def weed_scan():
""" pause before taking image """
def plant_detection():
device.wait(1000)
device.execute_script(label='plant-detection')
""" scans length of X axis """
def scan_line():
while device.get_current_position('x') < X_MAX:
if coord.get_axis_position('x') + X_MOVE > X_MAX:
coord.set_axis_position('x', X_MAX)
else:
coord.set_axis_position('x',
coord.get_axis_position('x') + X_MOVE)
plant_detection()
""" start scan """
coord = Coordinate(X_START, Y_START)
coord.move_abs()
device.execute_script(label='plant-detection')
scan_line()
while device.get_current_position('y') < Y_MAX:
if coord.get_axis_position('y') + Y_MOVE > Y_MAX:
coord.set_coordinate(X_START, Y_MAX)
else:
coord.set_coordinate(X_START,
coord.get_axis_position('y') + Y_MOVE)
coord.move_abs()
plant_detection()
scan_line()
device.sync()
device.log('Scan Complete.', 'info', ['toast'])
def sync(self):
if not self.debug:
time.sleep(1) # wait a bit for previously send requests to settle
device.sync()
sync: str
for cnt in range(1, 30):
sync = self.bot_state().informational_settings.sync_status
device.log(f"interim status {sync}")
if sync == "synced":
break
if sync == "sync_error":
raise ValueError('Sync error, bot failed to complete syncing')
time.sleep(0.5)
else:
raise ValueError('Sync timeout, bot failed to complete syncing')
def setup(self):
'Pre-test config.'
print('-' * 50)
print('TEST SETUP:')
fw_out_log_opt = app.get_property('fbos_config',
LOG_FW_CMD_CONFIG_KEY,
get_info=app_login)
if fw_out_log_opt:
print('{}`{}`{} option already enabled.'.format(
COLOR.bold, LOG_FW_CMD_CONFIG_KEY, COLOR.reset))
else:
app.put('fbos_config',
payload={LOG_FW_CMD_CONFIG_KEY: True},
get_info=app_login)
self.wait_for_log(LOG_FW_CMD_CONFIG_KEY, count_time=False)
send(device.sync()['command'], self.login_info)
print('-' * 50)
sys.exit()
weeder_tool_retrieve_sequence_id = Qualify.sequence(PKG, 'tool_weed_retrieve')
weeder_tool_return_sequence_id = Qualify.sequence(PKG, 'tool_weed_return')
if len(input_errors):
for err in input_errors:
device.log(err, 'error', ['toast'])
sys.exit()
else:
device.log('No config errors detected')
device.write_pin(PIN_LIGHTS, 1, 0)
points = app.get_points()
if len(points):
device.log('Deleting existing points...')
del_all_points()
device.sync()
weed_scan()
points = app.get_points()
weed_points = get_weed_points()
#device.log(json.dumps(weed_points))
if len(weed_points):
zap_weeds()
else:
device.log('No weeds detected, going home...')
device.home('all')
device.write_pin(PIN_LIGHTS, 0, 0)