MIRV-App

Repository for MIRV mobile app code

Demo project tutorial: 100ms.live

Command Examples

Command Name	Description	Initial State	Final State	Example
E-Stop	E-stop rover	any	e_stop	{"command":"e_stop","subsystem":"general","runtimeType":"generalCommand"}
Disable	Soft stop: put rover in disabled state	idle, docked	disabled	{"command":"disable","subsystem":"general","runtimeType":"generalCommand"}
Enable	Take rover out of disabled state, allow actions	disabled	idle, connected_idle_docked	{"command":"enable","subsystem":"general","runtimeType":"generalCommand"}
Deploy	Deploy rover from garage	docked	idle	{"command":"deploy","subsystem":"general","runtimeType":"generalCommand"}
Stow	Stow rover in garage. Return to garage, enter garage, and lift garage	idle	docked	{"command":"stow","subsystem":"general","runtimeType":"generalCommand"}
Cancel	Stop autonomous command (pi-lit placement)	autonomous, remote_operation_autonomous	connected_idle	{"command":"cancel","subsystem":"general","runtimeType":"generalCommand"}
Deploy Pi-Lits	Deploy Pi-lits. Set formation and start location	idle	autonomous	{"command":"deploy_pi_lits","subsystem":"general","runtimeType":"generalCommand"}
Retrieve Pi-lits	Retrieve all placed Pi-lits	idle	autonomous	{"command":"retrieve_pi_lits","subsystem":"general","runtimeType":"generalCommand"}
Enable Remote Operation	Enable direct user control (joysticks)	idle	remote_operation	{"command":"enable_remote_operation","subsystem":"general","runtimeType":"generalCommand"}
Disable Remote Operation	Disable direct user control	remote_operation	idle	{"command":"disable_remote_operation","subsystem":"general","runtimeType":"generalCommand"}
Heartbeat	Used to ensure the connection is still open	any	any	{"command":"heartbeat","subsystem":"heartbeat","runtimeType":"heartbeatCommand"}
Pickup 1 Pi-Lit	Requires remote_operation, tell rover to find and pick up the nearese Pi-Lit	remote_operation	remote_operation	{"command":"pickup_1_pi_lit","subsystem":"intake","runtimeType":"intakeCommand"}
Place 1 Pi-Lit	Requires remote_operation, tell rover to place one Pi-Lit at its current location	remote_operation	remote_operation	{"command":"place_1_pi_lit","subsystem":"intake","runtimeType":"intakeCommand"}
Set Pi-Lit Light State	Tell rover to place one Pi-Lit at its current location (idle, wave, wave_reverse, simultaneous)	any	any	{"command":"idle","commandParameters":null,"subsystem":"pi_lit","runtimeType":"piLitCommand"}
Set Number Pi-Lits	Set number of Pi-Lits stored in magazine/conveyors (up to 4 for each side)	any	any	{"command":"set_number_pi_lits","commandParameters":{"piLitsLeft":4,"piLitsRight":4,"runtimeType":"numberPiLitsOverride"},"subsystem":"pi_lit","runtimeType":"piLitCommand"}
Change Camera Source	Tell rover to change which camera feed is being sent	any	any	{"command":"switch_camera","commandParameters":{"camera":"webcam_front","runtimeType":"switchCamera"},"subsystem":"camera","runtimeType":"cameraCommand"}
Drive Rover	Requires remote_oepration, drive rover with joysticks/gamepad	remote_operation	remote_operation	{"command":"arcade","commandParameters":{"x":0.0,"y":0.0,"runtimeType":"drivetrain"},"subsystem":"drivetrain","runtimeType":"drivetrainCommand"}
Move Rover	Tell rover to navigate to a new location	idle	autonomous	{"command":"to_location","commandParameters":{"lat":39.0,"long":-105.0,"runtimeType":"movement"},"subsystem":"movement","runtimeType":"movementCommand"}

Notes:

The runtimeType is not intended to be used, please ignore it.

Development Environment (Windows)

Video tutorial for all described steps: https://www.youtube.com/playlist?list=PL__UlMMmv_rzDm5i-_HXiQ5YoQKsyurfA

You will need the following software packages:

• Flutter
• Android Studio
• VS Code

Flutter

Flutter Download

Must be installed and added to system path You can test your installation by running the following command in powershell:

flutter

It should print a large page of white text. If it fails, it will print red text, likely starting with: flutter : The term 'flutter' is not recognized as the name of a cmdlet, function, script file, or operable program. this means that you did not add it to your system path correctly, or you just need to close and restart powershell

Android Studio

Android Studio Download

Must be installed, and you must be able to use the AVD manager to launch/manage emulated android devices

VS Code

VS Code Download

You must install VS code, and add the flutter extension

Creating/Running Your First Flutter Project

Video tutorial

1. Launch Android Studio and in the AVD manager, launch an emulator
2. Launch VS Code
3. In VS Code, hit CTRL + SHIFT + P, then search for Flutter: New Project. Select Application, then create/select the folder in which to create the new project (like 'github'). Then enter the name of the new project
4. When you see a popup for "use recommended flutter/dart settings", select yes. This will install an auto code formatter and some intellisense packages, very convenient. Every time you save your code with CRTL + S, it will re-format the document, if it is error-free. This will be a requirement for all developers
5. After that command finishes (sometimes it stalls, and you can fix it by clicking in the VS code window somewhere), select the emulator you just launched (bottom right corner). You might have to open the src/main.dart file for this option to be available
6. Then, hit the "Run and Debug" play button in the top right. This will begin building the application, and will deploy it to the emulator when finished
7. The app should open on the emulator! Press the bottom right floating action button to test the app, the number in the center of the screen should increment

Google Codelabs Tutorial

tutorial

This tutorial will have you create a new sample application, beginning with a flutter command. To execute this command, open powershell, navigate to the directory in which you want to create the app, and then run the commands

flutter create startup_namer
cd startup_namer

(Only specifying because the $ signs in the tutorial are confusing) Follow the tutorial, and after you are done, complete part 2

Freezed

To build the freezed classes run the following command:

flutter pub run build_runner build --delete-conflicting-outputs