Integrate HITL Into CV Repo

config.yaml

@@ -56,6 +56,8 @@ flight_interface:
     timeout: 30.0  # seconds
     baud_rate: 57600  # symbol rate
     worker_period: 0.1  # seconds
+    enable_hitl: false # bool
+    images_path: "tests/brightspot_example" # file path
 
 data_merge:
     timeout: 60.0  # seconds

main_2025.py

@@ -50,6 +50,7 @@ def main() -> int:
         action="store_true",
         help="option to show annotated image",
     )
+    parser.add_argument("--enable_hitl", action="store_true", help="enable the hitl workflow")
     args = parser.parse_args()
 
     # Configuration settings
@@ -129,14 +130,20 @@ def main() -> int:
                 )
             case _:
                 main.logger.error(
-                    f"Inputted an invalid detect target option: {DETECT_TARGET_OPTION}", True
+                    f"Inputted an invalid detect target option: {DETECT_TARGET_OPTION}",
+                    True,
                 )
                 return -1
 
         FLIGHT_INTERFACE_ADDRESS = config["flight_interface"]["address"]
         FLIGHT_INTERFACE_TIMEOUT = config["flight_interface"]["timeout"]
         FLIGHT_INTERFACE_BAUD_RATE = config["flight_interface"]["baud_rate"]
         FLIGHT_INTERFACE_WORKER_PERIOD = config["flight_interface"]["worker_period"]
+        if args.enable_hitl:
+            FLIGHT_INTERFACE_ENABLE_HITL = True
+        else:
+            FLIGHT_INTERFACE_ENABLE_HITL = config["flight_interface"]["enable_hitl"]
+        FLIGHT_INTERFACE_IMAGES_PATH = config["flight_interface"]["images_path"]
 
         DATA_MERGE_TIMEOUT = config["data_merge"]["timeout"]
 
@@ -293,6 +300,8 @@ def main() -> int:
             FLIGHT_INTERFACE_TIMEOUT,
             FLIGHT_INTERFACE_BAUD_RATE,
             FLIGHT_INTERFACE_WORKER_PERIOD,
+            FLIGHT_INTERFACE_ENABLE_HITL,
+            FLIGHT_INTERFACE_IMAGES_PATH,
             LOG_TIMINGS,
         ),
         input_queues=[
@@ -378,7 +387,11 @@ def main() -> int:
     result, communications_worker_properties = worker_manager.WorkerProperties.create(
         count=1,
         target=communications_worker.communications_worker,
-        work_arguments=(COMMUNICATIONS_TIMEOUT, COMMUNICATIONS_WORKER_PERIOD, LOG_TIMINGS),
+        work_arguments=(
+            COMMUNICATIONS_TIMEOUT,
+            COMMUNICATIONS_WORKER_PERIOD,
+            LOG_TIMINGS,
+        ),
         input_queues=[
             flight_interface_to_communications_queue,
             cluster_estimation_to_communications_queue,

modules/auto_landing/auto_landing.py

@@ -1,6 +1,6 @@
-""" 
-Auto-landing script that calculates the necessary parameters 
-for use with LANDING_TARGET MAVLink command. 
+"""
+Auto-landing script that calculates the necessary parameters
+for use with LANDING_TARGET MAVLink command.
 """
 
 import math

modules/flight_interface/flight_interface.py

@@ -25,13 +25,23 @@ def create(
         timeout_home: float,
         baud_rate: int,
         local_logger: logger.Logger,
+        images_path: str | None,
+        enable_hitl: bool,
     ) -> "tuple[bool, FlightInterface | None]":
         """
         address: TCP address or port.
         timeout_home: Timeout for home location in seconds.
         baud_rate: Baud rate for the connection.
         """
-        result, controller = flight_controller.FlightController.create(address, baud_rate)
+        if enable_hitl:
+            if images_path is None:
+                return False, None
+            result, controller = flight_controller.FlightController.create(
+                address, baud_rate, enable_hitl, images_path=images_path
+            )
+        else:
+            result, controller = flight_controller.FlightController.create(address, baud_rate)
+
         if not result:
             local_logger.error("controller could not be created", True)
             return False, None

modules/flight_interface/flight_interface_worker.py

@@ -18,6 +18,8 @@ def flight_interface_worker(
     timeout: float,
     baud_rate: int,
     period: float,
+    enable_hitl: bool,
+    images_path: str | None,
     log_timings: bool,
     input_queue: queue_proxy_wrapper.QueueProxyWrapper,
     coordinates_input_queue: queue_proxy_wrapper.QueueProxyWrapper,
@@ -49,7 +51,7 @@ def flight_interface_worker(
     local_logger.info("Logger initialized", True)
 
     result, interface = flight_interface.FlightInterface.create(
-        address, timeout, baud_rate, local_logger
+        address, timeout, baud_rate, local_logger, images_path, enable_hitl
     )
     if not result:
         local_logger.error("Worker failed to create class object", True)

requirements-pytorch.txt

@@ -1,5 +1,5 @@
 # For any non-Jetson computer (i.e. all developers)
 --extra-index-url https://download.pytorch.org/whl/cu124
-torch==2.4.1
-torchvision==0.19.1
+torch==2.7.0
+torchvision==0.22.0
 ultralytics

tests/integration/test_flight_interface_hardware.py

@@ -11,6 +11,9 @@
 MAVLINK_CONNECTION_ADDRESS = "tcp:localhost:14550"
 FLIGHT_INTERFACE_TIMEOUT = 10.0  # seconds
 FLIGHT_INTERFACE_BAUD_RATE = 57600  # symbol rate
+FLIGHT_INTERFACE_WORKER_PERIOD = 0.1  # seconds
+FLIGHT_ENABLE_HITL = False # bool
+FLIGHT_IMAGE_PATH = "tests/brightspot_example" # file path
 
 
 def main() -> int:
@@ -29,6 +32,8 @@ def main() -> int:
         FLIGHT_INTERFACE_TIMEOUT,
         FLIGHT_INTERFACE_BAUD_RATE,
         local_logger,
+        FLIGHT_IMAGE_PATH,
+        FLIGHT_ENABLE_HITL,
     )
     assert result
     assert interface is not None

tests/integration/test_flight_interface_worker.py

@@ -17,6 +17,8 @@
 FLIGHT_INTERFACE_TIMEOUT = 10.0  # seconds
 FLIGHT_INTERFACE_BAUD_RATE = 57600  # symbol rate
 FLIGHT_INTERFACE_WORKER_PERIOD = 0.1  # seconds
+FLIGHT_ENABLE_HITL = False # bool
+FLIGHT_IMAGE_PATH = "tests/brightspot_example" # file path
 
 
 def apply_decision_test(
@@ -115,6 +117,8 @@ def main() -> int:
             FLIGHT_INTERFACE_TIMEOUT,
             FLIGHT_INTERFACE_BAUD_RATE,
             FLIGHT_INTERFACE_WORKER_PERIOD,
+            FLIGHT_ENABLE_HITL,
+            FLIGHT_IMAGE_PATH,
             in_queue,  # Added input_queue
             communications_in_queue,
             out_queue,