Base Station Integration

lib/pages.dart

@@ -52,6 +52,9 @@ class Routes {
   /// The name of the rocks page.
   static const String rocks = "Rocks";
 
+  /// The name of the base station page
+  static const String baseStation = "Base Station";
+
 	/// The name of the blank page.
 	static const String blank = "Remove View";
 }

lib/src/data/metrics/antenna.dart

@@ -0,0 +1,40 @@
+import "package:rover_dashboard/data.dart";
+
+/// Metrics about the antenna received from the Base Station
+class BaseStationMetrics extends Metrics<BaseStationData> {
+  /// Metrics for the antenna
+  BaseStationMetrics() : super(BaseStationData());
+
+  @override
+  String get name => "Base Station";
+
+  String _controlModeName(AntennaControlMode mode) => switch(mode) {
+    AntennaControlMode.ANTENNA_CONTROL_MODE_UNDEFINED => "Unknown",
+    AntennaControlMode.TRACK_ROVER => "Track Rover",
+    AntennaControlMode.MANUAL_CONTROL => "Manual",
+    _ => "Unknown",
+  };
+
+  @override
+  List<MetricLine> get allMetrics => [
+    MetricLine("Control Mode: ${_controlModeName(data.mode)}"),
+    MetricLine("Antenna:"),
+    MetricLine(
+      "  Is Moving: ${data.antenna.swivel.isMoving.displayName}",
+      severity: data.antenna.swivel.isMoving.toBool() ? Severity.info : null,
+    ),
+		MetricLine("  Direction: ${data.antenna.swivel.direction.humanName}"),
+		MetricLine("  Steps: ${data.antenna.swivel.currentStep} --> ${data.antenna.swivel.targetStep}"),
+		MetricLine("  Angle: ${data.antenna.swivel.currentAngle.toDegrees() % 360}°"),
+		MetricLine("  Target Angle: ${data.antenna.swivel.targetAngle.toDegrees() % 360}°"),    
+  ];
+
+  @override
+  Version parseVersion(BaseStationData message) => message.version;
+
+  @override
+  Version get supportedVersion => Version(major: 1);
+
+  @override
+  Message get versionCommand => BaseStationCommand(version: supportedVersion);
+}

lib/src/data/metrics/position.dart

@@ -1,4 +1,5 @@
 import "package:rover_dashboard/data.dart";
+import "package:rover_dashboard/models.dart";
 
 /// Metrics about the rover's position and orientation.
 /// 
@@ -10,15 +11,8 @@ class PositionMetrics extends Metrics<RoverPosition> {
 	@override
 	String get name => "Position";
 
-	/// A helper for [baseStation].
-	GpsCoordinates? _baseStation;
-
 	/// The position of the base station. Setting this value updates the UI.
-	GpsCoordinates get baseStation => _baseStation ?? data.gps;
-	set baseStation(GpsCoordinates value) { 
-		_baseStation = value;
-		notifyListeners();
-	}
+	GpsCoordinates get baseStation => models.settings.baseStation.gpsCoordinates;
 
   /// Gets the severity of the rover's orientation for both pitch and roll.
   Severity? getRotationSeverity(double orientation) {

lib/src/data/modes.dart

@@ -31,7 +31,12 @@ enum OperatingMode {
 	/// Arm mode.
 	/// 
 	/// Focus on helping the user manipulate the arm.
-	arm("Arm");
+	arm("Arm"),
+
+  /// Base Station mode.
+  /// 
+  /// Focus on manually manipulating the base station antenna
+  baseStation("Base Station");
 
 	/// The name of this mode.
 	/// 

lib/src/data/settings.dart

@@ -98,6 +98,51 @@ class ArmSettings {
   };
 }
 
+/// Settings related to the base station
+class BaseStationSettings {
+  /// The latitude of the base station
+  final double latitude;
+
+  /// The longitude of the base station
+  final double longitude;
+
+  /// The altitude of the base station in meters
+  final double altitude;
+
+  /// The angle tolerance in degrees
+  final double angleTolerance;
+
+  /// Const constructor for base station settings
+  const BaseStationSettings({
+    required this.latitude,
+    required this.longitude,
+    required this.altitude,
+    required this.angleTolerance,
+  });
+
+  /// Parses base station settings from json
+  BaseStationSettings.fromJson(Json? json) :
+    latitude = json?["latitude"] ?? 0,
+    longitude = json?["longitude"] ?? 0,
+    altitude = json?["altitude"] ?? 0,
+    angleTolerance = json?["angleTolerance"] ?? 5;
+
+  /// Serializes the base station settings to a json map
+  Json toJson() => {
+    "latitude": latitude,
+    "longitude": longitude,
+    "altitude": altitude,
+    "angleTolerance": angleTolerance,
+  };
+
+  /// The GPS coordinates of the base station
+  GpsCoordinates get gpsCoordinates => GpsCoordinates(
+    latitude: latitude,
+    longitude: longitude,
+    altitude: altitude,
+  );
+}
+
 /// Settings related to network configuration.
 class NetworkSettings {
   /// The amount of time, in seconds, the dashboard should wait before determining it's
@@ -122,12 +167,16 @@ class NetworkSettings {
   /// the tank when it's being used.
   final SocketInfo tankSocket;
 
+  /// The address and port of the base station program.
+  final SocketInfo baseSocket;
+
   /// Creates a new network settings object.
   NetworkSettings({
     required this.subsystemsSocket,
     required this.videoSocket,
     required this.autonomySocket,
     required this.tankSocket,
+    required this.baseSocket,
     required this.connectionTimeout,
   });
 
@@ -137,6 +186,7 @@ class NetworkSettings {
     videoSocket = json?.getSocket("videoSocket") ?? SocketInfo.raw("192.168.1.30", 8002),
     autonomySocket = json?.getSocket("autonomySocket") ?? SocketInfo.raw("192.168.1.30", 8003),
     tankSocket = json?.getSocket("tankSocket") ?? SocketInfo.raw("192.168.1.40", 8000),
+    baseSocket = json?.getSocket("baseSocket") ?? SocketInfo.raw("192.168.1.50", 8005),
     connectionTimeout = json?["connectionTimeout"] ?? 5;
 
   /// Serializes these settings to JSON.
@@ -145,6 +195,7 @@ class NetworkSettings {
     "videoSocket": videoSocket.toJson(),
     "autonomySocket": autonomySocket.toJson(),
     "tankSocket": tankSocket.toJson(),
+    "baseSocket": baseSocket.toJson(),
     "connectionTimeout": connectionTimeout,
   };
 }
@@ -308,12 +359,16 @@ class Settings {
   /// Settings for the science analysis.
   final ScienceSettings science;
 
+  /// Settings for the base station
+  final BaseStationSettings baseStation;
+
   /// Settings related to the dashboard itself.
   final DashboardSettings dashboard;
 
   /// A const constructor.
   const Settings({
     required this.network,
+    required this.baseStation,
     required this.easterEggs,
     required this.science,
     required this.arm,
@@ -323,6 +378,7 @@ class Settings {
   /// Initialize settings from Json.
   Settings.fromJson(Json json) :
     network = NetworkSettings.fromJson(json["network"]),
+    baseStation = BaseStationSettings.fromJson(json["baseStation"]),
     easterEggs = EasterEggsSettings.fromJson(json["easterEggs"]),
     science = ScienceSettings.fromJson(json["science"]),
     arm = ArmSettings.fromJson(json["arm"]),
@@ -331,6 +387,7 @@ class Settings {
   /// Converts the data from the settings instance to Json.
   Json toJson() => {
     "network": network.toJson(),
+    "baseStation": baseStation.toJson(),
     "easterEggs": easterEggs.toJson(),
     "science": science.toJson(),
     "arm": arm.toJson(),

lib/src/models/data/settings.dart

@@ -10,6 +10,9 @@ class SettingsModel extends Model {
 	/// The user's network settings.
 	NetworkSettings get network => all.network;
 
+  /// The user's base station settings
+  BaseStationSettings get baseStation => all.baseStation;
+
 	/// The user's arm settings.
 	ArmSettings get arm => all.arm;
 

lib/src/models/data/sockets.dart

@@ -16,8 +16,11 @@ class Sockets extends Model {
   /// A UDP socket for controlling autonomy.
   late final autonomy = DashboardSocket(device: Device.AUTONOMY);
 
+  /// A UDP socket for controlling the base station
+  late final baseStation = DashboardSocket(device: Device.BASE_STATION);
+
   /// A list of all the sockets this model manages.
-  List<DashboardSocket> get sockets => [data, video, autonomy];
+  List<DashboardSocket> get sockets => [data, video, autonomy, baseStation];
 
   /// The rover-like system currently in use.
   RoverType rover = RoverType.rover;
@@ -45,6 +48,7 @@ class Sockets extends Model {
     Device.SUBSYSTEMS => data,
     Device.VIDEO => video,
     Device.AUTONOMY => autonomy,
+    Device.BASE_STATION => baseStation,
     _ => null,
   };
 
@@ -98,6 +102,7 @@ class Sockets extends Model {
     data.destination = settings.subsystemsSocket.copyWith(address: addressOverride);
     video.destination = settings.videoSocket.copyWith(address: addressOverride);
     autonomy.destination = settings.autonomySocket.copyWith(address: addressOverride);
+    baseStation.destination = settings.baseSocket.copyWith(address: addressOverride);
   }
 
   /// Resets all the sockets.

lib/src/models/rover/controller.dart

@@ -96,7 +96,11 @@ class Controller extends Model {
     final messages = controls.parseInputs(state);
     for (final message in messages) {
       // print(message.toProto3Json());
-      models.messages.sendMessage(message);
+      if (message.messageName != BaseStationCommand().messageName) {
+        models.messages.sendMessage(message);
+      } else {
+        models.sockets.baseStation.sendMessage(message);
+      }
     }
     notifyListeners();
   }

lib/src/models/rover/controls/base_station.dart

@@ -0,0 +1,34 @@
+import "dart:math";
+
+import "package:burt_network/protobuf.dart";
+import "package:rover_dashboard/models.dart";
+import "package:rover_dashboard/src/data/modes.dart";
+import "package:rover_dashboard/src/services/gamepad/state.dart";
+
+/// A [RoverControls] that contols the Base Station manually
+class BaseStationControls extends RoverControls {
+  @override
+  OperatingMode get mode => OperatingMode.baseStation;
+
+  @override
+  Iterable<Message> get onDispose => [];
+
+  @override
+  Iterable<Message> parseInputs(GamepadState state) => [
+    BaseStationCommand(
+      mode: AntennaControlMode.MANUAL_CONTROL,
+      manualCommand: AntennaFirmwareCommand(
+        swivel: MotorCommand(
+          // 2.5 degrees per second
+          moveRadians: (2.5 * (gamepadDelay.inMilliseconds / 1e3)) * pi / 180,
+        ),
+      ),
+      version: Version(major: 1),
+    ),
+  ];
+
+  @override
+  Map<String, String> get buttonMapping => {
+    "Swivel": "Right Joystick (horizontal)",
+  };
+}

lib/src/models/rover/controls/controls.dart

@@ -2,6 +2,7 @@ import "package:rover_dashboard/data.dart";
 import "package:rover_dashboard/services.dart";
 
 import "arm.dart";
+import "base_station.dart";
 import "camera.dart";
 import "tank_drive.dart";
 import "none.dart";
@@ -34,6 +35,7 @@ abstract class RoverControls {
     OperatingMode.none => NoControls(),
     OperatingMode.cameras => CameraControls(),
     OperatingMode.modernDrive => ModernDriveControls(),
+    OperatingMode.baseStation => BaseStationControls(),
 	};
 
 	/// The [OperatingMode] for these controls.

lib/src/models/rover/metrics.dart

@@ -1,6 +1,7 @@
 import "dart:async";
 import "package:rover_dashboard/data.dart";
 import "package:rover_dashboard/models.dart";
+import "package:rover_dashboard/src/data/metrics/antenna.dart";
 
 /// A data model that listens for updated data and provides [Metrics] to the UI.
 class RoverMetrics extends Model {
@@ -22,11 +23,14 @@ class RoverMetrics extends Model {
   /// Vitals data from the rover.
   final vitals = VitalsMetrics();
 
+  /// Data from the Base Station
+  final baseStation = BaseStationMetrics();
+
 	/// A list of all the metrics to iterate over.
 	///
 	/// NOTE: Keep this as a getter, NOT a field. If this is made a field, then it won't update
 	/// when new data is received. As a getter, every time it is called it will use new data.
-	List<Metrics> get allMetrics => [vitals, position, drive, science, arm, gripper];
+	List<Metrics> get allMetrics => [vitals, position, drive, science, arm, gripper, baseStation];
 
   /// Whether the given command is supported by the rover.
   bool isSupportedVersion(Message command) {
@@ -40,6 +44,7 @@ class RoverMetrics extends Model {
     DriveCommand().messageName: drive,
     ArmCommand().messageName: arm,
     GripperCommand().messageName: gripper,
+    BaseStationCommand().messageName: baseStation,
   };
 
 	@override
@@ -69,6 +74,11 @@ class RoverMetrics extends Model {
 			constructor: GripperData.fromBuffer,
 			callback: gripper.update,
 		);
+    models.messages.stream.onMessage(
+      name: BaseStationData().messageName,
+      constructor: BaseStationData.fromBuffer,
+      callback: baseStation.update,
+    );
     drive.addListener(vitals.notify);
     // versionTimer = Timer.periodic(versionInterval, _sendVersions);
 	}