2024-05-21 Autonomy Airside Architecture Meeting

 Date

May 2, 2024

 Participants

• @Tong Zhang

• @Dylan Finlay

 Discussion topics

• State

  • Workers up to Geolocation integrated and tested

  • Geolocation integrated but not tested yet

  • Cluster estimation not integrated and not tested yet

  • Decision module not tested yet

  • Flight interface only receives input from flight controller

• Goals

  • Geolocation tested flight tested - major milestone

  • Cluster estimation flight tested - major milestone - perception will be done, can be used for future comps

    • Add class names to ObjectInWorld (low priority)

  • Add output to flight interface

    • Add input queue to flight interface (decision worker’s output queue)

      • Getting from the input queue needs to be in a try catch with a timeout to prevent blocking

      • If there is something in the input queue, call the appropriate command in flight controller

  • Decision worker made

    • Needs to track the visited landing pads

    • Needs to search for landing pads if none are found

• Architecture

  • Each worker uses queues for input and output to communicate between processes

    • Each queue is an instance of queue_proxy_wrapper

    • Basically a regular queue with multiprocessing locks

  • Each worker waits until there’s something in its input queue

    • When there is, it pops it and processes it

    • Then it puts the output in the output queue and tries to read another item from the input queue

 Action items