navigation

DriveSegment dataclass

DriveSegment(
    *, use_implement: bool = False, stop_at_end: bool = True
)

Bases: PathSegment

A path segment with implement usage and stop behavior configuration.

GnssRequirement

Bases: StrEnum

Minimum GPS quality required when recording waypoints.

is_met_by

is_met_by(gps_quality: GpsQuality | None) -> bool

Check whether the given GPS quality meets this requirement.

Events

Name	Description
RECORDED_TRACKS_CHANGED	The selected track has changed.

RecordedTrack

RecordedTrack(name: str | None = None)

A track (basically a list of waypoints) that can be recorded and later navigated along.

add_waypoint

add_waypoint(
    waypoint: GeoPose, approach_reverse: bool = False
) -> None

Add a waypoint to the end of the list.

clear

clear() -> None

Remove all waypoints.

get_waypoint

get_waypoint(index: int) -> RecordedWaypoint

Get the waypoint at the given index, raising IndexError if out of bounds.

meets_gnss_requirement

meets_gnss_requirement(
    gps_quality: GpsQuality | None,
) -> bool

Check whether the given GPS quality meets this track's minimum requirement.

move_waypoint

move_waypoint(from_index: int, to_index: int) -> None

Move a waypoint from one position to another.

remove_waypoint

remove_waypoint(index: int) -> None

Remove a waypoint at the specified index.

set_waypoint_approach_reverse

set_waypoint_approach_reverse(
    index: int, approach_reverse: bool
) -> None

Set whether to approach the waypoint at the given index in reverse.

set_waypoint_stop_at_waypoint

set_waypoint_stop_at_waypoint(
    index: int, stop_at_waypoint: bool
) -> None

Set whether to stop at this waypoint.

set_waypoint_use_implement

set_waypoint_use_implement(
    index: int, use_implement: bool
) -> None

Set whether to allow implement usage on the segment leading to this waypoint.

Attributes & Properties

Name	Type	Description
first_waypoint	feldfreund_devkit.navigation.recorded_track.RecordedWaypoint | None	Get the first waypoint.
last_waypoint	feldfreund_devkit.navigation.recorded_track.RecordedWaypoint | None	Get the last waypoint.
waypoints	list	Get the waypoints.

Events

Name	Description
RECORDED_TRACKS_CHANGED	The selected track has changed.

RecordedTrackNavigation

RecordedTrackNavigation(
    *,
    recorded_track_provider: RecordedTrackProvider,
    track_recording_controller: TrackRecordingController,
    gnss: Gnss | None = None,
    automator: Automator | None = None,
    robot_marker_icon_url: str | None = None,
    **kwargs
)

Bases: WaypointNavigation

Drives along a previously recorded track of waypoints.

approach_start async

approach_start() -> None

Approaches the start of the track directly.

Use with caution, alignment with the track will not be checked. If reverse is enabled, the robot will approach the end of the track instead.

Attributes & Properties

Name	Type	Description
current_segment	feldfreund_devkit.navigation.drive_segment.DriveSegment | None	Returns the current segment to drive along or None if there are no waypoints left.
has_waypoints	bool	Returns True as long as there are waypoints to drive to.
path	list	Returns the whole planned path.

RecordedTrackProvider

RecordedTrackProvider()

Bases: Persistable

A provider of recorded waypoints.

selected_track instance-attribute

selected_track: RecordedTrack | None = None

The recorded tracks have changed.

add_recorded_track

add_recorded_track(track: RecordedTrack) -> None

Add a recorded track to the list.

backup_to_dict

backup_to_dict() -> dict[str, Any]

Backup the recorded tracks to a dictionary.

get_recorded_track

get_recorded_track(track_id: str) -> RecordedTrack | None

Get the recorded track by ID.

get_track_names_by_id

get_track_names_by_id() -> dict[str, str]

Get the track names by their IDs.

notify_track_modified

notify_track_modified() -> None

Persist changes to an existing track (e.g. waypoint added/removed/moved, name changed).

remove_recorded_track

remove_recorded_track(track_id: str) -> None

Remove a recorded track from the list.

restore_from_dict

restore_from_dict(data: dict[str, Any]) -> None

Restore the recorded tracks from a dictionary.

select_track

select_track(track_id: str) -> None

Select a track by ID.

Events

Name	Description
RECORDED_TRACKS_CHANGED	The selected track has changed.

RecordedWaypoint dataclass

RecordedWaypoint(
    *,
    pose: GeoPose,
    approach_reverse: bool = False,
    use_implement: bool = False,
    stop_at_waypoint: bool = False
)

A waypoint with optional drive settings flags.

Events

Name	Description
RECORDED_TRACKS_CHANGED	The selected track has changed.

StraightLineNavigation

StraightLineNavigation(**kwargs)

Bases: WaypointNavigation

Navigation that drives a straight line for a given length.

Attributes & Properties

Name	Type	Description
current_segment	feldfreund_devkit.navigation.drive_segment.DriveSegment | None	Returns the current segment to drive along or None if there are no waypoints left.
has_waypoints	bool	Returns True as long as there are waypoints to drive to.
path	list	Returns the whole planned path.

TrackRecordingController

TrackRecordingController(
    recorded_track_provider: RecordedTrackProvider,
    *,
    pose_provider: PoseProvider,
    gnss: Gnss | None = None
)

Server-side recording mode that survives client disconnects.

Owns the bluetooth-app waypoint button so the operator can keep adding waypoints even if the browser/dialog is gone.

The app button bar (app_controls) is bound late: it is created by the application after this controller and only on real hardware, so it stays None until assigned and the button registration is skipped while absent.

add_waypoint_at_current_pose async

add_waypoint_at_current_pose() -> None

Append the robot's current pose as a waypoint to the active track.

Returns without adding if not recording or if the GNSS quality is insufficient. The GNSS case notifies the operator (forwarded to both browser clients and the bluetooth app via rosys.NEW_NOTIFICATION).

start_recording async

start_recording(track: RecordedTrack) -> bool

Start a recording session. Returns False if a session is already active.

Persists the track immediately (so it survives a server crash) without emitting RECORDED_TRACKS_CHANGED — that event refreshes the settings UI which would tear down a dialog opened from there. Stop emits it instead.

stop_recording async

stop_recording() -> None

Stop the active recording. Idempotent.

WaypointNavigation

WaypointNavigation(
    *,
    implement: Implement,
    driver: Driver,
    pose_provider: PoseProvider,
    name: str = "Waypoint Navigation"
)

Bases: Persistable

Base class for all waypoint based navigation types.

_drive_along_segment async

_drive_along_segment(
    *, linear_speed_limit: float = 0.3
) -> None

Drive the robot to the next waypoint of the navigation

_follow_segment_until async

_follow_segment_until(target: Point) -> bool

Drives to a target point along the current spline.

:param target: The target point to drive to

_remove_segments_behind_robot

_remove_segments_behind_robot(
    path_segments: list[DriveSegment],
    *,
    completed_percentage: float = 0.99
) -> list[DriveSegment]

Create new path(list of segments) starting at the closest segment to the current pose

finish async

finish() -> None

Executed after the navigation is done

prepare async

prepare() -> bool

Prepares the navigation for the start of the automation

Returns true if all preparations were successful, otherwise false.

Attributes & Properties

Name	Type	Description
current_segment	feldfreund_devkit.navigation.drive_segment.DriveSegment | None	Returns the current segment to drive along or None if there are no waypoints left.
has_waypoints	bool	Returns True as long as there are waypoints to drive to.
path	list	Returns the whole planned path.

Events

Name	Description
PATH_GENERATED	a new path has been generated(argument: list[DriveSegment])
SEGMENT_STARTED	a waypoint has been reached
SEGMENT_COMPLETED	a waypoint has been reached
PATH_COMPLETED	the entire path with all its waypoints has been completed