Crop-Type for Beds Handling and Selected Bed Fixing (#230)

This PR adds the functionality to add a crop-type for a field or its individual beds. Also, it adapts the field_navigation along with these crop types. Furthermore, the ability to deselect beds for navigation (added with PR #219) needs to be fixed, due to small issues. Along with this the field_provider will be cleaned-up, due to triggering events multiple times at some points. - [x] adding crops to field and row - [x] add crop-setup (changing) to field_creator, operation and field_provider - [x] fixing selected beds - [x] cleaning field_provider - [x] write tests - [x] test on a robot --------- Co-authored-by: Pascal Schade <[email protected]>
zauberzeug · Dec 5, 2024 · 8eac021 · 8eac021
1 parent 189327f
commit 8eac021
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Showing 15 changed files with 488 additions and 122 deletions.
diff --git a/field_friend/__init__.py b/field_friend/__init__.py
@@ -2,7 +2,7 @@
 from .system import System
 
 __all__ = [
+    'System',
     'interface',
     'log_configuration',
-    'System',
 ]
diff --git a/field_friend/automations/__init__.py b/field_friend/automations/__init__.py
@@ -20,9 +20,9 @@
     'KpiProvider',
     'Path',
     'PathProvider',
+    'Plant',
     'PlantLocator',
     'PlantProvider',
-    'Plant',
     'Puncher',
     'Row',
     'RowSupportPoint',

diff --git a/field_friend/automations/field.py b/field_friend/automations/field.py
@@ -16,12 +16,14 @@
 @dataclass(slots=True, kw_only=True)
 class Row(GeoPointCollection):
     reverse: bool = False
+    crop: str | None = None
 
     def reversed(self):
         return Row(
             id=self.id,
             name=self.name,
             points=list(reversed(self.points)),
+            crop=self.crop
         )
 
     def line_segment(self) -> rosys.geometry.LineSegment:
@@ -49,7 +51,8 @@ def __init__(self, *,
                  outline_buffer_width: float = 2,
                  row_support_points: list[RowSupportPoint] | None = None,
                  bed_count: int = 1,
-                 bed_spacing: float = 0.5) -> None:
+                 bed_spacing: float = 0.5,
+                 bed_crops: dict[str, str | None] | None = None) -> None:
         self.id: str = id
         self.name: str = name
         self.first_row_start: GeoPoint = first_row_start
@@ -64,6 +67,7 @@ def __init__(self, *,
         self.visualized: bool = False
         self.rows: list[Row] = []
         self.outline: list[GeoPoint] = []
+        self.bed_crops: dict[str, str | None] = bed_crops or {str(i): None for i in range(bed_count)}
         self.refresh()
 
     @property
@@ -135,13 +139,14 @@ def _generate_rows(self) -> list[Row]:
             offset_row_coordinated = offset_curve(ab_line_cartesian, -offset).coords
             row_points: list[GeoPoint] = [localization.reference.shifted(
                 Point(x=p[0], y=p[1])) for p in offset_row_coordinated]
-            row = Row(id=f'field_{self.id}_row_{i + 1!s}', name=f'row_{i + 1}', points=row_points)
+            row = Row(id=f'field_{self.id}_row_{i + 1!s}', name=f'row_{i + 1}',
+                      points=row_points, crop=self.bed_crops[str(bed_index)])
             rows.append(row)
         return rows
 
     def _generate_outline(self) -> list[GeoPoint]:
         assert len(self.rows) > 0
-        return self.get_buffered_area(self.rows, self.outline_buffer_width)
+        return self.get_buffered_area()
 
     def to_dict(self) -> dict:
         return {
@@ -155,6 +160,7 @@ def to_dict(self) -> dict:
             'row_support_points': [rosys.persistence.to_dict(sp) for sp in self.row_support_points],
             'bed_count': self.bed_count,
             'bed_spacing': self.bed_spacing,
+            'bed_crops': self.bed_crops,
         }
 
     def shapely_polygon(self) -> shapely.geometry.Polygon:
@@ -173,7 +179,8 @@ def args_from_dict(cls, data: dict[str, Any]) -> dict:
             'outline_buffer_width': 1,
             'row_support_points': [],
             'bed_count': 1,
-            'bed_spacing': 1
+            'bed_spacing': 1,
+            'bed_crops': {}
         }
         for key in defaults:
             if key in data:
@@ -194,7 +201,7 @@ def from_dict(cls, data: dict[str, Any]) -> Self:
             field_data.id = str(uuid.uuid4())
         return field_data
 
-    def get_buffered_area(self, rows: list[Row], buffer_width: float) -> list[GeoPoint]:
+    def get_buffered_area(self) -> list[GeoPoint]:
         outline_unbuffered: list[Point] = [
             self.first_row_end.cartesian(),
             self.first_row_start.cartesian()

diff --git a/field_friend/automations/field_provider.py b/field_friend/automations/field_provider.py
@@ -20,9 +20,6 @@ def __init__(self) -> 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] = []
 
@@ -37,7 +34,7 @@ def selected_beds(self, value: list[int]) -> None:
     def backup(self) -> dict:
         return {
             'fields': {f.id: f.to_dict() for f in self.fields},
-            'selected_field': self.selected_field.id if self.selected_field else None,
+            'selected_field': self.selected_field.id if self.selected_field else None
         }
 
     def restore(self, data: dict[str, Any]) -> None:
@@ -47,17 +44,18 @@ def restore(self, data: dict[str, Any]) -> None:
             self.fields.append(new_field)
         selected_field_id: str | None = data.get('selected_field')
         if selected_field_id:
-            self.selected_field = self.get_field(selected_field_id)
-            self.FIELD_SELECTED.emit()
+            self.select_field(selected_field_id)
+        self.refresh_fields()
         self.FIELDS_CHANGED.emit()
 
     def invalidate(self) -> None:
         self.request_backup()
+        self.refresh_fields()
         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.clear_selected_beds()
             self.FIELD_SELECTED.emit()
 
     def get_field(self, id_: str | None) -> Field | None:
@@ -106,7 +104,9 @@ def refresh_fields(self) -> None:
 
     def select_field(self, id_: str | None) -> None:
         self.selected_field = self.get_field(id_)
+        self.clear_selected_beds()
         self.FIELD_SELECTED.emit()
+        self.request_backup()
 
     def update_field_parameters(self, *,
                                 field_id: str,
@@ -115,7 +115,8 @@ def update_field_parameters(self, *,
                                 row_spacing: float,
                                 outline_buffer_width: float,
                                 bed_count: int,
-                                bed_spacing: float) -> None:
+                                bed_spacing: float,
+                                bed_crops: dict[str, str | None]) -> None:
         field = self.get_field(field_id)
         if not field:
             self.log.warning('Field with id %s not found. Cannot update parameters.', field_id)
@@ -126,6 +127,17 @@ def update_field_parameters(self, *,
         field.bed_count = bed_count
         field.bed_spacing = bed_spacing
         field.outline_buffer_width = outline_buffer_width
+        bed_crops = bed_crops.copy()
+        if len(bed_crops) < bed_count:
+            for i in range(bed_count - len(bed_crops)):
+                bed_crops[str(i+len(field.bed_crops))] = None
+            field.bed_crops = bed_crops
+        elif len(bed_crops) > bed_count:
+            for i in range(len(bed_crops) - bed_count):
+                bed_crops.pop(str(bed_count + i))
+            field.bed_crops = bed_crops
+        else:
+            field.bed_crops = bed_crops
         self.log.info('Updated parameters for field %s: row number = %d, row spacing = %f',
                       field.name, row_count, row_spacing)
         self.invalidate()
@@ -149,4 +161,13 @@ 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
+        if self.selected_field is None:
+            return False
+        bed_index = row_index // self.selected_field.row_count + 1
+        return bed_index in self.selected_beds
diff --git a/field_friend/automations/implements/__init__.py b/field_friend/automations/implements/__init__.py
@@ -6,11 +6,11 @@
 from .weeding_screw import WeedingScrew
 
 __all__ = [
+    'ExternalMower',
     'Implement',
-    'WeedingImplement',
+    'ImplementException',
     'Recorder',
-    'WeedingScrew',
     'Tornado',
-    'ExternalMower',
-    'ImplementException',
+    'WeedingImplement',
+    'WeedingScrew',
 ]
diff --git a/field_friend/automations/navigation/__init__.py b/field_friend/automations/navigation/__init__.py
@@ -5,10 +5,10 @@
 from .straight_line_navigation import StraightLineNavigation
 
 __all__ = [
+    'CrossglideDemoNavigation',
+    'FieldNavigation',
+    'FollowCropsNavigation',
     'Navigation',
-    'WorkflowException',
     'StraightLineNavigation',
-    'FollowCropsNavigation',
-    'FieldNavigation',
-    'CrossglideDemoNavigation',
+    'WorkflowException',
 ]
diff --git a/field_friend/automations/navigation/field_navigation.py b/field_friend/automations/navigation/field_navigation.py
@@ -9,6 +9,7 @@
 
 from ..field import Field, Row
 from ..implements.implement import Implement
+from ..implements.weeding_implement import WeedingImplement
 from .straight_line_navigation import StraightLineNavigation
 
 if TYPE_CHECKING:
@@ -77,12 +78,12 @@ 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._state = State.APPROACH_START_ROW
         self.plant_provider.clear()
-
         self.automation_watcher.start_field_watch(self.field.outline)
-
         self.log.info(f'Activating {self.implement.name}...')
         await self.implement.activate()
         return True
@@ -95,14 +96,17 @@ async def finish(self) -> None:
         self.automation_watcher.stop_field_watch()
         await self.implement.deactivate()
 
-    def get_nearest_row(self) -> Row:
+    def get_nearest_row(self) -> Row | None:
         assert self.field is not None
         assert self.gnss.device is not None
         row = min(self.field.rows, key=lambda r: r.line_segment().line.foot_point(
             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)
-        return row
+        if row not in self.rows_to_work_on:
+            rosys.notify('Please place the robot in front of a selected bed\'s row', 'negative')
+            return None
+        self.row_index = self.rows_to_work_on.index(row)
+        return self.rows_to_work_on[self.row_index]
 
     def set_start_and_end_points(self):
         assert self.field is not None
@@ -153,6 +157,7 @@ async def _drive(self, distance: float) -> None:
 
     async def _run_approach_start_row(self) -> State:
         self.robot_in_working_area = False
+        rosys.notify(f'Approaching row {self.current_row.name}')
         self.set_start_and_end_points()
         if self.start_point is None or self.end_point is None:
             return State.ERROR
@@ -177,6 +182,7 @@ async def _run_approach_start_row(self) -> State:
         assert self.end_point is not None
         driving_yaw = self.odometer.prediction.direction(self.end_point)
         await self.turn_in_steps(driving_yaw)
+        self._set_cultivated_crop()
         return State.FOLLOW_ROW
 
     async def _run_change_row(self) -> State:
@@ -189,7 +195,6 @@ async def _run_change_row(self) -> State:
             self.create_simulation()
         else:
             self.plant_provider.clear()
-
         await self.gnss.ROBOT_POSE_LOCATED.emitted(self._max_gnss_waiting_time)
         # turn towards row start
         assert self.start_point is not None
@@ -202,6 +207,7 @@ async def _run_change_row(self) -> State:
         assert self.end_point is not None
         driving_yaw = self.odometer.prediction.direction(self.end_point)
         await self.turn_in_steps(driving_yaw)
+        self._set_cultivated_crop()
         return State.FOLLOW_ROW
 
     async def drive_in_steps(self, target: Pose) -> None:
@@ -272,6 +278,15 @@ async def _run_row_completed(self) -> State:
                 next_state = State.FIELD_COMPLETED
         return next_state
 
+    def _set_cultivated_crop(self) -> None:
+        if not isinstance(self.implement, WeedingImplement):
+            return
+        if self.implement.cultivated_crop == self.current_row.crop:
+            return
+        rosys.notify(f'Setting crop {self.current_row.crop} for {self.implement.name}')
+        self.implement.cultivated_crop = self.current_row.crop
+        self.implement.request_backup()
+
     def _is_in_working_area(self, start_point: Point, end_point: Point) -> bool:
         # TODO: check if in working rectangle, current just checks if between start and stop
         relative_start = self.odometer.prediction.relative_point(start_point)

diff --git a/field_friend/automations/plant_locator.py b/field_friend/automations/plant_locator.py
@@ -10,8 +10,7 @@
 from .plant import Plant
 
 WEED_CATEGORY_NAME = ['coin', 'weed', 'weedy_area', ]
-CROP_CATEGORY_NAME = ['coin_with_hole', 'borrietsch', 'estragon', 'feldsalat', 'garlic', 'jasione', 'kohlrabi', 'liebstoeckel', 'maize', 'minze', 'onion',
-                      'oregano_majoran', 'pastinake', 'petersilie', 'pimpinelle', 'red_beet', 'salatkopf', 'schnittlauch', 'sugar_beet', 'thymian_bohnenkraut', 'zitronenmelisse', ]
+CROP_CATEGORY_NAME: dict[str, str] = {}
 MINIMUM_CROP_CONFIDENCE = 0.3
 MINIMUM_WEED_CONFIDENCE = 0.3
 
@@ -39,7 +38,7 @@ def __init__(self, system: 'System') -> None:
         self.autoupload: Autoupload = Autoupload.DISABLED
         self.upload_images: bool = False
         self.weed_category_names: list[str] = WEED_CATEGORY_NAME
-        self.crop_category_names: list[str] = CROP_CATEGORY_NAME
+        self.crop_category_names: dict[str, str] = CROP_CATEGORY_NAME
         self.minimum_crop_confidence: float = MINIMUM_CROP_CONFIDENCE
         self.minimum_weed_confidence: float = MINIMUM_WEED_CONFIDENCE
         rosys.on_repeat(self._detect_plants, 0.01)  # as fast as possible, function will sleep if necessary
@@ -50,6 +49,7 @@ def __init__(self, system: 'System') -> None:
             self.teltonika_router = system.teltonika_router
             self.teltonika_router.CONNECTION_CHANGED.register(self.set_upload_images)
             self.teltonika_router.MOBILE_UPLOAD_PERMISSION_CHANGED.register(self.set_upload_images)
+        rosys.on_startup(self.get_crop_names)
 
     def backup(self) -> dict:
         self.log.info(f'backup: autoupload: {self.autoupload}')
@@ -216,3 +216,26 @@ def set_upload_images(self):
             self.upload_images = True
         else:
             self.upload_images = False
+
+    async def get_crop_names(self) -> dict[str, str]:
+        if isinstance(self.detector, rosys.vision.DetectorSimulation):
+            simulated_crop_names: list[str] = ['coin_with_hole', 'borrietsch', 'estragon', 'feldsalat', 'garlic', 'jasione', 'kohlrabi', 'liebstoeckel', 'maize', 'minze', 'onion',
+                                               'oregano_majoran', 'pastinake', 'petersilie', 'pimpinelle', 'red_beet', 'salatkopf', 'schnittlauch', 'sugar_beet', 'thymian_bohnenkraut', 'zitronenmelisse', ]
+
+            CROP_CATEGORY_NAME.update({name: name.replace('_', ' ').title() for name in simulated_crop_names})
+            self.crop_category_names = CROP_CATEGORY_NAME
+            return CROP_CATEGORY_NAME
+        port = self.detector.port
+        url = f'http://localhost:{port}/about'
+        async with aiohttp.request('GET', url) as response:
+            if response.status != 200:
+                self.log.error(f'Could not get crop names on port {port} - status code: {response.status}')
+                return {}
+            response_text = await response.json()
+        crop_names: list[str] = [category['name'] for category in response_text['model_info']['categories']]
+        weeds = ['weed', 'weedy_area', 'coin', 'danger', 'big_weed']
+        for weed in weeds:
+            crop_names.remove(weed)
+        CROP_CATEGORY_NAME.update({name: name.replace('_', ' ').title() for name in crop_names})
+        self.crop_category_names = CROP_CATEGORY_NAME
+        return CROP_CATEGORY_NAME
diff --git a/field_friend/interface/components/__init__.py b/field_friend/interface/components/__init__.py
@@ -9,11 +9,11 @@
 
 __all__ = [
     'CameraCard',
-    'create_development_ui',
-    'create_header',
-    'create_status_drawer',
     'LeafletMap',
     'Monitoring',
     'Operation',
     'RobotScene',
+    'create_development_ui',
+    'create_header',
+    'create_status_drawer',
 ]