Field Navigation (#180)

This PR aims to reenable the row driving of the robot. This is relatet
to the new field creation and uses the fields created by the ab line
field creation.

ToDo:

- [x] wait for #188
- [x] wait for zauberzeug/rosys#204
- [x] fix the row change for small row distances (probably without the
spline tool)
- [x] tidy up row change
- [x] Fix row change for real robot with bad odometry
- [x] Row 3 of Wiese_Testfeld is driven over two times
- [x] Fix start_field_watch
- [x] write tests
- [x] Fix field outlines
- [x] Remove hardcoded fields
- [x] Remove old rows_on_field_navigation and AB-Line Navigation
- [x] Remove dev info on main page
- [x] Move ESP gpio code to zauberzeug/rosys#196

Known Issues:
- Always starts at the first row
- Can not continue a row after restart

---------

Co-authored-by: Lukas Baecker <baecker.lukas@outlook.de>
Co-authored-by: Pascal Schade <pascal@zauberzeug.com>

field_friend/automations/__init__.py

@@ -6,7 +6,6 @@
 from .field_provider import FieldProvider
 from .implements.implement import Implement
 from .kpi_provider import KpiProvider
-from .navigation.coverage_navigation import CoverageNavigation
 from .path_provider import Path, PathProvider
 from .path_recorder import PathRecorder
 from .plant import Plant
@@ -22,7 +21,6 @@
     'FieldObstacle',
     'FieldProvider',
     'Implement',
-    'CoverageNavigation',
     'Path',
     'PathProvider',
     'PathRecorder',

field_friend/automations/automation_watcher.py

@@ -7,6 +7,8 @@
 from shapely.geometry import Point as ShapelyPoint
 from shapely.geometry import Polygon as ShapelyPolygon
 
+from field_friend.localization import GeoPoint
+
 if TYPE_CHECKING:
     from system import System
 
@@ -105,8 +107,8 @@ def try_resume(self) -> None:
                 self.log.info('resetting resume_delay')
                 self.resume_delay = DEFAULT_RESUME_DELAY
 
-    def start_field_watch(self, field_boundaries: list[rosys.geometry.Point]) -> None:
-        self.field_polygon = ShapelyPolygon([(point.x, point.y) for point in field_boundaries])
+    def start_field_watch(self, field_boundaries: list[GeoPoint]) -> None:
+        self.field_polygon = ShapelyPolygon([point.cartesian().tuple for point in field_boundaries])
         self.field_watch_active = True
 
     def stop_field_watch(self) -> None:

field_friend/automations/field.py

@@ -36,7 +36,7 @@ class Field(GeoPointCollection):
 
     @property
     def outline(self) -> list[rosys.geometry.Point]:
-        return self.cartesian()
+        return self.points
 
     @property
     def outline_as_tuples(self) -> list[tuple[float, float]]:

field_friend/automations/field_provider.py

@@ -6,7 +6,6 @@
 from geographiclib.geodesic import Geodesic
 from rosys.geometry import Point
 
-from .. import localization
 from ..localization import GeoPoint, Gnss
 from . import Field, FieldObstacle, Row
 
@@ -18,12 +17,11 @@ def __init__(self, gnss: Gnss) -> None:
         self.log = logging.getLogger('field_friend.field_provider')
         self.gnss = gnss
         self.fields: list[Field] = []
+        self.needs_backup: bool = False
 
         self.FIELDS_CHANGED = rosys.event.Event()
         """The dict of fields has changed."""
 
-        self.needs_backup: bool = False
-
     def get_field(self, id_: str | None) -> Field | None:
         for field in self.fields:
             if field.id == id_:

field_friend/automations/navigation/__init__.py

@@ -1,19 +1,14 @@
-
-from .a_b_line_navigation import ABLineNavigation
-from .coverage_navigation import CoverageNavigation
+from .crossglide_demo_navigation import CrossglideDemoNavigation
+from .field_navigation import FieldNavigation
 from .follow_crops_navigation import FollowCropsNavigation
 from .navigation import Navigation, WorkflowException
-from .row_on_field_navigation import RowsOnFieldNavigation
 from .straight_line_navigation import StraightLineNavigation
-from .crossglide_demo_navigation import CrossglideDemoNavigation
 
 __all__ = [
     'Navigation',
     'WorkflowException',
-    'RowsOnFieldNavigation',
     'StraightLineNavigation',
     'FollowCropsNavigation',
-    'CoverageNavigation',
-    'ABLineNavigation',
+    'FieldNavigation',
     'CrossglideDemoNavigation',
 ]