No Bumper Handling (#241)

When the robot has no bumper the automation_watch will throw an
assertion as you can see in Issue #240. There are Fieldfriends that do
not have bumpers at all. That is why we need an appropriate handling of
it in the automation_watch. We would like to log a warning in case a
robot with bumpers has an error or disconnected bumpers but beside that
we just deactivate the bumper watcher.

field_friend/automations/automation_watcher.py

@@ -86,9 +86,9 @@ def stop(self, reason: str) -> None:
 
     def try_resume(self) -> None:
         # Set conditions to True by default, which means they don't block the process if the watch is not active
-        # TODO: what to do if we don't have bumpers?
-        assert self.field_friend.bumper is not None
-        bumper_condition = not bool(self.field_friend.bumper.active_bumpers) if self.bumper_watch_active else True
+        bumper_condition = True
+        if self.field_friend.bumper is not None and self.bumper_watch_active:
+            bumper_condition = not bool(self.field_friend.bumper.active_bumpers)
         gnss_condition = (self.gnss.current is not None and ('R' in self.gnss.current.mode or self.gnss.current.mode == 'SSSS')) \
             if self.gnss_watch_active else True
 

field_friend/system.py

@@ -178,6 +178,8 @@ def watch_robot() -> None:
         self.current_implement = self.monitoring
         if self.field_friend.bumper:
             self.automation_watcher.bumper_watch_active = True
+        else:
+            self.log.warning('Bumper is not available, does robot have bumpers?')
 
         if self.is_real:
             assert isinstance(self.field_friend, FieldFriendHardware)