take pictures without async to do it immediately

uavf_2024/imaging/perception.py

@@ -167,10 +167,15 @@ def get_image_down_async(self) -> Future[list[Target3D]]:
         Non-blocking implementation of the infrence pipeline,
         calling get_image_down in a separate process.
         """
+
+        self.log("Received Down Image Request")
         if not self.recording:
             self.recording = True
             self.camera.start_recording()
-        return self.processor_pool.submit(self.get_image_down)
+        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(
         self, 
@@ -208,31 +213,29 @@ def _log_image_down(
         json.dump(log_data, open(f"{logs_folder}/data.json", 'w+'), indent=4)
 
     @log_exceptions
-    def get_image_down(self) -> list[Target3D]:
+    def get_image_down(self, img, timestamp) -> list[Target3D]:
         """
         Blocking implementation of the infrence pipeline.
         
         Autofocus, then wait till cam points down, take pic,
     
         We want to take photo when the attitude is down only. 
         """
-        self.log("Received Down Image Request")
+
+        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.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.
 
-        # Take picture and grab relevant data
-        img = self.camera.get_latest_image()
-        if img is None:
-            self.log("Could not get image from Camera.")
-            return []
-        timestamp = time.time()
-        self.log(f"Got image from Camera at time {timestamp}")
-
         localizer = self.make_localizer()
         if localizer is None:
             self.log("Could not get Localizer")