moved metadata encoding to run()

Author: HermanG05

modules/communications/communications.py

@@ -9,6 +9,7 @@
 from ..common.modules import position_local
 from ..common.modules.logger import logger
 from ..common.modules.data_encoding import message_encoding_decoding
+from ..common.modules.data_encoding import metadata_encoding_decoding
 from ..common.modules.data_encoding import worker_enum
 from ..common.modules.mavlink import local_global_conversion
 
@@ -53,7 +54,7 @@ def __init__(
     def run(
         self,
         objects_in_world: list[object_in_world.ObjectInWorld],
-    ) -> tuple[True, list[bytes]] | tuple[False, None]:
+    ) -> tuple[True, list[bytes], bytes] | tuple[False, None, None]:
 
         objects_in_world_global = []
         for object_in_world in objects_in_world:
@@ -71,7 +72,7 @@ def run(
                 self.__logger.warning(
                     f"Could not convert ObjectInWorld to PositionLocal:\nobject in world: {object_in_world}"
                 )
-                return False, None
+                return False, None, None
 
             result, object_in_world_global = (
                 local_global_conversion.position_global_from_position_local(
@@ -83,7 +84,7 @@ def run(
                 self.__logger.warning(
                     f"position_global_from_position_local conversion failed:\nhome_position: {self.__home_position}\nobject_position_local: {object_position_local}"
                 )
-                return False, None
+                return False, None, None
 
             objects_in_world_global.append(object_in_world_global)
 
@@ -97,8 +98,15 @@ def run(
             )
             if not result:
                 self.__logger.warning("Conversion from PositionGlobal to bytes failed", True)
-                return False, None
+                return False, None, None
 
             encoded_position_global_objects.append(message)
 
-        return True, encoded_position_global_objects
+        result, metadata = metadata_encoding_decoding.encode_metadata(
+            worker_enum.WorkerEnum.COMMUNICATIONS_WORKER, len(encoded_position_global_objects)
+        )
+        if not result:
+            self.__logger.error("Failed to encode metadata", True)
+            return False, None, None
+
+        return True, encoded_position_global_objects, metadata

modules/communications/communications_worker.py

@@ -84,17 +84,10 @@ def communications_worker(
         if is_invalid:
             continue
 
-        result, list_of_messages = comm.run(input_data)
+        result, list_of_messages, metadata = comm.run(input_data)
         if not result:
             continue
 
-        result, metadata = metadata_encoding_decoding.encode_metadata(
-            worker_enum.WorkerEnum.COMMUNICATIONS_WORKER, len(list_of_messages)
-        )
-        if not result:
-            local_logger.error("Failed to encode metadata", True)
-            continue
-
         output_queue.queue.put(metadata)
         message_output_queue.queue.put(metadata)
 

modules/flight_interface/flight_interface.py

@@ -73,7 +73,7 @@ def get_home_position(self) -> position_global.PositionGlobal:
         """
         return self.__home_position
 
-    def run(self, message: bytes) -> "tuple[bool, odometry_and_time.OdometryAndTime | None]":
+    def run(self, message: bytes | None) -> "tuple[bool, odometry_and_time.OdometryAndTime | None]":
         """
         Returns a possible OdometryAndTime with current timestamp.
         """
@@ -103,7 +103,8 @@ def run(self, message: bytes) -> "tuple[bool, odometry_and_time.OdometryAndTime
 
         self.__logger.info(str(odometry_and_time_object), True)
 
-        self.controller.send_statustext_msg(message)
+        if message:
+            self.controller.send_statustext_msg(message)
 
         return True, odometry_and_time_object