Updated

Author: HermanG05

main_2024.py

@@ -132,9 +132,10 @@ def main() -> int:
         mp_manager,
         QUEUE_MAX_SIZE,
     )
-    odometry_to_data_merge_queue = queue_proxy_wrapper.QueueProxyWrapper(
+    # Queue size of latest odometry data must be 1
+    flight_interface_to_decision_queue = queue_proxy_wrapper.QueueProxyWrapper(
         mp_manager,
-        QUEUE_MAX_SIZE,
+        1,
     )
     data_merge_to_geolocation_queue = queue_proxy_wrapper.QueueProxyWrapper(
         mp_manager,
@@ -184,7 +185,7 @@ def main() -> int:
             FLIGHT_INTERFACE_BAUD_RATE,
             FLIGHT_INTERFACE_WORKER_PERIOD,
             flight_interface_to_data_merge_queue,
-            odometry_to_data_merge_queue,
+            flight_interface_to_decision_queue,
             controller,
         ),
     )

modules/flight_interface/flight_interface_worker.py

@@ -2,8 +2,8 @@
 Gets odometry information from drone.
 """
 
+import queue
 import time
-import multiprocessing as mp
 
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
@@ -16,7 +16,7 @@ def flight_interface_worker(
     baud_rate: int,
     period: float,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
-    odometry_queue: queue_proxy_wrapper.QueueProxyWrapper,
+    most_recent_odometry_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
 ) -> None:
     """
@@ -27,8 +27,8 @@ def flight_interface_worker(
     output_queue is the data queue.
     controller is how the main process communicates to this worker process.
     """
-    if len(odometry_queue) > 1:
-        print("ERROR: Queue should have a maximum size of 1")
+    if most_recent_odometry_queue.maxsize != 1:
+        print("ERROR: most_recent_odometry_queue must have a maximum size of 1")
         return
 
     # TODO: Error handling
@@ -53,9 +53,9 @@ def flight_interface_worker(
 
         # Replace any existing odometry data with the latest odometry data
         try:
-            odometry_queue.queue.get_nowait()
-        except queue_proxy_wrapper.queue.Empty:
+            most_recent_odometry_queue.queue.get_nowait()
+        except queue.Empty:
             pass
 
-        odometry_queue.queue.put(value)
+        most_recent_odometry_queue.queue.put(value)
         output_queue.queue.put(value)

tests/integration/test_flight_interface_worker.py

@@ -16,7 +16,7 @@
 FLIGHT_INTERFACE_TIMEOUT = 10.0  # seconds
 FLIGHT_INTERFACE_BAUD_RATE = 57600  # symbol rate
 FLIGHT_INTERFACE_WORKER_PERIOD = 0.1  # seconds
-QUEUE_MAX_SIZE = 1  # Max items allowed in odometry queue
+LATEST_ODOMETRY_QUEUE_MAX_SIZE = 1  # Max items allowed in latest odometry queue
 
 
 def main() -> int:
@@ -29,7 +29,9 @@ def main() -> int:
     mp_manager = mp.Manager()
 
     out_queue = queue_proxy_wrapper.QueueProxyWrapper(mp_manager)
-    odometry_queue = queue_proxy_wrapper.QueueProxyWrapper(mp_manager, QUEUE_MAX_SIZE)
+    latest_odometry_queue = queue_proxy_wrapper.QueueProxyWrapper(
+        mp_manager, LATEST_ODOMETRY_QUEUE_MAX_SIZE
+    )
 
     worker = mp.Process(
         target=flight_interface_worker.flight_interface_worker,
@@ -39,7 +41,7 @@ def main() -> int:
             FLIGHT_INTERFACE_BAUD_RATE,
             FLIGHT_INTERFACE_WORKER_PERIOD,
             out_queue,
-            odometry_queue,
+            latest_odometry_queue,
             controller,
         ),
     )