Merge branch 'main' into reference_distance_warning

config/f15_config_f15/robotbrain.py

@@ -1,3 +1,4 @@
 configuration = {'robot_brain': {
-    'flash_params': ['orin', 'v05', 'nand']
+    'flash_params': ['orin', 'v05', 'nand'],
+    'enable_esp_on_startup':False,
 }}

field_friend/hardware/axis_D1.py

@@ -88,7 +88,7 @@ async def stop(self):
 
     async def move_to(self, position: float, speed: int | None = None) -> None:
         if self.is_referenced:
-            await self.robot_brain.send(f'{self.name}_motor.profile_position({self.compute_steps(position)});')
+            await self.robot_brain.send(f'{self.name}_motor.profile_position({self._compute_steps(position)});')
         if not self.is_referenced:
             self.log.error(f'AxisD1 {self.name} is not refernced')
             return

field_friend/hardware/field_friend_hardware.py

@@ -58,7 +58,10 @@ def __init__(self) -> None:
             raise NotImplementedError(f'Unknown FieldFriend implement: {implement}')
 
         communication = rosys.hardware.SerialCommunication()
-        robot_brain = rosys.hardware.RobotBrain(communication)
+        if 'enable_esp_on_startup' in config_robotbrain['robot_brain']:
+            robot_brain = rosys.hardware.RobotBrain(communication,enable_esp_on_startup=config_robotbrain['robot_brain']['enable_esp_on_startup'])
+        else:
+            robot_brain = rosys.hardware.RobotBrain(communication)
         robot_brain.lizard_firmware.flash_params += config_robotbrain['robot_brain']['flash_params']
         bluetooth = rosys.hardware.BluetoothHardware(robot_brain,
                                                      name=config_hardware['bluetooth']['name'],

field_friend/hardware/safety.py

@@ -88,9 +88,9 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
         for name in estop.pins:
             lizard_code += f'when estop_{name}.level == 0 then stop(); end\n'
         if isinstance(bumper, rosys.hardware.BumperHardware):
-            lizard_code += 'when ' + \
-                ' or '.join(f'{bumper.name}_{pin}.level == 1' for pin in bumper.pins) + \
-                f' then {wheels.name}.off(); end\n'
+             for name in bumper.pins:
+                lizard_code += f'bumper_{name}.level = 0\n'
+                lizard_code += f'when bumper_{name}.level == 1 then stop(); end\n'
 
         # implement stop call for "ground check" reference sensors
         if isinstance(y_axis, ChainAxisHardware):

field_friend/interface/components/camera_card.py

@@ -219,8 +219,8 @@ def build_svg_for_implement(self) -> str:
     def build_svg_for_plant_provider(self) -> str:
         if self.camera is None or self.camera.calibration is None:
             return ''
-        position = rosys.geometry.Point(x=self.camera.calibration.extrinsics.translation[0],
-                                        y=self.camera.calibration.extrinsics.translation[1])
+        position = rosys.geometry.Point3d(x=self.camera.calibration.extrinsics.translation[0],
+                                          y=self.camera.calibration.extrinsics.translation[1])
         svg = ''
         for plant in self.plant_provider.get_relevant_weeds(position):
             position_3d = rosys.geometry.Point3d(x=plant.position.x, y=plant.position.y, z=0)

field_friend/interface/components/plant_object.py

@@ -18,7 +18,7 @@ def __init__(self, plant_provider: PlantProvider, weed_category_names: list[str]
         self.plant_provider.PLANTS_CHANGED.register_ui(self.update)
 
     def update(self) -> None:
-        origin = rosys.geometry.Point(x=0, y=0)
+        origin = rosys.geometry.Point3d(x=0, y=0, z=0)
         in_world = {p.id: p for p in
                     self.plant_provider.get_relevant_weeds(origin, max_distance=1000) +
                     self.plant_provider.get_relevant_crops(origin, max_distance=1000)}