Update to Rosys version 0.18.2 (#202)

field_friend/interface/components/development.py

@@ -2,6 +2,7 @@
 
 import rosys
 from nicegui import ui
+from rosys.hardware import EspPins
 
 from .hardware_control import hardware_control
 from .io_overview import io_overview
@@ -32,3 +33,11 @@ def development(system: 'System') -> None:
                     status_dev_page(system.field_friend, system)
     with ui.row().style('width: calc(100vw - 2rem); flex-wrap: nowrap;'):
         io_overview(system)
+    if isinstance(system.field_friend, rosys.hardware.RobotHardware):
+        with ui.row():
+            with ui.card().style('min-width: 200px;'):
+                esp_pins_core = EspPins(name='core', robot_brain=system.field_friend.robot_brain)
+                esp_pins_core.developer_ui()
+            with ui.card().style('min-width: 200px;'):
+                esp_pins_p0 = EspPins(name='p0', robot_brain=system.field_friend.robot_brain)
+                esp_pins_p0.developer_ui()

field_friend/interface/components/field_creator.py

@@ -123,5 +123,4 @@ def _apply(self) -> None:
     def update_front_cam(self) -> None:
         if self.front_cam is None:
             return
-        self.front_cam.streaming = True
         self.row_sight.set_source(self.front_cam.get_latest_image_url())

field_friend/interface/components/monitoring.py

@@ -138,8 +138,6 @@ async def update_monitor_content(self):
         person_count = 0
         animal_count = 0
         for camera in self.mjpg_camera_provider.cameras.values():
-            if not camera.streaming:
-                camera.streaming = True
             image = camera.latest_captured_image
             if not image:
                 continue

field_friend/vision/camera_configurator.py

@@ -49,9 +49,6 @@ async def update_camera_config(self):
                         self.log.info(f'{camera.parameters[name]} != {value}')
                         await camera.set_parameters({name: value})
                         parameters_changed = True
-            if not camera.streaming:
-                camera.streaming = True
-                parameters_changed = True
             if not camera.calibration.extrinsics._frame_id:
                 camera.calibration.extrinsics.in_frame(self.odometer.prediction_frame)
             if 'crop' in self.config:

field_friend/vision/zedxmini_camera/zedxmini_camera.py

@@ -32,6 +32,7 @@ def __init__(self, ip: str | None = None, port: int | None = None, focal_length:
         self.log = logging.getLogger(self.name)
         self.log.setLevel(logging.DEBUG)
         self.camera_information: dict[str, Any] = {}
+        rosys.on_repeat(self._capture_image, interval=0.1)
 
     async def connect(self) -> None:
         await super().connect()
@@ -71,7 +72,7 @@ async def setup_camera_information(self) -> bool:
         self.focal_length = camera_information['calibration']['left_cam']['fy']
         return True
 
-    async def capture_image(self) -> None:
+    async def _capture_image(self) -> None:
         if not self.connected:
             return
         url = f'http://{self.ip}:{self.port}/image'

field_friend/vision/zedxmini_camera/zedxmini_camera_provider.py

@@ -33,7 +33,7 @@ async def update_device_list(self) -> None:
             camera_information = await ZedxminiCamera.get_camera_information('localhost', 8003)
             if camera_information is None:
                 return
-            self.add_camera(ZedxminiCamera(id=str(camera_information['serial_number']), polling_interval=0.1))
+            self.add_camera(ZedxminiCamera(id=str(camera_information['serial_number'])))
         camera = list(self._cameras.values())[0]
         if camera.is_connected:
             return

requirements.txt

@@ -6,5 +6,5 @@ geopy
 shapely
 fiona
 geopandas
-rosys == v0.17.1
+rosys == v0.18.2
 uvicorn == 0.28.1