2025 URC Season Rewrite

.github/pubspec_overrides.yaml

@@ -3,5 +3,5 @@ resolution:
 dependency_overrides:
   burt_network:
     git:
-      url: https://github.com/BinghamtonRover/Networking
-      ref: 2.3.1
+      url: https://github.com/BinghamtonRover/Rover-Code.git
+      path: burt_network

.github/workflows/analyze.yml

@@ -10,14 +10,16 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-      - uses: actions/checkout@v3
+      - name: Clone repo
+        uses: actions/checkout@v4
 
       # Note: This workflow uses the latest stable version of the Dart SDK.
       # You can specify other versions if desired, see documentation here:
       # https://github.com/dart-lang/setup-dart/blob/main/README.md
-      - uses: dart-lang/setup-dart@v1
+      - name: Setup dart
+        uses: dart-lang/setup-dart@v1
         with:
-          sdk: 3.6.0
+          sdk: 3.9.0
 
       # This package is part of a Pub Workspace. However, CI still needs to
       # run on this repo by itself, so we want to override burt_network to use
@@ -36,6 +38,5 @@ jobs:
       # Your project will need to have tests in test/ and a dependency on
       # package:test for this step to succeed. Note that Flutter projects will
       # want to change this to 'flutter test'.
-      # FIXME: Disabling tests for now
-      # - name: Run tests
-      #   run: dart test
+      - name: Run tests
+        run: dart test

.github/workflows/documentation.yml

@@ -24,26 +24,13 @@ jobs:
       - name: Install Dart
         uses: dart-lang/setup-dart@v1
         with:
-          sdk: 3.5.2
+          sdk: 3.9.0
 
       - name: Install dependencies
         run: dart pub get
 
-      - name: Analyze Dart code
-        run: dart analyze --fatal-infos
-
-      - name: Output error
-        if: failure()
-        run: echo "::error The code or is missing documentation. Run flutter analyze --dartdocs"
-
       - name: Generate documentation
-        run: dart doc --output=docs
-
-      # Your project will need to have tests in test/ and a dependency on
-      # package:test for this step to succeed. Note that Flutter projects will
-      # want to change this to 'flutter test'.
-      - name: Run tests
-        run: dart test
+        run: dartdoc --ignore 'unresolved-doc-reference,not-implemented,no-documentable-libraries,ambiguous-reexport' --exclude 'dart:async,dart:collection,dart:convert,dart:core,dart:developer,dart:io,dart:isolate,dart:math,dart:typed_data,dart:ui,dart:html,dart:js,dart:ffi,dart:js_util' --quiet --json --output docs --no-validate-links --no-verbose-warnings --no-allow-non-local-warnings
 
       - name: Commit and push files
         run: |

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+  "cSpell.words": [
+    "setpoint"
+  ]
+}

analysis_options.yaml

@@ -9,24 +9,22 @@ include: package:very_good_analysis/analysis_options.yaml  # has more lints
 
 analyzer:
   language:
-    # Strict casts isn't helpful with null safety. It only notifies you on `dynamic`, 
-    # which happens all the time in JSON. 
-    # 
+    # Strict casts isn't helpful with null safety. It only notifies you on `dynamic`,
+    # which happens all the time in JSON.
+    #
     # See https://github.com/dart-lang/language/blob/main/resources/type-system/strict-casts.md
     strict-casts: false
 
     # Don't let any types be inferred as `dynamic`.
-    # 
+    #
     # See https://github.com/dart-lang/language/blob/main/resources/type-system/strict-inference.md
     strict-inference: true
 
-    # Don't let Dart infer the wrong type on the left side of an assignment. 
-    # 
+    # Don't let Dart infer the wrong type on the left side of an assignment.
+    #
     # See https://github.com/dart-lang/language/blob/main/resources/type-system/strict-raw-types.md
     strict-raw-types: true
 
-  exclude: 
-
 linter:
   rules:
     # Rules NOT in package:very_good_analysis
@@ -44,7 +42,7 @@ linter:
     sort_constructors_first: false  # final properties, then constructor
     avoid_dynamic_calls: false  # this lint takes over errors in the IDE
     cascade_invocations: false  # cascades are often less readable
-    
+
     # Temporarily disabled lints
     public_member_api_docs: false  # until we are ready to document
     flutter_style_todos: false  # until we are ready to address them

bin/aruco.dart

@@ -4,7 +4,7 @@ void main() async {
   final rover = RoverAutonomy();
   await rover.init();
   await rover.waitForValue();
-  final didSeeAruco = await rover.drive.spinForAruco();
+  final didSeeAruco = await rover.drive.spinForAruco(0);
   if (didSeeAruco) {
     rover.logger.info("Found aruco");
     await rover.drive.approachAruco();

bin/autonomy.dart

@@ -1,6 +1,8 @@
 import "package:autonomy/rover.dart";
+import "package:burt_network/logging.dart";
 
 void main() async {
+  Logger.level = Level.debug;
   final rover = RoverAutonomy();
   await rover.init();
 }

bin/latlong.dart

@@ -1,22 +1,34 @@
 // ignore_for_file: avoid_print
 
+import "package:autonomy/constants.dart";
 import "package:autonomy/interfaces.dart";
 
 const binghamtonLatitude = 42.0877327;
 const utahLatitude = 38.406683;
 
 void printInfo(String name, double latitude) {
-  GpsInterface.currentLatitude = latitude;
+  final metersPerLongitude = GpsToMeters.metersPerLongitude(latitude);
   print("At $name:");
-  print("  There are ${GpsUtils.metersPerLongitude.toStringAsFixed(2)} meters per 1 degree of longitude");
-  print("  Our max error in longitude would be ${GpsUtils.epsilonLongitude} degrees");
-  final isWithinRange = GpsInterface.gpsError <= GpsUtils.epsilonLongitude;
-  print("  Our GPS has ${GpsInterface.gpsError} degrees of error, so this would ${isWithinRange ? 'work' : 'not work'}");
+  print(
+    "  There are ${metersPerLongitude.toStringAsFixed(2)} meters per 1 degree of longitude",
+  );
+  print(
+    "  Our max error in longitude would be ${(Constants.maxErrorMeters / metersPerLongitude).toStringAsFixed(20)} degrees",
+  );
+  final isWithinRange =
+      Constants.gpsError <= Constants.maxErrorMeters / metersPerLongitude;
+  print(
+    "  Our GPS has ${Constants.gpsError} degrees of error, so this would ${isWithinRange ? 'work' : 'not work'}",
+  );
 }
 
 void main() {
-  print("There are always ${GpsUtils.metersPerLatitude} meters in 1 degree of latitude");
-  print("  So our max error in latitude is always ${GpsUtils.epsilonLatitude} degrees");
+  print(
+    "There are always ${GpsToMeters.metersPerLatitude} meters in 1 degree of latitude",
+  );
+  print(
+    "  So our max error in latitude is always ${(Constants.maxErrorMeters / GpsToMeters.metersPerLatitude).toStringAsFixed(20)} degrees",
+  );
   printInfo("the equator", 0);
   printInfo("Binghamton", binghamtonLatitude);
   printInfo("Utah", utahLatitude);

bin/path.dart

@@ -1,15 +1,22 @@
 import "package:autonomy/interfaces.dart";
 import "package:autonomy/rover.dart";
 import "package:autonomy/simulator.dart";
+import "package:coordinate_converter/coordinate_converter.dart";
 
 void main() {
-  GpsUtils.maxErrorMeters = 1;
-  final destination = (1000, 1000).toGps();
+  final destination = UTMCoordinates(
+    x: 5 + 1000,
+    y: 5 + 1000,
+    zoneNumber: 31,
+  ).toGps();
   final simulator = AutonomySimulator();
   simulator.pathfinder = RoverPathfinder(collection: simulator);
+  simulator.gps.update(UTMCoordinates(x: 5, y: 5, zoneNumber: 31).toGps());
   final path = simulator.pathfinder.getPath(destination);
   if (path == null) {
-    simulator.logger.critical("Could not find path to ${destination.prettyPrint()}");
+    simulator.logger.critical(
+      "Could not find path to ${destination.prettyPrint()}",
+    );
     return;
   }
   if (path.isEmpty) {
@@ -18,9 +25,11 @@ void main() {
   }
   var turnCount = 0;
   for (final step in path) {
-    if (step.direction == DriveDirection.left || step.direction == DriveDirection.right) {
+    if (step.instruction.isTurn) {
       turnCount++;
     }
   }
-  simulator.logger.info("Got a path with ${path.length} steps and $turnCount turn(s)");
+  simulator.logger.info(
+    "Got a path with ${path.length} steps and $turnCount turn(s)",
+  );
 }

bin/random.dart

@@ -1,11 +1,13 @@
 // ignore_for_file: avoid_print
 
+import "package:autonomy/constants.dart";
 import "package:autonomy/interfaces.dart";
-import "package:autonomy/src/rover/corrector.dart";
 
-const maxError = GpsInterface.gpsError;
+const maxError = Constants.gpsError;
 const maxSamples = 10;
-final epsilon = GpsUtils.epsilonLatitude;  // we need to be accurate within 1 meter
+const epsilon =
+    Constants.maxErrorMeters /
+    GpsToMeters.metersPerLatitude; // we need to be accurate within 1 meter
 const n = 1000;
 bool verbose = false;
 
@@ -17,8 +19,10 @@ bool test() {
     corrector.addValue(value);
     if (verbose) {
       final calibrated = corrector.calibratedValue;
-      print("Current value: $value, Corrected value: $calibrated");    
-      print("  Difference: ${calibrated.toStringAsFixed(7)} < ${epsilon.toStringAsFixed(7)}");
+      print("Current value: $value, Corrected value: $calibrated");
+      print(
+        "  Difference: ${calibrated.toStringAsFixed(7)} < ${epsilon.toStringAsFixed(7)}",
+      );
     }
   }
   return corrector.calibratedValue.abs() <= epsilon;
@@ -31,5 +35,5 @@ void main(List<String> args) {
     if (test()) count++;
   }
   final percentage = (count / n * 100).toStringAsFixed(2);
-  print("Average performance: %$percentage");
+  print("Average performance: $percentage%");
 }

bin/simulator.dart

@@ -0,0 +1,23 @@
+import "package:autonomy/autonomy.dart";
+import "package:autonomy/src/drive/drive_config.dart";
+import "package:burt_network/burt_network.dart";
+
+void main() async {
+  Logger.level = Level.debug;
+  final simulator = AutonomySimulator();
+
+  simulator.pathfinder = RoverPathfinder(collection: simulator);
+  simulator.orchestrator = RoverOrchestrator(collection: simulator);
+  simulator.drive = DriveSimulator(
+    collection: simulator,
+    method: SimulationMethod.intermediate,
+    config: roverConfig.copyWith(
+      oneMeterDelay: const Duration(milliseconds: 500),
+      turnDelay: const Duration(milliseconds: 750),
+      subsystemsAddress: "127.0.0.1",
+    ),
+  );
+  simulator.detector = NetworkDetector(collection: simulator);
+
+  await simulator.init();
+}

bin/task.dart

@@ -1,27 +1,30 @@
-import "package:autonomy/interfaces.dart";
 import "package:autonomy/simulator.dart";
 import "package:autonomy/rover.dart";
-import "package:burt_network/logging.dart";
+import "package:burt_network/burt_network.dart";
 
-final chair = (2, 0).toGps();
+final chair = (lat: 2, long: 0).toGps();
 final obstacles = <SimulatedObstacle>[
-  SimulatedObstacle(coordinates: (2, 0).toGps(), radius: 3),
-  SimulatedObstacle(coordinates: (6, -1).toGps(), radius: 3),
-  SimulatedObstacle(coordinates: (6, 1).toGps(), radius: 3),
+  SimulatedObstacle(coordinates: (lat: 6, long: -1).toGps(), radius: 3),
+  SimulatedObstacle(coordinates: (lat: 6, long: 1).toGps(), radius: 3),
 ];
 // Enter in the Dashboard: Destination = (lat=7, long=0);
 
 void main() async {
-  Logger.level = LogLevel.debug;
+  Logger.level = LogLevel.trace;
   final simulator = RoverAutonomy();
-  simulator.detector = DetectorSimulator(collection: simulator, obstacles: obstacles);
+  simulator.detector = NetworkDetector(collection: simulator);
   simulator.pathfinder = RoverPathfinder(collection: simulator);
   simulator.orchestrator = RoverOrchestrator(collection: simulator);
-  simulator.drive = RoverDrive(collection: simulator, useGps: false);
+  simulator.drive = RoverDrive(
+    collection: simulator,
+    useGps: false,
+    useImu: false,
+  );
   simulator.gps = GpsSimulator(collection: simulator);
-//  simulator.drive = DriveSimulator(collection: simulator);
+  simulator.imu = ImuSimulator(collection: simulator);
+  simulator.video = VideoSimulator(collection: simulator);
+
   await simulator.init();
   await simulator.imu.waitForValue();
-//	await simulator.drive.faceNorth();
   await simulator.server.waitForConnection();
 }