cleanup

zauberzeug · Sep 23, 2024 · 532bff9 · 532bff9
1 parent 2eb69f1
commit 532bff9
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/field_friend/automations/implements/recorder.py b/field_friend/automations/implements/recorder.py
@@ -18,12 +18,12 @@ def __init__(self, system: 'System') -> None:
 
     async def activate(self):
         self.system.plant_provider.clear()
-        # await self.system.field_friend.flashlight.turn_on()
+        await self.system.field_friend.flashlight.turn_on()
         await rosys.sleep(3)  # NOTE: we wait for the camera to adjust
         self.system.plant_locator.resume()
         await super().activate()
 
     async def deactivate(self):
         self.system.plant_locator.pause()
-        # await self.system.field_friend.flashlight.turn_off()
+        await self.system.field_friend.flashlight.turn_off()
         await super().deactivate()
diff --git a/field_friend/automations/implements/weeding_implement.py b/field_friend/automations/implements/weeding_implement.py
@@ -68,7 +68,7 @@ async def finish(self) -> None:
         await super().finish()
 
     async def activate(self):
-        # await self.system.field_friend.flashlight.turn_on()
+        await self.system.field_friend.flashlight.turn_on()
         await self.puncher.clear_view()
         await rosys.sleep(3)
         self.system.plant_locator.resume()
@@ -79,13 +79,13 @@ async def activate(self):
     async def deactivate(self):
         await super().deactivate()
         self.system.timelapse_recorder.camera = None
-        # await self.system.field_friend.flashlight.turn_off()
+        await self.system.field_friend.flashlight.turn_off()
         self.system.plant_locator.pause()
         self.kpi_provider.increment_weeding_kpi('rows_weeded')
 
     async def start_workflow(self) -> None:
         # TODO: only sleep when moving
-        # await rosys.sleep(2)  # wait for robot to stand still
+        await rosys.sleep(2)  # wait for robot to stand still
         if not self._has_plants_to_handle():
             return
         self.log.info(f'Handling plants with {self.name}...')

diff --git a/field_friend/automations/plant_locator.py b/field_friend/automations/plant_locator.py
@@ -105,6 +105,7 @@ async def _detect_plants(self) -> None:
             world_point_3d: rosys.geometry.Point3d | None = None
             if isinstance(camera, StereoCamera):
                 world_point_3d = camera.calibration.project_from_image(image_point)
+                # TODO: 3d detection
                 # camera_point_3d: Point3d | None = await camera.get_point(
                 #     int(d.cx), int(d.cy))
                 # if camera_point_3d is None: