rewrote flight interface to receive commands #14
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| def run_decision_handler(self, command: decision_command.DecisionCommand) -> bool: | ||
| """ | ||
| Uploads decision commands to drone. | ||
| """ | ||
| if command is None: | ||
| return False | ||
| if command == "RESUME": | ||
| self.resume_handler() | ||
| return True | ||
| if command == "STOP": | ||
| self.stop_handler() | ||
| return True | ||
| return False |
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use the struct, not strings
| command = None | ||
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| try: | ||
| command: decision_command.DecisionCommand = command_in_queue.queue.get() |
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this needs to be get_nowait(), since get() is blocking
| command = None | ||
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| try: | ||
| command: decision_command.DecisionCommand = command_in_queue.queue.get_nowait() | ||
| interface.run_decision_handler(command) | ||
| except queue.Empty: | ||
| pass | ||
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maybe move this block to the end so we're guaranteed that the command is not none
- remove the line initializing command = none
- instead of passing in the exception, continue instead
- put the
interface.run_decision_handler(command)line after the try catch block so the continue will skip it
| if command is None: | ||
| return False |
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from above, we can remove this check
ashum68
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| from . import conversions | ||
| from .. import drone_odometry_local | ||
| from modules import drone_odometry_local | ||
| from modules import decision_command | ||
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| from ..common.mavlink.modules import drone_odometry | ||
| from ..common.mavlink.modules import flight_controller | ||
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| from . import conversions |
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take a look at the convention for imports https://uwarg-docs.atlassian.net/wiki/spaces/CV/pages/2253226033/Python+Style+Convention#Imports
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| interface.run_decision_handler(command) | ||
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| odometry_out_queue.queue.put(value) |
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move this above the try catch, we always want to output the odometry
| @@ -38,4 +41,13 @@ def flight_interface_worker( | |||
| if not result: | |||
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pass instead of continue, if we don't get an printer
odometry but do get a command we do want to send the command
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