Merge commit '2f66d574d2abe615c3ef59c1c774bdb0a32a1de7' into refactor…

…_calibratableusbcamera

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

@@ -11,7 +11,7 @@
 from field_friend.automations.implements.weeding_implement import WeedingImplement
 
 from ...automations import PlantLocator, Puncher
-from ...hardware import Axis, FieldFriend, FlashlightPWM, FlashlightPWMV2, Tornado
+from ...hardware import Axis, FlashlightPWM, FlashlightPWMV2, Tornado
 from .calibration_dialog import calibration_dialog
 
 if TYPE_CHECKING:
@@ -126,8 +126,7 @@ def update_content(self) -> None:
         if image and image.detections:
             svg += self.to_svg(image.detections)
         svg += self.build_svg_for_plant_provider()
-        # TODO: fix in later PR
-        # svg += self.build_svg_for_implement()
+        svg += self.build_svg_for_implement()
         self.image_view.set_content(svg)
 
     def on_mouse_move(self, e: MouseEventArguments):
@@ -196,15 +195,16 @@ def to_svg(self, detections: rosys.vision.Detections) -> str:
     def build_svg_for_implement(self) -> str:
         if not isinstance(self.system.current_implement, WeedingImplement) or self.camera is None or self.camera.calibration is None:
             return ''
-        tool_3d = self.odometer.prediction.point_3d() + \
-            rosys.geometry.Point3d(x=self.field_friend.WORK_X, y=self.field_friend.y_axis.position, z=0)
+        tool_3d = rosys.geometry.Pose3d(x=self.field_friend.WORK_X, y=self.field_friend.y_axis.position, z=0).in_frame(
+            self.odometer.prediction_frame).resolve().point_3d
         tool_2d = self.camera.calibration.project_to_image(tool_3d) / self.shrink_factor
         svg = f'<circle cx="{int(tool_2d.x)}" cy="{int(tool_2d.y)}" r="10" fill="black"/>'
-        min_tool_3d = self.odometer.prediction.point_3d() + \
-            rosys.geometry.Point3d(x=self.field_friend.WORK_X, y=self.field_friend.y_axis.min_position, z=0)
+
+        min_tool_3d = rosys.geometry.Pose3d(x=self.field_friend.WORK_X, y=self.field_friend.y_axis.min_position, z=0).in_frame(
+            self.odometer.prediction_frame).resolve().point_3d
         min_tool_2d = self.camera.calibration.project_to_image(min_tool_3d) / self.shrink_factor
-        max_tool_3d = self.odometer.prediction.point_3d() + \
-            rosys.geometry.Point3d(x=self.field_friend.WORK_X, y=self.field_friend.y_axis.max_position, z=0)
+        max_tool_3d = rosys.geometry.Pose3d(x=self.field_friend.WORK_X, y=self.field_friend.y_axis.max_position, z=0).in_frame(
+            self.odometer.prediction_frame).resolve().point_3d
         max_tool_2d = self.camera.calibration.project_to_image(max_tool_3d) / self.shrink_factor
         svg += f'<line x1="{int(min_tool_2d.x)}" y1="{int(min_tool_2d.y)}" x2="{int(max_tool_2d.x)}" y2="{int(max_tool_2d.y)}" stroke="black" stroke-width="2" />'
         if self.show_weeds_to_handle:
@@ -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)}

requirements.txt

@@ -6,5 +6,5 @@ geopy
 shapely
 fiona
 geopandas
-rosys == v0.15.1
+rosys == v0.16.1
 uvicorn == 0.28.1