Sandwich maker: if the expected filling doesn't match the ingredient read on the plate, continue as normal if there's only 1 plate. else throw error (#663)

* Sandwich maker: if the expected filling doesn't match the ingredient read on the plate, continue as normal if there's only 1 plate. else throw error

* testing sandwich plate reader

Author: jw098

SerialPrograms/Source/NintendoSwitch/DevPrograms/TestProgramSwitch.cpp

@@ -118,6 +118,7 @@
 #include "NintendoSwitch/Programs/FastCodeEntry/NintendoSwitch_NumberCodeEntry.h"
 #include "PokemonSV/Inference/ItemPrinter/PokemonSV_ItemPrinterMenuDetector.h"
 #include "PokemonSV/Inference/Picnics/PokemonSV_SandwichHandDetector.h"
+#include "PokemonSV/Inference/Picnics/PokemonSV_SandwichPlateDetector.h"
 #include "PokemonSwSh/MaxLair/Inference/PokemonSwSh_MaxLair_Detect_PokemonSwapMenu.h"
 #include "CommonTools/Images/ImageFilter.h"
 #include "NintendoSwitch/Options/NintendoSwitch_ModelType.h"
@@ -254,7 +255,14 @@ void TestProgram::program(MultiSwitchProgramEnvironment& env, CancellableScope&
     ProControllerContext context(scope, console.pro_controller());
     VideoOverlaySet overlays(overlay);
 
+
 #if 1
+    ImageRGB32 image(IMAGE_PATH);
+    SandwichPlateDetector middle_plate_detector(logger, COLOR_RED, LANGUAGE, SandwichPlateDetector::Side::MIDDLE);
+    cout << middle_plate_detector.detect_filling_name(image) << endl;
+#endif
+
+#if 0
     ItemPrinterMaterialDetector detector(COLOR_RED, LANGUAGE);
     // detector.make_overlays(overlays);
     // cout << (int)detector.find_happiny_dust_row_index(console, context) << endl;

SerialPrograms/Source/PokemonSV/Inference/Picnics/PokemonSV_SandwichPlateDetector.cpp

@@ -11,6 +11,7 @@
 #include "CommonTools/Images/ImageFilter.h"
 #include "PokemonSV_SandwichPlateDetector.h"
 #include "PokemonSV/Inference/Picnics/PokemonSV_SandwichIngredientDetector.h"
+// #include "CommonFramework/Tools/DebugDumper.h"
 
 //#include <iostream>
 //using std::cout;

SerialPrograms/Source/PokemonSV/Programs/Sandwiches/PokemonSV_SandwichRoutines.cpp

@@ -1213,12 +1213,12 @@ void run_sandwich_maker(
     context.wait_for_all_requests();
 
     //Find fillings and add them in order
-    for (const std::string& i : fillings_sorted){
-        //cout << "Placing " << i << endl;
-        stream.log("Placing " + i, COLOR_WHITE);
-        stream.overlay().add_log("Placing " + i, COLOR_WHITE);
+    for (const std::string& expected_filling : fillings_sorted){
+        //cout << "Placing " << expected_filling << endl;
+        stream.log("Placing " + expected_filling, COLOR_WHITE);
+        stream.overlay().add_log("Placing " + expected_filling, COLOR_WHITE);
 
-        int times_to_place = (int)(FillingsCoordinates::instance().get_filling_information(i).piecesPerServing) * (fillings.find(i)->second);
+        int times_to_place = (int)(FillingsCoordinates::instance().get_filling_information(expected_filling).piecesPerServing) * (fillings.find(expected_filling)->second);
         int placement_number = 0;
 
         //cout << "Times to place: " << times_to_place << endl;
@@ -1227,12 +1227,30 @@ void run_sandwich_maker(
 
         std::vector<int> plate_index;
         //Get the plates we want to go to
+        bool found_plate_index = false;
         for (int j = 0; j < (int)plate_order.size(); j++){
-            if (i == plate_order.at(j)){
+            if (expected_filling == plate_order.at(j)){
                 plate_index.push_back(j);
+                found_plate_index = true;
+            }
+        }
+        if (!found_plate_index){
+            // expected_filling not found within plate_order
+            stream.log("The expected filling not found within the plates.", COLOR_ORANGE);
+            if (plate_order.size() == 1){ // if there's only one plate, we assume it's the expected filling
+                stream.log("There's only one plate, so we assume it's the expected filling.");
+                plate_index.push_back(0);
+            }else{
+                OperationFailedException::fire(
+                    ErrorReport::SEND_ERROR_REPORT,
+                    "run_sandwich_maker(): Did not detect the expected ingredients on the plate(s).",
+                    stream
+                );
             }
+                 
         }
 
+
         //Target the correct filling plate and place until it is empty
         for (int j = 0; j < (int)plate_index.size(); j++){
             //Navigate to plate and set target plate
@@ -1284,8 +1302,8 @@ void run_sandwich_maker(
                 context.wait_for_all_requests();
 
                 //Get placement location
-                ImageFloatBox placement_target = FillingsCoordinates::instance().get_filling_information(i).placementCoordinates.at(
-                    (int)fillings.find(i)->second).at(placement_number);
+                ImageFloatBox placement_target = FillingsCoordinates::instance().get_filling_information(expected_filling).placementCoordinates.at(
+                    (int)fillings.find(expected_filling)->second).at(placement_number);
 
                 HandMoveData hand_move_data = move_sandwich_hand_and_check_if_plates_empty(
                     env,