Add PunchDialog option for all weeding implements

field_friend/automations/implements/tornado.py

@@ -18,7 +18,6 @@ def __init__(self, system: 'System') -> None:
  self.tornado_angle: float = 30.0
  self.drill_with_open_tornado: bool = False
  self.drill_between_crops: bool = False
- self.with_punch_check: bool = False
  self.field_friend = system.field_friend
 
  async def start_workflow(self) -> bool:
@@ -78,31 +77,25 @@ def backup(self) -> dict:
  return super().backup() | {
  'drill_with_open_tornado': self.drill_with_open_tornado,
  'drill_between_crops': self.drill_between_crops,
- 'with_punch_check': self.with_punch_check,
  'tornado_angle': self.tornado_angle,
  }
 
  def restore(self, data: dict[str, Any]) -> None:
  super().restore(data)
  self.drill_with_open_tornado = data.get('drill_with_open_tornado', self.drill_with_open_tornado)
  self.drill_between_crops = data.get('drill_between_crops', self.drill_between_crops)
- self.with_punch_check = data.get('with_punch_check', self.with_punch_check)
  self.tornado_angle = data.get('tornado_angle', self.tornado_angle)
 
  def settings_ui(self):
  super().settings_ui()
-
  ui.number('Tornado angle', format='%.0f', step=1, min=0, max=180) \
  .props('dense outlined suffix=°') \
  .classes('w-24') \
  .bind_value(self, 'tornado_angle') \
  .tooltip('Set the angle for the tornado drill')
  ui.label().bind_text_from(self, 'tornado_angle', lambda v: f'Tornado diameters: {self.field_friend.tornado_diameters(v)[0]*100:.1f} cm '
  f'- {self.field_friend.tornado_diameters(v)[1]*100:.1f} cm')
- ui.checkbox('With punch check') \
- .bind_value(self, 'with_punch_check') \
- .tooltip('Set the weeding automation to check for punch')
- ui.checkbox('Drill 2x with open torando') \
+ ui.checkbox('Drill 2x with open tornado') \
  .bind_value(self, 'drill_with_open_tornado') \
  .tooltip('Set the weeding automation to drill a second time with open tornado')
  ui.checkbox('Drill between crops') \

field_friend/automations/implements/weeding_implement.py

@@ -30,6 +30,7 @@ def __init__(self, name: str, system: 'System', persistence_key: str = 'weeding
  self.kpi_provider = system.kpi_provider
  self.puncher = system.puncher
  self.cultivated_crop: str | None = None
+ self.with_punch_check: bool = False
 
  # dual mechanism
  self.with_drilling: bool = False
@@ -159,13 +160,15 @@ def backup(self) -> dict:
  'with_chopping': self.with_chopping,
  'chop_if_no_crops': self.chop_if_no_crops,
  'cultivated_crop': self.cultivated_crop,
+ 'with_punch_check': self.with_punch_check,
  }
 
  def restore(self, data: dict[str, Any]) -> None:
  self.with_drilling = data.get('with_drilling', self.with_drilling)
  self.with_chopping = data.get('with_chopping', self.with_chopping)
  self.chop_if_no_crops = data.get('chop_if_no_crops', self.chop_if_no_crops)
  self.cultivated_crop = data.get('cultivated_crop', self.cultivated_crop)
+ self.with_punch_check = data.get('with_punch_check', self.with_punch_check)
 
  def clear(self) -> None:
  self.crops_to_handle = {}
@@ -195,3 +198,6 @@ def settings_ui(self):
  ui.select(self.system.crop_category_names, label='cultivated crop', on_change=self.request_backup) \
  .bind_value(self, 'cultivated_crop').props('clearable') \
  .classes('w-40').tooltip('Set the cultivated crop which should be kept safe')
+ ui.checkbox('With punch check', value=True) \
+ .bind_value(self, 'with_punch_check') \
+ .tooltip('Set the weeding automation to check for punch')

field_friend/automations/implements/weeding_screw.py

@@ -42,6 +42,7 @@ async def start_workflow(self) -> bool:
  x=next_weed_position.x,
  y=next_weed_position.y,
  depth=self.weed_screw_depth,
+ with_punch_check=self.with_punch_check,
  backwards_allowed=False)
  punched_weeds = [weed_id for weed_id, position in weeds_in_range.items()
  if position.distance(next_weed_position) <= self.system.field_friend.DRILL_RADIUS

field_friend/automations/kpi_provider.py

@@ -74,7 +74,10 @@ def invalidate(self) -> None:
 
  def increment_weeding_kpi(self, indicator: str) -> None:
  self.increment(indicator)
- new_value = getattr(self.current_weeding_kpis, indicator)+1
+ if getattr(self.current_weeding_kpis, indicator) is None:
+ new_value = 1
+ else:
+ new_value = getattr(self.current_weeding_kpis, indicator)+1
  setattr(self.current_weeding_kpis, indicator, new_value)
  self.WEEDING_KPIS_UPDATED.emit()
  self.invalidate()

field_friend/automations/puncher.py

@@ -92,18 +92,19 @@ async def punch(self,
  if not self.field_friend.y_axis.min_position <= y <= self.field_friend.y_axis.max_position:
  rosys.notify('y position out of range', type='negative')
  raise PuncherException('y position out of range')
+
+ if with_punch_check and plant_id is not None:
+ self.punch_allowed = 'waiting'
+ self.POSSIBLE_PUNCH.emit(plant_id)
+ while self.punch_allowed == 'waiting':
+ await rosys.sleep(0.1)
+ if self.punch_allowed == 'not_allowed':
+ self.log.warning('punch was not allowed')
+ return
+ self.log.info('punching was allowed')
 
  if isinstance(self.field_friend.z_axis, Tornado):
  await self.field_friend.y_axis.move_to(y)
- if with_punch_check and plant_id is not None:
- self.punch_allowed = 'waiting'
- self.POSSIBLE_PUNCH.emit(plant_id)
- while self.punch_allowed == 'waiting':
- await rosys.sleep(0.1)
- if self.punch_allowed == 'not_allowed':
- self.log.warning('punch was not allowed')
- return
- self.log.info('punching was allowed')
  await self.tornado_drill(angle=angle, turns=turns, with_open_drill=with_open_tornado)
 
  elif isinstance(self.field_friend.z_axis, ZAxis):

field_friend/interface/components/operation.py

@@ -57,9 +57,7 @@ def __init__(self, system: 'System') -> None:
  self.implement_selection.value = self.system.current_implement.name
 
  self.system.puncher.POSSIBLE_PUNCH.register_ui(self.can_punch)
- self.punch_dialog = PunchDialog(self.system.usb_camera_provider,
- self.system.plant_locator,
- self.system.odometer)
+ self.punch_dialog = PunchDialog(self.system)
 
  async def can_punch(self, plant_id: str) -> None:
  self.punch_dialog.target_plant = self.system.plant_provider.get_plant_by_id(plant_id)

field_friend/interface/components/punch_dialog.py

@@ -1,32 +1,34 @@
 from typing import Optional
+from typing import TYPE_CHECKING
 
 import rosys
-from icecream import ic
 from nicegui import ui
 from rosys.driving import Odometer
 from rosys.geometry import Point3d
 from rosys.vision import Image
+from rosys.automation import Automator, automation_controls
 
 from ...automations import PlantLocator
 from ...automations.plant import Plant
+from ...vision import CalibratableUsbCameraProvider, SimulatedCamProvider
+
+if TYPE_CHECKING:
+ from field_friend.system import System
 
 
 class PunchDialog(ui.dialog):
- def __init__(self, camera_provider: rosys.vision.CameraProvider,
- plant_locator: PlantLocator,
- odometer: Odometer,
- shrink_factor: int = 1,
- timeout: float = 20.0,
- ui_update_rate: float = 0.2) -> None:
+ def __init__(self, system: 'System', shrink_factor: int = 1, timeout: float = 20.0, ui_update_rate: float = 0.2) -> None:
  super().__init__()
+ self.camera_provider: CalibratableUsbCameraProvider | SimulatedCamProvider = system.usb_camera_provider
+ self.plant_locator: PlantLocator = system.plant_locator
+ self.odometer: Odometer = system.odometer
+ self.automator: Automator = system.automator
+ self.shrink_factor: int = shrink_factor
+ self.timeout: float = timeout
+ self._duration_left: float = timeout
+ self.ui_update_rate: float = ui_update_rate
+
  self.camera: Optional[rosys.vision.CalibratableCamera] = None
- self.camera_provider = camera_provider
- self.plant_locator = plant_locator
- self.odometer = odometer
- self.shrink_factor = shrink_factor
- self.timeout = timeout
- self._duration_left = timeout
- self.ui_update_rate = ui_update_rate
  self.static_image_view: Optional[ui.interactive_image] = None
  self.live_image_view: Optional[ui.interactive_image] = None
  self.target_plant: Optional[Plant] = None
@@ -41,13 +43,14 @@ def __init__(self, camera_provider: rosys.vision.CameraProvider,
  ui.label('Live').classes('text-lg')
  self.live_image_view = ui.interactive_image('')
  self.label = ui.label('Do you want to punch at the current position?').classes('text-lg')
- with ui.row():
+ with ui.row().classes('w-full'):
  # TODO: doesn't load properly on first open
  ui.circular_progress(min=0.0, max=self.timeout,
  show_value=False, size='lg').bind_value_from(self, '_duration_left')
  ui.button('Yes', on_click=lambda: self.submit('Yes'))
  ui.button('No', on_click=lambda: self.submit('No'))
- ui.button('Cancel', on_click=lambda: self.submit('Cancel'))
+ ui.space()
+ automation_controls(self.automator)
 
  def open(self) -> None:
  self._duration_left = self.timeout
@@ -92,15 +95,14 @@ def update_content(self, image_view: ui.interactive_image, image: Image, draw_ta
  relative_point = self.odometer.prediction.relative_point(self.target_plant.position)
  target_point = self.camera.calibration.project_to_image(
  Point3d(x=relative_point.x, y=relative_point.y, z=0))
- ic(f'target plant : {self.target_plant.position} and target point : {target_point}')
  image_view.set_content(self.to_svg(image.detections, target_point, confidence))
 
  def update_live_view(self) -> None:
  if self.camera is None:
  return
  self.update_content(self.live_image_view, self.camera.latest_detected_image)
 
- def to_svg(self, detections: rosys.vision.Detections, target_point: Optional[rosys.geometry.Point], confidence: Optional[float], color: str = 'red') -> str:
+ def to_svg(self, detections: rosys.vision.Detections, target_point: Optional[rosys.geometry.Point], confidence: Optional[float], color: str = 'blue') -> str:
  svg = ''
  cross_size = 20
  for point in detections.points:
@@ -134,7 +136,7 @@ def to_svg(self, detections: rosys.vision.Detections, target_point: Optional[ros
  '''
  if target_point and confidence:
  svg += f'''<circle cx="{target_point.x / self.shrink_factor}" cy="{target_point.y /
- self.shrink_factor}" r="18" stroke-width="8" stroke="{color}" fill="none" />'''
+ self.shrink_factor}" r="20" stroke-width="8" stroke="{color}" fill="none" />'''
  svg += f'''<text x="{target_point.x / self.shrink_factor+20}" y="{target_point.y /
  self.shrink_factor-20}" font-size="20" fill="{color}">{confidence}</text>'''
  return svg