fixing open reference dialog

field_friend/automations/navigation/navigation.py

@@ -49,7 +49,7 @@ async def start(self) -> None:
             await self.gnss.update_robot_pose()
             if self.gnss.current.location.distance(localization.reference) > 2000.0:
                 self.gnss.reference_alert_dialog.open()
-                return
+                raise WorkflowException('reference to far away from robot')
             self.start_position = self.odometer.prediction.point
             if isinstance(self.driver.wheels, rosys.hardware.WheelsSimulation) and not rosys.is_test:
                 self.create_simulation()
@@ -69,6 +69,7 @@ async def start(self) -> None:
         except WorkflowException as e:
             self.kpi_provider.increment_weeding_kpi('automation_stopped')
             self.log.error(f'WorkflowException: {e}')
+            rosys.notify(f'An exception occurred during automation: {e}', 'negative')
         finally:
             self.kpi_provider.increment_weeding_kpi('weeding_completed')
             await self.implement.finish()

field_friend/localization/gnss.py

@@ -6,9 +6,10 @@
 from copy import deepcopy
 from dataclasses import dataclass
 from typing import Any, Optional
-from nicegui import ui
+
 import numpy as np
 import rosys
+from nicegui import ui
 
 from .. import localization
 from .geo_point import GeoPoint
@@ -62,6 +63,7 @@ def __init__(self, odometer: rosys.driving.Odometer, antenna_offset: float) -> N
         self.needs_backup = False
         rosys.on_repeat(self.check_gnss, 0.01)
         rosys.on_repeat(self.try_connection, 3.0)
+        self.reference_alert_dialog = None
 
     @abstractmethod
     async def try_connection(self) -> None: