petal-user-journey-coordinator 0.1.6__tar.gz → 0.1.8__tar.gz

{petal_user_journey_coordinator-0.1.6 → petal_user_journey_coordinator-0.1.8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: petal-user-journey-coordinator
-Version: 0.1.6
+Version: 0.1.8
 Summary: A petal for the DroneLeaf ecosystem
 Author-Email: Khalil Al Handawi <khalil.alhandawi@droneleaf.io>
 License: MIT

{petal_user_journey_coordinator-0.1.6 → petal_user_journey_coordinator-0.1.8}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "petal-user-journey-coordinator"
-version = "0.1.6"
+version = "0.1.8"
 description = "A petal for the DroneLeaf ecosystem"
 authors = [
     { name = "Khalil Al Handawi", email = "khalil.alhandawi@droneleaf.io" },

{petal_user_journey_coordinator-0.1.6 → petal_user_journey_coordinator-0.1.8}/src/petal_user_journey_coordinator/controllers.py

@@ -810,22 +810,10 @@ class ESCCalibrationController(BaseTimeoutController):
                     self.logger.error(f"[{message_id}] Unknown throttle type: {throttle_type}")
                     return False
                 
-                # param5 = 110x where x is motor index
-                param5 = float(1100 + motor_idx)
-                
-                # Build the command message                
-                command_msg = self.mavlink_proxy.master.mav.command_long_encode(
-                    1, # TODO: investigate best practice
-                    1, # TODO: investigate best practice
-                    mavutil.mavlink.MAV_CMD_ACTUATOR_TEST, 
-                    0,              # confirmation
-                    param1,         # Motor value (0-1 or NaN)
-                    timeout,        # Timeout in seconds
-                    0,              # Reserved
-                    0,              # Reserved    
-                    param5,         # Motor mapping (110x)
-                    0,              # Reserved
-                    0               # Reserved
+                command_msg = self.mavlink_proxy.build_motor_value_command(
+                    motor_idx=motor_idx, 
+                    motor_value=param1, 
+                    timeout=timeout
                 )
 
                 # Send the command
@@ -833,7 +821,7 @@ class ESCCalibrationController(BaseTimeoutController):
                 
                 action = "maximum throttle" if throttle_type == "maximum" else \
                         "minimum throttle" if throttle_type == "minimum" else "stopped"
-                self.logger.info(f"[{message_id}] Motor {motor_idx}: {action} (param1={param1}, param5={param5})")
+                self.logger.info(f"[{message_id}] Motor {motor_idx}: {action} (motor value={param1}, timeout={timeout}s)")
                     
                 # Small delay between motor commands
                 await asyncio.sleep(0.1)
@@ -1019,22 +1007,11 @@ class ESCForceRunAllController(BaseTimeoutController):
         """Send MAV_CMD_ACTUATOR_TEST command to all motors."""
         try:
             for motor_idx in range(1, self.motor_count + 1):
-                # param5 = 110x where x is motor index
-                param5 = float(1100 + motor_idx)
-
-                # Build the command message
-                command_msg = self.mavlink_proxy.master.mav.command_long_encode(
-                    1, # TODO: investigate best practice
-                    1, # TODO: investigate best practice
-                    mavutil.mavlink.MAV_CMD_ACTUATOR_TEST, 
-                    0,              # confirmation
-                    motor_value,    # Motor value (0-1 or NaN)
-                    timeout,        # Timeout in seconds
-                    0,              # Reserved
-                    0,              # Reserved    
-                    param5,         # Motor mapping (110x)
-                    0,              # Reserved
-                    0               # Reserved
+
+                command_msg = self.mavlink_proxy.build_motor_value_command(
+                    motor_idx=motor_idx, 
+                    motor_value=motor_value, 
+                    timeout=timeout
                 )
 
                 # Send the command
@@ -1056,21 +1033,11 @@ class ESCForceRunAllController(BaseTimeoutController):
             nan_value = float('nan')
             
             for motor_idx in range(1, self.motor_count + 1):
-                param5 = float(1100 + motor_idx)
-
-                # Build the command message
-                command_msg = self.mavlink_proxy.master.mav.command_long_encode(
-                    1, # TODO: investigate best practice
-                    1, # TODO: investigate best practice
-                    mavutil.mavlink.MAV_CMD_ACTUATOR_TEST, 
-                    0,              # confirmation
-                    nan_value,      # Motor value (0-1 or NaN)
-                    0.0,            # Timeout in seconds
-                    0,              # Reserved
-                    0,              # Reserved    
-                    param5,         # Motor mapping (110x)
-                    0,              # Reserved
-                    0               # Reserved
+
+                command_msg = self.mavlink_proxy.build_motor_value_command(
+                    motor_idx=motor_idx, 
+                    motor_value=nan_value, 
+                    timeout=0.0
                 )
 
                 # Send the command
@@ -1250,22 +1217,11 @@ class ESCForceRunSingleController(BaseTimeoutController):
     async def _send_actuator_test_single_motor(self, motor_value: float, timeout: float) -> bool:
         """Send MAV_CMD_ACTUATOR_TEST command to single motor."""
         try:
-            # param5 = 110x where x is motor index
-            param5 = float(1100 + self.target_motor)
-            
-            # Build the command message
-            command_msg = self.mavlink_proxy.master.mav.command_long_encode(
-                1, # TODO: investigate best practice
-                1, # TODO: investigate best practice
-                mavutil.mavlink.MAV_CMD_ACTUATOR_TEST, 
-                0,              # confirmation
-                motor_value,    # Motor value (0-1 or NaN)
-                timeout,        # Timeout in seconds
-                0,              # Reserved
-                0,              # Reserved    
-                param5,         # Motor mapping (110x)
-                0,              # Reserved
-                0               # Reserved
+
+            command_msg = self.mavlink_proxy.build_motor_value_command(
+                motor_idx=self.target_motor, 
+                motor_value=motor_value, 
+                timeout=timeout
             )
             
             # Send the command
@@ -1284,23 +1240,13 @@ class ESCForceRunSingleController(BaseTimeoutController):
         try:
             # Use NaN to stop motor
             nan_value = float('nan')
-            param5 = float(1100 + self.target_motor)
             
-            # Build the command message
-            command_msg = self.mavlink_proxy.master.mav.command_long_encode(
-                1, # TODO: investigate best practice
-                1, # TODO: investigate best practice
-                mavutil.mavlink.MAV_CMD_ACTUATOR_TEST, 
-                0,              # confirmation
-                nan_value,      # Motor value (0-1 or NaN)
-                0.0,            # Timeout in seconds
-                0,              # Reserved
-                0,              # Reserved    
-                param5,         # Motor mapping (110x)
-                0,              # Reserved
-                0               # Reserved
+            command_msg = self.mavlink_proxy.build_motor_value_command(
+                motor_idx=self.target_motor, 
+                motor_value=nan_value, 
+                timeout=0.0
             )
-            
+
             # Send the command
             self.mavlink_proxy.send("mav", command_msg)
 
@@ -1447,7 +1393,15 @@ class BasePubSubController(ABC):
     3. Stop publishing when receiving petal-user-journey-coordinator/unsubscribe_<stream_name>
     """
     
-    def __init__(self, stream_name: str, mqtt_proxy: MQTTProxy, mavlink_proxy: MavLinkExternalProxy, logger: logging.Logger):
+    def __init__(
+            self, 
+            stream_name: str, 
+            mqtt_proxy: MQTTProxy, 
+            mavlink_proxy: MavLinkExternalProxy, 
+            logger: logging.Logger,
+            petal_name: str = "petal-user-journey-coordinator"
+        ):
+        self.petal_name = petal_name
         self.stream_name = stream_name
         self.mqtt_proxy = mqtt_proxy
         self.mavlink_proxy = mavlink_proxy
@@ -1544,7 +1498,7 @@ class BasePubSubController(ABC):
 
                     mqtt_message = {
                         "messageId": str(uuid.uuid4()),
-                        "command": f"/petal-user-journey-coordinator/publish_{self.stream_name}",
+                        "command": f"/{self.petal_name}/publish_{self.stream_name}",
                         "timestamp": datetime.now().isoformat(),
                         "payload": publish_payload.model_dump()
                     }
@@ -1568,8 +1522,14 @@ class BasePubSubController(ABC):
 class RCChannelsController(BasePubSubController):
     """Controller for streaming RC_CHANNELS MAVLink data."""
     
-    def __init__(self, mqtt_proxy: MQTTProxy, mavlink_proxy: MavLinkExternalProxy, logger: logging.Logger):
-        super().__init__("rc_value_stream", mqtt_proxy, mavlink_proxy, logger)
+    def __init__(
+            self, 
+            mqtt_proxy: MQTTProxy, 
+            mavlink_proxy: MavLinkExternalProxy, 
+            logger: logging.Logger,
+            petal_name: str = "petal-user-journey-coordinator"
+        ):
+        super().__init__("rc_value_stream", mqtt_proxy, mavlink_proxy, logger, petal_name=petal_name)
         self._latest_sample = None
         self._sample_lock = threading.Lock()
     
@@ -1628,9 +1588,10 @@ class PositionChannelsController(BasePubSubController):
             corner_exclusion_radius: float,
             max_matching_distance: float,
             corner_points: List[Dict[str, float]],
-            reference_trajectory: List[Dict[str, float]]
+            reference_trajectory: List[Dict[str, float]],
+            petal_name: str = "petal-user-journey-coordinator"
         ):
-        super().__init__("real_time_pose", mqtt_proxy, mavlink_proxy, logger)
+        super().__init__("real_time_pose", mqtt_proxy, mavlink_proxy, logger, petal_name=petal_name)
         self._latest_position = None
         self._latest_attitude = None
         self._sample_lock = threading.Lock()
@@ -1916,8 +1877,14 @@ def _classify_kill_transition(text: str) -> Optional[bool]:
 class KillSwitchController(BasePubSubController):
     """Controller for streaming kill switch status from PX4 STATUSTEXT messages with automatic parameter configuration."""
 
-    def __init__(self, mqtt_proxy: MQTTProxy, mavlink_proxy: MavLinkExternalProxy, logger: logging.Logger):
-        super().__init__("ks_status_stream", mqtt_proxy, mavlink_proxy, logger)
+    def __init__(
+            self, 
+            mqtt_proxy: MQTTProxy, 
+            mavlink_proxy: MavLinkExternalProxy, 
+            logger: logging.Logger,
+            petal_name: str = "petal-user-journey-coordinator"
+        ):
+        super().__init__("ks_status_stream", mqtt_proxy, mavlink_proxy, logger, petal_name=petal_name)
 
         # Kill switch state tracking
         self.is_killed: Optional[bool] = None  # None = unknown
@@ -2007,8 +1974,14 @@ class KillSwitchController(BasePubSubController):
 class MultiFunctionalSwitchAController(BasePubSubController):
     """Controller for streaming Multi-functional Switch A data from MAVLink messages."""
     
-    def __init__(self, mqtt_proxy: MQTTProxy, mavlink_proxy: MavLinkExternalProxy, logger: logging.Logger):
-        super().__init__("mfs_a_status_stream", mqtt_proxy, mavlink_proxy, logger)
+    def __init__(
+            self, 
+            mqtt_proxy: MQTTProxy, 
+            mavlink_proxy: MavLinkExternalProxy, 
+            logger: logging.Logger,
+            petal_name: str = "petal-user-journey-coordinator"
+        ):
+        super().__init__("mfs_a_status_stream", mqtt_proxy, mavlink_proxy, logger, petal_name=petal_name)
         
         # Multi-functional Switch A state tracking
         self.latest_mfs_a_data: Optional[Dict[str, Any]] = None
@@ -2061,8 +2034,14 @@ class MultiFunctionalSwitchAController(BasePubSubController):
 class MultiFunctionalSwitchBController(BasePubSubController):
     """Controller for streaming Multi-functional Switch B data from MAVLink messages."""
     
-    def __init__(self, mqtt_proxy: MQTTProxy, mavlink_proxy: MavLinkExternalProxy, logger: logging.Logger):
-        super().__init__("mfs_b_status_stream", mqtt_proxy, mavlink_proxy, logger)
+    def __init__(
+            self, 
+            mqtt_proxy: MQTTProxy, 
+            mavlink_proxy: MavLinkExternalProxy, 
+            logger: logging.Logger,
+            petal_name: str = "petal-user-journey-coordinator"
+        ):
+        super().__init__("mfs_b_status_stream", mqtt_proxy, mavlink_proxy, logger, petal_name=petal_name)
         
         # Multi-functional Switch B state tracking
         self.latest_mfs_b_data: Optional[Dict[str, Any]] = None
@@ -2124,8 +2103,10 @@ class TrajectoryVerificationController:
         rectangle_a: float = 2.0,
         rectangle_b: float = 2.0,
         points_per_edge: int = 10,
-        corner_exclusion_radius: float = 0.2
+        corner_exclusion_radius: float = 0.2,
+        petal_name: str = "petal-user-journey-coordinator"
     ):
+        self.petal_name = petal_name
         self.mqtt_proxy = mqtt_proxy
         self.logger = logger
         self.is_active = False
@@ -2730,7 +2711,7 @@ class TrajectoryVerificationController:
 
         mqtt_message = {
             "messageId": str(uuid.uuid4()),
-            "command": "/petal-user-journey-coordinator/verify_pos_yaw_directions_results",
+            "command": f"/{self.petal_name}/verify_pos_yaw_directions_results",
             "timestamp": datetime.now().isoformat(),
             "payload": results_payload
         }
@@ -2758,7 +2739,13 @@ class WifiOptitrackConnectivityController:
     Controller for connecting to WiFi and verifying OptiTrack server connectivity.
     """
 
-    def __init__(self, mqtt_proxy: "MQTTProxy", logger: logging.Logger):
+    def __init__(
+            self, 
+            mqtt_proxy: "MQTTProxy", 
+            logger: logging.Logger, 
+            petal_name: str = "petal-user-journey-coordinator"
+        ):
+        self.petal_name = petal_name
         self.mqtt_proxy = mqtt_proxy
         self.logger = logger
         self.is_active = False
@@ -3115,7 +3102,7 @@ class WifiOptitrackConnectivityController:
             mqtt_message = {
                 "messageId": message_id,
                 "deviceId": getattr(self.mqtt_proxy, 'device_id', 'unknown'),
-                "command": "petal-user-journey-coordinator/acknowledge",
+                "command": f"{self.petal_name}/acknowledge",
                 "timestamp": datetime.now().isoformat(),
                 "payload": response_payload.model_dump()
             }
@@ -3387,7 +3374,7 @@ class WifiOptitrackConnectivityController:
             mqtt_message = {
                 "messageId": message_id,
                 "deviceId": getattr(self.mqtt_proxy, 'device_id', 'unknown'),
-                "command": "petal-user-journey-coordinator/set_static_ip_address_ack",
+                "command": f"{self.petal_name}/set_static_ip_address_ack",
                 "timestamp": datetime.now().isoformat(),
                 "payload": response_payload.model_dump()
             }

{petal_user_journey_coordinator-0.1.6 → petal_user_journey_coordinator-0.1.8}/src/petal_user_journey_coordinator/plugin.py

@@ -188,11 +188,12 @@ class PetalUserJourneyCoordinator(Petal):
             rectangle_a=self.rectangle_a,
             rectangle_b=self.rectangle_b,
             points_per_edge=self.points_per_edge,
-            corner_exclusion_radius=self.corner_exclusion_radius
+            corner_exclusion_radius=self.corner_exclusion_radius,
+            petal_name=self.name
         )
 
         # Initialize WiFi OptiTrack connectivity controller
-        self._wifi_optitrack_controller = WifiOptitrackConnectivityController(self._mqtt_proxy, logger)
+        self._wifi_optitrack_controller = WifiOptitrackConnectivityController(self._mqtt_proxy, logger, petal_name=self.name)
 
         # Initialize operation controllers
         self._operation_controllers = {
@@ -375,7 +376,12 @@ class PetalUserJourneyCoordinator(Petal):
         
         # Initialize pub/sub controllers now that topic_base is available
         self._pubsub_controllers: Dict[str, BasePubSubController] = {
-            "rc_value_stream": RCChannelsController(self._mqtt_proxy, self._mavlink_proxy, logger),
+            "rc_value_stream": RCChannelsController(
+                self._mqtt_proxy, 
+                self._mavlink_proxy, 
+                logger, 
+                petal_name=self.name
+            ),
             "pose_value_stream": PositionChannelsController(
                 mqtt_proxy=self._mqtt_proxy, 
                 mavlink_proxy=self._mavlink_proxy, 
@@ -386,11 +392,27 @@ class PetalUserJourneyCoordinator(Petal):
                 corner_exclusion_radius=self.corner_exclusion_radius,
                 max_matching_distance=self._trajectory_verification.max_matching_distance,
                 corner_points=self._trajectory_verification.corner_points, # Pass corner points here
-                reference_trajectory=self._trajectory_verification.reference_trajectory # Pass reference trajectory here
+                reference_trajectory=self._trajectory_verification.reference_trajectory, # Pass reference trajectory here
+                petal_name=self.name
+            ),
+            "ks_status_stream": KillSwitchController(
+                self._mqtt_proxy, 
+                self._mavlink_proxy, 
+                logger,
+                petal_name=self.name
+            ),
+            "mfs_a_status_stream": MultiFunctionalSwitchAController(
+                self._mqtt_proxy, 
+                self._mavlink_proxy, 
+                logger,
+                petal_name=self.name
             ),
-            "ks_status_stream": KillSwitchController(self._mqtt_proxy, self._mavlink_proxy, logger),
-            "mfs_a_status_stream": MultiFunctionalSwitchAController(self._mqtt_proxy, self._mavlink_proxy, logger),
-            "mfs_b_status_stream": MultiFunctionalSwitchBController(self._mqtt_proxy, self._mavlink_proxy, logger)
+            "mfs_b_status_stream": MultiFunctionalSwitchBController(
+                self._mqtt_proxy, 
+                self._mavlink_proxy, 
+                logger,
+                petal_name=self.name
+            )
         }
         
         # Initialize command handlers registry
@@ -421,45 +443,44 @@ class PetalUserJourneyCoordinator(Petal):
             # "Update": self._test_unregister_all_handlers,
 
             # Timeout operation commands
-            "petal-user-journey-coordinator/esc_calibration": self._esc_calibration_message_handler,
-            "petal-user-journey-coordinator/esc_force_run_all": self._esc_force_run_all_message_handler,
-            "petal-user-journey-coordinator/esc_force_run_single": self._esc_force_run_single_message_handler,
+            f"{self.name}/esc_calibration": self._esc_calibration_message_handler,
+            f"{self.name}/esc_force_run_all": self._esc_force_run_all_message_handler,
+            f"{self.name}/esc_force_run_single": self._esc_force_run_single_message_handler,
 
             # Parameter configuration commands
-            "petal-user-journey-coordinator/geometry": self._geometry_message_handler,
-            "petal-user-journey-coordinator/gps_module": self._gps_module_message_handler,
-            "petal-user-journey-coordinator/dist_module": self._dist_module_message_handler,
-            "petal-user-journey-coordinator/oflow_module": self._oflow_module_message_handler,
-            "petal-user-journey-coordinator/gps_spatial_offset": self._gps_spatial_offset_message_handler,
-            "petal-user-journey-coordinator/distance_spatial_offset": self._distance_spatial_offset_message_handler,
-            "petal-user-journey-coordinator/optical_flow_spatial_offset": self._optical_flow_spatial_offset_message_handler,
-            "petal-user-journey-coordinator/esc_update_calibration_limits": self._esc_update_calibration_limits_message_handler,
-            "petal-user-journey-coordinator/bulk_set_parameters": self._bulk_set_parameter_message_handler,
-            "petal-user-journey-coordinator/bulk_get_parameters": self._bulk_get_parameter_message_handler,
+            f"{self.name}/geometry": self._geometry_message_handler,
+            f"{self.name}/gps_module": self._gps_module_message_handler,
+            f"{self.name}/dist_module": self._dist_module_message_handler,
+            f"{self.name}/oflow_module": self._oflow_module_message_handler,
+            f"{self.name}/gps_spatial_offset": self._gps_spatial_offset_message_handler,
+            f"{self.name}/distance_spatial_offset": self._distance_spatial_offset_message_handler,
+            f"{self.name}/optical_flow_spatial_offset": self._optical_flow_spatial_offset_message_handler,
+            f"{self.name}/esc_update_calibration_limits": self._esc_update_calibration_limits_message_handler,
+            f"{self.name}/bulk_set_parameters": self._bulk_set_parameter_message_handler,
+            f"{self.name}/bulk_get_parameters": self._bulk_get_parameter_message_handler,
             
             # Pub/Sub stream commands
-            "petal-user-journey-coordinator/subscribe_rc_value_stream": self._subscribe_rc_value_stream_handler,
-            "petal-user-journey-coordinator/unsubscribe_rc_value_stream": self._unsubscribe_rc_value_stream_handler,
-            "petal-user-journey-coordinator/subscribe_pose_value_stream": self._subscribe_pose_value_stream_handler,
-            "petal-user-journey-coordinator/unsubscribe_pose_value_stream": self._unsubscribe_pose_value_stream_handler,
-            "petal-user-journey-coordinator/subscribe_ks_status_stream": self._subscribe_ks_status_stream_handler,
-            "petal-user-journey-coordinator/unsubscribe_ks_status_stream": self._unsubscribe_ks_status_stream_handler,
-            "petal-user-journey-coordinator/subscribe_mfs_a_status_stream": self._subscribe_mfs_a_status_stream_handler,
-            "petal-user-journey-coordinator/unsubscribe_mfs_a_status_stream": self._unsubscribe_mfs_a_status_stream_handler,
-            "petal-user-journey-coordinator/subscribe_mfs_b_status_stream": self._subscribe_mfs_b_status_stream_handler,
-            "petal-user-journey-coordinator/unsubscribe_mfs_b_status_stream": self._unsubscribe_mfs_b_status_stream_handler,
-            "petal-user-journey-coordinator/unsubscribeall": self._unregister_all_handlers,
+            f"{self.name}/subscribe_rc_value_stream": self._subscribe_rc_value_stream_handler,
+            f"{self.name}/unsubscribe_rc_value_stream": self._unsubscribe_rc_value_stream_handler,
+            f"{self.name}/subscribe_pose_value_stream": self._subscribe_pose_value_stream_handler,
+            f"{self.name}/unsubscribe_pose_value_stream": self._unsubscribe_pose_value_stream_handler,
+            f"{self.name}/subscribe_ks_status_stream": self._subscribe_ks_status_stream_handler,
+            f"{self.name}/unsubscribe_ks_status_stream": self._unsubscribe_ks_status_stream_handler,
+            f"{self.name}/subscribe_mfs_a_status_stream": self._subscribe_mfs_a_status_stream_handler,
+            f"{self.name}/unsubscribe_mfs_a_status_stream": self._unsubscribe_mfs_a_status_stream_handler,
+            f"{self.name}/subscribe_mfs_b_status_stream": self._subscribe_mfs_b_status_stream_handler,
+            f"{self.name}/unsubscribe_mfs_b_status_stream": self._unsubscribe_mfs_b_status_stream_handler,
+            f"{self.name}/unsubscribeall": self._unregister_all_handlers,
             
             # Trajectory verification commands
-            "petal-user-journey-coordinator/verify_pos_yaw_directions": self._verify_pos_yaw_directions_handler,
-            "petal-user-journey-coordinator/verify_pos_yaw_directions_complete": self._verify_pos_yaw_directions_complete_handler,
+            f"{self.name}/verify_pos_yaw_directions": self._verify_pos_yaw_directions_handler,
+            f"{self.name}/verify_pos_yaw_directions_complete": self._verify_pos_yaw_directions_complete_handler,
             
             # WiFi OptiTrack connectivity commands
-            "petal-user-journey-coordinator/connect_to_wifi_and_verify_optitrack": self._connect_to_wifi_and_verify_optitrack_handler,
-            "petal-user-journey-coordinator/set_static_ip_address": self._set_static_ip_address_handler,
-
+            f"{self.name}/connect_to_wifi_and_verify_optitrack": self._connect_to_wifi_and_verify_optitrack_handler,
+            f"{self.name}/set_static_ip_address": self._set_static_ip_address_handler,
             # Reboot command
-            "petal-user-journey-coordinator/reboot_autopilot": self._reboot_px4_message_handler
+            f"{self.name}/reboot_autopilot": self._reboot_px4_message_handler
         }
 
     async def _master_command_handler(self, topic: str, message: Dict[str, Any]):
@@ -488,6 +509,10 @@ class PetalUserJourneyCoordinator(Petal):
                 handler = self._command_handlers[command]
                 await handler(topic, message)
             else:
+                # if command does not start with petal-flight-log/, ignore it
+                if not command.startswith(f"{self.name}/"):
+                    logger.debug(f"Ignoring command not meant for this petal: {command}")
+                    return
                 error_msg = f"Unknown command: {command}"
                 logger.error(error_msg)
                 
@@ -756,7 +781,7 @@ class PetalUserJourneyCoordinator(Petal):
             "waitResponse": True,
             "messageId": f"test-pose-subscribe-{datetime.now().timestamp()}",
             "deviceId": message.get("deviceId", "test-device"),
-            "command": "petal-user-journey-coordinator/subscribe_pose_value_stream",
+            "command": f"{self.name}/subscribe_pose_value_stream",
             "timestamp": datetime.now(timezone.utc).isoformat(),
             "payload": {
                 "subscribed_stream_id": "real_time_pose",
@@ -773,7 +798,7 @@ class PetalUserJourneyCoordinator(Petal):
             "waitResponse": True,
             "messageId": f"test-verify-start-{datetime.now().timestamp()}",
             "deviceId": message.get("deviceId", "test-device"),
-            "command": "petal-user-journey-coordinator/verify_pos_yaw_directions",
+            "command": f"{self.name}/verify_pos_yaw_directions",
             "timestamp": datetime.now(timezone.utc).isoformat(),
             "payload": {
                 "start": True
@@ -790,7 +815,7 @@ class PetalUserJourneyCoordinator(Petal):
             "waitResponse": True,
             "messageId": f"test-verify-complete-{datetime.now().timestamp()}",
             "deviceId": message.get("deviceId", "test-device"),
-            "command": "petal-user-journey-coordinator/verify_pos_yaw_directions_complete",
+            "command": f"{self.name}/verify_pos_yaw_directions_complete",
             "timestamp": datetime.now(timezone.utc).isoformat(),
             "payload": {}
         }
@@ -801,7 +826,7 @@ class PetalUserJourneyCoordinator(Petal):
             "waitResponse": True,
             "messageId": f"test-pose-unsubscribe-{datetime.now().timestamp()}",
             "deviceId": message.get("deviceId", "test-device"),
-            "command": "petal-user-journey-coordinator/unsubscribe_pose_value_stream",
+            "command": f"{self.name}/unsubscribe_pose_value_stream",
             "timestamp": datetime.now(timezone.utc).isoformat(),
             "payload": {
                 "unsubscribed_stream_id": "real_time_pose"
@@ -821,7 +846,7 @@ class PetalUserJourneyCoordinator(Petal):
             "waitResponse": True,
             "messageId": f"test-wifi-optitrack-{datetime.now().timestamp()}",
             "deviceId": message.get("deviceId", "test-device"),
-            "command": "petal-user-journey-coordinator/connect_to_wifi_and_verify_optitrack",
+            "command": f"{self.name}/connect_to_wifi_and_verify_optitrack",
             "timestamp": datetime.now(timezone.utc).isoformat(),
             "payload": {
                 "positioning_system_network_wifi_ssid": "Rob-Lab-C00060",
@@ -847,7 +872,7 @@ class PetalUserJourneyCoordinator(Petal):
             "waitResponse": True,
             "messageId": f"test-static-ip-{datetime.now().timestamp()}",
             "deviceId": message.get("deviceId", "test-device"),
-            "command": "petal-user-journey-coordinator/set_static_ip_address",
+            "command": f"{self.name}/set_static_ip_address",
             "timestamp": datetime.now(timezone.utc).isoformat(),
             "payload": {
                 "positioning_system_network_wifi_subnet": "255.255.255.0",
@@ -870,12 +895,12 @@ class PetalUserJourneyCoordinator(Petal):
         # List of streams to subscribe to for testing
         test_subscriptions = [
             {
-                "command": "petal-user-journey-coordinator/subscribe_rc_value_stream",
+                "command": f"{self.name}/subscribe_rc_value_stream",
                 "stream_id": "px4_rc_raw",
                 "data_rate_hz": 20.0
             },
             {
-                "command": "petal-user-journey-coordinator/subscribe_pose_value_stream", 
+                "command": f"{self.name}/subscribe_pose_value_stream", 
                 "stream_id": "real_time_pose",
                 "data_rate_hz": 10.0
             },
@@ -925,7 +950,7 @@ class PetalUserJourneyCoordinator(Petal):
             "waitResponse": True,
             "messageId": f"test-unsubscribe-all-{datetime.now().timestamp()}",
             "deviceId": message.get("deviceId", "test-device"),
-            "command": "petal-user-journey-coordinator/unsubscribeall",
+            "command": f"{self.name}/unsubscribeall",
             "timestamp": datetime.now(timezone.utc).isoformat(),
             "payload": {}
         }
@@ -1686,7 +1711,18 @@ class PetalUserJourneyCoordinator(Petal):
                     results[pname] = confirmed[pname]
                     # check that the set value matches the requested value
                     confirmed_value = results[pname].get("value")
-                    if confirmed_value == parameter.parameter_value:
+                    requested_value = parameter.parameter_value
+                    
+                    # Check for equality, handling floating point precision issues
+                    is_match = False
+                    if isinstance(confirmed_value, (float, int)) and isinstance(requested_value, (float, int)):
+                        # Use 1e-5 relative tolerance to handle float32/float64 mismatch
+                        # This should be enough for values like 0.2 vs 0.20000000298...
+                        is_match = math.isclose(confirmed_value, requested_value, rel_tol=1e-5)
+                    else:
+                        is_match = confirmed_value == requested_value
+
+                    if is_match:
                         results[pname]["success"] = True
                     else:
                         results[pname]["success"] = False
@@ -2564,7 +2600,17 @@ class PetalUserJourneyCoordinator(Petal):
                     results[pname] = confirmed[pname]
                     # check that the set value matches the requested value
                     confirmed_value = results[pname].get("value")
-                    if confirmed_value == parameter.parameter_value:
+                    requested_value = parameter.parameter_value
+                    
+                    # Check for equality, handling floating point precision issues
+                    is_match = False
+                    if isinstance(confirmed_value, (float, int)) and isinstance(requested_value, (float, int)):
+                        # Use 1e-5 relative tolerance to handle float32/float64 mismatch
+                        is_match = math.isclose(confirmed_value, requested_value, rel_tol=1e-5)
+                    else:
+                        is_match = confirmed_value == requested_value
+
+                    if is_match:
                         results[pname]["success"] = True
                     else:
                         results[pname]["success"] = False