Made fixes

UWARG · Nov 2, 2024 · 4b65ad5 · 4b65ad5
1 parent caf435d
commit 4b65ad5
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Showing 4 changed files with 10 additions and 18 deletions.
diff --git a/modules/communications/communications.py b/modules/communications/communications.py
@@ -2,7 +2,7 @@
 from modules.common.logger.modules import logger
 from modules.common.mavlink.modules.drone_odometry import DronePosition
 from modules.detection_in_world import DetectionInWorld
-from modules.flight_interface.local_global_conversion import drone_position_global_from_local
+from modules.flight_interface.local_global_conversion import detection_in_world_global_from_local
 
 
 class Communications:
@@ -37,22 +37,14 @@ def run(
         self, detections_in_world: list[DetectionInWorld], home_location: DronePosition
     ) -> tuple[bool, list[DetectionInWorld] | None]:
         for detection_in_world in detections_in_world:
-            if len(detection_in_world.centre) == 3:
-                result, detection_in_world_global = drone_position_global_from_local(
-                    home_location,
-                    detection_in_world.centre[0],
-                    detection_in_world.centre[1],
-                    detection_in_world.centre[2],
-                )
-            elif len(detection_in_world.centre) == 2:
-                result, detection_in_world_global = drone_position_global_from_local(
-                    home_location, detection_in_world.centre[0], detection_in_world.centre[1], 0
-                )
+            result, detection_in_world_global = detection_in_world_global_from_local(
+                home_location, detection_in_world
+            )
 
             if not result:
                 self.__logger.error("conversion failed")
                 return False, detections_in_world
 
-            self.__logger.info(time.time() + ": " + str(detection_in_world_global))
-        
+            self.__logger.info(str(time.time()) + ": " + str(detection_in_world_global))
+
         return True, detections_in_world
diff --git a/modules/communications/communications_worker.py b/modules/communications/communications_worker.py
@@ -5,7 +5,7 @@
 import os
 import pathlib
 
-from modules.communications import communications
+from . import communications
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
 from ..common.logger.modules import logger

diff --git a/modules/flight_interface/flight_interface.py b/modules/flight_interface/flight_interface.py
@@ -73,7 +73,7 @@ def run(self) -> "tuple[bool, odometry_and_time.OdometryAndTime | None, drone_od
         """
         result, odometry = self.controller.get_odometry()
         if not result:
-            return False, None
+            return False, None, None
 
         # Get Pylance to stop complaining
         assert odometry is not None

diff --git a/modules/flight_interface/flight_interface_worker.py b/modules/flight_interface/flight_interface_worker.py
@@ -19,7 +19,7 @@ def flight_interface_worker(
     period: float,
     input_queue: queue_proxy_wrapper.QueueProxyWrapper,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
-    communications_ouutput_queue: queue_proxy_wrapper.QueueProxyWrapper,
+    communications_output_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
 ) -> None:
     """
@@ -66,7 +66,7 @@ def flight_interface_worker(
 
         output_queue.queue.put(value)
         if not home_location_sent:
-            communications_ouutput_queue.put(home_location)
+            communications_output_queue.queue.put(home_location)
 
         # Check for decision commands
         if not input_queue.queue.empty():