fix removal of classes in system

zauberzeug · Sep 23, 2024 · ce5fec6 · ce5fec6
1 parent 1b3f191
commit ce5fec6
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Showing 4 changed files with 10 additions and 9 deletions.
diff --git a/field_friend/automations/implements/weeding_implement.py b/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

diff --git a/field_friend/automations/implements/weeding_screw.py b/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

diff --git a/field_friend/interface/components/plant_object.py b/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)

diff --git a/field_friend/interface/components/robot_scene.py b/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)