Merge branch 'cluster-estimation-worker-integration-redo' of https://…

…github.com/UWARG/computer-vision-python into cluster-estimation-worker-integration-redo

main_2024.py

@@ -20,6 +20,7 @@
 from modules.geolocation import geolocation_worker
 from modules.geolocation import camera_properties
 from modules.cluster_estimation import cluster_estimation_worker
+from modules.cluster_estimation import cluster_estimation_worker
 from modules.common.modules.logger import logger
 from modules.common.modules.logger import logger_main_setup
 from modules.common.modules.read_yaml import read_yaml
@@ -113,6 +114,10 @@ def main() -> int:
         GEOLOCATION_CAMERA_ORIENTATION_PITCH = config["geolocation"]["camera_orientation_pitch"]
         GEOLOCATION_CAMERA_ORIENTATION_ROLL = config["geolocation"]["camera_orientation_roll"]
 
+        MIN_ACTIVATION_THRESHOLD = config["cluster_estimation"]["min_activation_threshold"]
+        MIN_NEW_POINTS_TO_RUN = config["cluster_estimation"]["min_new_points_to_run"]
+        RANDOM_STATE = config["cluster_estimation"]["random_state"]
+
         MIN_ACTIVATION_THRESHOLD = config["cluster_estimation"]["min_activation_threshold"]
         MIN_NEW_POINTS_TO_RUN = config["cluster_estimation"]["min_new_points_to_run"]
         RANDOM_STATE = config["cluster_estimation"]["random_state"]
@@ -144,6 +149,7 @@ def main() -> int:
         mp_manager,
         QUEUE_MAX_SIZE,
     )
+    geolocation_to_cluster_estimation_queue = queue_proxy_wrapper.QueueProxyWrapper(
     geolocation_to_cluster_estimation_queue = queue_proxy_wrapper.QueueProxyWrapper(
         mp_manager,
         QUEUE_MAX_SIZE,
@@ -156,6 +162,10 @@ def main() -> int:
         mp_manager,
         QUEUE_MAX_SIZE,
     )
+    cluster_estimation_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
+        mp_manager,
+        QUEUE_MAX_SIZE,
+    )
 
     result, camera_intrinsics = camera_properties.CameraIntrinsics.create(
         GEOLOCATION_RESOLUTION_X,
@@ -276,6 +286,7 @@ def main() -> int:
         ),
         input_queues=[data_merge_to_geolocation_queue],
         output_queues=[geolocation_to_cluster_estimation_queue],
+        output_queues=[geolocation_to_cluster_estimation_queue],
         controller=controller,
         local_logger=main_logger,
     )
@@ -302,6 +313,22 @@ def main() -> int:
     # Get Pylance to stop complaining
     assert cluster_estimation_worker_properties is not None
 
+    result, cluster_estimation_worker_properties = worker_manager.WorkerProperties.create(
+        count=1,
+        target=cluster_estimation_worker.cluster_estimation_worker,
+        work_arguments=(MIN_ACTIVATION_THRESHOLD, MIN_NEW_POINTS_TO_RUN, RANDOM_STATE),
+        input_queues=[geolocation_to_cluster_estimation_queue],
+        output_queues=[cluster_estimation_to_main_queue],
+        controller=controller,
+        local_logger=main_logger,
+    )
+    if not result:
+        main_logger.error("Failed to create arguments for Cluster Estimation", True)
+        return -1
+
+    # Get Pylance to stop complaining
+    assert cluster_estimation_worker_properties is not None
+
     # Create managers
     worker_managers = []
 
@@ -383,6 +410,19 @@ def main() -> int:
 
     worker_managers.append(cluster_estimation_manager)
 
+    result, cluster_estimation_manager = worker_manager.WorkerManager.create(
+        worker_properties=cluster_estimation_worker_properties,
+        local_logger=main_logger,
+    )
+    if not result:
+        main_logger.error("Failed to create manager for Cluster Estimation", True)
+        return -1
+
+    # Get Pylance to stop complaining
+    assert cluster_estimation_manager is not None
+
+    worker_managers.append(cluster_estimation_manager)
+
     # Run
     for manager in worker_managers:
         manager.start_workers()
@@ -396,9 +436,15 @@ def main() -> int:
 
         try:
             cluster_estimation_data = cluster_estimation_to_main_queue.queue.get_nowait()
+            cluster_estimation_data = cluster_estimation_to_main_queue.queue.get_nowait()
         except queue.Empty:
             cluster_estimation_data = None
+            cluster_estimation_data = None
 
+        if cluster_estimation_data is not None:
+            for object_in_world in cluster_estimation_data:
+                main_logger.debug("Cluster in world: ", True)
+                main_logger.debug(str(object_in_world))
         if cluster_estimation_data is not None:
             for object_in_world in cluster_estimation_data:
                 main_logger.debug("Cluster in world: ", True)
@@ -415,8 +461,10 @@ def main() -> int:
     flight_interface_to_data_merge_queue.fill_and_drain_queue()
     data_merge_to_geolocation_queue.fill_and_drain_queue()
     geolocation_to_cluster_estimation_queue.fill_and_drain_queue()
+    geolocation_to_cluster_estimation_queue.fill_and_drain_queue()
     flight_interface_decision_queue.fill_and_drain_queue()
     cluster_estimation_to_main_queue.fill_and_drain_queue()
+    cluster_estimation_to_main_queue.fill_and_drain_queue()
 
     for manager in worker_managers:
         manager.join_workers()