combined all logging together

modules/communications/communications.py

@@ -1,13 +1,20 @@
+"""
+Logs data and forwards it.
+"""
+
 import time
+
+from .. import detection_in_world
+from ..common.logger.modules import logger
 from ..common.mavlink.modules import drone_odometry
-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 detection_in_world_global_from_local
+from ..common.mavlink.modules import drone_odometry_local
+from ..common.mavlink.modules import local_global_conversion
 
 
 class Communications:
-    """ """
+    """
+    Currently logs data only.
+    """
 
     __create_key = object()
 
@@ -19,6 +26,10 @@ def create(
     ) -> "tuple[bool, Communications | None]":
         """
         Logs data and forwards it.
+
+        home_location: Take-off location of drone.
+
+        Returns: Success, class object.
         """
 
         return True, Communications(cls.__create_key, home_location, local_logger)
@@ -38,19 +49,39 @@ def __init__(
         self.__logger = local_logger
 
     def run(
-        self, detections_in_world: list[DetectionInWorld]
-    ) -> tuple[bool, list[DetectionInWorld] | None]:
+        self, detections_in_world: list[detection_in_world.DetectionInWorld]
+    ) -> tuple[bool, list[detection_in_world.DetectionInWorld] | None]:
 
         detections_in_world_global = []
         for detection_in_world in detections_in_world:
-            result, detection_in_world_global = detection_in_world_global_from_local(
-                self.__home_location, detection_in_world
+            # TODO: Change this when the conversion interface is changed
+            north = detection_in_world.centre[0]
+            east = detection_in_world.centre[1]
+            down = 0
+
+            result, drone_position_local = drone_odometry_local.DronePositionLocal.create(
+                north,
+                east,
+                down,
+            )
+            if not result:
+                self.__logger.warning(
+                    f"Could not convert DetectionInWorld to DronePositionLocal:\ndetection in world: {detection_in_world}"
+                )
+                return False, None
+
+            result, detection_in_world_global = (
+                local_global_conversion.drone_position_global_from_local(
+                    self.__home_location, drone_position_local
+                )
             )
 
             if not result:
                 # Log nothing if at least one of the conversions failed
-                self.__logger.error("conversion failed")
-                return False, detections_in_world
+                self.__logger.warning(
+                    f"drone_position_global_from_local conversion failed:\nhome_location: {self.__home_location}\ndrone_position_local: {drone_position_local}"
+                )
+                return False, None
 
             detections_in_world_global.append(detection_in_world_global)
 

modules/detections_and_time.py

@@ -57,6 +57,12 @@ def __str__(self) -> str:
         """
         return f"cls: {self.label}, conf: {self.confidence}, bounds: {self.x_1} {self.y_1} {self.x_2} {self.y_2}"
 
+    def __repr__(self) -> str:
+        """
+        For collections (e.g. list).
+        """
+        return str(self)
+
     def get_centre(self) -> "tuple[float, float]":
         """
         Gets the xy centre of the bounding box.