Fix linter and pass most typechecks

requirements.txt

@@ -29,4 +29,5 @@ typing_extensions==4.9.0
 yapf==0.40.1
 zipp==3.17.0
 ultralytics==8.3.128
-websockets==15.0.1
+aiohttp==3.13.3
+depthai==3.3.0

samples/emu_connection.py

@@ -1,33 +1,20 @@
 from src.modules.emu import Emu
 import time
-import json
 
 emu = Emu("res")
 
-# def onConnect():
-#     loadCurrent = {
-#         "type": "load",
-#         "uavStatus": {
-#             "connection": "no",
-#             "mode": "test",
-#             "imageCount": "2",
-#             "timeSinceMessage": "3"
-#         },
-#         "imageName": "res/sample1.jpg"
-#     }
-#     emu.send_msg(json.dumps(loadCurrent))
-
-
-# emu.set_on_connect(onConnect)
 emu.start_comms()
 time.sleep(2)
 
 # test different logs
 for i in range(6):
     print(f"sending log {i}")
-    if i % 3 == 0: severity = "normal"
-    elif i % 3 == 1: severity = "warning"
-    else: severity = "error"
+    if i % 3 == 0:
+        severity = "normal"
+    elif i % 3 == 1:
+        severity = "warning"
+    else:
+        severity = "error"
     emu.send_log(f"log text {i}", severity)
     time.sleep(1)
 

samples/geofence_test.py → samples/geofence.py

@@ -37,5 +37,3 @@
 print(lander.geofence_check(point5))
 print(lander.geofence_check(point6))
 print(lander.geofence_check(point7))
-
-

samples/img_test.py → samples/img_analysis.py

@@ -13,7 +13,6 @@ def test(img, _):
     print("Image taken")
 
 
-
 analysis = ImageAnalysisDelegate(detector, camera, location)
 analysis.subscribe(test)
 

samples/oakd.py

@@ -9,9 +9,11 @@
 emu = Emu("tmp")
 i = 0
 
+
 def print_conn():
     print("connecton made")
 
+
 emu.set_on_connect(print_conn)
 latest_capture: DepthCapture | None = None
 
@@ -23,6 +25,7 @@ def print_conn():
 camera_thread = threading.Thread(target=camera.start(), daemon=True)
 camera_thread.start()
 
+
 def send_img(message):
     global latest_capture, i
 
@@ -38,6 +41,7 @@ def send_img(message):
 
         i += 1
 
+
 def measure(message):
     global latest_capture
 
@@ -53,7 +57,7 @@ def measure(message):
         if latest_capture is not None:
             distance = latest_capture.distance_between_points(p1["x"], p1["y"], p2["x"], p2["y"])
             send = {
-                "type": "distance", 
+                "type": "distance",
                 "message": distance
             }
             emu.send_msg(json.dumps(send))

scripts/test.sh

@@ -1,3 +1,5 @@
 #!/usr/bin/env sh
 
-PYTHONPATH=".:dep/labeller" pytest
+pip install -e src/modules/mavctl
+
+PYTHONPATH="." pytest

src/modules/emu/__init__.py

@@ -1 +0,0 @@
-from .emu import *

src/modules/emu/emu.py

@@ -47,7 +47,7 @@ def send_image(self, path: str):
         }
         self._send_queue.put(json.dumps(content))
 
-    def send_log(self, message: str, severity: str="normal"):
+    def send_log(self, message: str, severity: str = "normal"):
         """
         sends a log message to Emu
         message: string of flog
@@ -87,7 +87,6 @@ async def producer_handler(self, ws):
         """
         handles sending messages to the client
         """
-        event_loop = asyncio.get_running_loop()
         while not ws.closed:
             message = await asyncio.to_thread(self._send_queue.get)
 
@@ -101,7 +100,7 @@ async def consumer_handler(self, ws):
 
             elif msg.type == aiohttp.WSMsgType.ERROR:
                 print("WebSocket error:", ws.exception())
-    
+
     async def handle_websocket(self, request):
         ws = web.WebSocketResponse()
         await ws.prepare(request)
@@ -122,5 +121,5 @@ async def handle_websocket(self, request):
 
         print('websocket connection closed')
         self._is_connected = False
-        
+
         return ws

src/modules/imaging/analysis.py

@@ -1,4 +1,4 @@
-from typing import Callable, Optional, List, Callable, Any
+from typing import Callable, List, Callable, Any
 
 import threading
 # from multiprocessing import Process
@@ -7,7 +7,8 @@
 from .debug import ImageAnalysisDebugger
 from ..georeference.inference_georeference import get_object_location
 from .location import LocationProvider
-from ..autopilot.navigator import Navigator
+#from ..autopilot.navigator import Navigator
+from mavctl.messages.navigator import Navigator
 from PIL import Image
 
 
@@ -46,9 +47,9 @@ class ImageAnalysisDelegate:
     def __init__(self,
                  detector: BaseDetector,
                  camera: CameraProvider,
-                 location_provider: LocationProvider = None,
-                 navigation_provider: Navigator = None,
-                 debugger: Optional[ImageAnalysisDebugger] = None):
+                 location_provider: LocationProvider | None = None,
+                 debugger: ImageAnalysisDebugger | None = None,
+                 navigation_provider: Navigator | None = None):
         self.detector = detector
         self.camera = camera
         self.debugger = debugger
@@ -59,22 +60,30 @@ def __init__(self,
         self.location_provider = location_provider
         self.navigation_provider = navigation_provider
 
-        self.subscribers: List[Callable[[Image.Image, float, float], Any]] = []
+        self.subscribers: List[Callable[[Image.Image, tuple[float, float] | None], Any]] = []
         self.camera_attributes = CameraAttributes()
-        self.thread = None
+
         self.loop = True
 
     def get_inference(self, bounding_box: BoundingBox) -> Inference:
         if self.location_provider is not None:
             altitude = self.location_provider.altitude()
         elif self.navigation_provider is not None:
-            altitude = -1 * self.navigation_provider.get_local_position_ned()[2]
+            altitude = -1 * self.navigation_provider.get_local_position().down
         else:
             raise ValueError("No altitude information provider available.")
 
         inference = Inference(bounding_box, altitude)
         return inference
 
+    def _analysis_loop(self):
+        """
+        Indefinitely run image analysis. This should be run in another thread;
+        use `start()` to do so.
+        """
+        while self.loop:
+            self._analyze_image()
+
     def start(self):
         """
         Will start the image analysis process in another thread.
@@ -87,8 +96,9 @@ def start(self):
         # Use `threading` to start `self._analysis_loop` in another thread.
 
     def stop(self):
-        self.loop = False
-        self.thread.join()
+        if self.thread is not None:
+            self.loop = False
+            self.thread.join()
 
     def _analyze_image(self):
         """
@@ -114,14 +124,6 @@ def _analyze_image(self):
             else:
                 subscriber(im, None)
 
-    def _analysis_loop(self):
-        """
-        Indefinitely run image analysis. This should be run in another thread;
-        use `start()` to do so.
-        """
-        while self.loop:
-            self._analyze_image()
-
     def subscribe(self, callback: Callable):
         """
         Subscribe to image analysis updates. For example:

src/modules/imaging/bucket_detector.py

@@ -2,7 +2,7 @@
 
 from PIL import Image
 
-from .detector import Vec2, BoundingBox, BaseDetector 
+from .detector import Vec2, BoundingBox, BaseDetector
 
 from ultralytics import YOLO