Merge branch 'main' into drive-timeout

field_friend/automations/automation_watcher.py

@@ -39,8 +39,7 @@ def __init__(self, system: 'System') -> None:
         rosys.on_repeat(self.try_resume, 0.1)
         rosys.on_repeat(self.check_field_bounds, 1.0)
         if self.field_friend.bumper:
-            self.field_friend.bumper.BUMPER_TRIGGERED.register(
-                lambda name: self.pause(f'Bumper {name} was triggered'))
+            self.field_friend.bumper.BUMPER_TRIGGERED.register(lambda name: self.pause(f'Bumper {name} was triggered'))
         self.gnss.GNSS_CONNECTION_LOST.register(lambda: self.pause('GNSS connection lost'))
         self.gnss.RTK_FIX_LOST.register(lambda: self.pause('GNSS RTK fix lost'))
 

field_friend/automations/plant_locator.py

@@ -1,11 +1,9 @@
-import asyncio
 import logging
-from typing import TYPE_CHECKING, Any, Optional
-import aiohttp
+from typing import TYPE_CHECKING, Any
 
+import aiohttp
 import rosys
 from nicegui import ui
-from nicegui.events import ValueChangeEventArguments
 from rosys.vision import Autoupload
 
 from ..vision import SimulatedCam
@@ -38,7 +36,7 @@ def __init__(self, system: 'System') -> None:
         self.tags: list[str] = []
         self.is_paused = True
         self.autoupload: Autoupload = Autoupload.DISABLED
-        self.upload_images: bool = False 
+        self.upload_images: bool = False
         self.weed_category_names: list[str] = WEED_CATEGORY_NAME
         self.crop_category_names: list[str] = CROP_CATEGORY_NAME
         self.minimum_weed_confidence: float = MINIMUM_WEED_CONFIDENCE
@@ -140,14 +138,14 @@ def resume(self) -> None:
 
     async def get_outbox_mode(self, port: int) -> bool:
         # TODO: not needed right now, but can be used when this code is moved to the DetectorHardware code
-        url = f'http://localhost:{port}/outbox_mode'            
+        url = f'http://localhost:{port}/outbox_mode'
         async with aiohttp.request('GET', url) as response:
             if response.status != 200:
                 self.log.error(f'Could not get outbox mode on port {port} - status code: {response.status}')
                 return None
             response_text = await response.text()
         return response_text == 'continuous_upload'
-    
+
     async def set_outbox_mode(self, value: bool, port: int) -> None:
         url = f'http://localhost:{port}/outbox_mode'
         async with aiohttp.request('PUT', url, data='continuous_upload' if value else 'stopped') as response:
@@ -172,7 +170,8 @@ def settings_ui(self) -> None:
             .bind_value(self, 'autoupload') \
             .classes('w-24').tooltip('Set the autoupload for the weeding automation')
         if isinstance(self.detector, rosys.vision.DetectorHardware):
-            ui.checkbox('Upload images', on_change=self.request_backup).bind_value(self, 'upload_images').on('click', lambda: self.set_outbox_mode(value=self.upload_images, port=self.detector.port))        
+            ui.checkbox('Upload images', on_change=self.request_backup).bind_value(self, 'upload_images') \
+                .on('click', lambda: self.set_outbox_mode(value=self.upload_images, port=self.detector.port))
 
         @ui.refreshable
         def chips():

requirements.txt

@@ -6,5 +6,5 @@ geopy
 shapely
 fiona
 geopandas
-rosys == 0.10.10
+rosys == 0.11
 uvicorn == 0.28.1

tests/test_navigation.py

@@ -10,6 +10,7 @@
 from field_friend.automations import Field
 from field_friend.automations.implements import Implement, Recorder
 from field_friend.automations.navigation import StraightLineNavigation
+from field_friend.localization import GnssSimulation
 
 
 async def test_straight_line(system: System):
@@ -23,6 +24,21 @@ async def test_straight_line(system: System):
     assert system.odometer.prediction.point.x == pytest.approx(system.straight_line_navigation.length, abs=0.1)
 
 
+async def test_straight_line_with_failing_gnss(system: System, gnss: GnssSimulation, detector: rosys.vision.DetectorSimulation):
+    async def empty():
+        return None
+    create_new_record = gnss._create_new_record
+    system.automator.start()
+    await forward(5)
+    gnss._create_new_record = empty  # type: ignore
+    await forward(0.5)
+    gnss._create_new_record = create_new_record
+    await forward(5)
+    assert system.automator.is_running
+    assert len(detector.simulated_objects) == 0
+    assert system.odometer.prediction.yaw_deg == pytest.approx(0, abs=1)
+
+
 async def test_driving_to_exact_positions(system: System):
     class Stopper(Implement):
         def __init__(self, system: System) -> None:
@@ -35,13 +51,12 @@ async def get_stretch(self, max_distance: float) -> float:
             self.current_stretch = random.uniform(0.02, max_distance)
             return self.current_stretch
 
-        async def start_workflow(self) -> bool:
+        async def start_workflow(self) -> None:
             self.workflow_started = True
             deadline = rosys.time() + 1
             while self.workflow_started and rosys.time() < deadline:
                 await rosys.sleep(0.1)
             self.workflow_started = False
-            return True
 
     system.current_implement = stopper = Stopper(system)
     assert isinstance(system.current_navigation, StraightLineNavigation)