fixing code and linter issues

modules/auto_landing/auto_landing.py

@@ -1,13 +1,14 @@
+""" 
+Auto-landing script.
+"""
+
 import math
 
 from ..common.modules.logger import logger
 from .. import detections_and_time
 
 
 class AutoLanding:
-    """ "
-    Auto-landing script.
-    """
 
     __create_key = object()
 
@@ -16,20 +17,26 @@ def create(
         cls,
         fov_x: float,
         fov_y: float,
+        im_h: float,
+        im_w: float,
         local_logger: logger.Logger,
     ) -> "tuple [bool, AutoLanding | None ]":
         """
         fov_x: The horizontal camera field of view in degrees.
         fov_y: The vertical camera field of view in degrees.
+        im_w: Width of image.
+        im_h: Height of image.
         """
 
-        return True, AutoLanding(cls.__create_key, fov_x, fov_y, local_logger)
+        return True, AutoLanding(cls.__create_key, fov_x, fov_y, im_w, im_h, local_logger)
 
     def __init__(
         self,
         class_private_create_key: object,
         fov_x: float,
         fov_y: float,
+        im_h: float,
+        im_w: float,
         local_logger: logger.Logger,
     ) -> None:
         """
@@ -39,6 +46,8 @@ def __init__(
 
         self.fov_x = fov_x
         self.fov_y = fov_y
+        self.im_h = im_h
+        self.im_w = im_w
         self.__logger = local_logger
 
     def run(self, height: float) -> "tuple[float, float, float]":
@@ -49,15 +58,11 @@ def run(self, height: float) -> "tuple[float, float, float]":
 
         Return: Tuple of the x and y angles in radians respectively and the target distance in meters.
         """
-        x_center, y_center = detections_and_time.Detection.get_centre()
 
-        top_left, top_right, _, bottom_right = detections_and_time.Detection.get_corners()
-
-        im_w = abs(top_right - top_left)
-        im_h = abs(top_right - bottom_right)
+        x_center, y_center = detections_and_time.Detection.get_centre()
 
-        angle_x = (x_center - im_w / 2) * (self.fov_x * (math.pi / 180)) / im_w
-        angle_y = (y_center - im_h / 2) * (self.fov_y * (math.pi / 180)) / im_h
+        angle_x = (x_center - self.im_w / 2) * (self.fov_x * (math.pi / 180)) / self.im_w
+        angle_y = (y_center - self.im_h / 2) * (self.fov_y * (math.pi / 180)) / self.im_h
 
         self.__logger.info(f"X angle (rad): {angle_x}", True)
         self.__logger.info(f"Y angle (rad): {angle_y}", True)

modules/auto_landing/auto_landing_worker.py

@@ -14,10 +14,18 @@
 def auto_landing_worker(
     fov_x: float,
     fov_y: float,
+    im_h: float,
+    im_w: float,
     input_queue: queue_proxy_wrapper.QueueProxyWrapper,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
 ) -> None:
+    """
+    Worker process.
+
+    input_queue and output_queue are data queues.
+    controller is how the main process communicates to this worker process.
+    """
 
     worker_name = pathlib.Path(__file__).stem
     process_id = os.getpid()
@@ -31,7 +39,7 @@ def auto_landing_worker(
 
     local_logger.info("Logger initialized", True)
 
-    result, auto_lander = auto_landing.AutoLanding.create(fov_x, fov_y, local_logger)
+    result, auto_lander = auto_landing.AutoLanding.create(fov_x, fov_y, im_h, im_w, local_logger)
 
     if not result:
         local_logger.error("Worker failed to create class object", True)