crossglide_demo, f15 flashlight config

config/f15_config_f15/hardware.py

@@ -63,7 +63,11 @@
         'status_pin': 13,
     },
     'flashlight': {
-        'version': 'none',
+        'version': 'flashlight_pwm_v2',
+        'name': 'flashlight',
+        'on_expander': True,
+        'front_pin': 12,
+        'back_pin': 23,
     },
     'bumper': {
         'name': 'bumper',

field_friend/automations/navigation/__init__.py

@@ -5,6 +5,7 @@
 from .navigation import Navigation, WorkflowException
 from .row_on_field_navigation import RowsOnFieldNavigation
 from .straight_line_navigation import StraightLineNavigation
+from .crossglide_demo_navigation import CrossglideDemoNavigation
 
 __all__ = [
     'Navigation',
@@ -14,4 +15,5 @@
     'FollowCropsNavigation',
     'CoverageNavigation',
     'ABLineNavigation',
+    'CrossglideDemoNavigation',
 ]

field_friend/automations/navigation/crossglide_demo_navigation.py

@@ -0,0 +1,84 @@
+from random import randint
+from typing import TYPE_CHECKING, Any
+
+import numpy as np
+import rosys
+from nicegui import ui
+
+from ...automations.implements.implement import Implement
+from .navigation import Navigation
+
+if TYPE_CHECKING:
+    from system import System
+
+
+class WorkflowException(Exception):
+    pass
+
+
+class CrossglideDemoNavigation(Navigation):
+
+    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
+
+    async def prepare(self) -> bool:
+        await super().prepare()
+        self.log.info(f'Activating {self.implement.name}...')
+        await self.implement.activate()
+        return True
+
+    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():
+                # put a random simulated plant in the dict
+                self.implement.next_punch_y_position = np.random.uniform(-0.11, 0.1)
+                self.log.info(f'🥵 Weeds to handle: {self.implement.weeds_to_handle}')
+                await self.implement.start_workflow()
+                # await rosys.sleep(5)
+        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()
+
+    async def finish(self) -> None:
+        await super().finish()
+        await self.implement.deactivate()
+
+    async def _drive(self, distance: float) -> None:
+        pass
+
+    def _should_finish(self) -> bool:
+        return False
+
+    def create_simulation(self):
+        pass
+        # TODO: implement create_simulation
+
+    def settings_ui(self) -> None:
+        super().settings_ui()
+
+    def backup(self) -> dict:
+        return super().backup() | {
+        }
+
+    def restore(self, data: dict[str, Any]) -> None:
+        super().restore(data)

field_friend/automations/plant_locator.py

@@ -117,7 +117,7 @@ async def _detect_plants(self) -> None:
             if world_point_3d is None:
                 self.log.error('could not generate world point of detection, calibration error')
                 continue
-            if abs(world_point_3d.y) > 0.12:
+            if abs(world_point_3d.y) >= 0.11:
                 continue
             world_point_3d.z = 0.0
             plant = Plant(type=d.category_name,
@@ -127,7 +127,7 @@ async def _detect_plants(self) -> None:
             plant.confidences.append(d.confidence)
             if d.category_name in self.weed_category_names and d.confidence >= self.minimum_weed_confidence:
                 # self.log.info('weed found')
-                self.log.info(f'image_point: {image_point} -> world_point_3d: {world_point_3d}')
+                # self.log.info(f'image_point: {image_point} -> world_point_3d: {world_point_3d}')
                 await self.plant_provider.add_weed(plant)
             elif d.category_name in self.crop_category_names and d.confidence >= self.minimum_crop_confidence:
                 # self.log.info(f'{d.category_name} found')

field_friend/interface/components/hardware_control.py

@@ -3,8 +3,8 @@
 from nicegui.events import ValueChangeEventArguments
 
 from ...automations import Puncher
-from ...hardware import (ChainAxis, FieldFriend, FieldFriendHardware, Flashlight, FlashlightPWM, FlashlightPWMV2,
-                         FlashlightV2, Mower, MowerHardware, MowerSimulation, Tornado, Axis, YAxisCanOpenHardware,
+from ...hardware import (Axis, ChainAxis, FieldFriend, FieldFriendHardware, Flashlight, FlashlightPWM, FlashlightPWMV2,
+                         FlashlightV2, Mower, MowerHardware, MowerSimulation, Tornado, YAxisCanOpenHardware,
                          ZAxisCanOpenHardware)
 from .confirm_dialog import ConfirmDialog as confirm_dialog
 from .status_bulb import StatusBulb as status_bulb
@@ -142,7 +142,7 @@ async def toggle_flashlight(e: ValueChangeEventArguments) -> None:
                             puncher.punch(field_friend.y_axis.max_position, depth=depth.value)))
                         ui.button(on_click=lambda: automator.start(puncher.punch(0, depth=depth.value)))
                         ui.button(on_click=lambda: automator.start(
-                            puncher.punch(field_friend.y_axis.min_position, depth=depth.value)))
+                            puncher.punch(field_friend.y_axis.min_position - field_friend.WORK_Y, depth=depth.value)))
 
         if isinstance(field_friend.mower, Mower):
             with ui.column():

field_friend/system.py

@@ -11,8 +11,8 @@
 from .automations import (AutomationWatcher, BatteryWatcher, FieldProvider, KpiProvider, PathProvider, PlantLocator,
                           PlantProvider, Puncher)
 from .automations.implements import ChopAndScrew, ExternalMower, Implement, Recorder, Tornado, WeedingScrew
-from .automations.navigation import (ABLineNavigation, CoverageNavigation, FollowCropsNavigation, Navigation,
-                                     RowsOnFieldNavigation, StraightLineNavigation)
+from .automations.navigation import (ABLineNavigation, CoverageNavigation, CrossglideDemoNavigation,
+                                     FollowCropsNavigation, Navigation, RowsOnFieldNavigation, StraightLineNavigation)
 from .hardware import FieldFriend, FieldFriendHardware, FieldFriendSimulation, TeltonikaRouter
 from .interface.components.info import Info
 from .kpi_generator import generate_kpis
@@ -136,11 +136,13 @@ def watch_robot() -> None:
         self.follow_crops_navigation = FollowCropsNavigation(self, self.monitoring)
         self.coverage_navigation = CoverageNavigation(self, self.monitoring)
         self.a_b_line_navigation = ABLineNavigation(self, self.monitoring)
+        self.crossglide_demo_navigation = CrossglideDemoNavigation(self, self.monitoring)
         self.navigation_strategies = {n.name: n for n in [self.field_navigation,
                                                           self.straight_line_navigation,
                                                           self.follow_crops_navigation,
                                                           self.coverage_navigation,
-                                                          self.a_b_line_navigation
+                                                          self.a_b_line_navigation,
+                                                          self.crossglide_demo_navigation
                                                           ]}
         implements: list[Implement] = [self.monitoring]
         match self.field_friend.implement_name: