Merge branch 'main' into rosys_gnss

field_friend/automations/field_provider.py

@@ -16,12 +16,14 @@ def __init__(self) -> None:
         self.FIELDS_CHANGED = rosys.event.Event()
         """The dict of fields has changed."""
 
-        self.FIELDS_CHANGED.register(self.refresh_fields)
-
         self.selected_field: Field | None = None
         self.FIELD_SELECTED = rosys.event.Event()
         """A field has been selected."""
 
+        self.FIELDS_CHANGED.register(self.refresh_fields)
+        self.FIELD_SELECTED.register(self.clear_selected_beds)
+
+        self._only_specific_beds: bool = False
         self._selected_beds: list[int] = []
 
     @property
@@ -59,6 +61,7 @@ def invalidate(self) -> None:
         self.FIELDS_CHANGED.emit()
         if self.selected_field and self.selected_field not in self.fields:
             self.selected_field = None
+            self._only_specific_beds = False
             self.selected_beds = []
             self.FIELD_SELECTED.emit()
 
@@ -133,6 +136,7 @@ def update_field_parameters(self, *,
         self.invalidate()
 
     def clear_selected_beds(self) -> None:
+        self._only_specific_beds = False
         self.selected_beds = []
 
     def get_rows_to_work_on(self) -> list[Row]:
@@ -141,6 +145,8 @@ def get_rows_to_work_on(self) -> list[Row]:
             return []
         if self.selected_field.bed_count == 1:
             return self.selected_field.rows
+        if not self._only_specific_beds:
+            return self.selected_field.rows
         if len(self.selected_beds) == 0:
             self.log.warning('No beds selected. Cannot get rows to work on.')
             return []

field_friend/hardware/y_axis_stepper_hardware.py

@@ -39,6 +39,13 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
             {name}_end_l.inverted = {str(end_stops_inverted).lower()}
             {name}_end_r = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_r_pin})
             {name}_end_r.inverted = {str(end_stops_inverted).lower()}
+            # TODO: remove when lizard issue 66 is fixed.
+            {name}_alarm.level = 0
+            {name}_alarm.active = false
+            {name}_end_l.level = 0
+            {name}_end_l.active = false
+            {name}_end_r.level = 0
+            {name}_end_r.active = false
             {name} = {expander.name + "." if motor_on_expander and expander else ""}MotorAxis({name}_motor, {name + "_end_l" if reversed_direction else name + "_end_r"}, {name + "_end_r" if reversed_direction else name + "_end_l"})
         ''')
         core_message_fields = [

field_friend/hardware/z_axis_canopen_hardware.py

@@ -33,12 +33,11 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
             {name}_motor = {expander.name + "." if motor_on_expander and expander else ""}CanOpenMotor({can.name}, {can_address})
             {name}_end_t = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_t_pin})
             {name}_end_t.inverted = {str(end_stops_inverted).lower()}
-            # TODO: remove when lizard issue 66 is fixed.
-            {name}_end_b.level = 0
-            {name}_end_t.active = false
             {name}_end_b = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_b_pin})
             {name}_end_b.inverted = {str(end_stops_inverted).lower()}
             # TODO: remove when lizard issue 66 is fixed.
+            {name}_end_t.level = 0
+            {name}_end_t.active = false
             {name}_end_b.level = 0
             {name}_end_b.active = false
             {name} = {expander.name + "." if motor_on_expander and expander else ""}MotorAxis({name}_motor, {name + "_end_t" if reversed_direction else name + "_end_b"}, {name + "_end_b" if reversed_direction else name + "_end_t"})

field_friend/hardware/z_axis_stepper_hardware.py

@@ -38,6 +38,11 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
             {name}_end_t.inverted = {str(end_stops_inverted).lower()}
             {name}_end_b = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_b_pin})
             {name}_end_b.inverted = {str(end_stops_inverted).lower()}
+            # TODO: remove when lizard issue 66 is fixed.
+            {name}_end_t.level = 0
+            {name}_end_t.active = false
+            {name}_end_b.level = 0
+            {name}_end_b.active = false
             {name} =  {expander.name + "." if motor_on_expander and expander else ""}MotorAxis({name}_motor, {name + "_end_t" if reversed_direction else name + "_end_b"}, {name + "_end_b" if reversed_direction else name + "_end_t"})
         ''')
         core_message_fields = [

field_friend/interface/components/operation.py

@@ -172,8 +172,8 @@ def field_setting(self) -> None:
                         .tooltip('Delete the selected field')
                 if self.system.field_provider.selected_field.bed_count > 1:
                     with ui.row().classes('w-full'):
-                        beds_checkbox = ui.checkbox('Select specific beds').classes(
-                            'w-full').on_value_change(self.system.field_provider.clear_selected_beds)
+                        beds_checkbox = ui.checkbox('Select specific beds').classes('w-full') \
+                            .bind_value(self.system.field_provider, '_only_specific_beds')
                         with ui.row().bind_visibility_from(beds_checkbox, 'value').classes('w-full'):
                             ui.select(list(range(1, int(self.system.field_provider.selected_field.bed_count) + 1)), multiple=True, label='selected beds', clearable=True) \
                                 .classes('grow').props('use-chips').bind_value(self.system.field_provider, 'selected_beds')

field_friend/vision/camera_configurator.py

@@ -84,7 +84,7 @@ async def update_camera_config(self):
                     parameters_changed = True
                     self.log.info(f'camera rotation: {camera.rotation}; {camera.rotation_angle}')
             else:
-                camera.rotation = 0
+                camera.rotation_angle = 0
 
         elif isinstance(camera, rosys.vision.SimulatedCalibratableCamera):
             if camera.resolution.width != self.config['parameters']['width'] or camera.resolution.height != self.config['parameters']['height']:

tests/test_navigation.py

@@ -411,6 +411,8 @@ async def test_complete_field_with_selected_beds(system: System, field_with_beds
     assert system.gnss.last_measurement.point.distance(ROBOT_GEO_START_POSITION) < 0.01
     system.field_provider.selected_beds = [1, 3]
     system.field_provider.select_field(field_with_beds.id)
+    system.field_provider._only_specific_beds = True
+    system.field_provider.selected_beds = [1, 3]
     system.current_navigation = system.field_navigation
     system.automator.start()
     await forward(until=lambda: system.automator.is_running)
@@ -427,6 +429,8 @@ async def test_complete_field_without_first_beds(system: System, field_with_beds
     assert system.gnss.last_measurement.point.distance(ROBOT_GEO_START_POSITION) < 0.01
     system.field_provider.selected_beds = [2, 3, 4]
     system.field_provider.select_field(field_with_beds.id)
+    system.field_provider._only_specific_beds = True
+    system.field_provider.selected_beds = [2, 3, 4]
     system.current_navigation = system.field_navigation
     system.automator.start()
     await forward(until=lambda: system.automator.is_running)