cleaning up get_nearest_row

zauberzeug · Dec 2, 2024 · 94c57a9 · 94c57a9
1 parent b19a739
commit 94c57a9
Showing 1 changed file with 4 additions and 5 deletions.
diff --git a/field_friend/automations/navigation/field_navigation.py b/field_friend/automations/navigation/field_navigation.py
@@ -102,12 +102,11 @@ def get_nearest_row(self) -> Row | 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}')
-        try:
-            self.row_index = next(i for i, r in enumerate(self.rows_to_work_on) if row.id == r.id)
-            return self.rows_to_work_on[self.row_index]
-        except StopIteration:
+        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
+            return None
+        self.row_index = next(i for i, r in enumerate(self.rows_to_work_on) if row.id == r.id)
+        return self.rows_to_work_on[self.row_index]
 
     def set_start_and_end_points(self):
         assert self.field is not None