moved update_reference to gnss.py, reference warning dialog

field_friend/automations/field_provider.py

@@ -1,5 +1,4 @@
 import logging
-import os
 import uuid
 from typing import Any, Optional
 
@@ -71,13 +70,6 @@ def clear_fields(self) -> None:
         self.FIELDS_CHANGED.emit()
         self.invalidate()
 
-    def update_reference(self) -> None:
-        if self.gnss.current is None:
-            rosys.notify('No GNSS position available.')
-            return
-        localization.reference = self.gnss.current.location
-        os.utime('main.py')
-
     def create_obstacle(self, field: Field, points: list[GeoPoint] = []) -> FieldObstacle:
         obstacle = FieldObstacle(id=f'{str(uuid.uuid4())}', name=f'obstacle_{len(field.obstacles)+1}', points=points)
         field.obstacles.append(obstacle)

field_friend/automations/navigation/navigation.py

@@ -27,7 +27,6 @@ def __init__(self, system: 'System', implement: Implement) -> None:
         self.log = logging.getLogger('field_friend.navigation')
         self.driver = system.driver
         self.odometer = system.odometer
-        self.field_provider = system.field_provider
         self.gnss = system.gnss
         self.kpi_provider = system.kpi_provider
         self.plant_provider = system.plant_provider
@@ -49,7 +48,7 @@ async def start(self) -> None:
                 return
             await self.gnss.update_robot_pose()
             if self.gnss.current.location.distance(localization.reference) > 2000.0:
-                self.reference_alert_dialog.open()
+                self.gnss.reference_alert_dialog.open()
                 return
             self.start_position = self.odometer.prediction.point
             if isinstance(self.driver.wheels, rosys.hardware.WheelsSimulation) and not rosys.is_test:
@@ -137,12 +136,6 @@ def create_simulation(self) -> None:
         pass
 
     def settings_ui(self) -> None:
-        with ui.dialog() as self.reference_alert_dialog, ui.card():
-            ui.label('The reference is to far away from the current position which would lead to issues in the navigation. Do you want to set it now?')
-            with ui.row():
-                ui.button("Update reference", on_click=self.field_provider.update_reference).props("outline color=warning") \
-                    .tooltip("Set current position as geo reference and restart the system").classes("ml-auto").style("display: block; margin-top:auto; margin-bottom: auto;")
-                ui.button('Cancel', on_click=self.reference_alert_dialog.close)
         ui.number('Linear Speed', step=0.01, min=0.01, max=1.0, format='%.2f', on_change=self.request_backup) \
             .props('dense outlined') \
             .classes('w-24') \

field_friend/interface/components/field_planner.py

@@ -54,7 +54,7 @@ def __init__(self, system: 'System', leaflet: leaflet_map) -> None:
                 with ui.row():
                     ui.button('Clear fields', on_click=self.clear_field_dialog.open).props("outline color=warning") \
                         .tooltip("Delete all fields").classes("ml-auto").style("display: block; margin-top:auto; margin-bottom: auto;")
-                    ui.button("Update reference", on_click=self.field_provider.update_reference).props("outline color=warning") \
+                    ui.button("Update reference", on_click=self.gnss.update_reference).props("outline color=warning") \
                         .tooltip("Set current position as geo reference and restart the system").classes("ml-auto").style("display: block; margin-top:auto; margin-bottom: auto;")
             self.show_field_settings()
             self.show_object_settings()

field_friend/interface/pages/main_page.py

@@ -21,6 +21,7 @@ def page() -> None:
     def content(self, devmode) -> None:
         page_height = '50vh' if devmode else 'calc(100vh - 170px)'
         ui.colors(primary='#6E93D6', secondary='#53B689', accent='#111B1E', positive='#53B689')
+        self.system.gnss.reference_warning_dialog()
         with ui.row().style(f'height:{page_height}; width: calc(100vw - 2rem); flex-wrap: nowrap;'):
             with ui.column().classes('h-full w-1/2 p-2'):
                 leaflet = leaflet_map(self.system, False)

field_friend/localization/gnss.py

@@ -1,11 +1,12 @@
 from __future__ import annotations
 
 import logging
+import os
 from abc import ABC, abstractmethod
 from copy import deepcopy
 from dataclasses import dataclass
 from typing import Any, Optional
-
+from nicegui import ui
 import numpy as np
 import rosys
 
@@ -146,3 +147,18 @@ def restore(self, data: dict[str, Any]) -> None:
         self.needed_poses = data.get('needed_poses', self.needed_poses)
         self.min_seconds_between_updates = data.get('min_seconds_between_updates', self.min_seconds_between_updates)
         self.ensure_gnss = data.get('ensure_gnss', self.ensure_gnss)
+
+    def update_reference(self) -> None:
+        if self.current is None:
+            rosys.notify('No GNSS position available.')
+            return
+        localization.reference = self.current.location
+        os.utime('main.py')
+
+    def reference_warning_dialog(self) -> None:
+        with ui.dialog() as self.reference_alert_dialog, ui.card():
+            ui.label('The reference is to far away from the current position which would lead to issues in the navigation. Do you want to set it now?')
+            with ui.row():
+                ui.button("Update reference", on_click=self.update_reference).props("outline color=warning") \
+                    .tooltip("Set current position as geo reference and restart the system").classes("ml-auto").style("display: block; margin-top:auto; margin-bottom: auto;")
+                ui.button('Cancel', on_click=self.reference_alert_dialog.close)