fix: Updated common submodule + added string path for images

Author: Adityya-K

config.yaml

@@ -57,6 +57,7 @@ flight_interface:
     baud_rate: 57600  # symbol rate
     worker_period: 0.1  # seconds
     enable_hitl: false # bool
+    images_path: "./tests/integration/" # file path
 
 data_merge:
     timeout: 60.0  # seconds

main_2025.py

@@ -50,7 +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")
+    parser.add_argument("--enable_hitl", action="store_true", help="enable the hitl workflow")
     args = parser.parse_args()
 
     # Configuration settings
@@ -138,7 +138,11 @@ def main() -> int:
         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"]
-        FLIGHT_INTERFACE_ENABLE_HITL = config["flight_interface"]["enable_hitl"]
+        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"]
 
@@ -296,6 +300,7 @@ def main() -> int:
             FLIGHT_INTERFACE_BAUD_RATE,
             FLIGHT_INTERFACE_WORKER_PERIOD,
             FLIGHT_INTERFACE_ENABLE_HITL,
+            FLIGHT_INTERFACE_IMAGES_PATH,
             LOG_TIMINGS,
         ),
         input_queues=[

modules/common

@@ -25,14 +25,21 @@ def create(
         timeout_home: float,
         baud_rate: int,
         local_logger: logger.Logger,
-        enable_hitl: bool = False,
+        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.py

@@ -19,6 +19,7 @@ def flight_interface_worker(
     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,
@@ -50,7 +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)