Added simulator and real rover logic (#1)

This PR splits the code into 3 main categories: 
- interfaces: an interface for each component that defines what it can do
- simulated: a simulated version for each component
- rover: the real implementation of each component

Using this new structure, this PR also adds unit tests that simulate all
but one component at a time. These tests are run for every new PR and
commit.

.github/workflows/analyze.yml

@@ -16,6 +16,8 @@ jobs:
       # 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
+        with: 
+          sdk: 3.2.2
 
       - name: Install dependencies
         run: dart pub get
@@ -26,5 +28,5 @@ 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'.
-      # - name: Run tests
-      #  run: dart test
+      - name: Run tests
+        run: dart test

.github/workflows/documentation.yml

@@ -23,6 +23,8 @@ jobs:
 
       - name: Install Dart
         uses: dart-lang/setup-dart@v1
+        with: 
+          sdk: 3.2.2
 
       - name: Install dependencies
         run: dart pub get
@@ -37,6 +39,12 @@ jobs:
       - 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
+
       - name: Commit and push files
         run: |
           cd docs

.gitignore

@@ -1,5 +1,8 @@
+# These tell your computer or the rover to fetch from the parent folder and not GitHub
+pubspec_overrides.yaml
+
 # https://dart.dev/guides/libraries/private-files
 # Created by `dart pub`
 .dart_tool/
 
-*.dll
+*.dll

analysis_options.yaml

@@ -26,7 +26,6 @@ analyzer:
     strict-raw-types: true
 
   exclude: 
-    - test/**.dart
 
 linter:
   rules:
@@ -44,6 +43,8 @@ linter:
     always_use_package_imports: false  # not when importing sibling files
     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 until we are ready to document
-    # public_member_api_docs: false
+    # 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/autonomy.dart

@@ -1,8 +1,6 @@
-import "package:autonomy/autonomy.dart";
-import "package:burt_network/logging.dart";
+import "package:autonomy/rover.dart";
 
-void main(List<String> arguments) async {
-  final tankMode = arguments.contains("--tank");
-  if (tankMode) logger.info("Running in tank mode");
-  await collection.init(tankMode: arguments.contains("--tank"));
+void main() async {
+  final rover = RoverAutonomy();
+  await rover.init();
 }

bin/latlong.dart

@@ -0,0 +1,23 @@
+// ignore_for_file: avoid_print
+
+import "package:autonomy/interfaces.dart";
+
+const binghamtonLatitude = 42.0877327;
+const utahLatitude = 38.406683;
+
+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");
+  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");
+  printInfo("the equator", 0);
+  printInfo("Binghamton", binghamtonLatitude);
+  printInfo("Utah", utahLatitude);
+}

bin/random.dart

@@ -0,0 +1,35 @@
+// ignore_for_file: avoid_print
+
+import "package:autonomy/interfaces.dart";
+import "package:autonomy/src/rover/corrector.dart";
+
+const maxError = GpsInterface.gpsError;
+const maxSamples = 10;
+final epsilon = GpsUtils.epsilonLatitude;  // we need to be accurate within 1 meter
+const n = 1000;
+bool verbose = false;
+
+bool test() {
+  final error = RandomError(maxError);
+  final corrector = ErrorCorrector(maxSamples: maxSamples);
+  for (var i = 0; i < 10; i++) {
+    final value = error.value;
+    corrector.addValue(value);
+    if (verbose) {
+      final calibrated = corrector.calibratedValue;
+      print("Current value: $value, Corrected value: $calibrated");    
+      print("  Difference: ${calibrated.toStringAsFixed(7)} < ${epsilon.toStringAsFixed(7)}");
+    }
+  }
+  return corrector.calibratedValue.abs() <= epsilon;
+}
+
+void main(List<String> args) {
+  if (args.contains("-v") || args.contains("--verbose")) verbose = true;
+  var count = 0;
+  for (var i = 0; i < n; i++) {
+    if (test()) count++;
+  }
+  final percentage = (count / n * 100).toStringAsFixed(2);
+  print("Average performance: %$percentage");
+}

bin/sensorless.dart

@@ -0,0 +1,63 @@
+import "package:burt_network/logging.dart";
+import "package:burt_network/generated.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();
+
+  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
+
+  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();
+}

bin/task.dart

@@ -0,0 +1,24 @@
+import "package:autonomy/interfaces.dart";
+import "package:autonomy/simulator.dart";
+import "package:autonomy/rover.dart";
+import "package:burt_network/logging.dart";
+
+final chair = (2, 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),
+];
+// Enter in the Dashboard: Destination = (lat=7, long=0);
+
+void main() async {
+  Logger.level = LogLevel.all;
+  final simulator = AutonomySimulator();
+  final detector = DetectorSimulator(collection: simulator, obstacles: obstacles);
+  simulator.detector = detector;
+  simulator.pathfinder = RoverPathfinder(collection: simulator);
+  simulator.orchestrator = RoverOrchestrator(collection: simulator);
+  simulator.drive = DriveSimulator(collection: simulator, shouldDelay: true);
+  await simulator.init();
+  await simulator.server.waitForConnection();
+}

lib/interfaces.dart

@@ -0,0 +1,13 @@
+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/imu.dart";
+export "src/interfaces/pathfinding.dart";
+export "src/interfaces/server.dart";
+export "src/interfaces/realsense.dart";
+export "src/interfaces/reporter.dart";
+export "src/interfaces/service.dart";
+export "src/interfaces/orchestrator.dart";

lib/rover.dart

@@ -0,0 +1,30 @@
+export "src/rover/drive.dart";
+export "src/rover/pathfinding.dart";
+export "src/rover/orchestrator.dart";
+export "src/rover/sensorless.dart";
+
+import "package:autonomy/interfaces.dart";
+import "package:autonomy/simulator.dart";
+import "package:burt_network/logging.dart";
+
+import "src/rover/pathfinding.dart";
+import "src/rover/server.dart";
+import "src/rover/drive.dart";
+import "src/rover/gps.dart";
+import "src/rover/imu.dart";
+import "src/rover/orchestrator.dart";
+
+/// A collection of all the different services used by the autonomy program.
+class RoverAutonomy extends AutonomyInterface {
+	/// A server to communicate with the dashboard and receive data from the subsystems.
+	@override late final AutonomyServer server = AutonomyServer(collection: this);
+	/// A helper class to handle driving the rover.
+	@override late final drive = RoverDrive(collection: this);
+  @override late final gps = RoverGps(collection: this);
+  @override late final imu = RoverImu(collection: this);
+  @override late final logger = BurtLogger(socket: server);
+  @override late final pathfinder = RoverPathfinder(collection: this);
+  @override late final detector = DetectorSimulator(collection: this, obstacles: []);
+  @override late final realsense = RealSenseSimulator(collection: this);
+  @override late final orchestrator = RoverOrchestrator(collection: this); 
+}

lib/simulator.dart

@@ -0,0 +1,38 @@
+export "src/simulator/detector.dart";
+export "src/simulator/drive.dart";
+export "src/simulator/gps.dart";
+export "src/simulator/imu.dart";
+export "src/simulator/realsense.dart";
+export "src/simulator/server.dart";
+
+import "package:autonomy/interfaces.dart";
+import "package:autonomy/src/simulator/orchestrator.dart";
+import "package:burt_network/logging.dart";
+
+import "src/simulator/detector.dart";
+import "src/simulator/drive.dart";
+import "src/simulator/gps.dart";
+import "src/simulator/imu.dart";
+import "src/simulator/pathfinding.dart";
+import "src/simulator/realsense.dart";
+import "src/simulator/server.dart";
+
+class AutonomySimulator extends AutonomyInterface {
+  @override late final logger = BurtLogger(socket: server);
+  @override late ServerInterface server = SimulatorServer(collection: this);
+  @override late GpsInterface gps = GpsSimulator(collection: this);
+  @override late ImuInterface imu = ImuSimulator(collection: this);
+  @override late DriveInterface drive = DriveSimulator(collection: this);
+  @override late PathfindingInterface pathfinder = PathfindingSimulator(collection: this);
+  @override late DetectorInterface detector = DetectorSimulator(collection: this, obstacles: []);
+  @override late RealSenseInterface realsense = RealSenseSimulator(collection: this);
+  @override late OrchestratorInterface orchestrator = OrchestratorSimulator(collection: this);
+
+  bool isInitialized = false;
+
+  @override
+  Future<bool> init() { isInitialized = true; return super.init(); }
+
+  @override
+  Future<void> dispose() { isInitialized = false; return super.dispose(); }
+}