Merge branch 'main' into detect_target-integration

modules/data_merge/data_merge_worker.py

@@ -64,14 +64,17 @@ def data_merge_worker(timeout: float,
         if ((detections.timestamp - previous_odometry.timestamp)
             < (current_odometry.timestamp - detections.timestamp)):
             # Required for separation
-            value = merged_odometry_detections.MergedOdometryDetections(
+            result, merged = merged_odometry_detections.MergedOdometryDetections.create(
                 previous_odometry.odometry_data,
                 detections.detections,
             )
         else:
-            value = merged_odometry_detections.MergedOdometryDetections(
+            result, merged = merged_odometry_detections.MergedOdometryDetections.create(
                 current_odometry.odometry_data,
                 detections.detections,
             )
 
-        output_queue.queue.put(value)
+        if not result:
+            continue
+
+        output_queue.queue.put(merged)

modules/detect_target/detect_target.py

@@ -59,7 +59,12 @@ def run(self, data: image_and_time.ImageAndTime) -> "tuple[bool, detections_and_
 
         # Make a copy of bounding boxes in CPU space
         objects_bounds = boxes.xyxy.detach().cpu().numpy()
-        detections = detections_and_time.DetectionsAndTime(data.timestamp)
+        result, detections = detections_and_time.DetectionsAndTime.create(data.timestamp)
+        if not result:
+            return False, None
+
+        assert detections is not None
+
         for i in range(0, boxes.shape[0]):
             bounds = objects_bounds[i]
             label = int(boxes.cls[i])

modules/detections_and_time.py

@@ -92,7 +92,25 @@ class DetectionsAndTime:
     """
     Contains detected object and timestamp.
     """
-    def __init__(self,  timestamp: float):
+    __create_key = object()
+
+    @classmethod
+    def create(cls, timestamp: float) -> "tuple[bool, DetectionsAndTime | None]":
+        """
+        Sets timestamp to current time.
+        """
+        # Check if timestamp is positive
+        if timestamp < 0.0:
+            return False, None
+
+        return True, DetectionsAndTime(cls.__create_key, timestamp)
+
+    def __init__(self, class_private_create_key, timestamp: float):
+        """
+        Private constructor, use create() method.
+        """
+        assert class_private_create_key is DetectionsAndTime.__create_key, "Use create() method"
+
         self.detections = []
         self.timestamp = timestamp
 

modules/merged_odometry_detections.py

@@ -12,12 +12,32 @@ class MergedOdometryDetections:
     """
     Contains odometry/telemetry and detections merged by closest timestamp.
     """
+    __create_key = object()
+
+    @classmethod
+    def create(cls,
+               odometry_local: drone_odometry_local.DroneOdometryLocal,
+               detections: "list[detections_and_time.Detection]") \
+        -> "tuple[bool, MergedOdometryDetections | None]":
+        """
+        odometry_local: Drone position and orientation in local space.
+        detections: List of Detections from detections_and_time.
+        """
+        if len(detections) == 0:
+            return False, None
+
+        return True, MergedOdometryDetections(cls.__create_key, odometry_local, detections)
+
     def __init__(self,
+                 class_private_create_key,
                  odometry_local: drone_odometry_local.DroneOdometryLocal,
                  detections: "list[detections_and_time.Detection]"):
         """
-        Required for separation.
+        Private constructor, use create() method.
         """
+        assert class_private_create_key is MergedOdometryDetections.__create_key, \
+            "Use create() method"
+
         self.odometry_local = odometry_local
         self.detections = detections
 

tests/test_data_merge_worker.py

@@ -21,7 +21,9 @@ def simulate_detect_target_worker(timestamp: float,
     """
     Place the detection into the queue.
     """
-    detections = detections_and_time.DetectionsAndTime(timestamp)
+    result, detections = detections_and_time.DetectionsAndTime.create(timestamp)
+    assert result
+    assert detections is not None
     detections_queue.queue.put(detections)
 
 def simulate_flight_input_worker(timestamp: float,

tests/test_geolocation.py

@@ -761,13 +761,15 @@ def test_basic(self,
         assert result
         assert drone_odometry is not None
 
-        merged_detections = merged_odometry_detections.MergedOdometryDetections(
+        result, merged_detections = merged_odometry_detections.MergedOdometryDetections.create(
             drone_odometry,
             [
                 detection1,
                 detection2,
             ],
         )
+        assert result
+        assert merged_detections is not None
 
         result, expected_detection1 = detection_in_world.DetectionInWorld.create(
             np.array(
@@ -859,13 +861,15 @@ def test_advanced(self,
         assert result
         assert drone_odometry is not None
 
-        merged_detections = merged_odometry_detections.MergedOdometryDetections(
+        result, merged_detections = merged_odometry_detections.MergedOdometryDetections.create(
             drone_odometry,
             [
                 detection_bottom_right_point,
                 detection_centre_left_point,
             ],
         )
+        assert result
+        assert merged_detections is not None
 
         result, expected_bottom_right = detection_in_world.DetectionInWorld.create(
             np.array(
@@ -964,10 +968,12 @@ def test_bad_direction(self,
         assert result
         assert drone_odometry is not None
 
-        merged_detections = merged_odometry_detections.MergedOdometryDetections(
+        result, merged_detections = merged_odometry_detections.MergedOdometryDetections.create(
             drone_odometry,
             [detection1],
         )
+        assert result
+        assert merged_detections is not None
 
         # Run
         result, actual_list = basic_locator.run(merged_detections)

tests/test_geolocation_worker.py

@@ -53,12 +53,13 @@ def simulate_previous_worker(in_queue: queue_proxy_wrapper.QueueProxyWrapper):
     assert result_simulate
     assert detection is not None
 
-    value = merged_odometry_detections.MergedOdometryDetections(
+    result_simulate, merged = merged_odometry_detections.MergedOdometryDetections.create(
         drone_odometry,
         [detection],
     )
-
-    in_queue.queue.put(value)
+    assert result_simulate
+    assert merged is not None
+    in_queue.queue.put(merged)
 
 
 if __name__ == "__main__":

utilities/workers/worker_controller.py

@@ -46,17 +46,20 @@ def check_pause(self):
     def request_exit(self):
         """
         Requests worker processes to exit.
+        Does nothing if already requested.
         """
         time.sleep(self.__QUEUE_DELAY)
-        self.__exit_queue.put(None)
+        if self.__exit_queue.empty():
+            self.__exit_queue.put(None)
 
     def clear_exit(self):
         """
         Clears the exit request condition.
+        Does nothing if already cleared.
         """
         time.sleep(self.__QUEUE_DELAY)
         if not self.__exit_queue.empty():
-            self.__exit_queue.get()
+            _ = self.__exit_queue.get()
 
     def is_exit_requested(self) -> bool:
         """