Attempt bugfix to render last img before task completion

app.py

@@ -242,7 +242,19 @@ def process_search_tta(
                 _stop_thread(th)
                 th.join(timeout=1)
 
-    # Final emit after both finish
+    # One last scan after both threads have finished to catch any frame
+    # that may have been written just before termination but after the last
+    # polling iteration.
+    for fp in sorted(glob.glob(os.path.join(gifs_dir_tta, "*.png")), key=lambda p: int(os.path.splitext(os.path.basename(p))[0])):
+        if fp not in sent_tta:
+            sent_tta.add(fp)
+            last_tta = fp
+    for fp in sorted(glob.glob(os.path.join(gifs_dir_no, "*.png")), key=lambda p: int(os.path.splitext(os.path.basename(p))[0])):
+        if fp not in sent_no:
+            sent_no.add(fp)
+            last_no = fp
+
+    # Final emit after both finish (and after final scan)
     yield gr.update(interactive=True), last_tta, last_no, gr.update(value="Done."), gr.update(value="Done.")
 
 

env.py

@@ -835,7 +835,7 @@ class Env():
             self.num_targets_found, \
             len(self.target_positions), 
             self.explored_rate*100, 
-            step, 
+            step+1, 
             NUM_EPS_STEPS), 
             y=0.94,     # Closer to plot
         )

test_multi_robot_worker.py

@@ -322,8 +322,6 @@ class TestWorker:
                 #     )
 
             if done:
-                # NOTE: Added to interface with app.py (Allow for last img to be rendered)
-                time.sleep(5)
                 break
 
         if self.tta: