Dashboard Connection

field_friend/system.py

@@ -1,11 +1,13 @@
 import logging
 import os
-from typing import Any
+from typing import Any, cast
 
 import icecream
 import numpy as np
 import psutil
+import requests
 import rosys
+from rosys.version import __version__ as rosys_version
 
 import config.config_selection as config_selector
 
@@ -44,11 +46,15 @@
 class System(rosys.persistence.PersistentModule):
 
     version = 'unknown'  # This is set in main.py through the environment variable VERSION or ROBOT_ID
+    robot_id = 'unknown'  # This is set in main.py through the environment variable ROBOT_ID
 
     def __init__(self) -> None:
         super().__init__()
         assert self.version is not None
         assert self.version != 'unknown'
+        assert self.robot_id is not None
+        assert self.robot_id != 'unknown'
+
         rosys.hardware.SerialCommunication.search_paths.insert(0, '/dev/ttyTHS0')
         self.log = logging.getLogger('field_friend.system')
         self.is_real = rosys.hardware.SerialCommunication.is_possible()
@@ -110,6 +116,10 @@ def watch_robot() -> None:
         self.plant_locator = PlantLocator(self)
 
         rosys.on_repeat(watch_robot, 1.0)
+        if self.is_real and os.environ.get('DASHBOARD_URL'):
+            rosys.on_repeat(self.send_status_to_robot_dashboard, 60)
+        else:
+            rosys.notify('Dashboard URL is not set', type='negative')
 
         self.path_provider = PathProvider()
         self.field_provider = FieldProvider()
@@ -263,3 +273,49 @@ def log_status(self):
 
         bms_logger = logging.getLogger('field_friend.bms')
         bms_logger.info(f'Battery: {self.field_friend.bms.state.short_string}')
+
+    async def send_status_to_robot_dashboard(self) -> None:
+        dashboard_url = os.environ.get('DASHBOARD_URL')
+        try:
+            status = 'emergency stop' if len(self.field_friend.estop.pressed_estops) > 0 or self.field_friend.estop.is_soft_estop_active else \
+                'bumper active' if self.field_friend.bumper and self.field_friend.bumper.active_bumpers else \
+                'working' if self.automator.automation is not None and self.automator.automation.is_running else \
+                'idle'
+            if self.is_real:
+                lizard_firmware = cast(FieldFriendHardware, self.field_friend).robot_brain.lizard_firmware
+                await lizard_firmware.read_core_version()
+                await lizard_firmware.read_p0_version()
+                core_version = lizard_firmware.core_version
+                p0_version = lizard_firmware.p0_version
+            else:
+                core_version = 'simulation'
+                p0_version = 'simulation'
+            if self.current_navigation is not None and self.current_navigation is FieldNavigation:
+                field = self.field_navigation.field if self.field_navigation.field is not None else None
+                row = self.field_navigation.current_row if self.field_navigation.current_row is not None else None
+            else:
+                field = None
+                row = None
+            position = self.gnss.current.location if self.gnss.current is not None else None
+            data = {
+                'version': self.version,
+                'battery': self.field_friend.bms.state.percentage,
+                'battery_charging': self.field_friend.bms.state.is_charging,
+                'status': status,
+                'position': {'lat': position.lat, 'long': position.long} if position is not None else None,
+                # TODO: update the gnss quality with kalman filter
+                'gnss_quality': self.gnss.current.gps_qual if self.gnss.current is not None else None,
+                'implement': self.field_friend.implement_name,
+                'navigation': self.current_navigation.name if self.current_navigation is not None else None,
+                'field': field,
+                'row': row,
+                'rosys_version': rosys_version,
+                'core_lizard_version': core_version,
+                'p0_lizard_version': p0_version,
+            }
+            endpoint = f'{dashboard_url}/api/robot/{self.robot_id.lower()}'
+            response = requests.post(endpoint, json=data, timeout=5)
+            if response.status_code != 200:
+                rosys.notify(f'Failed to send status. Response code {response.status_code}', type='negative')
+        except Exception as e:
+            rosys.notify(f'Error sending status: {e!s}', type='negative')

main.py

@@ -24,6 +24,7 @@ def startup() -> None:
         return
     logger.info('Starting Field Friend for robot %s', robot_id)
     System.version = os.environ.get('VERSION') or robot_id
+    System.robot_id = robot_id
     system = System()
 
     interface.main_page(system)  # /