adding basic roboter info to the app control

field_friend/app_controls.py

@@ -0,0 +1,39 @@
+from rosys.automation import Automator
+from rosys.automation import app_controls as RosysAppControls
+from rosys.hardware import RobotBrain
+
+from .hardware.field_friend import FieldFriend
+
+
+class AppControls(RosysAppControls):
+
+    def __init__(self,
+                 robot_brain: RobotBrain,
+                 automator: Automator,
+                 robot: FieldFriend,
+                 ) -> None:
+        super().__init__(robot_brain, automator)
+        self.robot = robot
+        self.last_info: str = ''
+        self.APP_CONNECTED.register(self.reset)
+
+    async def sync(self) -> None:
+        await super().sync()
+        infos = []
+
+        if self.robot.estop.active:
+            infos.append("E Stop active")
+        if self.robot.bumper.active_bumpers:
+            infos.append(f'Bumper ({" ".join(self.robot.bumper.active_bumpers)}) active')
+        if self.robot.bms.state.is_charging:
+            infos.append('charging battery')
+        battery = f'{self.robot.bms.state.percentage:.0f}%' if self.robot.bms.state.percentage is not None else '?'
+        infos.append(f'Battery: {battery}')
+
+        info = ' | '.join(infos)
+        if info != self.last_info:
+            await self.set_info(info)
+            self.last_info = info
+
+    def reset(self) -> None:
+        self.last_info = 'loading'

field_friend/system.py

@@ -6,7 +6,7 @@
 import numpy as np
 import psutil
 import rosys
-
+from .app_controls import AppControls as app_controls
 import config.config_selection as config_selector
 
 from . import localization
@@ -183,7 +183,9 @@ def watch_robot() -> None:
             assert isinstance(self.field_friend, FieldFriendHardware)
             if self.field_friend.battery_control:
                 self.battery_watcher = BatteryWatcher(self.field_friend, self.automator)
-            rosys.automation.app_controls(self.field_friend.robot_brain, self.automator)
+            # rosys.automation.app_controls(self.field_friend.robot_brain, self.automator)
+            app_controls(
+                robot_brain=self.field_friend.robot_brain, automator=self.automator, robot=self.field_friend)
             rosys.on_repeat(self.log_status, 60*5)
 
     def restart(self) -> None: