From 532bff9d0b9da23fdaa05c778a5a884cf92612a0 Mon Sep 17 00:00:00 2001 From: Pascal Schade Date: Tue, 24 Sep 2024 00:59:58 +0200 Subject: [PATCH] cleanup --- field_friend/automations/implements/recorder.py | 4 ++-- field_friend/automations/implements/weeding_implement.py | 6 +++--- field_friend/automations/plant_locator.py | 1 + 3 files changed, 6 insertions(+), 5 deletions(-) diff --git a/field_friend/automations/implements/recorder.py b/field_friend/automations/implements/recorder.py index c1f599fd..1d0bdcbc 100644 --- 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 index 0fcad8f0..edd2da6f 100644 --- 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 index b8614402..aed7a5f5 100644 --- 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: