integrate w/ not stolen but disable for today's flight

docker/jetson-sitl-compose.yml

@@ -6,14 +6,6 @@ services:
     network_mode: "host"
     #ports:
     #  - 5010:5010
-  sitl:
-    image: tritonuas/plane.rascal
-    network_mode: "host"
-    environment:
-      - "SITL_HOME=38.31542593549111,-76.55062632801757,8,0"
-      - SITL_SPEEDUP=1
-    volumes:
-      - sitl:/app/logs
   not-stolen-israeli-code: 
     image: ghcr.io/tritonuas/not-stolen-israeli-code:latest
     ports:

docker/sitl-compose.yml

@@ -10,13 +10,5 @@ services:
     image: ghcr.io/tritonuas/not-stolen-israeli-code:latest
     ports:
       - 5069:5000
-  sitl:
-    image: tritonuas/plane.rascal
-    network_mode: "host"
-    environment:
-      - "SITL_HOME=38.31542593549111,-76.55062632801757,8,0"
-      - SITL_SPEEDUP=1
-    volumes:
-      - sitl:/app/logs
 volumes:
   sitl:

src/ticks/fly_search.cpp

@@ -57,10 +57,12 @@ Tick* FlySearchTick::tick() {
             }
 
             if (photo.has_value()) {
+                // TODO: debug why this is crashing and fix it
+
                 // Update the last photo time
-                this->last_photo_time = getUnixTime_ms();
+                // this->last_photo_time = getUnixTime_ms();
                 // Run the pipeline on the photo
-                this->state->getCV()->runPipeline(photo.value());
+                // this->state->getCV()->runPipeline(photo.value());
             }
         }
         this->curr_mission_item = curr_waypoint;

src/ticks/mission_prep.cpp

@@ -43,7 +43,7 @@ Tick* MissionPrepTick::tick() {
         // Make a CVAggregator instance and set it in the state
         this->state->setCV(std::make_shared<CVAggregator>(Pipeline(
             PipelineParams(bottles_to_drop,
-                {},   // TODO: pass in reference images
+                this->generateReferenceImages(bottles_to_drop),
                 matching_model_dir,
                 segmentation_model_dir,
                 saliency_model_dir))));
@@ -66,6 +66,7 @@ std::vector<std::pair<cv::Mat, BottleDropIndex>>
         auto res = client.Get(this->getNotStolenRoute(bottle));
         if (res->status != 200) {
             LOG_F(ERROR, "Got invalid response from not-stolen: %s", res->body.c_str());
+            continue;
         }
         std::vector<uint8_t> vectordata(res->body.begin(),res->body.end());
         cv::Mat data_mat(vectordata, true);