Distanced Reference Warning Dialog

field_friend/automations/field_provider.py

@@ -1,5 +1,4 @@
 import logging
-import os
 import uuid
 from typing import Any, Optional
 
@@ -71,13 +70,6 @@ def clear_fields(self) -> None:
         self.FIELDS_CHANGED.emit()
         self.invalidate()
 
-    def update_reference(self) -> None:
-        if self.gnss.current is None:
-            rosys.notify('No GNSS position available.')
-            return
-        localization.reference = self.gnss.current.location
-        os.utime('main.py')
-
     def create_obstacle(self, field: Field, points: list[GeoPoint] = []) -> FieldObstacle:
         obstacle = FieldObstacle(id=f'{str(uuid.uuid4())}', name=f'obstacle_{len(field.obstacles)+1}', points=points)
         field.obstacles.append(obstacle)

field_friend/automations/navigation/navigation.py

@@ -6,6 +6,7 @@
 import rosys
 from nicegui import ui
 
+from ... import localization
 from ..implements import Implement
 
 if TYPE_CHECKING:
@@ -46,6 +47,9 @@ async def start(self) -> None:
                 self.log.error('Preparation failed')
                 return
             await self.gnss.update_robot_pose()
+            if self.gnss.current.location.distance(localization.reference) > 2000.0:
+                self.gnss.reference_alert_dialog.open()
+                raise WorkflowException('reference to far away from robot')
             self.start_position = self.odometer.prediction.point
             if isinstance(self.driver.wheels, rosys.hardware.WheelsSimulation) and not rosys.is_test:
                 self.create_simulation()
@@ -65,6 +69,7 @@ async def start(self) -> None:
         except WorkflowException as e:
             self.kpi_provider.increment_weeding_kpi('automation_stopped')
             self.log.error(f'WorkflowException: {e}')
+            rosys.notify(f'An exception occurred during automation: {e}', 'negative')
         finally:
             self.kpi_provider.increment_weeding_kpi('weeding_completed')
             await self.implement.finish()

field_friend/interface/components/field_planner.py

@@ -54,7 +54,7 @@ def __init__(self, system: 'System', leaflet: leaflet_map) -> None:
                 with ui.row():
                     ui.button('Clear fields', on_click=self.clear_field_dialog.open).props("outline color=warning") \
                         .tooltip("Delete all fields").classes("ml-auto").style("display: block; margin-top:auto; margin-bottom: auto;")
-                    ui.button("Update reference", on_click=self.field_provider.update_reference).props("outline color=warning") \
+                    ui.button("Update reference", on_click=self.gnss.update_reference).props("outline color=warning") \
                         .tooltip("Set current position as geo reference and restart the system").classes("ml-auto").style("display: block; margin-top:auto; margin-bottom: auto;")
             self.show_field_settings()
             self.show_object_settings()

field_friend/interface/pages/main_page.py

@@ -21,6 +21,7 @@ def page() -> None:
     def content(self, devmode) -> None:
         page_height = '50vh' if devmode else 'calc(100vh - 170px)'
         ui.colors(primary='#6E93D6', secondary='#53B689', accent='#111B1E', positive='#53B689')
+        self.system.gnss.reference_warning_dialog()
         with ui.row().style(f'height:{page_height}; width: calc(100vw - 2rem); flex-wrap: nowrap;'):
             with ui.column().classes('h-full w-1/2 p-2'):
                 leaflet = leaflet_map(self.system, False)

field_friend/localization/gnss.py

@@ -1,13 +1,15 @@
 from __future__ import annotations
 
 import logging
+import os
 from abc import ABC, abstractmethod
 from copy import deepcopy
 from dataclasses import dataclass
 from typing import Any, Optional
 
 import numpy as np
 import rosys
+from nicegui import ui
 
 from .. import localization
 from .geo_point import GeoPoint
@@ -61,6 +63,7 @@ def __init__(self, odometer: rosys.driving.Odometer, antenna_offset: float) -> N
         self.needs_backup = False
         rosys.on_repeat(self.check_gnss, 0.01)
         rosys.on_repeat(self.try_connection, 3.0)
+        self.reference_alert_dialog = None
 
     @abstractmethod
     async def try_connection(self) -> None:
@@ -146,3 +149,18 @@ def restore(self, data: dict[str, Any]) -> None:
         self.needed_poses = data.get('needed_poses', self.needed_poses)
         self.min_seconds_between_updates = data.get('min_seconds_between_updates', self.min_seconds_between_updates)
         self.ensure_gnss = data.get('ensure_gnss', self.ensure_gnss)
+
+    def update_reference(self) -> None:
+        if self.current is None:
+            rosys.notify('No GNSS position available.')
+            return
+        localization.reference = self.current.location
+        os.utime('main.py')
+
+    def reference_warning_dialog(self) -> None:
+        with ui.dialog() as self.reference_alert_dialog, ui.card():
+            ui.label('The reference is to far away from the current position which would lead to issues in the navigation. Do you want to set it now?')
+            with ui.row():
+                ui.button("Update reference", on_click=self.update_reference).props("outline color=warning") \
+                    .tooltip("Set current position as geo reference and restart the system").classes("ml-auto").style("display: block; margin-top:auto; margin-bottom: auto;")
+                ui.button('Cancel', on_click=self.reference_alert_dialog.close)