check for nearest row and do not start if robot is placed wrong

field_friend/automations/field_provider.py

@@ -161,4 +161,11 @@ def get_rows_to_work_on(self) -> list[Row]:
         for bed in self.selected_beds:
             for row_index in range(self.selected_field.row_count):
                 row_indices.append((bed - 1) * self.selected_field.row_count + row_index)
-        return [row for i, row in enumerate(self.selected_field.rows) if i in row_indices]
+        rows_to_work_on = [row for i, row in enumerate(self.selected_field.rows) if i in row_indices]
+        return rows_to_work_on
+
+    def is_row_in_selected_beds(self, row_index: int) -> bool:
+        if not self._only_specific_beds:
+            return True
+        bed_index = row_index // self.selected_field.row_count + 1
+        return bed_index in self.selected_beds

field_friend/automations/navigation/field_navigation.py

@@ -72,7 +72,10 @@ async def prepare(self) -> bool:
             if not len(row.points) >= 2:
                 rosys.notify(f'Row {idx} on field {self.field.name} has not enough points', 'negative')
                 return False
-        self.row_index = self.field.rows.index(self.get_nearest_row())
+        nearest_row = self.get_nearest_row()
+        if nearest_row is None:
+            return False
+        self.row_index = self.field.rows.index(nearest_row)
         self._state = State.APPROACHING_ROW_START
         self.plant_provider.clear()
 
@@ -97,6 +100,9 @@ def get_nearest_row(self) -> Row:
             self.odometer.prediction.point).distance(self.odometer.prediction.point))
         self.log.info(f'Nearest row is {row.name}')
         self.row_index = self.field.rows.index(row)
+        if not self.field_provider.is_row_in_selected_beds(self.row_index):
+            rosys.notify('Please place the robot in front of a selected bed\'s row', 'negative')
+            return None
         return row
 
     def set_start_and_end_points(self):

field_friend/interface/components/field_creator.py

@@ -239,7 +239,7 @@ def ab_line_map(self) -> None:
         self.m.set_zoom(18)
 
     def update_robot_position(self, position: GeoPoint, dialog=None) -> None:
-        if isinstance(self.m, ui.leaflet):
+        if hasattr(self, 'm') and self.m and isinstance(self.m, ui.leaflet):
             self.robot_marker = self.robot_marker or self.m.marker(latlng=position.tuple)
             icon = 'L.icon({iconUrl: "assets/robot_position_side.png", iconSize: [24,24], iconAnchor:[12,12]})'
             self.robot_marker.run_method(':setIcon', icon)