Basic robot status in mobile app (#238)

To see basic robot status infos in the app, a module, extending the
[rosys app
control](https://github.com/zauberzeug/rosys/blob/main/rosys/automation/app_controls_.py),
was added.

- [x] creating app_control module
- [x] showing basic status info in app
- [x] testing on a robot

---------

Co-authored-by: Johannes-Thiel <[email protected]>
Co-authored-by: Pascal Schade <[email protected]>

Author: 3 people

field_friend/app_controls.py

@@ -0,0 +1,61 @@
+import rosys
+from rosys.automation import Automator
+from rosys.automation.app_controls_ import AppControls as RosysAppControls
+from rosys.hardware import RobotBrain
+
+from .hardware.field_friend import FieldFriend
+
+
+class AppControls(RosysAppControls):
+
+    def __init__(self,
+                 robot_brain: RobotBrain,
+                 automator: Automator,
+                 field_friend: FieldFriend,
+                 ) -> None:
+        super().__init__(robot_brain, automator)
+        self.field_friend = field_friend
+        self.last_battery_percentage: float | None = self.field_friend.bms.state.percentage
+        self.last_charging: bool | None = self.field_friend.bms.state.is_charging
+        self.last_estops_pressed: list[int] = []
+        self.last_estop_soft_active: bool = self.field_friend.estop.is_soft_estop_active
+        self.last_bumpers_active: list[str] = []
+        self.last_info: str = ''
+        self.APP_CONNECTED.register(self.reset)
+        rosys.on_repeat(self.check_status, 2.0)
+
+    async def check_status(self) -> None:
+        estop_changed = self.field_friend.estop.pressed_estops != self.last_estops_pressed or self.field_friend.estop.is_soft_estop_active != self.last_estop_soft_active
+        if estop_changed:
+            self.last_estops_pressed = list(self.field_friend.estop.pressed_estops)
+            self.last_estop_soft_active = self.field_friend.estop.is_soft_estop_active
+        battery_changed = self.field_friend.bms.state.percentage != self.last_battery_percentage or self.field_friend.bms.state.is_charging != self.last_charging
+        if battery_changed:
+            self.last_battery_percentage = self.field_friend.bms.state.percentage
+            self.last_charging = self.field_friend.bms.state.is_charging
+        bumpers_changed = self.last_bumpers_active != self.field_friend.bumper.active_bumpers if self.field_friend.bumper else False
+        if bumpers_changed:
+            assert self.field_friend.bumper is not None
+            self.last_bumpers_active = self.field_friend.bumper.active_bumpers
+        if estop_changed or battery_changed or bumpers_changed:
+            await self.sync()
+
+    async def sync(self) -> None:
+        await super().sync()
+        info = ''
+        if self.field_friend.estop.active:
+            info = 'E-Stop active. Please check the robot.'
+        elif self.field_friend.estop.is_soft_estop_active:
+            info = 'Software E-Stop active. Please check the robot.'
+        elif self.field_friend.bumper and self.field_friend.bumper.active_bumpers:
+            info = 'A bumper is active. Please check the robot.'
+        elif self.field_friend.bms.state.percentage is not None:
+            info = f'{self.field_friend.bms.state.percentage:.0f}%'
+            if self.field_friend.bms.state.is_charging:
+                info += ' is charging'
+        if info != self.last_info:
+            await self.set_info(info)
+            self.last_info = info
+
+    def reset(self) -> None:
+        self.last_info = 'loading'

field_friend/system.py

@@ -10,6 +10,7 @@
 import config.config_selection as config_selector
 
 from . import localization
+from .app_controls import AppControls as app_controls
 from .automations import (
     AutomationWatcher,
     BatteryWatcher,
@@ -20,26 +21,15 @@
     PlantProvider,
     Puncher,
 )
-from .automations.implements import (
-    ExternalMower,
-    Implement,
-    Recorder,
-    Tornado,
-    WeedingScrew,
-)
+from .automations.implements import ExternalMower, Implement, Recorder, Tornado, WeedingScrew
 from .automations.navigation import (
     CrossglideDemoNavigation,
     FieldNavigation,
     FollowCropsNavigation,
     Navigation,
     StraightLineNavigation,
 )
-from .hardware import (
-    FieldFriend,
-    FieldFriendHardware,
-    FieldFriendSimulation,
-    TeltonikaRouter,
-)
+from .hardware import FieldFriend, FieldFriendHardware, FieldFriendSimulation, TeltonikaRouter
 from .info import Info
 from .kpi_generator import generate_kpis
 from .localization.geo_point import GeoPoint
@@ -185,7 +175,7 @@ def watch_robot() -> None:
             assert isinstance(self.field_friend, FieldFriendHardware)
             if self.field_friend.battery_control:
                 self.battery_watcher = BatteryWatcher(self.field_friend, self.automator)
-            rosys.automation.app_controls(self.field_friend.robot_brain, self.automator)
+            app_controls(self.field_friend.robot_brain, self.automator, self.field_friend)
             rosys.on_repeat(self.log_status, 60*5)
 
     def restart(self) -> None: