Autonomy fixes and cleanups (#131)

lib/models.dart

@@ -39,7 +39,7 @@ export "src/models/rover/metrics.dart";
 export "src/models/rover/rover.dart";
 
 // View models
-export "src/models/view/autonomy.dart";
+export "src/models/view/map.dart";
 export "src/models/view/logs.dart";
 export "src/models/view/mars.dart";
 export "src/models/view/science.dart";

lib/pages.dart

@@ -6,7 +6,7 @@
 /// This library may depend on the data, services, models, and widgets libraries. 
 library pages;
 
-export "src/pages/autonomy.dart";
+export "src/pages/map.dart";
 export "src/pages/home.dart";
 export "src/pages/science.dart";
 export "src/pages/logs.dart";

lib/src/models/data/home.dart

@@ -32,7 +32,7 @@ class HomeModel extends Model {
 
 	/// Sets a new message that will disappear in 3 seconds.
 	void setMessage({required Severity severity, required String text, bool permanent = false}) {
-    if (_hasError) return;  // Don't replace error messages
+    if (_hasError && severity != Severity.critical) return;  // Don't replace critical messages
 		_messageTimer?.cancel();  // the new message might be cleared if the old one were about to
 		message = TaskbarMessage(severity: severity, text: text);
 		notifyListeners();

lib/src/models/data/sockets.dart

@@ -92,7 +92,6 @@ 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);
-		await reset();
 	}
 
 	/// Resets all the sockets.
@@ -101,20 +100,19 @@ class Sockets extends Model {
 	/// Resetting the sockets will bypass these errors.
 	Future<void> reset() async {
 		for (final socket in sockets) { 
-      // Sockets lose their destination when disposed, so we save it and restore it.
-      final destination = socket.destination;
 			await socket.dispose();
-      socket.destination = destination;
 			await socket.init();
 		}
+    // Sockets lose their destination when disposed, so we restore it.
+    await updateSockets();
 	}
 
 	/// Change which rover is being used.
 	Future<void> setRover(RoverType? value) async {
 		if (value == null) return;
 		rover = value;
 		models.home.setMessage(severity: Severity.info, text: "Using: ${rover.name}");
-		await updateSockets();
+    await reset();
 		notifyListeners();
 	}
 }

lib/src/models/data/views.dart

@@ -83,12 +83,8 @@ class DashboardView {
 	static final List<DashboardView> uiViews = [
 		DashboardView(name: Routes.science, builder: (context) => SciencePage()),
 		DashboardView(name: Routes.autonomy, builder: (context) => MapPage()),
-    logView, 
 	];
 
-  /// The [LogsPage] view.
-  static final logView = DashboardView(name: Routes.logs, builder: (context) => LogsPage());
-
 	/// A blank view.
 	static final blank = DashboardView(
 		name: Routes.blank,
@@ -142,10 +138,4 @@ class ViewsModel extends Model {
 		}
 		notifyListeners();
 	}
-
-  /// Opens the log page in a full-screen view.
-  void openLogs() {    
-    views = [DashboardView.logView];
-    notifyListeners();
-  }
 }

lib/src/models/view/builders/autonomy_command.dart

@@ -56,7 +56,7 @@ class AutonomyCommandBuilder extends ValueBuilder<AutonomyCommand> {
 		if (_handshake != null) {
 			models.home.setMessage(severity: Severity.info, text: "Command received");
 		} else {
-			models.home.setMessage(severity: Severity.error, text: "The rover did not receive that command");
+			models.home.setMessage(severity: Severity.error, text: "Command not received");
 		}
 		isLoading = false;
 		notifyListeners();
@@ -72,12 +72,12 @@ class AutonomyCommandBuilder extends ValueBuilder<AutonomyCommand> {
 		models.sockets.autonomy.sendMessage(message);
 		models.sockets.autonomy.sendMessage(message);
 		models.sockets.autonomy.sendMessage(message);
-		models.home.setMessage(severity: Severity.info, text: "Aborting autonomy...");
+		models.home.setMessage(severity: Severity.info, text: "Aborting...");
 		await Future<void>.delayed(const Duration(seconds: 1));
 		if (_handshake != null) {
 			models.home.setMessage(severity: Severity.info, text: "Command received");
 		} else {
-			models.home.setMessage(severity: Severity.critical, text: "The rover did not receive that command");
+			models.home.setMessage(severity: Severity.critical, text: "Command not received");
 		}
 		isLoading = false;
 		notifyListeners();

lib/src/models/view/logs.dart

@@ -83,16 +83,21 @@ class LogsViewModel with ChangeNotifier {
 
   /// Disables [LogsOptionsViewModel.autoscroll] when the user scrolls manually.
   void onScroll() {
-    final enableAutoscroll = scrollController.position.pixels == scrollController.position.maxScrollExtent;
+    final enableAutoscroll = scrollController.position.pixels == 0;
     options.setAutoscroll(input: enableAutoscroll);
   }
 
   /// Scrolls to the bottom when a new log appears (if [LogsOptionsViewModel.autoscroll] is true).
   void onNewLog() {
     notifyListeners();
-    if (options.autoscroll && scrollController.hasClients) {
-      scrollController.jumpTo(scrollController.position.maxScrollExtent);
-    }
+    if (!scrollController.hasClients) return;
+    scrollController.jumpTo(options.autoscroll ? 0 : scrollController.offset + 64);
+  }
+
+  /// Jumps to the bottom of the logs.
+  void jumpToBottom() {
+    if (!scrollController.hasClients) return;
+    scrollController.animateTo(0, duration: const Duration(milliseconds: 500), curve: Curves.easeOutBack);
   }
 
   /// Updates the UI.
@@ -106,6 +111,6 @@ class LogsViewModel with ChangeNotifier {
       if (log.level.value > options.levelFilter.value) continue;
       result.add(log);
     }
-    return result;
+    return result.reversed.toList();
   }
 }

lib/src/models/view/autonomy.dart → lib/src/models/view/map.dart

@@ -78,7 +78,7 @@ class AutonomyModel with ChangeNotifier {
 		],
 	];
 
-	/// A list of markers maanually placed by the user. Useful for the Extreme Retrieval Mission.
+	/// A list of markers manually placed by the user. Useful for the Extreme Retrieval Mission.
 	List<GpsCoordinates> markers = [];
 	/// The view model to edit the coordinate of the marker.
 	GpsBuilder markerBuilder = GpsBuilder();
@@ -92,8 +92,6 @@ class AutonomyModel with ChangeNotifier {
 	/// The grid of size [gridSize] with the rover in the center, ready to draw on the UI.
 	List<List<AutonomyCell>> get grid {
 		final result = empty;
-		markCell(result, data.destination, AutonomyCell.destination);
-		markCell(result, roverPosition, AutonomyCell.rover);	
 		for (final obstacle in data.obstacles) {
 			markCell(result, obstacle, AutonomyCell.obstacle);
 		}
@@ -103,6 +101,9 @@ class AutonomyModel with ChangeNotifier {
 		for (final marker in markers) {
 			markCell(result, marker, AutonomyCell.marker);
 		}
+    // Marks the rover and destination -- these should be last
+    if (data.hasDestination()) markCell(result, data.destination, AutonomyCell.destination);
+		markCell(result, roverPosition, AutonomyCell.rover);	
 		return result;
 	}
 
@@ -151,7 +152,7 @@ class AutonomyModel with ChangeNotifier {
 
 	/// A handler to call when new data arrives. Updates [data] and the UI.
 	void onNewData(AutonomyData value) {
-		data.mergeFromMessage(value);
+		data = value;
 		services.files.logData(value);
 		notifyListeners();
 	}

lib/src/pages/home.dart

@@ -95,11 +95,9 @@ class HomePageState extends State<HomePage>{
 					icon: const Icon(Icons.menu),
 					onPressed: () => setState(() => showSidebar = !showSidebar),
 				),),
-
 			],
-
 		),
-		bottomNavigationBar: Footer(),
+		bottomNavigationBar: const Footer(),
 		body: Row(
 			children: [
 				const Expanded(child: ViewsWidget()),

lib/src/pages/logs.dart

@@ -2,7 +2,6 @@ import "package:flutter/material.dart";
 
 import "package:rover_dashboard/data.dart";
 import "package:rover_dashboard/models.dart";
-import "package:rover_dashboard/pages.dart";
 import "package:rover_dashboard/widgets.dart";
 
 /// A widget to show the options for the logs page.
@@ -65,6 +64,7 @@ class LogsOptions extends ReactiveWidget<LogsOptionsViewModel> {
         value: model.autoscroll,
         onChanged: (input) {
           model.setAutoscroll(input: input);
+          if (input ?? false) viewModel.jumpToBottom();
           viewModel.update();
         },
       ),),
@@ -86,57 +86,56 @@ class LogsState extends State<LogsPage> {
   final model = LogsViewModel();
 
   @override
-  Widget build(BuildContext context) => Stack(
-    children: [
-      Column(children: [
-        const SizedBox(height: 50),
-        LogsOptions(model),
-        const Divider(),
-        Expanded(child: LogsBody(model)),
-      ],),
-      Container(
-        color: context.colorScheme.surface,
-        height: 50,
-        child: Row(children: [
-          const SizedBox(width: 8),
-          Text("Logs", style: context.textTheme.headlineMedium),
-          const Spacer(),
-          IconButton(
-            icon: const Icon(Icons.delete_forever),
-            onPressed: models.logs.clear,
-            tooltip: "Clear logs",
-          ),
-          IconButton(
-            icon: const Icon(Icons.help),
-            tooltip: "Help",
-            onPressed: () => showDialog<void>(
-              context: context,
-              builder: (context) => AlertDialog(
-                title: const Text("Logs help"),
-                content: Column(mainAxisSize: MainAxisSize.min, children: [
-                  const Text("This page contains all logs received by the dashboard.\nSelecting a level means that only messages of that level or higher will be shown.", textAlign: TextAlign.center,),
-                  const SizedBox(height: 4),
-                  ListTile(leading: criticalWidget, title: const Text("Critical"), subtitle: const Text("The rover is in a broken state and may shutdown")),
-                  const ListTile(leading: errorWidget, title: Text("Error"), subtitle: Text("Something you tried didn't work, but the rover can still function")),
-                  const ListTile(leading: warningWidget, title: Text("Warning"), subtitle: Text("Something may have gone wrong, you should check it out")),
-                  ListTile(leading: infoWidget, title: const Text("Info"), subtitle: const Text("The rover is functioning normally")),
-                  const ListTile(leading: debugWidget, title: Text("Debug"), subtitle: Text("Extra information that shows what the rover's thinking")),
-                  const ListTile(leading: traceWidget, title: Text("Trace"), subtitle: Text("Values from the code to debug specific issues")),
-                  const SizedBox(height: 12),
-                ],),
-                actions: [
-                  ElevatedButton(
-                    onPressed: () => Navigator.of(context).pop(), 
-                    child: const Text("Close"),
-                  ),
-                ],
-              ),
+  Widget build(BuildContext context) => Scaffold(
+    body: Column(children: [
+      const SizedBox(height: 12),
+      LogsOptions(model),
+      const Divider(),
+      Expanded(child: LogsBody(model)),
+    ],),
+    appBar: AppBar(
+      title: const Text("Logs"),
+      actions: [
+        IconButton(
+          icon: const Icon(Icons.help),
+          tooltip: "Help",
+          onPressed: () => showDialog<void>(
+            context: context,
+            builder: (context) => AlertDialog(
+              title: const Text("Logs help"),
+              content: Column(mainAxisSize: MainAxisSize.min, children: [
+                const Text("This page contains all logs received by the dashboard.\nSelecting a level means that only messages of that level or higher will be shown.", textAlign: TextAlign.center,),
+                const SizedBox(height: 4),
+                ListTile(leading: criticalWidget, title: const Text("Critical"), subtitle: const Text("The rover is in a broken state and may shutdown")),
+                const ListTile(leading: errorWidget, title: Text("Error"), subtitle: Text("Something you tried didn't work, but the rover can still function")),
+                const ListTile(leading: warningWidget, title: Text("Warning"), subtitle: Text("Something may have gone wrong, you should check it out")),
+                ListTile(leading: infoWidget, title: const Text("Info"), subtitle: const Text("The rover is functioning normally")),
+                const ListTile(leading: debugWidget, title: Text("Debug"), subtitle: Text("Extra information that shows what the rover's thinking")),
+                const ListTile(leading: traceWidget, title: Text("Trace"), subtitle: Text("Values from the code to debug specific issues")),
+                const SizedBox(height: 12),
+              ],),
+              actions: [
+                ElevatedButton(
+                  onPressed: () => Navigator.of(context).pop(), 
+                  child: const Text("Close"),
+                ),
+              ],
             ),
           ),
-          const ViewsSelector(currentView: Routes.logs),
-        ],),
-      ),
-    ],
+        ),
+        IconButton(
+          icon: const Icon(Icons.vertical_align_bottom),
+          onPressed: model.jumpToBottom,
+          tooltip: "Jump to bottom",
+        ),
+        IconButton(
+          icon: const Icon(Icons.delete_forever),
+          onPressed: models.logs.clear,
+          tooltip: "Clear logs",
+        ),
+      ],
+    ),
+    bottomNavigationBar: const Footer(showLogs: false),
   );
 }
 
@@ -158,6 +157,7 @@ class LogsBody extends ReactiveWidget<LogsViewModel> {
     : ListView.builder(
       itemCount: model.logs.length,
       controller: model.scrollController,
+      reverse: true,
       itemBuilder: (context, index) => LogWidget(model.logs[index]),
     );
 }

lib/src/pages/autonomy.dart → lib/src/pages/map.dart

@@ -78,7 +78,7 @@ class MapPage extends StatelessWidget {
 		builder: (model) => Stack(children: [
 			Column(children: [
         const SizedBox(height: 48),
-        for (final row in model.grid) Expanded(
+        for (final row in model.grid.reversed) Expanded(
           child: Row(children: [
             for (final cell in row) Expanded(
               child: Container(
@@ -88,7 +88,7 @@ class MapPage extends StatelessWidget {
                 child: cell != AutonomyCell.rover ? null : ProviderConsumer<PositionMetrics>.value(
                   value: models.rover.metrics.position, 
                   builder: (position) => Transform.rotate(
-                    angle: position.angle * pi / 180, 
+                    angle: -position.angle * pi / 180, 
                     child: const Icon(Icons.arrow_upward, size: 24),
                   ),
                 ),

lib/src/services/socket.dart

@@ -15,7 +15,7 @@ import "package:rover_dashboard/data.dart";
 /// - Check [connectionStrength] or [isConnected] for the connection to the given [device].
 /// - To send a message, call [sendMessage].
 /// - Call [dispose] to close the socket.
-class DashboardSocket extends ProtoSocket {
+class DashboardSocket extends BurtUdpProtocol {
 	/// A callback to run when the [device] has connected.
 	void Function(Device device) onConnect;
 	/// A callback to run when the [device] has disconnected.
@@ -33,9 +33,11 @@ class DashboardSocket extends ProtoSocket {
 	}) : super(
 		port: null,
     quiet: true,
-		heartbeatInterval: const Duration(milliseconds: 200),
 	);
 
+  @override
+  Duration get heartbeatInterval => const Duration(milliseconds: 200);
+
 	/// The connection strength, as a percentage to this [device].
 	final connectionStrength = ValueNotifier<double>(0);
 
@@ -46,11 +48,9 @@ class DashboardSocket extends ProtoSocket {
 	bool _isChecking = false;
 
 	/// Whether this socket has a stable connection to the [device].
+  @override
 	bool get isConnected => connectionStrength.value > 0;
 
-	@override
-	void updateSettings(UpdateSetting settings) { }
-
 	@override
 	void onMessage(WrappedMessage wrapper) => messageHandler(wrapper);