From 89eede241b68643b9b76b35adaab7172cfb46f55 Mon Sep 17 00:00:00 2001
From: RexBerry <59031902+RexBerry@users.noreply.github.com>
Date: Thu, 20 Oct 2022 18:39:57 -0500
Subject: [PATCH] Change type of attribute time of Point from Optional[float]
 to float #16

---
 flight/avoidance/obstacle_avoidance.py |  9 ++-------
 flight/avoidance/point.py              | 10 +++++++---
 2 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/flight/avoidance/obstacle_avoidance.py b/flight/avoidance/obstacle_avoidance.py
index 6724e74d..d8fb84b1 100644
--- a/flight/avoidance/obstacle_avoidance.py
+++ b/flight/avoidance/obstacle_avoidance.py
@@ -69,17 +69,12 @@ async def calculate_avoidance_path(
     # Units don't change, only the type of the object
     drone_velocity: Velocity = Velocity.from_mavsdk_velocityned(raw_drone_velocity)
 
-    obstacle_positions.sort(key=lambda p: p.time or 0.0)
+    obstacle_positions.sort(key=lambda p: p.time)
 
     # Degree of polynomial used in polynomial regression
     polynomial_degree: int = 3
     # Create list of times
-    obstacle_times: list[float] = [
-        point.time for point in obstacle_positions if point.time is not None
-    ]
-
-    # Should hopefully never fail, otherwise I will have a mental breakdown
-    assert len(obstacle_times) == len(obstacle_positions)
+    obstacle_times: list[float] = [point.time for point in obstacle_positions]
 
     # Get weights for polynomial regression
     # The most recent point should have the highest weight
diff --git a/flight/avoidance/point.py b/flight/avoidance/point.py
index acfe4b33..83d483b2 100644
--- a/flight/avoidance/point.py
+++ b/flight/avoidance/point.py
@@ -2,6 +2,7 @@
 Defines and implements the Point class used in obstacle_avoidance.py
 """
 
+import time
 from dataclasses import dataclass
 
 import mavsdk.telemetry
@@ -39,7 +40,7 @@ class Point:
     utm_zone_number: int
     utm_zone_letter: str
     altitude: float
-    time: float | None
+    time: float
 
     @classmethod
     def from_dict(cls, position_data: InputPoint) -> "Point":
@@ -85,9 +86,12 @@ def from_mavsdk_position(cls, position: mavsdk.telemetry.Position) -> "Point":
         northing: float
         zone_number: int
         zone_letter: str
+        # Can't unpack tuple because mypy complains
         easting, northing, zone_number, zone_letter = utm.from_latlon(
             position.latitude_deg, position.longitude_deg
         )
 
-        # Can't directly unpack function return value because mypy complains
-        return cls(easting, northing, zone_number, zone_letter, position.absolute_altitude_m, None)
+        # Use time.time() as the time for the point
+        return cls(
+            easting, northing, zone_number, zone_letter, position.absolute_altitude_m, time.time()
+        )