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Merged
Gold872 merged 1 commit into from
Aug 13, 2025
Merged

Reformat all files #40

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40 changes: 20 additions & 20 deletions bin/lidar.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -6,27 +6,27 @@ import "dart:typed_data";
import "package:burt_network/udp.dart";

void main() async {
final socket = UdpSocket(port: 8004);
await socket.init();
socket.stream.listen(temp);
while (true) {
await Future<void>.delayed(const Duration(seconds: 1));
}
final socket = UdpSocket(port: 8004);
await socket.init();
socket.stream.listen(temp);
while (true) {
await Future<void>.delayed(const Duration(seconds: 1));
}
}

void temp(Datagram packet) {
final data = Float64List.sublistView(packet.data);
final processed = [
for (final number in data)
//if (!number.isNaN)
number.toStringAsFixed(3),
];
print("------------------------------------------");
if(processed.length == 271){
print("Angle Data");
} else if(processed.length == 542){
//return;
print("Coordinate Data");
}
print(processed);
final data = Float64List.sublistView(packet.data);
final processed = [
for (final number in data)
//if (!number.isNaN)
number.toStringAsFixed(3),
];
print("------------------------------------------");
if (processed.length == 271) {
print("Angle Data");
} else if (processed.length == 542) {
//return;
print("Coordinate Data");
}
print(processed);
}
10 changes: 8 additions & 2 deletions lib/src/collection.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,11 @@ import "package:video/video.dart";
/// Class to contain all video devices
class Collection extends Service {
/// The [RoverSocket] to send messages through
late final videoServer = RoverSocket(port: 8002, device: Device.VIDEO, collection: this);
late final videoServer = RoverSocket(
port: 8002,
device: Device.VIDEO,
collection: this,
);

/// Main parent isolate
final cameras = CameraManager();
Expand All @@ -19,7 +23,9 @@ class Collection extends Service {
/// Function to initialize cameras
@override
Future<bool> init() async {
logger..trace("Running in trace mode")..debug("Running in debug mode");
logger
..trace("Running in trace mode")
..debug("Running in debug mode");
await cameras.init();
await lidar.init();
await videoServer.init();
Expand Down
211 changes: 106 additions & 105 deletions lib/src/generated/librealsense_ffi_bindings.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -12,17 +12,16 @@ import 'package:ffi/ffi.dart' as pkg_ffi;
class LibRealSenseBindings {
/// Holds the symbol lookup function.
final ffi.Pointer<T> Function<T extends ffi.NativeType>(String symbolName)
_lookup;
_lookup;

/// The symbols are looked up in [dynamicLibrary].
LibRealSenseBindings(ffi.DynamicLibrary dynamicLibrary)
: _lookup = dynamicLibrary.lookup;
: _lookup = dynamicLibrary.lookup;

/// The symbols are looked up with [lookup].
LibRealSenseBindings.fromLookup(
ffi.Pointer<T> Function<T extends ffi.NativeType>(String symbolName)
lookup)
: _lookup = lookup;
ffi.Pointer<T> Function<T extends ffi.NativeType>(String symbolName) lookup,
) : _lookup = lookup;

/// Initialization
ffi.Pointer<NativeRealSense> RealSense_create() {
Expand All @@ -31,128 +30,130 @@ class LibRealSenseBindings {

late final _RealSense_createPtr =
_lookup<ffi.NativeFunction<ffi.Pointer<NativeRealSense> Function()>>(
'RealSense_create');
late final _RealSense_create = _RealSense_createPtr.asFunction<
ffi.Pointer<NativeRealSense> Function()>();

void RealSense_free(
ffi.Pointer<NativeRealSense> ptr,
) {
return _RealSense_free(
ptr,
);
'RealSense_create',
);
late final _RealSense_create =
_RealSense_createPtr.asFunction<
ffi.Pointer<NativeRealSense> Function()
>();

void RealSense_free(ffi.Pointer<NativeRealSense> ptr) {
return _RealSense_free(ptr);
}

late final _RealSense_freePtr = _lookup<
ffi.NativeFunction<ffi.Void Function(ffi.Pointer<NativeRealSense>)>>(
'RealSense_free');
late final _RealSense_free = _RealSense_freePtr.asFunction<
void Function(ffi.Pointer<NativeRealSense>)>();

BurtRsStatus RealSense_init(
ffi.Pointer<NativeRealSense> ptr,
) {
return BurtRsStatus.fromValue(_RealSense_init(
ptr,
));
late final _RealSense_freePtr =
_lookup<
ffi.NativeFunction<ffi.Void Function(ffi.Pointer<NativeRealSense>)>
>('RealSense_free');
late final _RealSense_free =
_RealSense_freePtr.asFunction<
void Function(ffi.Pointer<NativeRealSense>)
>();

BurtRsStatus RealSense_init(ffi.Pointer<NativeRealSense> ptr) {
return BurtRsStatus.fromValue(_RealSense_init(ptr));
}

late final _RealSense_initPtr = _lookup<
ffi.NativeFunction<
ffi.UnsignedInt Function(
ffi.Pointer<NativeRealSense>)>>('RealSense_init');
late final _RealSense_init = _RealSense_initPtr.asFunction<
int Function(ffi.Pointer<NativeRealSense>)>();
late final _RealSense_initPtr =
_lookup<
ffi.NativeFunction<
ffi.UnsignedInt Function(ffi.Pointer<NativeRealSense>)
>
>('RealSense_init');
late final _RealSense_init =
_RealSense_initPtr.asFunction<
int Function(ffi.Pointer<NativeRealSense>)
>();

ffi.Pointer<pkg_ffi.Utf8> RealSense_getDeviceName(
ffi.Pointer<NativeRealSense> ptr,
) {
return _RealSense_getDeviceName(
ptr,
);
return _RealSense_getDeviceName(ptr);
}

late final _RealSense_getDeviceNamePtr = _lookup<
ffi.NativeFunction<
ffi.Pointer<pkg_ffi.Utf8> Function(
ffi.Pointer<NativeRealSense>)>>('RealSense_getDeviceName');
late final _RealSense_getDeviceName = _RealSense_getDeviceNamePtr.asFunction<
ffi.Pointer<pkg_ffi.Utf8> Function(ffi.Pointer<NativeRealSense>)>();

BurtRsConfig RealSense_getDeviceConfig(
ffi.Pointer<NativeRealSense> ptr,
) {
return _RealSense_getDeviceConfig(
ptr,
);
late final _RealSense_getDeviceNamePtr =
_lookup<
ffi.NativeFunction<
ffi.Pointer<pkg_ffi.Utf8> Function(ffi.Pointer<NativeRealSense>)
>
>('RealSense_getDeviceName');
late final _RealSense_getDeviceName =
_RealSense_getDeviceNamePtr.asFunction<
ffi.Pointer<pkg_ffi.Utf8> Function(ffi.Pointer<NativeRealSense>)
>();

BurtRsConfig RealSense_getDeviceConfig(ffi.Pointer<NativeRealSense> ptr) {
return _RealSense_getDeviceConfig(ptr);
}

late final _RealSense_getDeviceConfigPtr = _lookup<
ffi
.NativeFunction<BurtRsConfig Function(ffi.Pointer<NativeRealSense>)>>(
'RealSense_getDeviceConfig');
late final _RealSense_getDeviceConfig = _RealSense_getDeviceConfigPtr
.asFunction<BurtRsConfig Function(ffi.Pointer<NativeRealSense>)>();
late final _RealSense_getDeviceConfigPtr =
_lookup<
ffi.NativeFunction<BurtRsConfig Function(ffi.Pointer<NativeRealSense>)>
>('RealSense_getDeviceConfig');
late final _RealSense_getDeviceConfig =
_RealSense_getDeviceConfigPtr.asFunction<
BurtRsConfig Function(ffi.Pointer<NativeRealSense>)
>();

/// Streams
BurtRsStatus RealSense_startStream(
ffi.Pointer<NativeRealSense> ptr,
) {
return BurtRsStatus.fromValue(_RealSense_startStream(
ptr,
));
BurtRsStatus RealSense_startStream(ffi.Pointer<NativeRealSense> ptr) {
return BurtRsStatus.fromValue(_RealSense_startStream(ptr));
}

late final _RealSense_startStreamPtr = _lookup<
ffi.NativeFunction<
ffi.UnsignedInt Function(
ffi.Pointer<NativeRealSense>)>>('RealSense_startStream');
late final _RealSense_startStream = _RealSense_startStreamPtr.asFunction<
int Function(ffi.Pointer<NativeRealSense>)>();

void RealSense_stopStream(
ffi.Pointer<NativeRealSense> ptr,
) {
return _RealSense_stopStream(
ptr,
);
late final _RealSense_startStreamPtr =
_lookup<
ffi.NativeFunction<
ffi.UnsignedInt Function(ffi.Pointer<NativeRealSense>)
>
>('RealSense_startStream');
late final _RealSense_startStream =
_RealSense_startStreamPtr.asFunction<
int Function(ffi.Pointer<NativeRealSense>)
>();

void RealSense_stopStream(ffi.Pointer<NativeRealSense> ptr) {
return _RealSense_stopStream(ptr);
}

late final _RealSense_stopStreamPtr = _lookup<
ffi.NativeFunction<ffi.Void Function(ffi.Pointer<NativeRealSense>)>>(
'RealSense_stopStream');
late final _RealSense_stopStream = _RealSense_stopStreamPtr.asFunction<
void Function(ffi.Pointer<NativeRealSense>)>();
late final _RealSense_stopStreamPtr =
_lookup<
ffi.NativeFunction<ffi.Void Function(ffi.Pointer<NativeRealSense>)>
>('RealSense_stopStream');
late final _RealSense_stopStream =
_RealSense_stopStreamPtr.asFunction<
void Function(ffi.Pointer<NativeRealSense>)
>();

/// Frames
ffi.Pointer<NativeFrames> RealSense_getDepthFrame(
ffi.Pointer<NativeRealSense> ptr,
) {
return _RealSense_getDepthFrame(
ptr,
);
return _RealSense_getDepthFrame(ptr);
}

late final _RealSense_getDepthFramePtr = _lookup<
ffi.NativeFunction<
ffi.Pointer<NativeFrames> Function(
ffi.Pointer<NativeRealSense>)>>('RealSense_getDepthFrame');
late final _RealSense_getDepthFrame = _RealSense_getDepthFramePtr.asFunction<
ffi.Pointer<NativeFrames> Function(ffi.Pointer<NativeRealSense>)>();

void NativeFrames_free(
ffi.Pointer<NativeFrames> ptr,
) {
return _NativeFrames_free(
ptr,
);
late final _RealSense_getDepthFramePtr =
_lookup<
ffi.NativeFunction<
ffi.Pointer<NativeFrames> Function(ffi.Pointer<NativeRealSense>)
>
>('RealSense_getDepthFrame');
late final _RealSense_getDepthFrame =
_RealSense_getDepthFramePtr.asFunction<
ffi.Pointer<NativeFrames> Function(ffi.Pointer<NativeRealSense>)
>();

void NativeFrames_free(ffi.Pointer<NativeFrames> ptr) {
return _NativeFrames_free(ptr);
}

late final _NativeFrames_freePtr =
_lookup<ffi.NativeFunction<ffi.Void Function(ffi.Pointer<NativeFrames>)>>(
'NativeFrames_free');
late final _NativeFrames_free = _NativeFrames_freePtr.asFunction<
void Function(ffi.Pointer<NativeFrames>)>();
'NativeFrames_free',
);
late final _NativeFrames_free =
_NativeFrames_freePtr.asFunction<
void Function(ffi.Pointer<NativeFrames>)
>();
}

enum BurtRsStatus {
Expand All @@ -166,13 +167,13 @@ enum BurtRsStatus {
const BurtRsStatus(this.value);

static BurtRsStatus fromValue(int value) => switch (value) {
0 => BurtRsStatus_ok,
1 => BurtRsStatus_no_device,
2 => BurtRsStatus_too_many_devices,
3 => BurtRsStatus_resolution_unknown,
4 => BurtRsStatus_scale_unknown,
_ => throw ArgumentError("Unknown value for BurtRsStatus: $value"),
};
0 => BurtRsStatus_ok,
1 => BurtRsStatus_no_device,
2 => BurtRsStatus_too_many_devices,
3 => BurtRsStatus_resolution_unknown,
4 => BurtRsStatus_scale_unknown,
_ => throw ArgumentError('Unknown value for BurtRsStatus: $value'),
};
}

final class BurtRsConfig extends ffi.Struct {
Expand Down
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