Merge commit 'b9af332ca9c5db4a7004e7d60edb05d61e0043c3' into zedxmini

docker-compose.jetson.orin.yml

@@ -6,24 +6,21 @@ services:
     privileged: true
 
   detector:
-    image: "zauberzeug/yolov5-detector:0.1.2-nlv0.10.10-35.4.1"
+    image: "zauberzeug/yolov5-detector:0.1.3-nlv0.10.12-35.4.1"
     restart: always
     ports:
       - "8004:80"
     hostname: ${ROBOT_ID}
     environment:
       - HOST=learning-loop.ai
       - NVIDIA_VISIBLE_DEVICES=all
-      # - ORGANIZATION=zauberzeug
-      # - PROJECT=coins
-      - ORGANIZATION=zuckerruebe
-      - PROJECT=uckerbots
+      - ORGANIZATION=feldfreund
+      - PROJECT=plants
     volumes:
-      # - ~/data_coins:/data
       - ~/data_plants:/data
 
   monitoring:
-    image: "zauberzeug/yolov5-detector:0.1.2-nlv0.10.10-35.4.1"
+    image: "zauberzeug/yolov5-detector:0.1.3-nlv0.10.12-35.4.1"
     restart: always
     ports:
       - "8005:80"

field_friend/automations/implements/weeding_implement.py

@@ -26,7 +26,7 @@ def __init__(self,  name: str, system: 'System', persistence_key: str = 'weeding
         rosys.persistence.PersistentModule.__init__(self,
                                                     persistence_key=f'field_friend.automations.implements.{persistence_key}')
 
-        self.relevant_weeds = system.small_weed_category_names + system.big_weed_category_names
+        self.relevant_weeds = system.plant_locator.weed_category_names
         self.log = logging.getLogger('field_friend.weeding')
         self.system = system
         self.kpi_provider = system.kpi_provider

field_friend/automations/implements/weeding_screw.py

@@ -14,7 +14,7 @@ class WeedingScrew(WeedingImplement):
 
     def __init__(self, system: 'System') -> None:
         super().__init__('Weed Screw', system, 'weeding_screw')
-        self.relevant_weeds = system.small_weed_category_names + system.big_weed_category_names
+        self.relevant_weeds = system.plant_locator.weed_category_names
         self.log.info(f'Using relevant weeds: {self.relevant_weeds}')
         self.weed_screw_depth: float = 0.13
         self.max_crop_distance: float = 0.08

field_friend/automations/plant_locator.py

@@ -11,8 +11,9 @@
 from ..vision.zedxmini_camera import StereoCamera
 from .plant import Plant
 
-WEED_CATEGORY_NAME = ['coin', 'weed', 'big_weed', 'thistle', 'orache', 'weedy_area', ]
-CROP_CATEGORY_NAME = ['coin_with_hole', 'crop', 'sugar_beet', 'onion', 'garlic', ]
+WEED_CATEGORY_NAME = ['coin', 'weed', 'big_weed', 'weedy_area', ]
+CROP_CATEGORY_NAME = ['coin_with_hole', 'borrietsch', 'estragon', 'feldsalat', 'garlic', 'jasione', 'kohlrabi', 'liebstoeckel', 'maize', 'minze', 'onion',
+                      'oregano_majoran', 'pastinake', 'petersilie', 'pimpinelle', 'red_beet', 'salatkopf', 'schnittlauch', 'sugar_beet', 'thymian_bohnenkraut', 'zitronenmelisse', ]
 MINIMUM_CROP_CONFIDENCE = 0.3
 MINIMUM_WEED_CONFIDENCE = 0.3
 

field_friend/interface/components/plant_object.py

@@ -1,18 +1,20 @@
 import logging
+from typing import TYPE_CHECKING
 
 import rosys
 from nicegui.elements.scene_objects import Group, Sphere
 
-from ...automations import PlantProvider
+if TYPE_CHECKING:
+    from system import System
 
 
 class plant_objects(Group):
 
-    def __init__(self, plant_provider: PlantProvider, weed_category_names: list[str]) -> None:
+    def __init__(self, system: 'System') -> None:
         super().__init__()
 
-        self.plant_provider = plant_provider
-        self.weed_category_names = weed_category_names
+        self.plant_provider = system.plant_provider
+        self.plant_locator = system.plant_locator
         self.log = logging.getLogger('field_friend.plant_objects')
         self.update()
         self.plant_provider.PLANTS_CHANGED.register_ui(self.update)
@@ -29,7 +31,7 @@ def update(self) -> None:
                 obj.delete()
         for id, plant in in_world.items():
             if id not in rendered:
-                if plant.type in self.weed_category_names:
+                if plant.type in self.plant_locator.weed_category_names:
                     Sphere(0.02).with_name(f'plant_{plant.type}:{id}') \
                         .material('#ef1208') \
                         .move(plant.position.x, plant.position.y, 0.02)

field_friend/interface/components/robot_scene.py

@@ -33,8 +33,7 @@ def toggle_lock():
             with ui.scene(200, 200, on_click=self.handle_click, grid=False).classes('w-full') as self.scene:
                 field_friend_object(self.system.odometer, self.system.camera_provider, self.system.field_friend)
                 rosys.driving.driver_object(self.system.driver)
-                plant_objects(self.system.plant_provider,
-                              self.system.big_weed_category_names + self.system.small_weed_category_names)
+                plant_objects(self.system)
                 visualizer_object(self.system)
                 field_object(self.system.field_provider, self.system.field_navigation.field)
                 self.scene.move_camera(-0.5, -1, 2)

field_friend/system.py

@@ -93,17 +93,7 @@ def watch_robot() -> None:
                 self.kpi_provider.increment_on_rising_edge('low_battery', self.field_friend.bms.is_below_percent(10.0))
 
         self.puncher = Puncher(self.field_friend, self.driver, self.kpi_provider)
-        self.big_weed_category_names = ['big_weed', 'thistle', 'orache', 'kamille', ]
-        self.small_weed_category_names = ['coin', 'weed',]
-        self.crop_category_names = [
-            'coin_with_hole', 'sugar_beet', 'onion', 'garlic', 'maize', 'liebstoekel',
-            'red_beet', 'kohlrabi', 'schnittlauch', 'petersilie', 'bohnenkraut', 'sauerampfer',
-            'oregano', 'pimpinelle', 'borrietsch', 'estragon', 'zitronenmelisse', 'pfefferminze',
-            'marokanische_minze', 'thymian',
-        ]
         self.plant_locator = PlantLocator(self)
-        self.plant_locator.weed_category_names = self.big_weed_category_names + self.small_weed_category_names
-        self.plant_locator.crop_category_names = self.crop_category_names
 
         rosys.on_repeat(watch_robot, 1.0)
 

tests/test_weeding.py

@@ -9,7 +9,7 @@
 async def test_working_with_weeding_screw(system: System, detector: rosys.vision.DetectorSimulation):
     detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='maize',
                                                                    position=rosys.geometry.Point3d(x=0.2, y=0.0, z=0)))
-    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
+    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
                                                                    position=rosys.geometry.Point3d(x=0.2, y=0.05, z=0)))
     system.current_implement = system.implements['Weed Screw']
     system.current_navigation = system.straight_line_navigation
@@ -22,7 +22,7 @@ async def test_working_with_weeding_screw(system: System, detector: rosys.vision
 async def test_keep_crops_safe(system: System, detector: rosys.vision.DetectorSimulation):
     detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='maize',
                                                                    position=rosys.geometry.Point3d(x=0.2, y=0.0, z=0)))
-    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
+    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
                                                                    position=rosys.geometry.Point3d(x=0.2, y=system.field_friend.DRILL_RADIUS-0.01, z=0)))
     system.current_implement = system.implements['Weed Screw']
     system.current_navigation = system.straight_line_navigation
@@ -36,7 +36,7 @@ async def test_keep_crops_safe(system: System, detector: rosys.vision.DetectorSi
 async def test_weeding_screw_only_targets_big_weed(system: System, detector: rosys.vision.DetectorSimulation):
     detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='weed',
                                                                    position=rosys.geometry.Point3d(x=0.2, y=0.0, z=0)))
-    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
+    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
                                                                    position=rosys.geometry.Point3d(x=0.15, y=0, z=0)))
     system.current_implement = system.implements['Weed Screw']
     system.current_navigation = system.straight_line_navigation
@@ -47,9 +47,9 @@ async def test_weeding_screw_only_targets_big_weed(system: System, detector: ros
 
 
 async def test_weeding_screw_does_not_skip_close_weed(system: System, detector: rosys.vision.DetectorSimulation):
-    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
+    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
                                                                    position=rosys.geometry.Point3d(x=0.2, y=0, z=0)))
-    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
+    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
                                                                    position=rosys.geometry.Point3d(x=0.2+system.field_friend.DRILL_RADIUS-0.01, y=0.05, z=0)))
     system.current_implement = system.implements['Weed Screw']
     system.current_navigation = system.straight_line_navigation
@@ -61,9 +61,9 @@ async def test_weeding_screw_does_not_skip_close_weed(system: System, detector:
 async def test_weeding_screw_focus_on_weed_close_to_crop(system: System, detector: rosys.vision.DetectorSimulation):
     detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='maize',
                                                                    position=rosys.geometry.Point3d(x=0.2, y=0.0, z=0)))
-    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
+    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
                                                                    position=rosys.geometry.Point3d(x=0.1, y=0, z=0)))
-    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
+    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
                                                                    position=rosys.geometry.Point3d(x=0.16, y=0, z=0)))
     system.current_implement = system.implements['Weed Screw']
     system.current_navigation = system.straight_line_navigation
@@ -73,7 +73,7 @@ async def test_weeding_screw_focus_on_weed_close_to_crop(system: System, detecto
     system.automator.start()
     await forward(40)
     assert len(detector.simulated_objects) == 2
-    assert detector.simulated_objects[1].category_name == 'thistle'
+    assert detector.simulated_objects[1].category_name == 'big_weed'
     assert detector.simulated_objects[1].position.x == 0.1