remove punch check (#160)

field_friend/automations/implements/tornado.py

@@ -79,7 +79,7 @@ async def get_stretch(self, max_distance: float) -> float:
             return self.WORKING_DISTANCE
         if stretch < 0:
             stretch = 0
-        if stretch < max_distance and await self.ask_for_punch(closest_crop_id):
+        if stretch < max_distance:
             self.next_punch_y_position = closest_crop_position.y
             return stretch
         return self.WORKING_DISTANCE

field_friend/automations/implements/weeding_implement.py

@@ -9,7 +9,6 @@
 
 from ...hardware import ChainAxis
 from .implement import Implement
-from .punch_dialog import PunchDialog
 
 if TYPE_CHECKING:
     from system import System
@@ -34,7 +33,6 @@ def __init__(self,  name: str, system: 'System', persistence_key: str = 'weeding
         self.puncher = system.puncher
         self.cultivated_crop: str | None = None
         self.crop_safety_distance: float = 0.01
-        self.with_punch_check: bool = False
 
         # dual mechanism
         self.with_drilling: bool = False
@@ -50,7 +48,6 @@ def __init__(self,  name: str, system: 'System', persistence_key: str = 'weeding
         self.last_punches: deque[rosys.geometry.Point] = deque(maxlen=5)
         self.next_punch_y_position: float = 0
 
-        self.punch_dialog: PunchDialog | None = None
         rosys.on_repeat(self._update_time_and_distance, 0.1)
 
     async def prepare(self) -> bool:
@@ -169,8 +166,7 @@ def backup(self) -> dict:
             'with_chopping': self.with_chopping,
             'chop_if_no_crops': self.chop_if_no_crops,
             'cultivated_crop': self.cultivated_crop,
-            'crop_safety_distance': self.crop_safety_distance,
-            'with_punch_check': self.with_punch_check,
+            'crop_safety_distance': self.crop_safety_distance
         }
 
     def restore(self, data: dict[str, Any]) -> None:
@@ -179,7 +175,6 @@ def restore(self, data: dict[str, Any]) -> None:
         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.crop_safety_distance = data.get('crop_safety_distance', self.crop_safety_distance)
-        self.with_punch_check = data.get('with_punch_check', self.with_punch_check)
 
     def clear(self) -> None:
         self.crops_to_handle = {}
@@ -214,22 +209,3 @@ def settings_ui(self):
             .classes('w-24') \
             .bind_value(self, 'crop_safety_distance') \
             .tooltip('Set the crop safety distance for the weeding automation')
-        ui.checkbox('With punch check', value=True) \
-            .bind_value(self, 'with_punch_check') \
-            .tooltip('Set the weeding automation to check for punch')
-        self.punch_dialog = PunchDialog(self.system)
-
-    async def ask_for_punch(self, plant_id: str | None = None) -> bool:
-        if not self.with_punch_check or plant_id is None or self.punch_dialog is None:
-            return True
-        self.punch_dialog.target_plant = self.system.plant_provider.get_plant_by_id(plant_id)
-        result: str | None = None
-        try:
-            result = await asyncio.wait_for(self.punch_dialog, timeout=self.punch_dialog.timeout)
-            if result == 'Yes':
-                self.log.info('punching was allowed')
-                return True
-        except asyncio.TimeoutError:
-            self.punch_dialog.close()
-        self.log.warning('punch was not allowed')
-        return False

field_friend/automations/implements/weeding_screw.py

@@ -68,7 +68,7 @@ async def get_stretch(self, max_distance: float) -> float:
                 stretch = 0
             self.log.info(f'Targeting weed {next_weed_id} which is {stretch} away at world: '
                           f'{weed_world_position}, local: {next_weed_position}')
-            if stretch < max_distance and await self.ask_for_punch(next_weed_id):
+            if stretch < max_distance:
                 self.next_punch_y_position = next_weed_position.y
                 return stretch
             else: