Use app.storage.user to preselect last automation and field (#41)

* implement turn_by and turn_knives_to methods

* use new methods in puncher class

* implement reference speeds

* Update hardware configuration for ff12_config_rb32 and u4_config_rb28 eith tornado reference speeds

* Fix turn_knives_to method in TornadoHardware class

* Fix reference to knive stop in CoinCollecting class

* rename ref_t and ref_b to ref_knife_stop and ref_knive_ground

* typo

* Add turns parameter to punch method in Puncher class

* formatting and logging

* fix persistence restore issues

* add forgotten input

* add more categories for weed and crop

* better line breaks

* cleanup

* Refactor field_friend_hardware.py to update knife stop and ground pin names

* Update hardware.py and puncher.py for speed adjustments

* backup rb28

* Update camera crop settings in config/u4_config_rb28/camera.py

* Fix typo in Field class area method

* Fix error handling in PlantLocator class

* tmp remove of rows as obstacles

* fix binding of minimum_turning_radius

* Fix typo in worked_area_label text formatting

* remove buggy persistence of gnss

* Refactor prune method in PlantProvider class to use separate variables for max age of weeds and crops

* backup rb28

* Add settings for dual mechanism workflow

* add settings to operation.py

* change rendering of plant objects in plant_objects.py

* implement gnss correction by antenna offset

* Fix error handling in PlantLocator class

* Add driver settings to operation.py

* Update max age of weeds in prune method of PlantProvider class

* Implement antenna offset for GNSS correction

* Refactor obstacle creation in Weeding class to include row polygons

* Refactor plant_provider.py to use async/await for adding weeds and crops

* Refactor driver settings in Weeding class

* Refactor field_planner.py to remove unused imports and dependencies

* Add driver settings for weeding automation in operation.py

* fix field_friend_object.py to update second_tool move coordinates

* backup rb28

* Update antenna offset for GNSS correction in params.py

* backup for u3

* backup rb27

* Refactor operation.py to add driver settings for weeding automation

* Refactor operation.py to add driver settings for weeding automation

* Update healthcheck configuration in docker-compose.yml

* provide antenna offset for u5 and u6

* Update antenna offset for GNSS correction in params.py for U5

* revert change because in real robots we want persistence to overwrite the settings (see zauberzeug/rosys#106)

* formatting of ui.run

* fix name

* formatting of operation.py

* use app.storage.user to preselect last automation and field

* provide storage secret

* Provide map buttons to center on robot and toggle basemap (#42)

* provide map buttons to center on robot and toggle basemap

* improved max zoom

---------

Co-authored-by: Miguel <[email protected]>
Co-authored-by: Johannes-Thiel <[email protected]>

.gitignore

@@ -5,4 +5,5 @@ __pycache__/
 detector/
 *.env
 *.swp
-site/
+site/
+.nicegui/

.syncignore

@@ -11,3 +11,4 @@ config.hjson
 sync.sh
 nicegui
 rosys
+.nicegui

field_friend/interface/components/leaflet_map.py

@@ -1,14 +1,13 @@
 
 import logging
 import uuid
-from typing import TYPE_CHECKING, Dict, List, Union
+from typing import TYPE_CHECKING
 
-import numpy as np
 import rosys
 import rosys.geometry
-from nicegui import elements, events, ui
+from nicegui import app, events, ui
+from nicegui.elements.leaflet_layers import TileLayer
 
-from ...automations import Field
 from .key_controls import KeyControls
 
 if TYPE_CHECKING:
@@ -34,28 +33,22 @@ def __init__(self, system: 'System', draw_tools: bool) -> None:
             },
             'edit': False,
         }
-        self.center_point = [51.983159, 7.434212]
+        center_point = [51.983159, 7.434212]
         if self.field_provider.active_field is None:
-            self.center_point = [51.983159, 7.434212]
+            center_point = [51.983159, 7.434212]
         else:
             if len(self.field_provider.active_field.outline_wgs84) > 0:
-                self.center_point = self.field_provider.active_field.outline_wgs84[0]
+                center_point = self.field_provider.active_field.outline_wgs84[0]
+        self.m: ui.leaflet
         if draw_tools:
-            self.m = ui.leaflet(center=(self.center_point[0], self.center_point[1]),
+            self.m = ui.leaflet(center=(center_point[0], center_point[1]),
                                 zoom=13, draw_control=self.draw_control)
         else:
-            self.m = ui.leaflet(center=(self.center_point[0], self.center_point[1]),
+            self.m = ui.leaflet(center=(center_point[0], center_point[1]),
                                 zoom=13)
-
         self.m.clear_layers()
-        self.m.tile_layer(
-            url_template=r'https://tile.openstreetmap.org/{z}/{x}/{y}.png',
-            options={
-                'maxZoom': 21,
-                'attribution': '&copy; <a href="https://www.openstreetmap.org/copyright">OpenStreetMap</a> contributors'
-            },
-        )
-
+        self.current_basemap: TileLayer | None = None
+        self.toggle_basemap()
         self.field_layers: list[list] = []
         self.robot_marker = None
         self.drawn_marker = None
@@ -101,6 +94,14 @@ def handle_draw(e: events.GenericEventArguments):
             m.on('draw:created', handle_draw)
         self.gnss.ROBOT_POSITION_LOCATED.register(self.update_robot_position)
 
+    def buttons(self) -> None:
+        """Builds additional buttons to interact with the map."""
+        ui.button(icon='my_location', on_click=self.zoom_to_robot).props('dense flat')
+        ui.button(icon='satellite', on_click=self.toggle_basemap).props('dense flat') \
+            .bind_visibility_from(self, 'current_basemap', lambda x: x is not None and 'openstreetmap' not in x.url_template)
+        ui.button(icon='map', on_click=self.toggle_basemap).props('dense flat') \
+            .bind_visibility_from(self, 'current_basemap', lambda x: x is not None and 'openstreetmap' in x.url_template)
+
     def set_simulated_reference(self, latlon, dialog):
         dialog.close()
         self.m.remove_layer(self.drawn_marker)
@@ -167,11 +168,39 @@ def update_robot_position(self) -> None:
         self.robot_marker.run_method(':setIcon', icon)
         self.robot_marker.move(self.gnss.record.latitude, self.gnss.record.longitude)
 
-    def change_basemap(self) -> None:
-        return
-        # TODO: add a button in leaflet map to change basemap layer and implement the functionality here
-
-        # this is the ESRI satellite  image as free satellite image
-        # Esri_WorldImagery = L.tileLayer('https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}', {
-        #     attribution: 'Tiles &copy; Esri &mdash; Source: Esri, i-cubed, USDA, USGS, AEX, GeoEye, Getmapping, Aerogrid, IGN, IGP, UPR-EGP, and the GIS User Community'
-        # })
+    def zoom_to_robot(self) -> None:
+        self.m.center = (self.gnss.record.latitude, self.gnss.record.longitude)
+        self.m.set_zoom(self.current_basemap.options['maxZoom'] - 1)
+
+    def toggle_basemap(self) -> None:
+        use_satellite = app.storage.user.get('use_satellite', False)
+        if self.current_basemap is not None:
+            self.m.remove_layer(self.current_basemap)
+            use_satellite = not use_satellite
+            app.storage.user['use_satellite'] = use_satellite
+        if use_satellite:
+            # ESRI satellite image provides free usage
+            self.current_basemap = self.m.tile_layer(
+                url_template='https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}',
+                options={
+                    'maxZoom': 21,
+                    'attribution': 'Tiles &copy; Esri &mdash; Source: Esri, i-cubed, USDA, USGS, AEX, GeoEye, Getmapping, Aerogrid, IGN, IGP, UPR-EGP, and the GIS User Community'
+                })
+            # self.current_basemap = self.m.tile_layer(
+            #     url_template=r'http://{s}.google.com/vt/lyrs=s&x={x}&y={y}&z={z}',
+            #     options={
+            #         'maxZoom': 20,
+            #         'subdomains': ['mt0', 'mt1', 'mt2', 'mt3'],
+            #         'attribution': '&copy; <a href="https://maps.google.com">Google Maps</a>'
+            #     },
+            # )
+        else:
+            self.current_basemap = self.m.tile_layer(
+                url_template=r'https://tile.openstreetmap.org/{z}/{x}/{y}.png',
+                options={
+                    'maxZoom': 20,
+                    'attribution': '&copy; <a href="https://www.openstreetmap.org/copyright">OpenStreetMap</a> contributors'
+                },
+            )
+        if self.current_basemap.options['maxZoom'] - 1 < self.m.zoom:
+            self.m.set_zoom(self.current_basemap.options['maxZoom'] - 1)