debugging

modules/flight_interface/flight_interface.py

@@ -57,7 +57,7 @@ def run(self) -> "tuple[bool, drone_odometry_local.DroneOdometryLocal | None]":
 
         global_position = odometry.position
 
-        result, local_position = conversions.global_to_local(global_position, self.home_location)
+        result, local_position = conversions.position_global_to_local(global_position, self.home_location)
         if not result:
             return False, None
 

modules/flight_interface/flight_interface_worker.py

@@ -5,8 +5,8 @@
 import time
 
 from . import flight_interface
-from ..worker import queue_wrapper
-from ..worker import worker_controller
+from worker import queue_wrapper
+from worker import worker_controller
 
 
 def flight_interface_worker(

tests/integration/test_flight_interface_worker.py

@@ -12,6 +12,7 @@
 from modules import drone_odometry_local
 from modules.flight_interface import flight_interface_worker
 
+# Constants
 QUEUE_MAX_SIZE = 10
 FLIGHT_INTERFACE_ADDRESS = "tcp:127.0.0.1:14550"
 FLIGHT_INTERFACE_TIMEOUT = 10
@@ -29,7 +30,7 @@ def main() -> int:
     output_queue = queue_wrapper.QueueWrapper(manager, QUEUE_MAX_SIZE)
 
     worker = mp.Process(
-        target=flight_interface_worker,
+        target=flight_interface_worker.flight_interface_worker,
         args=(
             FLIGHT_INTERFACE_ADDRESS,
             FLIGHT_INTERFACE_TIMEOUT,
@@ -45,11 +46,9 @@ def main() -> int:
 
     while True:
         try:
-            input_data: drone_odometry_local.DroneOdometryLocal = output_queue.queue.get()
+            input_data: drone_odometry_local.DroneOdometryLocal = output_queue.queue.get_nowait()
             assert (
-                str(type(input_data))
-                == "<class 'modules.drone_odometry_local\
-                    .DroneOdometryLocal'>"
+                str(type(input_data)) == "<class 'modules.drone_odometry_local.DroneOdometryLocal'>"
             )
             assert input_data.local_position is not None
             assert input_data.drone_orientation is not None
@@ -76,6 +75,6 @@ def main() -> int:
 if __name__ == "__main__":
     result_main = main()
     if result_main < 0:
-        print("error: " + result_main)
+        print(f"Error: Status Code: {result_main}")
 
     print("Done.")

tests/unit/test_flight_interface.py

@@ -2,7 +2,6 @@
 Test for flight interface by printing to device.
 """
 
-from modules.common.mavlink.modules import drone_odometry
 from modules.flight_interface import flight_interface
 
 
@@ -17,20 +16,6 @@ def create_flight_interface_instance(
     return result, flight_interface_instance
 
 
-def create_drone_position(
-    latitude: float, longitude: float, altitude: float
-) -> drone_odometry.DronePosition:
-    """
-    Contruct a drone position instance.
-    """
-    expected = True
-    actual, global_position = drone_odometry.DronePosition.create(latitude, longitude, altitude)
-    assert actual == expected
-    assert global_position is not None
-
-    return global_position
-
-
 class TestFlightInterface:
     """
     Flight interface tests.
@@ -39,16 +24,14 @@ class TestFlightInterface:
     MISSION_PLANNER_ADDRESS = "tcp:127.0.0.1:14550"
     TIMEOUT = 1.0
 
-    DELAY_TIME = 1.0
-
     def test_create_invalid_address(self) -> None:
         """
-        Test create method using a valid Mission Planner IP address.
+        Test create method using an invalid Mission Planner IP address.
         """
         expected_result = False
         expected_instance = None
         actual_result, actual_instance = create_flight_interface_instance(
-            "tcp:0.0.0.0:0", self.TIMEOUT
+            "tcp:127.0.0.1:3000", self.TIMEOUT
         )
         assert actual_result == expected_result
         assert actual_instance == expected_instance