase 2, almost lost my mind

bootcamp_main.py

@@ -5,7 +5,6 @@
 """
 
 import multiprocessing as mp
-import queue
 import time
 
 from pymavlink import mavutil
@@ -22,100 +21,143 @@
 from utilities.workers import worker_controller
 from utilities.workers import worker_manager
 
-
-# MAVLink connection
 CONNECTION_STRING = "tcp:localhost:12345"
 
 # =================================================================================================
 #                            ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
 # =================================================================================================
-# Set queue max sizes (<= 0 for infinity)
 
-# Set worker counts
+QUEUE_SIZE = 10
+
+NUM_HEARTBEAT_SENDERS = 1
+NUM_HEARTBEAT_RECEIVERS = 1
+NUM_TELEMETRY_WORKERS = 1
+NUM_COMMAND_WORKERS = 1
 
-# Any other constants
+TARGET_POSITION = command.Position(10, 20, 30)
 
 # =================================================================================================
 #                            ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
 # =================================================================================================
 
 
 def main() -> int:
-    """
-    Main function.
-    """
-    # Configuration settings
+    """Main entry point."""
+
     result, config = read_yaml.open_config(logger.CONFIG_FILE_PATH)
     if not result:
         print("ERROR: Failed to load configuration file")
         return -1
 
-    # Get Pylance to stop complaining
     assert config is not None
 
-    # Setup main logger
     result, main_logger, _ = logger_main_setup.setup_main_logger(config)
     if not result:
         print("ERROR: Failed to create main logger")
         return -1
 
-    # Get Pylance to stop complaining
     assert main_logger is not None
 
-    # Create a connection to the drone. Assume that this is safe to pass around to all processes
-    # In reality, this will not work, but to simplify the bootamp, preetend it is allowed
-    # To test, you will run each of your workers individually to see if they work
-    # (test "drones" are provided for you test your workers)
-    # NOTE: If you want to have type annotations for the connection, it is of type mavutil.mavfile
     connection = mavutil.mavlink_connection(CONNECTION_STRING)
-    connection.wait_heartbeat(timeout=30)  # Wait for the "drone" to connect
-
-    # =============================================================================================
-    #                          ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
-    # =============================================================================================
-    # Create a worker controller
-
-    # Create a multiprocess manager for synchronized queues
-
-    # Create queues
+    connection.wait_heartbeat(timeout=30)
+
+    controller = worker_controller.WorkerController()
+    manager = mp.Manager()
+
+    status_queue = queue_proxy_wrapper.QueueProxyWrapper(manager, QUEUE_SIZE)
+    telemetry_queue = queue_proxy_wrapper.QueueProxyWrapper(manager, QUEUE_SIZE)
+    command_queue = queue_proxy_wrapper.QueueProxyWrapper(manager, QUEUE_SIZE)
+
+    workers = []
+
+    # HEARTBEAT SENDER
+    workers.append(
+        worker_manager.WorkerManager(
+            heartbeat_sender_worker.heartbeat_sender_worker,
+            NUM_HEARTBEAT_SENDERS,
+            (connection, controller),
+            main_logger,
+        )
+    )
+
+    # HEARTBEAT RECEIVER
+    workers.append(
+        worker_manager.WorkerManager(
+            heartbeat_receiver_worker.heartbeat_receiver_worker,
+            NUM_HEARTBEAT_RECEIVERS,
+            (connection, controller, status_queue),
+            main_logger,
+        )
+    )
+
+    # TELEMETRY
+    workers.append(
+        worker_manager.WorkerManager(
+            telemetry_worker.telemetry_worker,
+            NUM_TELEMETRY_WORKERS,
+            (connection, controller, telemetry_queue),
+            main_logger,
+        )
+    )
+
+    # COMMAND
+    workers.append(
+        worker_manager.WorkerManager(
+            command_worker.command_worker,
+            NUM_COMMAND_WORKERS,
+            (
+                connection,
+                TARGET_POSITION,
+                controller,
+                telemetry_queue,
+                command_queue,
+            ),
+            main_logger,
+        )
+    )
+
+    for w in workers:
+        w.start()
 
-    # Create worker properties for each worker type (what inputs it takes, how many workers)
-    # Heartbeat sender
-
-    # Heartbeat receiver
+    main_logger.info("Started")
 
-    # Telemetry
+    start_time = time.time()
+    run_time = 100
 
-    # Command
+    try:
+        while time.time() - start_time < run_time:
 
-    # Create the workers (processes) and obtain their managers
+            while not status_queue.queue.empty():
+                status = status_queue.queue.get()
+                main_logger.info(f"Heartbeat status: {status}")
 
-    # Start worker processes
+                if status == "Disconnected":
+                    main_logger.error("Drone disconnected — stopping system")
+                    raise KeyboardInterrupt
 
-    main_logger.info("Started")
+            while not command_queue.queue.empty():
+                cmd = command_queue.queue.get()
+                main_logger.info(cmd)
 
-    # 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
+            time.sleep(0.1)
 
-    # Stop the processes
+    except KeyboardInterrupt:
+        main_logger.info("Shutdown requested")
 
+    controller.request_exit()
     main_logger.info("Requested exit")
 
-    # Fill and drain queues from END TO START
+    command_queue.fill_and_drain_queue()
+    telemetry_queue.fill_and_drain_queue()
+    status_queue.fill_and_drain_queue()
 
     main_logger.info("Queues cleared")
 
-    # Clean up worker processes
+    for w in workers:
+        w.join()
 
     main_logger.info("Stopped")
 
-    # We can reset controller in case we want to reuse it
-    # Alternatively, create a new WorkerController instance
-
-    # =============================================================================================
-    #                          ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
-    # =============================================================================================
-
     return 0
 
 

documentation/main_multiprocess_example.py

@@ -18,7 +18,6 @@
 from utilities.workers import worker_controller
 from utilities.workers import worker_manager
 
-
 # Play with these numbers to see queue bottlenecks
 COUNTUP_TO_ADD_RANDOM_QUEUE_MAX_SIZE = 5
 ADD_RANDOM_TO_CONCATENATOR_QUEUE_MAX_SIZE = 5

documentation/tests/unit/test_add_or_multiply.py

@@ -12,7 +12,6 @@
 
 import add_or_multiply
 
-
 # Test functions use test fixture signature names and access class privates
 # No enable
 # pylint: disable=protected-access,redefined-outer-name

documentation/tests/unit/test_pytest_example.py

@@ -8,7 +8,6 @@
 
 import pytest
 
-
 # Test functions use test fixture signature names and access class privates
 # No enable
 # pylint: disable=protected-access,redefined-outer-name

logs/2026-02-12_18-40-42/command_drone_25376.log

@@ -0,0 +1,28 @@
+18:40:42: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 44] Logger initialized
+18:40:42: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:43: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:46: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:46: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:47: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:47: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:48: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:48: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:49: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:49: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:50: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:50: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:51: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:51: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:52: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:52: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:53: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:53: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:54: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:54: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:55: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:55: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:56: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:56: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:57: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:40:57: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 75] Received a valid command
+18:41:01: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\command_drone.py | main | 82] Passed!

logs/2026-02-12_18-40-42/command_worker_1108.log

@@ -0,0 +1 @@
+18:40:42: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\command\command_worker.py | command_worker | 37] Logger initialized

logs/2026-02-12_18-40-42/main.log

@@ -0,0 +1,3 @@
+18:40:42: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\common\modules\logger\logger_main_setup.py | setup_main_logger | 62] main logger initialized
+18:40:42: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\test_command.py | main | 131] Connected!
+18:40:42: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\test_command.py | read_queue | 76] CHANGE_ALTITUDE: 1

logs/2026-02-12_18-44-26/heartbeat_receiver_drone_11844.log

@@ -0,0 +1,13 @@
+18:44:27: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | main | 41] Logger initialized
+18:44:27: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:44:28: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:44:29: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:44:30: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:44:31: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:44:40: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:44:41: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:44:42: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:44:43: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:44:44: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:44:46: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:44:47: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | main | 78] Passesd!

logs/2026-02-12_18-44-26/heartbeat_receiver_worker_7668.log

@@ -0,0 +1,12 @@
+18:44:27: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver_worker.py | heartbeat_receiver_worker | 44] Logger initialized
+18:44:27: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver.py | run | 64] Connected
+18:44:29: [WARNING] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver.py | run | 70] Missed heartbeat
+18:44:30: [WARNING] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver.py | run | 70] Missed heartbeat
+18:44:32: [WARNING] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver.py | run | 70] Missed heartbeat
+18:44:36: [ERROR] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver.py | run | 75] Disconnected
+18:44:40: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver.py | run | 64] Connected
+18:44:41: [WARNING] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver.py | run | 70] Missed heartbeat
+18:44:43: [WARNING] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver.py | run | 70] Missed heartbeat
+18:44:45: [WARNING] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver.py | run | 70] Missed heartbeat
+18:44:47: [WARNING] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver.py | run | 70] Missed heartbeat
+18:44:48: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\heartbeat\heartbeat_receiver_worker.py | heartbeat_receiver_worker | 74] Heartbeat receiver exiting

logs/2026-02-12_18-44-26/main.log

@@ -0,0 +1,2 @@
+18:44:26: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\modules\common\modules\logger\logger_main_setup.py | setup_main_logger | 62] main logger initialized
+18:44:27: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\test_heartbeat_receiver.py | main | 114] Connected!

logs/2026-02-12_18-45-51/heartbeat_receiver_drone_25376.log

@@ -0,0 +1,13 @@
+18:45:51: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | main | 41] Logger initialized
+18:45:51: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:45:52: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:45:53: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:45:54: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:45:55: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:46:04: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:46:05: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:46:06: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:46:07: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:46:08: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:46:10: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | send_heartbeats | 58] Drone: Sent a heartbeat
+18:46:11: [INFO] [C:\Users\Jeyas\Downloads\WARGBootcamp\autonomy-bootcamp-2025-p2\tests\integration\mock_drones\heartbeat_receiver_drone.py | main | 78] Passesd!