leave in ability for image_down to work standalone, and fix exception…

… logging

uavf_2024/imaging/perception.py

@@ -28,7 +28,7 @@ def wrapped_fn(self,*args, **kwargs):
         try:
             return func(self, *args, **kwargs)
         except Exception:
-            self.get_logger().error(traceback.format_exc())
+            self.log(traceback.format_exc())
     return wrapped_fn
 
 class Perception:
@@ -169,12 +169,12 @@ def get_image_down_async(self) -> Future[list[Target3D]]:
         """
 
         self.log("Received Down Image Request")
+        self.camera.request_autofocus()
         if not self.recording:
             self.recording = True
             self.camera.start_recording()
         img = self.camera.get_latest_image()
         timestamp = time.time()
-        self.log(f"Got image from Camera at time {timestamp}")
         return self.processor_pool.submit(self.get_image_down, img, timestamp)
 
     def _log_image_down(
@@ -213,7 +213,7 @@ def _log_image_down(
         json.dump(log_data, open(f"{logs_folder}/data.json", 'w+'), indent=4)
 
     @log_exceptions
-    def get_image_down(self, img, timestamp) -> list[Target3D]:
+    def get_image_down(self, img=-1, timestamp=None) -> list[Target3D]:
         """
         Blocking implementation of the infrence pipeline.
         
@@ -222,16 +222,21 @@ def get_image_down(self, img, timestamp) -> list[Target3D]:
         We want to take photo when the attitude is down only. 
         """
 
+        if img == -1:
+            self.camera.request_autofocus()
+            img = self.camera.get_latest_image()
+            timestamp = time.time()
+        self.log(f"Got image with timestamp {timestamp}")
+
         if img is None:
             self.log("Could not get image from Camera.")
             return []
-        self.camera.request_autofocus()
-        self.log(f"Got past autofocus")
+
         self.pose_provider.wait_for_data()
         self.log(f"Got past pose provider wait")
 
         if abs(self.camera.getAttitude()[1] - -90) > 5: # Allow 5 degrees of error (Arbitrary)
-            self.point_camera_down()
+            self.camera.request_down()
         self.log(f"Got past point down")
 
         #TODO: Figure out a way to detect when the gimbal is having an aneurism and figure out how to fix it or send msg to groundstation.