From 335518a115275f7a086dcebf43219e20036a3e6c Mon Sep 17 00:00:00 2001
From: Adityya Kaushal <52387864+Adityya-K@users.noreply.github.com>
Date: Wed, 22 Jan 2025 18:32:05 -0500
Subject: [PATCH] Restart workers patch with fixes (#243)

* restart worker patch with fixed commit history

* fixed black error for CI/CD

* fixed pylint error for CI/CD

* fixed pylint error for CI/CD

* added submodules

* added data checking to communication worker

* fixed code that was commented on during review

* fixed logging messages and deleted deprecated code

* formatted code with black
---
 modules/cluster_estimation/cluster_estimation_worker.py | 4 +++-
 modules/communications/communications_worker.py         | 4 +++-
 modules/detect_target/detect_target_worker.py           | 2 +-
 modules/geolocation/geolocation_worker.py               | 2 +-
 utilities/workers/worker_manager.py                     | 7 -------
 5 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/modules/cluster_estimation/cluster_estimation_worker.py b/modules/cluster_estimation/cluster_estimation_worker.py
index bd857e3e..0f378625 100644
--- a/modules/cluster_estimation/cluster_estimation_worker.py
+++ b/modules/cluster_estimation/cluster_estimation_worker.py
@@ -84,7 +84,9 @@ def cluster_estimation_worker(
 
         for single_input in input_data:
             if not isinstance(single_input, detection_in_world.DetectionInWorld):
-                local_logger.warning(f"Skipping unexpected input: {input}")
+                local_logger.warning(
+                    f"Skipping unexpected input: {input_data}, because of unexpected value: {single_input}"
+                )
                 is_invalid = True
                 break
 
diff --git a/modules/communications/communications_worker.py b/modules/communications/communications_worker.py
index 6e5f3b66..3b25dc85 100644
--- a/modules/communications/communications_worker.py
+++ b/modules/communications/communications_worker.py
@@ -70,7 +70,9 @@ def communications_worker(
 
         for single_input in input_data:
             if not isinstance(single_input, object_in_world.ObjectInWorld):
-                local_logger.warning(f"Skipping unexpected input: {input}")
+                local_logger.warning(
+                    f"Skipping unexpected input: {input_data}, because of unexpected value: {single_input}"
+                )
                 is_invalid = True
                 break
 
diff --git a/modules/detect_target/detect_target_worker.py b/modules/detect_target/detect_target_worker.py
index 17b5cf43..336e1276 100644
--- a/modules/detect_target/detect_target_worker.py
+++ b/modules/detect_target/detect_target_worker.py
@@ -69,7 +69,7 @@ def detect_target_worker(
             break
 
         if not isinstance(input_data, image_and_time.ImageAndTime):
-            local_logger.warning(f"Skipping unexpected input: {input}")
+            local_logger.warning(f"Skipping unexpected input: {input_data}")
             continue
 
         result, value = detector.run(input_data)
diff --git a/modules/geolocation/geolocation_worker.py b/modules/geolocation/geolocation_worker.py
index 4e7ac6d7..0be882e0 100644
--- a/modules/geolocation/geolocation_worker.py
+++ b/modules/geolocation/geolocation_worker.py
@@ -60,7 +60,7 @@ def geolocation_worker(
             break
 
         if not isinstance(input_data, merged_odometry_detections.MergedOdometryDetections):
-            local_logger.warning(f"Skipping unexpected input: {input}")
+            local_logger.warning(f"Skipping unexpected input: {input_data}")
             continue
 
         result, value = locator.run(input_data)
diff --git a/utilities/workers/worker_manager.py b/utilities/workers/worker_manager.py
index fcf8cdfb..d52f9436 100644
--- a/utilities/workers/worker_manager.py
+++ b/utilities/workers/worker_manager.py
@@ -244,11 +244,4 @@ def check_and_restart_dead_workers(self) -> bool:
 
         self.__workers = new_workers
 
-        # Draining the preceding queue ensures that the preceding queue data wasn't what
-        # caused the worker to fail. Draining the succeeding queues is not needed
-        # because a worker that died would not have put bad data into the queue.
-        # input_queues = self.__worker_properties.get_input_queues()
-        # for queue in input_queues:
-        #     queue.drain_queue()
-
         return True