[burt_network] BURT Network 3.0

autonomy/lib/src/detector/network_detector.dart

@@ -24,7 +24,7 @@ class NetworkDetector extends DetectorInterface {
 
   @override
   Future<bool> init() async {
-    collection.server.messages.onMessage(
+    collection.server.messages.listenFor(
       name: AutonomyData().messageName,
       constructor: AutonomyData.fromBuffer,
       callback: _onDataReceived,

autonomy/lib/src/detector/rover_detector.dart

@@ -115,7 +115,7 @@ class RoverDetector extends DetectorInterface {
 
   @override
   Future<bool> init() async {
-    _subscription = collection.server.messages.onMessage(
+    _subscription = collection.server.messages.listenFor(
       name: LidarPointCloud().messageName,
       constructor: LidarPointCloud.fromBuffer,
       callback: _handleLidarCloud,

autonomy/lib/src/drive/drive_interface.dart

@@ -70,7 +70,7 @@ abstract class DriveInterface extends Service {
       faceOrientationState(direction.orientation);
 
   /// State to face the rover towards [orientation]
-  StateInterface faceOrientationState(Orientation orientation);
+  StateInterface faceOrientationState(Rotation3d orientation);
 
   /// State to execute actions relating to the turning of an [AutonomyAStarState]
   StateInterface turnStateState(AutonomyAStarState state) =>
@@ -83,7 +83,7 @@ abstract class DriveInterface extends Service {
   Future<bool> driveForward(GpsCoordinates position);
 
   /// Turn to face [orientation], returns whether or not it was able to turn
-  Future<bool> faceOrientation(Orientation orientation);
+  Future<bool> faceOrientation(Rotation3d orientation);
 
   /// Turn to face the orientation of [direction], returns whether or not it was able to turn
   Future<bool> faceDirection(CardinalDirection direction) =>

autonomy/lib/src/drive/rover_drive.dart

@@ -84,7 +84,7 @@ class RoverDrive extends DriveInterface {
   Future<void> approachAruco() => sensorDrive.approachAruco();
 
   @override
-  Future<bool> faceOrientation(Orientation orientation) async {
+  Future<bool> faceOrientation(Rotation3d orientation) async {
     if (useImu) {
       return sensorDrive.faceOrientation(orientation);
     } else {
@@ -135,7 +135,7 @@ class RoverDrive extends DriveInterface {
   }
 
   @override
-  StateInterface faceOrientationState(Orientation orientation) {
+  StateInterface faceOrientationState(Rotation3d orientation) {
     if (useImu) {
       return sensorDrive.faceOrientationState(orientation);
     } else {

autonomy/lib/src/drive/sensor_drive.dart

@@ -34,7 +34,7 @@ class SensorDrive extends DriveInterface with RoverDriveCommands {
       );
 
   @override
-  StateInterface faceOrientationState(Orientation orientation) =>
+  StateInterface faceOrientationState(Rotation3d orientation) =>
       SensorTurnState(
         controller,
         collection: collection,
@@ -115,15 +115,15 @@ class SensorDrive extends DriveInterface with RoverDriveCommands {
   }
 
   @override
-  Future<bool> faceOrientation(Orientation orientation) async {
+  Future<bool> faceOrientation(Rotation3d orientation) async {
     collection.logger.info("Turning to face $orientation...");
     setThrottle(config.turnThrottle);
     final result = await runFeedback(() => _tryToFace(orientation));
     await stop();
     return result;
   }
 
-  bool _tryToFace(Orientation orientation) {
+  bool _tryToFace(Rotation3d orientation) {
     final current = collection.imu.heading;
     final target = orientation.heading;
     final error = (target - current).clampHalfAngle();

autonomy/lib/src/drive/sim_drive.dart

@@ -46,7 +46,7 @@ class DriveSimulator extends DriveInterface {
       );
 
   @override
-  StateInterface faceOrientationState(Orientation orientation) =>
+  StateInterface faceOrientationState(Rotation3d orientation) =>
       SimulationDriveTurn(
         controller,
         collection: collection,
@@ -68,7 +68,7 @@ class DriveSimulator extends DriveInterface {
   }
 
   @override
-  Future<bool> faceOrientation(Orientation orientation) async {
+  Future<bool> faceOrientation(Rotation3d orientation) async {
     if (shouldDelay) {
       await Future<void>.delayed(const Duration(milliseconds: 500));
     }

autonomy/lib/src/drive/timed_drive.dart

@@ -46,7 +46,7 @@ class TimedDrive extends DriveInterface with RoverDriveCommands {
   TimedDrive({required super.collection, super.config});
 
   @override
-  StateInterface faceOrientationState(Orientation orientation) {
+  StateInterface faceOrientationState(Rotation3d orientation) {
     throw UnsupportedError(
       "Cannot face any arbitrary direction using TimedDrive",
     );
@@ -206,7 +206,7 @@ class TimedDrive extends DriveInterface with RoverDriveCommands {
   }
 
   @override
-  Future<bool> faceOrientation(Orientation orientation) =>
+  Future<bool> faceOrientation(Rotation3d orientation) =>
       throw UnsupportedError(
         "Cannot face any arbitrary direction using TimedDrive",
       );

autonomy/lib/src/gps/rover_gps.dart

@@ -8,7 +8,7 @@ class RoverGps extends GpsInterface {
 
   @override
   Future<bool> init() async {
-    collection.server.messages.onMessage(
+    collection.server.messages.listenFor(
       name: RoverPosition().messageName,
       constructor: RoverPosition.fromBuffer,
       callback: _internalUpdate,

autonomy/lib/src/imu/cardinal_direction.dart

@@ -13,14 +13,14 @@ enum CardinalDirection {
   final double angle;
   const CardinalDirection(this.angle);
 
-  Orientation get orientation => Orientation(z: angle);
+  Rotation3d get orientation => Rotation3d(yaw: angle);
 
-  static CardinalDirection nearest(Orientation orientation) {
+  static CardinalDirection nearest(Rotation3d orientation) {
     var smallestDiff = double.infinity;
     var closestOrientation = CardinalDirection.north;
 
     for (final value in values) {
-      final diff = (value.angle - orientation.z).clampHalfAngle();
+      final diff = (value.angle - orientation.yaw).clampHalfAngle();
       if (diff.abs() < smallestDiff) {
         smallestDiff = diff.abs();
         closestOrientation = value;

autonomy/lib/src/imu/imu_interface.dart

@@ -5,17 +5,17 @@ abstract class ImuInterface extends Service with Receiver {
   final AutonomyInterface collection;
   ImuInterface({required this.collection});
 
-  double get heading => raw.z;
-  Orientation get raw;
+  double get heading => raw.yaw;
+  Rotation3d get raw;
 
   CardinalDirection get nearest => CardinalDirection.nearest(raw);
 
-  void update(Orientation newValue);
+  void update(Rotation3d newValue);
 
   @visibleForTesting
-  void forceUpdate(Orientation newValue) {}
+  void forceUpdate(Rotation3d newValue) {}
 
-  bool isNear(Orientation orientation, [double? tolerance]) =>
+  bool isNear(Rotation3d orientation, [double? tolerance]) =>
       raw.isNear(orientation.heading, tolerance);
 
   @override

autonomy/lib/src/imu/rover_imu.dart

@@ -9,7 +9,7 @@ class RoverImu extends ImuInterface {
 
   @override
   Future<bool> init() async {
-    collection.server.messages.onMessage(
+    collection.server.messages.listenFor(
       name: RoverPosition().messageName,
       constructor: RoverPosition.fromBuffer,
       callback: _internalUpdate,
@@ -23,32 +23,32 @@ class RoverImu extends ImuInterface {
   }
 
   @override
-  void update(Orientation newValue) {
+  void update(Rotation3d newValue) {
     // Do nothing, since this should only be internally updated
   }
 
   @override
-  void forceUpdate(Orientation newValue) =>
+  void forceUpdate(Rotation3d newValue) =>
       _internalUpdate(RoverPosition(orientation: newValue));
 
   void _internalUpdate(RoverPosition newValue) {
     if (!newValue.hasOrientation()) return;
     // Angles are always between -180 and +180
-    if (newValue.orientation.x.abs() > 180 ||
-        newValue.orientation.y.abs() > 180 ||
-        newValue.orientation.z.abs() > 180) {
+    if (newValue.orientation.pitch.abs() > 180 ||
+        newValue.orientation.roll.abs() > 180 ||
+        newValue.orientation.yaw.abs() > 180) {
       return;
     }
-    _xCorrector.addValue(newValue.orientation.x);
-    _yCorrector.addValue(newValue.orientation.y);
-    _zCorrector.addValue(newValue.orientation.z);
+    _xCorrector.addValue(newValue.orientation.pitch);
+    _yCorrector.addValue(newValue.orientation.roll);
+    _zCorrector.addValue(newValue.orientation.yaw);
     hasValue = true;
   }
 
   @override
-  Orientation get raw => Orientation(
-    x: _xCorrector.calibratedValue.clampHalfAngle(),
-    y: _yCorrector.calibratedValue.clampHalfAngle(),
-    z: _zCorrector.calibratedValue.clampHalfAngle(),
+  Rotation3d get raw => Rotation3d(
+    pitch: _xCorrector.calibratedValue.clampHalfAngle(),
+    roll: _yCorrector.calibratedValue.clampHalfAngle(),
+    yaw: _zCorrector.calibratedValue.clampHalfAngle(),
   );
 }

autonomy/lib/src/imu/sim_imu.dart

@@ -9,17 +9,17 @@ class ImuSimulator extends ImuInterface with ValueReporter {
   @override
   RoverPosition getMessage() => RoverPosition(orientation: raw);
 
-  Orientation _orientation = Orientation();
+  Rotation3d _orientation = Rotation3d();
 
   @override
-  Orientation get raw => Orientation(
-    x: _orientation.x + _error.value,
-    y: _orientation.y + _error.value,
-    z: _orientation.z + _error.value,
+  Rotation3d get raw => Rotation3d(
+    pitch: _orientation.pitch + _error.value,
+    roll: _orientation.roll + _error.value,
+    yaw: _orientation.yaw + _error.value,
   );
 
   @override
-  void update(Orientation newValue) => _orientation = newValue;
+  void update(Rotation3d newValue) => _orientation = newValue;
 
   @override
   Future<bool> init() async {
@@ -29,7 +29,7 @@ class ImuSimulator extends ImuInterface with ValueReporter {
 
   @override
   Future<void> dispose() async {
-    _orientation = Orientation();
+    _orientation = Rotation3d();
     await super.dispose();
   }
 }

autonomy/lib/src/orchestrator/orchestrator_interface.dart

@@ -49,7 +49,7 @@ abstract class OrchestratorInterface extends Service {
 
   @override
   Future<bool> init() async {
-    collection.server.messages.onMessage(
+    collection.server.messages.listenFor(
       name: AutonomyCommand().messageName,
       constructor: AutonomyCommand.fromBuffer,
       callback: onCommand,

autonomy/lib/src/orchestrator/rover_orchestrator.dart

@@ -152,15 +152,15 @@ class RoverOrchestrator extends OrchestratorInterface with ValueReporter {
         }
         // Re-align to desired start orientation if angle is too far
         if (state.instruction == DriveDirection.forward) {
-          Orientation targetOrientation;
+          Rotation3d targetOrientation;
           // if it has RTK, point towards the next coordinate
           if (collection.gps.coordinates.hasRTK) {
             final difference =
                 state.position.toUTM() - collection.gps.coordinates.toUTM();
 
             final angle = atan2(difference.y, difference.x) * 180 / pi;
 
-            targetOrientation = Orientation(z: angle);
+            targetOrientation = Rotation3d(yaw: angle);
           } else {
             targetOrientation = state.orientation.orientation;
           }
@@ -309,8 +309,8 @@ class RoverOrchestrator extends OrchestratorInterface with ValueReporter {
 
     collection.logger.info("Found aruco");
     currentState = AutonomyState.APPROACHING;
-    final arucoOrientation = Orientation(
-      z: collection.imu.heading - detectedAruco.yaw,
+    final arucoOrientation = Rotation3d(
+      yaw: collection.imu.heading - detectedAruco.yaw,
     );
     await collection.drive.faceOrientation(arucoOrientation);
     detectedAruco = await collection.video.waitForAruco(
@@ -409,7 +409,7 @@ class RoverOrchestrator extends OrchestratorInterface with ValueReporter {
     if (detectedAruco != null) {
       collection.logger.info("Rotating towards Aruco");
       await collection.drive.faceOrientation(
-        Orientation(z: collection.imu.heading - detectedAruco!.yaw),
+        Rotation3d(yaw: collection.imu.heading - detectedAruco!.yaw),
       );
     } else {
       collection.logger.warning("Could not find Aruco after following path");

autonomy/lib/src/state_machine/rover_states/navigation.dart

@@ -65,15 +65,15 @@ class NavigationState extends RoverState {
   /// If the rover is not facing the proper direction, a new state will be pushed
   /// to re-correct the rover's orientation
   bool checkOrientation(AutonomyAStarState state) {
-    Orientation targetOrientation;
+    Rotation3d targetOrientation;
     // if it has RTK, point towards the next coordinate
     if (collection.gps.coordinates.hasRTK) {
       final difference =
           state.position.toUTM() - collection.gps.coordinates.toUTM();
 
       final angle = atan2(difference.y, difference.x) * 180 / pi;
 
-      targetOrientation = Orientation(z: angle);
+      targetOrientation = Rotation3d(yaw: angle);
     } else {
       targetOrientation = state.orientation.orientation;
     }

autonomy/lib/src/state_machine/rover_states/sensor_drive_turn.dart

@@ -4,7 +4,7 @@ import "package:autonomy/src/drive/drive_config.dart";
 
 class SensorTurnState extends RoverState {
   final AutonomyInterface collection;
-  final Orientation orientation;
+  final Rotation3d orientation;
 
   final RoverDriveCommands drive;
 

autonomy/lib/src/state_machine/rover_states/simulation_drive_turn.dart

@@ -3,12 +3,12 @@ import "package:autonomy/autonomy.dart";
 class SimulationDriveTurn extends RoverState {
   final SimulationMethod method;
   final AutonomyInterface collection;
-  final Orientation goalOrientation;
+  final Rotation3d goalOrientation;
 
   Duration get delay => collection.drive.config.turnDelay;
 
   DateTime _startTime = DateTime(0);
-  Orientation _startOrientation = Orientation();
+  Rotation3d _startOrientation = Rotation3d();
 
   SimulationDriveTurn(
     super.controller, {
@@ -38,16 +38,16 @@ class SimulationDriveTurn extends RoverState {
     }
 
     if (method == SimulationMethod.intermediate) {
-      final deltaOrientation = (goalOrientation.z - _startOrientation.z)
+      final deltaOrientation = (goalOrientation.yaw - _startOrientation.yaw)
           .clampHalfAngle();
       final deltaTime = DateTime.now().difference(_startTime);
       final timeFraction =
           1.0 * deltaTime.inMicroseconds / delay.inMicroseconds;
 
       final intermediateRotation =
-          _startOrientation.z + deltaOrientation * timeFraction;
+          _startOrientation.yaw + deltaOrientation * timeFraction;
 
-      collection.imu.update(Orientation(z: intermediateRotation));
+      collection.imu.update(Rotation3d(yaw: intermediateRotation));
     }
   }
 }

autonomy/lib/src/utils/imu_utils.dart

@@ -1,25 +1,25 @@
 import "package:autonomy/autonomy.dart";
 
-extension OrientationUtils on Orientation {
+extension OrientationUtils on Rotation3d {
   /// North orientation
-  static final north = Orientation(z: CardinalDirection.north.angle);
+  static final north = Rotation3d(yaw: CardinalDirection.north.angle);
 
   /// East orientation
-  static final west = Orientation(z: CardinalDirection.west.angle);
+  static final west = Rotation3d(yaw: CardinalDirection.west.angle);
 
   /// South Orientation
-  static final south = Orientation(z: CardinalDirection.south.angle);
+  static final south = Rotation3d(yaw: CardinalDirection.south.angle);
 
   /// East orientation
-  static final east = Orientation(z: CardinalDirection.east.angle);
+  static final east = Rotation3d(yaw: CardinalDirection.east.angle);
 
   /// The heading of the orientation, or the compass direction we are facing
-  double get heading => z;
+  double get heading => yaw;
 
   /// Whether or not this orientation is within [epsilon] degrees of [value]
   bool isNear(double value, [double? epsilon]) {
     epsilon ??= Constants.turnEpsilon;
-    final error = (value - z).clampHalfAngle();
+    final error = (value - yaw).clampHalfAngle();
 
     return error.abs() <= epsilon;
     // if (value > 270 && z < 90) {