rebase to main for common repo refactor

main_2024.py

@@ -86,8 +86,8 @@ def main() -> int:
         VIDEO_INPUT_SAVE_PREFIX = str(pathlib.Path(logging_path, VIDEO_INPUT_SAVE_NAME_PREFIX))
 
         DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]
-        detect_target_option_int = config["detect_target"]["option"]
-        DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(detect_target_option_int)
+        DETECT_TARGET_OPTION_INT = config["detect_target"]["option"]
+        DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(DETECT_TARGET_OPTION_INT)
         DETECT_TARGET_DEVICE = "cpu" if args.cpu else config["detect_target"]["device"]
         DETECT_TARGET_MODEL_PATH = config["detect_target"]["model_path"]
         DETECT_TARGET_OVERRIDE_FULL_PRECISION = args.full

modules/communications/communications.py

@@ -5,10 +5,10 @@
 import time
 
 from .. import detection_in_world
-from ..common.logger.modules import logger
-from ..common.mavlink.modules import drone_odometry
-from ..common.mavlink.modules import drone_odometry_local
-from ..common.mavlink.modules import local_global_conversion
+from ..common.modules.logger import logger
+from ..common.modules import position_global
+from ..common.modules import position_local
+from ..common.modules.mavlink import local_global_conversion
 
 
 class Communications:
@@ -21,7 +21,7 @@ class Communications:
     @classmethod
     def create(
         cls,
-        home_location: drone_odometry.DronePosition,
+        home_position: position_global.PositionGlobal,
         local_logger: logger.Logger,
     ) -> "tuple[bool, Communications | None]":
         """
@@ -32,20 +32,20 @@ def create(
         Returns: Success, class object.
         """
 
-        return True, Communications(cls.__create_key, home_location, local_logger)
+        return True, Communications(cls.__create_key, home_position, local_logger)
 
     def __init__(
         self,
         class_private_create_key: object,
-        home_location: drone_odometry.DronePosition,
+        home_position: position_global.PositionGlobal,
         local_logger: logger.Logger,
     ) -> None:
         """
         Private constructor, use create() method.
         """
         assert class_private_create_key is Communications.__create_key, "Use create() method"
 
-        self.__home_location = home_location
+        self.__home_location = home_position
         self.__logger = local_logger
 
     def run(
@@ -59,19 +59,20 @@ def run(
             east = detection_in_world.centre[1]
             down = 0
 
-            result, drone_position_local = drone_odometry_local.DronePositionLocal.create(
+            result, drone_position_local = position_local.PositionLocal.create(
                 north,
                 east,
                 down,
             )
+
             if not result:
                 self.__logger.warning(
-                    f"Could not convert DetectionInWorld to DronePositionLocal:\ndetection in world: {detection_in_world}"
+                    f"Could not convert DetectionInWorld to PositionLocal:\ndetection in world: {detection_in_world}"
                 )
                 return False, None
 
             result, detection_in_world_global = (
-                local_global_conversion.drone_position_global_from_local(
+                local_global_conversion.position_global_from_position_local(
                     self.__home_location, drone_position_local
                 )
             )

modules/communications/communications_worker.py

@@ -8,19 +8,19 @@
 from . import communications
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
-from ..common.logger.modules import logger
+from ..common.modules.logger import logger
 
 
 def communications_worker(
-    home_location_queue: queue_proxy_wrapper.QueueProxyWrapper,
+    home_position_queue: queue_proxy_wrapper.QueueProxyWrapper,
     input_queue: queue_proxy_wrapper.QueueProxyWrapper,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
 ) -> None:
     """
     Worker process.
 
-    home_location: get home_location for init
+    home_position: get home_position for init
     """
 
     worker_name = pathlib.Path(__file__).stem
@@ -36,9 +36,9 @@ def communications_worker(
     local_logger.info("Logger initialized", True)
 
     # Get home location
-    home_location = home_location_queue.queue.get()
+    home_position = home_position_queue.queue.get()
 
-    result, comm = communications.Communications.create(home_location, local_logger)
+    result, comm = communications.Communications.create(home_position, local_logger)
     if not result:
         local_logger.error("Worker failed to create class object", True)
         return

modules/flight_interface/flight_interface.py

@@ -45,9 +45,9 @@ def create(
             return False, None
 
         # Get Pylance to stop complaining
-        assert home_location is not None
+        assert home_position is not None
 
-        local_logger.info(f"Home location: {home_location}", True)
+        local_logger.info(str(home_position), True)
 
         return True, FlightInterface(cls.__create_key, controller, home_position, local_logger)
 
@@ -67,11 +67,11 @@ def __init__(
         self.__home_position = home_position
         self.__logger = local_logger
 
-    def get_home_location(self) -> drone_odometry.DronePosition:
+    def get_home_position(self) -> position_global.PositionGlobal:
         """
-        Accessor for home location.
+        Accessor for home position.
         """
-        return self.__home_location
+        return self.__home_position
 
     def run(self) -> "tuple[bool, odometry_and_time.OdometryAndTime | None]":
         """

modules/flight_interface/flight_interface_worker.py

@@ -54,8 +54,8 @@ def flight_interface_worker(
     # Get Pylance to stop complaining
     assert interface is not None
 
-    home_location = interface.get_home_location()
-    communications_output_queue.queue.put(home_location)
+    home_position = interface.get_home_position()
+    communications_output_queue.queue.put(home_position)
 
     while not controller.is_exit_requested():
         controller.check_pause()