Add diagonal movement

.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

.vscode/settings.json

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

analysis_options.yaml

@@ -9,23 +9,24 @@ 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: 
+  exclude:
+    - test/*.dart
 
 linter:
   rules:
@@ -44,7 +45,7 @@ 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/arcuo.dart

@@ -2,7 +2,7 @@ import "package:autonomy/autonomy.dart";
 
 void main() async {
   final rover = RoverAutonomy();
-	rover.drive = RoverDrive(collection: rover, useImu: false, useGps: false);
+  rover.drive = RoverDrive(collection: rover, useImu: false, useGps: false);
   await rover.init();
   //await rover.waitForValue();
   final didSeeAruco = await rover.drive.spinForAruco();

bin/latlong.dart

@@ -9,14 +9,14 @@ void printInfo(String name, double latitude) {
   GpsInterface.currentLatitude = 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");
+  print("  Our max error in longitude would be ${GpsUtils.epsilonLongitude.toStringAsFixed(20)} degrees");
   final isWithinRange = GpsInterface.gpsError <= GpsUtils.epsilonLongitude;
   print("  Our GPS has ${GpsInterface.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("  So our max error in latitude is always ${GpsUtils.epsilonLatitude.toStringAsFixed(20)} degrees");
   printInfo("the equator", 0);
   printInfo("Binghamton", binghamtonLatitude);
   printInfo("Utah", utahLatitude);

bin/path.dart

@@ -4,7 +4,7 @@ import "package:autonomy/simulator.dart";
 
 void main() {
   GpsUtils.maxErrorMeters = 1;
-  final destination = (1000, 1000).toGps();
+  final destination = (lat: 1000, long: 1000).toGps();
   final simulator = AutonomySimulator();
   simulator.pathfinder = RoverPathfinder(collection: simulator);
   final path = simulator.pathfinder.getPath(destination);
@@ -18,7 +18,7 @@ void main() {
   }
   var turnCount = 0;
   for (final step in path) {
-    if (step.direction == DriveDirection.left || step.direction == DriveDirection.right) {
+    if (step.instruction == DriveDirection.left || step.instruction == DriveDirection.right) {
       turnCount++;
     }
   }

bin/random.dart

@@ -1,7 +1,6 @@
 // ignore_for_file: avoid_print
 
 import "package:autonomy/interfaces.dart";
-import "package:autonomy/src/rover/corrector.dart";
 
 const maxError = GpsInterface.gpsError;
 const maxSamples = 10;
@@ -17,7 +16,7 @@ bool test() {
     corrector.addValue(value);
     if (verbose) {
       final calibrated = corrector.calibratedValue;
-      print("Current value: $value, Corrected value: $calibrated");    
+      print("Current value: $value, Corrected value: $calibrated");
       print("  Difference: ${calibrated.toStringAsFixed(7)} < ${epsilon.toStringAsFixed(7)}");
     }
   }

bin/sensorless.dart

@@ -1,63 +1,63 @@
-import "package:burt_network/logging.dart";
-import "package:burt_network/protobuf.dart";
+// import "package:burt_network/logging.dart";
+// import "package:burt_network/protobuf.dart";
 
-import "package:autonomy/simulator.dart";
-import "package:autonomy/rover.dart";
+// import "package:autonomy/simulator.dart";
+// import "package:autonomy/rover.dart";
 
-void main() async {
-  Logger.level = LogLevel.debug;
-  final simulator = AutonomySimulator();
-  simulator.drive = SensorlessDrive(collection: simulator, useGps: false, useImu: false);
-  await simulator.init();
-  await simulator.server.waitForConnection();
+// void main() async {
+//   Logger.level = LogLevel.debug;
+//   final simulator = AutonomySimulator();
+//   simulator.drive = SensorlessDrive(collection: simulator, useGps: false, useImu: false);
+//   await simulator.init();
+//   await simulator.server.waitForConnection();
 
-  final message = AutonomyData(
-    destination: GpsCoordinates(latitude: 0, longitude: 0),
-    state: AutonomyState.DRIVING,
-    task: AutonomyTask.GPS_ONLY,
-    obstacles: [],
-    path: [
-      for (double x = 0; x < 3; x++)
-        for (double y = 0; y < 3; y++)
-          GpsCoordinates(latitude: y, longitude: x),
-    ],
-  );
-  simulator.server.sendMessage(message);
+//   final message = AutonomyData(
+//     destination: GpsCoordinates(latitude: 0, longitude: 0),
+//     state: AutonomyState.DRIVING,
+//     task: AutonomyTask.GPS_ONLY,
+//     obstacles: [],
+//     path: [
+//       for (double x = 0; x < 3; x++)
+//         for (double y = 0; y < 3; y++)
+//           GpsCoordinates(latitude: y, longitude: x),
+//     ],
+//   );
+//   simulator.server.sendMessage(message);
 
-  // "Snakes" around a 3x3 meter box.    (0, 0), North
-  await simulator.drive.goForward();  // (1, 0), North
-  await simulator.drive.goForward();  // (2, 0), North
-  await simulator.drive.turnRight();  // (2, 0), East
-  await simulator.drive.goForward();  // (2, 1), East
-  await simulator.drive.turnRight();  // (2, 1), South
-  await simulator.drive.goForward();  // (1, 1), South
-  await simulator.drive.goForward();  // (0, 1), South
-  await simulator.drive.turnLeft();   // (0, 1), East
-  await simulator.drive.goForward();  // (0, 2), East
-  await simulator.drive.turnLeft();   // (0, 2), North
-  await simulator.drive.goForward();  // (1, 2), North
-  await simulator.drive.goForward();  // (2, 2), North
-  await simulator.drive.turnLeft();   // (2, 2), West
-  await simulator.drive.goForward();  // (2, 1), West
-  await simulator.drive.goForward();  // (2, 0), West
-  await simulator.drive.turnLeft();   // (2, 0), South
-  await simulator.drive.goForward();  // (1, 0), South
-  await simulator.drive.goForward();  // (0, 0), South
-  await simulator.drive.turnLeft();   // (0, 0), East
-  await simulator.drive.turnLeft();   // (0, 0), North
+//   // "Snakes" around a 3x3 meter box.    (0, 0), North
+//   await simulator.drive.goForward();  // (1, 0), North
+//   await simulator.drive.goForward();  // (2, 0), North
+//   await simulator.drive.turnRight();  // (2, 0), East
+//   await simulator.drive.goForward();  // (2, 1), East
+//   await simulator.drive.turnRight();  // (2, 1), South
+//   await simulator.drive.goForward();  // (1, 1), South
+//   await simulator.drive.goForward();  // (0, 1), South
+//   await simulator.drive.turnLeft();   // (0, 1), East
+//   await simulator.drive.goForward();  // (0, 2), East
+//   await simulator.drive.turnLeft();   // (0, 2), North
+//   await simulator.drive.goForward();  // (1, 2), North
+//   await simulator.drive.goForward();  // (2, 2), North
+//   await simulator.drive.turnLeft();   // (2, 2), West
+//   await simulator.drive.goForward();  // (2, 1), West
+//   await simulator.drive.goForward();  // (2, 0), West
+//   await simulator.drive.turnLeft();   // (2, 0), South
+//   await simulator.drive.goForward();  // (1, 0), South
+//   await simulator.drive.goForward();  // (0, 0), South
+//   await simulator.drive.turnLeft();   // (0, 0), East
+//   await simulator.drive.turnLeft();   // (0, 0), North
 
-  final message2 = AutonomyData(
-    state: AutonomyState.AT_DESTINATION,
-    task: AutonomyTask.AUTONOMY_TASK_UNDEFINED,
-    obstacles: [],
-    path: [
-      for (double x = 0; x < 3; x++)
-        for (double y = 0; y < 3; y++)
-          GpsCoordinates(latitude: y, longitude: x),
-    ],
-  );
-  simulator.server.sendMessage(message2);
-  simulator.server.sendMessage(message2);
+//   final message2 = AutonomyData(
+//     state: AutonomyState.AT_DESTINATION,
+//     task: AutonomyTask.AUTONOMY_TASK_UNDEFINED,
+//     obstacles: [],
+//     path: [
+//       for (double x = 0; x < 3; x++)
+//         for (double y = 0; y < 3; y++)
+//           GpsCoordinates(latitude: y, longitude: x),
+//     ],
+//   );
+//   simulator.server.sendMessage(message2);
+//   simulator.server.sendMessage(message2);
 
-  await simulator.dispose();
-}
+//   await simulator.dispose();
+// }

bin/task.dart

@@ -1,27 +1,27 @@
-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;
   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();
+
 }

bin/test.dart

@@ -1,23 +1,22 @@
-import "package:autonomy/autonomy.dart";
-import "package:burt_network/logging.dart";
-import "package:autonomy/src/rover/gps.dart";
-import "package:autonomy/src/rover/imu.dart";
+// import "package:autonomy/autonomy.dart";
+// import "package:burt_network/logging.dart";
 
-void main() async {
-  Logger.level = LogLevel.all;
-  final rover = RoverAutonomy();
-  rover.gps = RoverGps(collection: rover);
-  rover.imu = RoverImu(collection: rover);
-  rover.drive = RoverDrive(collection: rover, useGps: false);
+// void main() async {
+//   Logger.level = LogLevel.all;
+//   final rover = RoverAutonomy();
+//   rover.gps = RoverGps(collection: rover);
+//   rover.imu = RoverImu(collection: rover);
+//   rover.drive = RoverDrive(collection: rover, useGps: false);
 
-  await rover.init();
-//  await rover.waitForReadings();
-//  await rover.waitForConnection();
+//   await rover.init();
+//   rover.logger.info("Waiting for readings");
+// //  await rover.waitForReadings();
+// //  await rover.waitForConnection();
 
-  rover.logger.info("Starting");
-  await rover.drive.turnLeft();
-  await rover.drive.turnRight();
+//   rover.logger.info("Starting");
+//   await rover.drive.turnLeft();
+//   await rover.drive.turnRight();
 
-  rover.logger.info("Done");
-  await rover.dispose();
-}
+//   rover.logger.info("Done");
+//   await rover.dispose();
+// }

lib/constants.dart

@@ -0,0 +1,27 @@
+class Constants {
+  /// The maximum error or "tolerance" for reaching the end goal
+  static const double maxErrorMeters = 1;
+
+  /// How close the rover should get to a drive coordinate before
+  /// continuing with the path
+  static const double intermediateStepTolerance = 0.25;
+
+  /// The amount of meters to move per path step
+  static const double moveLengthMeters = 1;
+
+  /// Replan the path if the rover's position is this far away from the path
+  static const double replanErrorMeters = 3;
+
+  /// The IMU angle tolerance for a turn during autonomy
+  static const double turnEpsilon = 3;
+
+  /// The IMU angle tolerance when turning to re-correct to the
+  /// proper orientation before driving forward
+  static const double driveRealignmentEpsilon = 5;
+
+  /// The maximum time to spend waiting for the drive to reach a desired GPS coordinate.
+  ///
+  /// Only applies to individual "drive forward" steps, to prevent indefinite driving
+  /// if it never reaches within [maxErrorMeters] of its desired position.
+  static const Duration driveGPSTimeout = Duration(seconds: 3, milliseconds: 53);
+}

lib/interfaces.dart

@@ -1,16 +1,12 @@
-export "src/interfaces/a_star.dart";
-export "src/interfaces/autonomy.dart";
-export "src/interfaces/detector.dart";
-export "src/interfaces/drive.dart";
-export "src/interfaces/error.dart";
-export "src/interfaces/gps.dart";
-export "src/interfaces/gps_utils.dart";
-export "src/interfaces/imu.dart";
-export "src/interfaces/imu_utils.dart";
-export "src/interfaces/pathfinding.dart";
-export "src/interfaces/server.dart";
-export "src/interfaces/video.dart";
-export "src/interfaces/receiver.dart";
-export "src/interfaces/reporter.dart";
-export "src/interfaces/service.dart";
-export "src/interfaces/orchestrator.dart";
+export "src/autonomy_interface.dart";
+export "src/detector/detector_interface.dart";
+export "src/drive/drive_interface.dart";
+export "src/gps/gps_interface.dart";
+export "src/imu/imu_interface.dart";
+export "src/imu/cardinal_direction.dart";
+export "src/pathfinding/pathfinding_interface.dart";
+export "src/video/video_interface.dart";
+export "src/orchestrator/orchestrator_interface.dart";
+
+export "utils.dart";
+export "package:burt_network/protobuf.dart";