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Original file line number | Diff line number | Diff line change |
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@@ -1,13 +1,15 @@ | ||
configuration = {'parameters': { | ||
'width': 1280, | ||
'height': 720, | ||
'auto_exposure': True, | ||
'fps': 10, | ||
}, | ||
configuration = { | ||
'type': 'ZedxminiCamera', | ||
'parameters': { | ||
'width': 1280, | ||
'height': 720, | ||
'auto_exposure': True, | ||
'fps': 10, | ||
}, | ||
'crop': { | ||
'left': 60, | ||
'right': 200, | ||
'up': 20, | ||
'down': 0, | ||
} | ||
'left': 60, | ||
'right': 200, | ||
'up': 20, | ||
'down': 0, | ||
} | ||
} |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,20 @@ | ||
version: "3.9" | ||
services: | ||
zedxmini: | ||
restart: always | ||
privileged: true | ||
runtime: nvidia | ||
build: | ||
context: ../zedxmini | ||
dockerfile: ../zedxmini/Dockerfile | ||
volumes: | ||
- ../zedxmini:/app | ||
- /dev:/dev | ||
- /tmp:/tmp | ||
- /var/nvidia/nvcam/settings/:/var/nvidia/nvcam/settings | ||
- /etc/systemd/system/zed_x_daemon.service:/etc/systemd/system/zed_x_daemon.service | ||
- /usr/local/zed/resources:/usr/local/zed/resources | ||
ports: | ||
- "8003:8003" | ||
environment: | ||
- TZ=Europe/Amsterdam |
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Original file line number | Diff line number | Diff line change |
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|
@@ -5,6 +5,9 @@ | |
}, | ||
{ | ||
"path": "../rosys" | ||
}, | ||
{ | ||
"path": "../zedxmini" | ||
} | ||
], | ||
"settings": {}, | ||
|
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79 changes: 79 additions & 0 deletions
79
field_friend/automations/navigation/crossglide_demo_navigation.py
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from typing import TYPE_CHECKING, Any | ||
|
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import numpy as np | ||
import rosys | ||
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from ...automations.implements.implement import Implement | ||
from .navigation import Navigation | ||
|
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if TYPE_CHECKING: | ||
from system import System | ||
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|
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class WorkflowException(Exception): | ||
pass | ||
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|
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class CrossglideDemoNavigation(Navigation): | ||
|
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def __init__(self, system: 'System', tool: Implement) -> None: | ||
super().__init__(system, tool) | ||
self.MAX_STRETCH_DISTANCE: float = 5.0 | ||
self.detector = system.detector | ||
self.name = 'Crossglide Demo' | ||
self.origin: rosys.geometry.Point | ||
self.target: rosys.geometry.Point | ||
|
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async def prepare(self) -> bool: | ||
await super().prepare() | ||
self.log.info(f'Activating {self.implement.name}...') | ||
await self.implement.activate() | ||
return True | ||
|
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async def start(self) -> None: | ||
try: | ||
await self.implement.stop_workflow() | ||
if not await self.implement.prepare(): | ||
self.log.error('Tool-Preparation failed') | ||
return | ||
if not await self.prepare(): | ||
self.log.error('Preparation failed') | ||
return | ||
if isinstance(self.driver.wheels, rosys.hardware.WheelsSimulation) and not rosys.is_test: | ||
self.create_simulation() | ||
self.log.info('Navigation started') | ||
while not self._should_finish(): | ||
self.implement.next_punch_y_position = np.random.uniform(-0.11, 0.1) | ||
await self.implement.start_workflow() | ||
except WorkflowException as e: | ||
self.kpi_provider.increment_weeding_kpi('automation_stopped') | ||
self.log.error(f'WorkflowException: {e}') | ||
finally: | ||
self.kpi_provider.increment_weeding_kpi('weeding_completed') | ||
await self.implement.finish() | ||
await self.finish() | ||
await self.driver.wheels.stop() | ||
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async def finish(self) -> None: | ||
await super().finish() | ||
await self.implement.deactivate() | ||
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async def _drive(self, distance: float) -> None: | ||
pass | ||
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def _should_finish(self) -> bool: | ||
return False | ||
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def create_simulation(self): | ||
pass | ||
# TODO: implement create_simulation | ||
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def settings_ui(self) -> None: | ||
super().settings_ui() | ||
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def backup(self) -> dict: | ||
return super().backup() | { | ||
} | ||
|
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def restore(self, data: dict[str, Any]) -> None: | ||
super().restore(data) |
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