Allow recording weeding action in timelapse video (#155)

* allow recording weeding action in timelapse video * fix name * fix name --------- Co-authored-by: Pascal Schade <[email protected]>
zauberzeug · Aug 29, 2024 · f409de5 · f409de5
1 parent 4a6bd9d
commit f409de5
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Showing 3 changed files with 20 additions and 4 deletions.
diff --git a/field_friend/automations/implements/weeding_implement.py b/field_friend/automations/implements/weeding_implement.py
@@ -31,6 +31,7 @@ def __init__(self,  name: str, system: 'System', persistence_key: str = 'weeding
         self.system = system
         self.kpi_provider = system.kpi_provider
         self.puncher = system.puncher
+        self.record_video = False
         self.cultivated_crop: str | None = None
         self.crop_safety_distance: float = 0.01
 
@@ -63,17 +64,21 @@ async def prepare(self) -> bool:
     async def finish(self) -> None:
         self.system.plant_locator.pause()
         await self.system.field_friend.stop()
+        await self.system.timelapse_recorder.compress_video()
         await super().finish()
 
     async def activate(self):
         await self.system.field_friend.flashlight.turn_on()
         await self.puncher.clear_view()
-        self.system.plant_locator.resume()
         await rosys.sleep(3)
+        self.system.plant_locator.resume()
+        if self.record_video:
+            self.system.timelapse_recorder.camera = self.system.camera_provider.first_connected_camera
         await super().activate()
 
     async def deactivate(self):
         await super().deactivate()
+        self.system.timelapse_recorder.camera = None
         await self.system.field_friend.flashlight.turn_off()
         self.system.plant_locator.pause()
         self.kpi_provider.increment_weeding_kpi('rows_weeded')
@@ -94,7 +99,7 @@ async def _check_hardware_ready(self) -> bool:
             rosys.notify('E-Stop is active, aborting', 'negative')
             self.log.error('E-Stop is active, aborting')
             return False
-        camera = next((camera for camera in self.system.camera_provider.cameras.values() if camera.is_connected), None)
+        camera = self.system.camera_provider.first_connected_camera
         if not camera:
             rosys.notify('no camera connected')
             return False
@@ -166,7 +171,8 @@ def backup(self) -> dict:
             'with_chopping': self.with_chopping,
             'chop_if_no_crops': self.chop_if_no_crops,
             'cultivated_crop': self.cultivated_crop,
-            'crop_safety_distance': self.crop_safety_distance
+            'crop_safety_distance': self.crop_safety_distance,
+            'record_video': self.record_video,
         }
 
     def restore(self, data: dict[str, Any]) -> None:
@@ -175,6 +181,7 @@ def restore(self, data: dict[str, Any]) -> None:
         self.chop_if_no_crops = data.get('chop_if_no_crops', self.chop_if_no_crops)
         self.cultivated_crop = data.get('cultivated_crop', self.cultivated_crop)
         self.crop_safety_distance = data.get('crop_safety_distance', self.crop_safety_distance)
+        self.record_video = data.get('record_video', self.record_video)
 
     def clear(self) -> None:
         self.crops_to_handle = {}
@@ -209,3 +216,6 @@ def settings_ui(self):
             .classes('w-24') \
             .bind_value(self, 'crop_safety_distance') \
             .tooltip('Set the crop safety distance for the weeding automation')
+        ui.checkbox('record video', on_change=self.request_backup) \
+            .bind_value(self, 'record_video') \
+            .tooltip('Set the weeding automation to record video')
diff --git a/field_friend/system.py b/field_friend/system.py
@@ -123,6 +123,10 @@ def watch_robot() -> None:
         self.automator = rosys.automation.Automator(self.steerer, on_interrupt=self.field_friend.stop)
         self.automation_watcher = AutomationWatcher(self)
         self.monitoring = Recorder(self)
+        self.timelapse_recorder = rosys.analysis.TimelapseRecorder()
+        self.timelapse_recorder.frame_info_builder = lambda _: f'{self.version}, {self.current_navigation.name}, tags: {", ".join(self.plant_locator.tags)}'
+        rosys.NEW_NOTIFICATION.register(self.timelapse_recorder.notify)
+        rosys.on_startup(self.timelapse_recorder.compress_video)  # NOTE: cleanup JPEGs from before last shutdown
         self.field_navigation = RowsOnFieldNavigation(self, self.monitoring)
         self.straight_line_navigation = StraightLineNavigation(self, self.monitoring)
         self.follow_crops_navigation = FollowCropsNavigation(self, self.monitoring)

diff --git a/main.py b/main.py
@@ -3,13 +3,14 @@
 
 from dotenv import load_dotenv
 from nicegui import app, ui
-from rosys.analysis import logging_page
+from rosys.analysis import logging_page, videos_page
 
 import field_friend.log_configuration as log_configuration
 from field_friend import interface
 from field_friend.interface.components import header_bar, status_drawer, system_bar
 from field_friend.system import System
 
+
 logger = log_configuration.configure()
 app.add_static_files('/assets', 'assets')
 
@@ -46,6 +47,7 @@ def status():
         return {'status': 'ok'}
 
     logging_page(['field_friend', 'rosys'])  # /logging
+    videos_page()  # /videos
 
 
 app.on_startup(startup)