Fix landing pad tracking return (#207)

modules/decision/landing_pad_tracking.py

@@ -54,10 +54,14 @@ def mark_confirmed_positive(self, detection: object_in_world.ObjectInWorld) -> N
 
     def run(
         self, detections: "list[object_in_world.ObjectInWorld]"
-    ) -> "tuple[bool, object_in_world.ObjectInWorld | None]":
+    ) -> "tuple[bool, list[object_in_world.ObjectInWorld] | None]":
         """
-        Updates the list of unconfirmed positives and returns the a first confirmed positive if
-        one exists, else the unconfirmed positive with the lowest variance.
+        Updates the list of unconfirmed positives and returns the confirmed positives if
+        they exist, otherwise returns the unconfirmed positives.
+
+        detections: New detections.
+
+        Return: List of confirmed/unconfirmed positives.
         """
         for detection in detections:
             match_found = False
@@ -82,16 +86,16 @@ def run(
             # If new landing pad, add to list of unconfirmed positives
             self.__unconfirmed_positives.append(detection)
 
-        # If there are confirmed positives, return the first one
+        # If there are confirmed positives, return them
         if len(self.__confirmed_positives) > 0:
-            return True, self.__confirmed_positives[0]
+            return True, self.__confirmed_positives
 
-        # If the list is empty, all landing pads have been visited, none are viable
-        if len(self.__unconfirmed_positives) == 0:
-            return False, None
+        # If there are unconfirmed positives, return them
+        if len(self.__unconfirmed_positives) > 0:
+            # Sort list by variance in ascending order
+            self.__unconfirmed_positives.sort(key=lambda x: x.spherical_variance)
 
-        # Sort list by variance in ascending order
-        self.__unconfirmed_positives.sort(key=lambda x: x.spherical_variance)
+            return True, self.__unconfirmed_positives
 
-        # Return detection with lowest variance
-        return True, self.__unconfirmed_positives[0]
+        # All landing pads have been visited, none are viable
+        return False, None

tests/unit/test_landing_pad_tracking.py

@@ -384,7 +384,10 @@ def test_run_with_empty_detections_list(
         """
         Test run method with empty detections list.
         """
+        # Run
         result, actual = tracker.run([])
+
+        # Check
         assert not result
         assert actual is None
 
@@ -396,20 +399,21 @@ def test_run_one_input(
         """
         Test run with only 1 input.
         """
-        expected_output = detections_1[2]
-        expected_unconfirmed_positives = [
+        # Setup
+        expected = [
             detections_1[2],
             detections_1[1],
             detections_1[4],
             detections_1[0],
             detections_1[3],
         ]
 
+        # Run
         result, actual = tracker.run(detections_1)
 
+        # Check
         assert result
-        assert actual == expected_output
-        assert tracker._LandingPadTracking__unconfirmed_positives == expected_unconfirmed_positives  # type: ignore
+        assert actual == expected
 
     def test_run_one_input_similar_detections(
         self,
@@ -419,19 +423,20 @@ def test_run_one_input_similar_detections(
         """
         Test run with only 1 input where 2 landing pads are similar.
         """
-        expected_output = detections_3[2]
-        expected_unconfirmed_positives = [
+        # Setup
+        expected = [
             detections_3[2],
             detections_3[1],
             detections_3[4],
             detections_3[3],
         ]
 
+        # Run
         result, actual = tracker.run(detections_3)
 
+        # Check
         assert result
-        assert actual == expected_output
-        assert tracker._LandingPadTracking__unconfirmed_positives == expected_unconfirmed_positives  # type: ignore
+        assert actual == expected
 
     def test_run_multiple_inputs(
         self,
@@ -442,8 +447,8 @@ def test_run_multiple_inputs(
         """
         Test run with 2 inputs where some landing pads are similar.
         """
-        expected_output = detections_2[0]
-        expected_unconfirmed_positives = [
+        # Setup
+        expected = [
             detections_2[0],
             detections_1[2],
             detections_2[1],
@@ -454,12 +459,15 @@ def test_run_multiple_inputs(
             detections_1[3],
         ]
 
-        tracker.run(detections_1)
+        # Run
+        result, _ = tracker.run(detections_1)
+        assert result
+
         result, actual = tracker.run(detections_2)
 
+        # Check
         assert result
-        assert actual == expected_output
-        assert tracker._LandingPadTracking__unconfirmed_positives == expected_unconfirmed_positives  # type: ignore
+        assert actual == expected
 
     def test_run_with_confirmed_positive(
         self,
@@ -469,14 +477,18 @@ def test_run_with_confirmed_positive(
         """
         Test run when there is a confirmed positive.
         """
-        _, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        # Setup
+        result, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        assert result
         assert confirmed_positive is not None
 
         tracker._LandingPadTracking__confirmed_positives.append(confirmed_positive)  # type: ignore
-        expected = confirmed_positive
+        expected = [confirmed_positive]
 
+        # Run
         result, actual = tracker.run(detections_1)
 
+        # Check
         assert result
         assert actual == expected
 
@@ -488,12 +500,17 @@ def test_run_with_false_positive(
         """
         Test to see if run function doesn't add landing pads that are similar to false positives.
         """
-        _, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        # Setup
+        result, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
+        assert result
         assert false_positive is not None
 
         tracker._LandingPadTracking__false_positives.append(false_positive)  # type: ignore
-        expected_unconfirmed_positives = [detections_2[3], detections_2[2], detections_2[4]]
+        expected = [detections_2[3], detections_2[2], detections_2[4]]
 
-        tracker.run(detections_2)
+        # Run
+        result, actual = tracker.run(detections_2)
 
-        assert tracker._LandingPadTracking__unconfirmed_positives == expected_unconfirmed_positives  # type: ignore
+        # Check
+        assert result
+        assert actual == expected