clustering integration #45
Conversation
|
still writing tests, just wanted to put this here earlier so there's more time to review. |
ashum68
force-pushed
the
clustering-integration
branch
from
bf9a02c to
26c7fae
Compare
| OBSTACLES = 0 | ||
| DETECTIONS = 0 |
There was a problem hiding this comment.
is this meant to be an enum? if so use an enum class, and they shouldn't both be 0 right?
| detection_input_queue: queue_wrapper.QueueWrapper, | ||
| obstacle_input_queue: queue_wrapper.QueueWrapper, |
There was a problem hiding this comment.
why do we need 2 queues if we'll only run either obstacles or detections but not both at the same time?
| try: | ||
| odometry: drone_odometry_local.DroneOdometryLocal = ( | ||
| odometry_input_queue.queue.get_nowait() | ||
| ) | ||
| except queue.Empty: | ||
| continue |
There was a problem hiding this comment.
since this must happen not matter the merge data type, you should move it outside after the if statement
| if len(obstacles) == 0: | ||
| continue |
There was a problem hiding this comment.
we do we skip the delay if the length is 0? why is this a special case?
| if len(detections) == 0: | ||
| continue | ||
| time.sleep(delay) |
| detections = [] | ||
| obstacles = [] |
There was a problem hiding this comment.
why do we need 2 variables if we'll only run either obstacles or detections but not both at the same time?
modules/decision/decision.py
Outdated
| if str(type(merged_data)) == "<class 'detections_and_odometry.DetectionsAndOdometry'>": | ||
| return self.run_simple_decision( | ||
| self.merged_odometries, self.proximity_limit, current_flight_mode | ||
| ) | ||
| if str(type(merged_data)) == "<class 'obstacles_and_odometry.ObstaclesAndOdometry'>": | ||
| return self.run_obstacle_avoidance(self.merged_odometries) |
There was a problem hiding this comment.
don't use the string of the classes, pass in the method instead - maybe instead of passing a string from main to data merge, pass a data merge enum, and here, use the enum as well
modules/decision/decision_worker.py
Outdated
| obstacle_data: obstacle.Obstacle = obstacle_in_queue.queue.get_nowait() | ||
| if obstacle_data is None: | ||
| break | ||
|
|
||
| result, value = decider.run(merged_data) | ||
| if not result: | ||
| continue | ||
|
|
||
| result, value = decider.run_obstacle_avoidance(obstacle_data) | ||
| if not result: | ||
| continue | ||
|
|
There was a problem hiding this comment.
use the config passed in from main to decide what to run - we're not running both
| detection_to_clustering_queue.queue.put(value) | ||
| detection_to_data_merge_queue.queue.put(value) |
| merged_to_clustering_queue.fill_and_drain_queue() | ||
| clustering_to_deflection_queue.fill_and_drain_queue() |
No description provided.