Merge commit '183701800f7c9e571a3bb0d63fc4e5a78eb23491' into A-B-fiel…

…dnavigation

field_friend/automations/automation_watcher.py

@@ -7,6 +7,8 @@
 from shapely.geometry import Point as ShapelyPoint
 from shapely.geometry import Polygon as ShapelyPolygon
 
+from field_friend.localization import GeoPoint
+
 if TYPE_CHECKING:
     from system import System
 
@@ -105,8 +107,8 @@ def try_resume(self) -> None:
                 self.log.info('resetting resume_delay')
                 self.resume_delay = DEFAULT_RESUME_DELAY
 
-    def start_field_watch(self, field_boundaries: list[rosys.geometry.Point]) -> None:
-        self.field_polygon = ShapelyPolygon([(point.x, point.y) for point in field_boundaries])
+    def start_field_watch(self, field_boundaries: list[GeoPoint]) -> None:
+        self.field_polygon = ShapelyPolygon([point.cartesian().tuple for point in field_boundaries])
         self.field_watch_active = True
 
     def stop_field_watch(self) -> None:

field_friend/automations/field_provider.py

@@ -25,6 +25,31 @@ def __init__(self, gnss: Gnss) -> None:
 
         self.needs_backup: bool = False
 
+        field = Field(id='dummy', name='dummy', points=[])
+        for i, row_list in enumerate([[GeoPoint(lat=51.98316780897856, long=7.434212), GeoPoint(lat=51.98321232423919, long=7.434212)],
+                                      [GeoPoint(lat=51.983167808956075, long=7.4342847762085835),
+                                       GeoPoint(lat=51.98321232421671, long=7.434284776280727)],
+                                      [GeoPoint(lat=51.98316780888862, long=7.4343575524171674),
+                                       GeoPoint(lat=51.98321232414926, long=7.434357552561454)],
+                                      [GeoPoint(lat=51.9831678087762, long=7.4344303286257505),
+                                       GeoPoint(lat=51.98321232403683, long=7.43443032884218)],
+                                      [GeoPoint(lat=51.98316780861881, long=7.4345031048343335),
+                                       GeoPoint(lat=51.98321232387944, long=7.434503105122906)],
+                                      [GeoPoint(lat=51.98316780841646, long=7.434575881042917),
+                                       GeoPoint(lat=51.98321232367709, long=7.434575881403632)],
+                                      [GeoPoint(lat=51.983167808169135, long=7.434648657251498),
+                                       GeoPoint(lat=51.98321232342976, long=7.434648657684356)],
+                                      [GeoPoint(lat=51.983167807876846, long=7.434721433460079),
+                                       GeoPoint(lat=51.98321232313747, long=7.4347214339650805)],
+                                      [GeoPoint(lat=51.98316780753959, long=7.434794209668659),
+                                       GeoPoint(lat=51.983212322800206, long=7.434794210245803)],
+                                      [GeoPoint(lat=51.98316780715736, long=7.434866985877237),
+                                       GeoPoint(lat=51.983212322417984, long=7.434866986526525)],
+                                      [GeoPoint(lat=51.98316780673016, long=7.434939762085815), GeoPoint(lat=51.98321232199079, long=7.434939762807245)],]):
+            row = Row(id=f'row_{i}', name=f'row_{i}', points=list(row_list))
+            field.rows.append(row)
+        self.fields.append(field)
+
     def get_field(self, id_: str | None) -> Field | None:
         for field in self.fields:
             if field.id == id_:

field_friend/automations/navigation/__init__.py

@@ -1,7 +1,7 @@
 
-from .a_b_field_navigation import ABFieldNavigatoin
 from .a_b_line_navigation import ABLineNavigation
 from .coverage_navigation import CoverageNavigation
+from .field_navigation import FieldNavigation
 from .follow_crops_navigation import FollowCropsNavigation
 from .navigation import Navigation, WorkflowException
 from .row_on_field_navigation import RowsOnFieldNavigation
@@ -15,5 +15,5 @@
     'FollowCropsNavigation',
     'CoverageNavigation',
     'ABLineNavigation',
-    'ABFieldNavigatoin',
+    'FieldNavigation',
 ]