URC 2024 Update (#147)

Lots of changes in this one!

## Fixes
- Fixed color and lengths of arm segments
- Fixed sidebar color
- Only move one camera servo at a time
- Log messages are in white for better contrast
- Swivel and shoulder controls don't overlap as much now

## Settings
- Added setting to split camera controls into a separate operator
- Added setting to prefer tank controls over modern drive
- Added setting to configure heartbeats per second
- Added setting to skip version checks
- Removed all IK-related settings
- Removed all MARS-related settings
- Removed misc unused settings

## New features
- Drive page will now identify wheels with different RPMs
- Gripper laser toggle
- 8 views are now supported (4 views on 2 monitors)
- Zoom, focus, pan, and tilt camera controls
- Inverse kinematics on Arm page
- LED strip is now shown on footer. Click to set color and blink
- Drive controller will buzz if throttle goes to or from 0%

---------

Co-authored-by: aidan ahram <aidanahram1@gmail.com>
Co-authored-by: Paul Ampadu <89813338+pgrwe@users.noreply.github.com>
Co-authored-by: AndyZ54 <Andyzheng54@yahoo.com>

Author: 4 people

bin/science.dart

@@ -17,7 +17,7 @@ bool shouldKeepData(Timestamp timestamp, ScienceData data) {
   final elapsed = firstTimestamp! - timestamp;
 
 	// Filter data based on reasonable thresholds, eg:
-	if (data.co2.isOutOfBounds(min: 400, max: 2000)) return false;
+	if (data.co2.isOutOfBounds(min: 400, max: 1000)) return false;
 	if (data.humidity.isOutOfBounds(min: 0, max: 50)) return false;
 	if (data.temperature.isOutOfBounds(min: 0, max: 100)) return false;
 

lib/app.dart

@@ -27,21 +27,19 @@ class RoverControlDashboard extends ReusableReactiveWidget<SettingsModel> {
     themeMode: models.isReady ? model.dashboard.themeMode : ThemeMode.system,
     theme: ThemeData(
       useMaterial3: false,
-      colorScheme: ColorScheme.light(
+      colorScheme: const ColorScheme.light(
         primary: binghamtonGreen,
         secondary: binghamtonGreen,
-        surfaceVariant: Colors.blueGrey.shade400,
       ),
       appBarTheme: const AppBarTheme(
         backgroundColor: binghamtonGreen,
         foregroundColor: Colors.white,
       ),
     ),
     darkTheme: ThemeData.from(
-      colorScheme: ColorScheme.dark(
+      colorScheme: const ColorScheme.dark(
         primary: binghamtonGreen,
         secondary: binghamtonGreen,
-        surfaceVariant: Colors.blueGrey.shade700,
       ),
     ),
     routes: {

lib/pages.dart

@@ -39,9 +39,6 @@ class Routes {
 	/// The name of the autonomy page.
 	static const String autonomy = "Map"; 
 
-	/// The name of the MARS page.
-	static const String mars = "MARS";
-
   /// The name of the logs page.
   static const String logs = "Logs";
 

lib/src/data/metrics/arm.dart

@@ -10,8 +10,8 @@ class ArmMetrics extends Metrics<ArmData> {
 
 	/// Returns a description of a [MotorData].
 	List<MetricLine> getMotorData(MotorData motor) => [
-		MetricLine("  Is moving? ${motor.isMoving}", severity: motor.isMoving ? Severity.info : null),
-		MetricLine("  Limit? ${motor.isLimitSwitchPressed}", severity: motor.isLimitSwitchPressed ? Severity.warning : null),
+		MetricLine("  Is moving? ${motor.isMoving.displayName}", severity: motor.isMoving.toBool() ? Severity.info : null),
+		MetricLine("  Limit? ${motor.isLimitSwitchPressed.displayName}", severity: motor.isLimitSwitchPressed.toBool() ? Severity.warning : null),
 		MetricLine("  Direction: ${motor.direction.humanName}"),
 		MetricLine("  Steps: ${motor.currentStep} --> ${motor.targetStep}"),
 		MetricLine("  Angle: ${motor.angle.toDegrees()} degrees"),

lib/src/data/metrics/drive.dart

@@ -1,12 +1,10 @@
+import "package:collection/collection.dart";
+
 import "package:rover_dashboard/data.dart";
+import "package:rover_dashboard/models.dart";
 import "package:rover_dashboard/services.dart";
 
 /// Metrics reported by the drive subsystem.
-/// 
-/// In the future, the drive Teensy will have a GPS and IMU to read [RoverPosition] data. For now,
-/// this information is sent separately and is represented by its own [RoverPosition] object because
-/// they are collected on the Pi. In the future, when they are moved to the Drive subsystem, this
-/// data should still be kept separate so as to make it easier to show in the UI and send to MARS.
 class DriveMetrics extends Metrics<DriveData> {
 	/// A collection of metrics relevant for monitoring the rover's electrical status.
 	DriveMetrics() : super(DriveData());
@@ -45,19 +43,38 @@ class DriveMetrics extends Metrics<DriveData> {
 		MetricLine("Left: ${data.left.toStringAsFixed(2)}"),
 		MetricLine("Right: ${data.right.toStringAsFixed(2)}"),
     MetricLine("Battery: ${data.batteryVoltage.toStringAsFixed(2)}V,${data.batteryCurrent.toStringAsFixed(2)}A, ${data.batteryTemperature.toStringAsFixed(2)}°F", severity: electricalSeverity),
-	];
+    MetricLine("Left Side: ${data.frontLeft.toStringAsFixed(1)}, ${data.middleLeft.toStringAsFixed(1)}, ${data.backLeft.toStringAsFixed(1)}"),
+    MetricLine("Right Side: ${data.frontRight.toStringAsFixed(1)}, ${data.middleRight.toStringAsFixed(1)}, ${data.backRight.toStringAsFixed(1)}"),
+  ];
 
 	@override
 	void update(DriveData value) {
 		// Since the newValues are often zero, [Metrics.merge] won't work.
     if (!checkVersion(value)) return;
 		services.files.logData(value);
+    final oldThrottle = data.throttle;
 		if (value.setLeft) data.left = value.left;
 		if (value.setRight) data.right = value.right;
 		if (value.setThrottle) data.throttle = value.throttle;
     if (value.hasBatteryCurrent()) data.batteryCurrent = value.batteryCurrent;
     if (value.hasBatteryVoltage()) data.batteryVoltage = value.batteryVoltage;
     if (value.hasBatteryTemperature()) data.batteryTemperature = value.batteryTemperature;
+    if(value.hasFrontLeft()) data.frontLeft = value.frontLeft;
+    if(value.hasMiddleLeft()) data.middleLeft = value.middleLeft;
+    if(value.hasBackLeft()) data.backLeft = value.backLeft;
+    if(value.hasFrontRight()) data.frontRight = value.frontRight;
+    if(value.hasMiddleRight()) data.middleRight = value.middleRight;
+    if(value.hasBackRight()) data.backRight = value.backRight;
+    if (value.color != ProtoColor.PROTO_COLOR_UNDEFINED) data.color = value.color;
+
+    if (
+      (data.throttle > 0.05 && oldThrottle < 0.05) || 
+      (data.throttle < 0.05 && oldThrottle > 0.05)
+    ) {
+      models.rover.controllers.firstWhereOrNull(
+        (controller) => controller.mode == OperatingMode.drive || controller.mode == OperatingMode.modernDrive,
+      )?.gamepad.pulse();
+    }
     notifyListeners();
 	}
 

lib/src/data/metrics/gripper.dart

@@ -10,15 +10,18 @@ class GripperMetrics extends Metrics<GripperData> {
 
 	/// Returns a description of a [MotorData].
 	List<MetricLine> getMotorData(MotorData motor) => [
-		MetricLine("  Is moving? ${motor.isMoving}", severity: motor.isMoving ? Severity.info : null),
-		MetricLine("  Limit? ${motor.isLimitSwitchPressed}", severity: motor.isLimitSwitchPressed ? Severity.warning : null),
+		MetricLine("  Is moving? ${motor.isMoving.displayName}", severity: motor.isMoving.toBool() ? Severity.info : null),
+		MetricLine("  Limit? ${motor.isLimitSwitchPressed.displayName}", severity: motor.isLimitSwitchPressed.toBool() ? Severity.warning : null),
 		MetricLine("  Direction: ${motor.direction.humanName}"),
 		MetricLine("  Steps: ${motor.currentStep} --> ${motor.targetStep}"),
-		MetricLine("  Angle: ${motor.angle.toDegrees()} degrees"),
+		MetricLine("  Angle: ${motor.angle.toDegrees() % 360} degrees"),
 	];
 
 	@override
 	List<MetricLine> get allMetrics => [
+    MetricLine("Camera Angle: ${data.servoAngle} degrees"),
+    MetricLine("Laser: ${data.laserState.displayName}", severity: data.laserState.toBool() ? Severity.critical : null),
+    MetricLine("------------------------------",),
     MetricLine("Lift:"),
 		...getMotorData(data.lift,),
 		MetricLine("------------------------------",),

lib/src/data/metrics/metrics.dart

@@ -51,6 +51,8 @@ abstract class Metrics<T extends Message> with ChangeNotifier {
 
   /// Checks this message's version and checks for support.
   bool checkVersion(T data) {
+    if (!models.settings.dashboard.versionChecking) return true;
+    if (data is RoverPosition) return true;
     final newVersion = parseVersion(data);
     if (newVersion.hasMajor()) version = newVersion;
     if (!matchesVersion && newVersion.hasMajor()) {

lib/src/data/metrics/position.dart

@@ -14,8 +14,6 @@ class PositionMetrics extends Metrics<RoverPosition> {
 	GpsCoordinates? _baseStation;
 
 	/// The position of the base station. Setting this value updates the UI.
-	/// 
-	/// Defaults to [RoverPosition.gps] until the MARS subsystem comes online (see [MarsData.coordinates]).
 	GpsCoordinates get baseStation => _baseStation ?? data.gps;
 	set baseStation(GpsCoordinates value) { 
 		_baseStation = value;
@@ -49,24 +47,6 @@ class PositionMetrics extends Metrics<RoverPosition> {
     MetricLine("Distance: ${data.gps.distanceTo(baseStation).toStringAsFixed(2)} m",),
 	];
 
-	@override
-	void update(RoverPosition value) {
-		final oldOrientation = data.orientation.deepCopy();
-		super.update(value);
-		if(data.orientation.x > 360 || data.orientation.x < -360){
-			data.orientation.x = oldOrientation.x;
-			notifyListeners();
-		}
-		if(data.orientation.y > 360 || data.orientation.y < -360){
-			data.orientation.y = oldOrientation.y;
-			notifyListeners();
-		}
-		if(data.orientation.z > 360 || data.orientation.z < -360){
-			data.orientation.z = oldOrientation.z;
-			notifyListeners();
-		}		
-	}
-
   /// The angle to orient the rover on a front view map
   double get roll => data.orientation.x;
 

lib/src/data/metrics/science.dart

@@ -20,6 +20,7 @@ class ScienceMetrics extends Metrics<ScienceData> {
 
 	@override
 	void update(ScienceData value){
+    if (!checkVersion(value)) return;
 		if (value.state == ScienceState.STOP_COLLECTING) return;
 		super.update(value);
 	}

lib/src/data/protobuf.dart

@@ -104,6 +104,8 @@ extension CameraNameUtils on CameraName {
 			case CameraName.SUBSYSTEM1: return "Subsystem 1";
 			case CameraName.SUBSYSTEM2: return "Subsystem 2";
 			case CameraName.SUBSYSTEM3: return "Subsystem 3";
+			case CameraName.BOTTOM_LEFT: return "Bottom Left";
+			case CameraName.BOTTOM_RIGHT: return "Bottom Right";
 		}
 		// Do not use default or else you'll lose exhaustiveness checking.
 		throw ArgumentError("Unrecognized camera name: $this");
@@ -224,22 +226,6 @@ extension ScienceStateUtils on ScienceState {
 	}
 }
 
-/// Utilities for [MarsStatus]es.
-extension MarsStatusUtils on MarsStatus {
-	/// The human-readable name of the status
-	String get humanName {
-		switch (this) {
-			case MarsStatus.MARS_STATUS_UNDEFINED: return "Not available";
-			case MarsStatus.PORT_NOT_FOUND: return "Could not open port";
-			case MarsStatus.TEENSY_UNRESPONSIVE: return "Teensy unresponsive";
-			case MarsStatus.FAILED_HANDSHAKE: return "Failed handshake";
-			case MarsStatus.TEENSY_CONNECTED: return "Connected";
-		}
-		// Do not use default or else you'll lose exhaustiveness checking.
-		throw ArgumentError("Unrecognized MarsStatus: $this");
-	}
-}
-
 /// Utilities for [MotorDirection]s.
 extension MotorDirectionUtils on MotorDirection {
 	/// The human-readable name of the direction
@@ -308,3 +294,22 @@ extension VersionUtils on Version {
   /// Whether another version is compatible with this one.
   bool isCompatible(Version other) => major == other.major;
 }
+
+/// Helpful methods on [BoolState]s.
+extension BoolUtils on BoolState {
+  /// Converts this Protobuf boolean into a normal boolean.
+  bool toBool() => switch (this) {
+    BoolState.NO => false,
+    BoolState.YES => true,
+    BoolState.BOOL_UNDEFINED => false,
+    _ => throw ArgumentError("Unrecognized bool state: $this"),
+  };
+
+  /// Converts this Protobuf boolean into a human readable string.
+  String get displayName => switch(this) {
+    BoolState.NO => "No",
+    BoolState.YES => "Yes",
+    BoolState.BOOL_UNDEFINED => "No Data",
+    _ => throw ArgumentError("Unrecognized bool state: $this"),
+  };
+}