Added code for logging data in flight interface and data merge

modules/data_merge/data_merge_worker.py

@@ -2,13 +2,16 @@
 Merges detections and telemetry by time.
 """
 
+import os
+import pathlib
 import queue
 
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
 from .. import detections_and_time
 from .. import merged_odometry_detections
 from .. import odometry_and_time
+from ..common.logger.modules import logger
 
 
 def data_merge_worker(
@@ -28,7 +31,15 @@ def data_merge_worker(
     Merge work is done in the worker process as the queues and control mechanisms
     are naturally available.
     """
-    # TODO: Logging?
+
+    worker_name = pathlib.Path(__file__).stem
+    process_id = os.getpid()
+    result, local_logger = logger.Logger.create(f"{worker_name}_{process_id}", True)
+    if not result:
+        print("ERROR: Worker failed to create logger")
+        return
+
+    assert local_logger is not None
 
     # Mitigate potential deadlock caused by early program exit
     try:
@@ -39,7 +50,7 @@ def data_merge_worker(
             timeout=timeout,
         )
     except queue.Empty:
-        print("ERROR: Queue timed out on startup")
+        local_logger.error("Queue timed out on startup", True)
         return
 
     while not controller.is_exit_requested():
@@ -72,15 +83,27 @@ def data_merge_worker(
                 previous_odometry.odometry_data,
                 detections.detections,
             )
+
+            odometry_timestamp = previous_odometry.timestamp
         else:
             result, merged = merged_odometry_detections.MergedOdometryDetections.create(
                 current_odometry.odometry_data,
                 detections.detections,
             )
 
+            odometry_timestamp = current_odometry.timestamp
+
+        local_logger.info(
+            f"Odometry timestamp: {odometry_timestamp}, detections timestamp: {detections.timestamp}, detections - odometry: {detections.timestamp - odometry_timestamp}",
+            True,
+        )
+
         if not result:
+            local_logger.warning("Failed to create merged odometry and detections", True)
             continue
 
+        local_logger.info(str(merged), True)
+
         # Get Pylance to stop complaining
         assert merged is not None
 

modules/detections_and_time.py

@@ -108,10 +108,15 @@ def __str__(self) -> str:
         To string.
         """
         return (
-            f"{self.__class__}, time: {int(self.timestamp)}, size: {len(self)}\n"
-            + f"{self.detections}"
+            f"{self.__class__}, time: {self.timestamp}, size: {len(self)}\n" + f"{self.detections}"
         )
 
+    def __repr__(self) -> str:
+        """
+        For collections (e.g. list).
+        """
+        return str(self)
+
     def __len__(self) -> int:
         """
         Gets the number of detected objects.

modules/flight_interface/flight_interface.py

@@ -87,7 +87,17 @@ def run(self) -> "tuple[bool, odometry_and_time.OdometryAndTime | None]":
 
         # Get Pylance to stop complaining
         assert odometry_local is not None
-        return odometry_and_time.OdometryAndTime.create(odometry_local)
+
+        result, odometry_and_time_object = odometry_and_time.OdometryAndTime.create(odometry_local)
+        if not result:
+            return False, None
+
+        # Get Pylance to stop complaining
+        assert odometry_and_time_object is not None
+
+        self.__logger.info(str(odometry_and_time_object), True)
+
+        return True, odometry_and_time_object
 
     def apply_decision(self, cmd: decision_command.DecisionCommand) -> bool:
         """

modules/odometry_and_time.py

@@ -47,4 +47,4 @@ def __str__(self) -> str:
         """
         To string.
         """
-        return f"{self.__class__}, time: {int(self.timestamp)}\n" + f"{self.odometry_data}"
+        return f"{self.__class__}, time: {self.timestamp}\n" + f"{self.odometry_data}"