Position enhancements (#112)

- Show more orientation data
- Allow user to enter coordinates in degrees/minutes/seconds format
- Generalize the Autonomy page to be a Map page for placing markers
- Show an arrow on the map to indicate direction

lib/models.dart

@@ -41,6 +41,7 @@ export "src/models/view/science.dart";
 
 // Builder models
 export "src/models/view/builders/autonomy_command.dart";
+export "src/models/view/builders/gps.dart";
 export "src/models/view/builders/science_command.dart";
 export "src/models/view/builders/mars_command.dart";
 export "src/models/view/builders/builder.dart";

lib/pages.dart

@@ -27,7 +27,7 @@ class Routes {
 	static const String science = "Science Analysis"; 
 
 	/// The name of the autonomy page.
-	static const String autonomy = "Autonomy"; 
+	static const String autonomy = "Map"; 
 
 	/// The name of the MARS page.
 	static const String mars = "MARS";

lib/src/data/metrics/position.dart

@@ -29,7 +29,10 @@ class PositionMetrics extends Metrics<RoverPosition> {
     "  Latitude: ${data.gps.latitude.toStringAsFixed(2)}°",
 		"  Longitude: ${data.gps.longitude.toStringAsFixed(2)}°",
 		"  Altitude: ${data.gps.altitude.toStringAsFixed(2)} m",
-		"Orientation: ${data.orientation.y.toStringAsFixed(2)}° of N",
+		"Orientation:",
+		"  X: ${data.orientation.x.toStringAsFixed(2)}°",
+		"  Y: ${data.orientation.y.toStringAsFixed(2)}°",
+		"  Z: ${data.orientation.z.toStringAsFixed(2)}°",
     "Distance: ${data.gps.distanceTo(baseStation).toStringAsFixed(2)} m",
 	];
 
@@ -38,4 +41,7 @@ class PositionMetrics extends Metrics<RoverPosition> {
 		super.update(value);
 		models.sockets.mars.sendMessage(MarsCommand(rover: value.gps));
 	}
+
+	/// The angle to orient the rover on the top-down map.
+	double get angle => data.orientation.z;
 }

lib/src/data/protobuf.dart

@@ -159,7 +159,7 @@ extension AutonomyStateUtils on AutonomyState {
 	/// The human-readable name of the task.
 	String get humanName {
 		switch (this) {
-			case AutonomyState.AUTONOMY_STATE_UNDEFINED: return "";
+			case AutonomyState.AUTONOMY_STATE_UNDEFINED: return "Disabled";
 			case AutonomyState.PATHING: return "Calculating path...";
 			case AutonomyState.APPROACHING: return "Approaching destination";
 			case AutonomyState.AT_DESTINATION: return "Arrived at destination";

lib/src/models/view/autonomy.dart

@@ -14,7 +14,9 @@ enum AutonomyCell {
 	/// This cell is along the rover's path to its destination.
 	path,
 	/// This cell is traversable but otherwise not of interest.
-	empty
+	empty,
+	/// THis cell was manually marked as a point of interest.
+	marker,
 }
 
 /// Like an [Offset] from Flutter, but using integers instead of doubles.
@@ -75,6 +77,11 @@ class AutonomyModel with ChangeNotifier {
 		]
 	];
 
+	/// A list of markers maanually 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();
+
 	/// The rover's current position.
 	GpsCoordinates get roverPosition => models.rover.metrics.position.data.gps;
 
@@ -84,14 +91,17 @@ 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, roverPosition, AutonomyCell.rover);	
 		markCell(result, data.destination, AutonomyCell.destination);
+		markCell(result, roverPosition, AutonomyCell.rover);	
 		for (final obstacle in data.obstacles) {
 			markCell(result, obstacle, AutonomyCell.obstacle);
 		}
 		for (final path in data.path) {
 			markCell(result, path, AutonomyCell.path);
 		}
+		for (final marker in markers) {
+			markCell(result, marker, AutonomyCell.marker);
+		}
 		return result;
 	}
 
@@ -143,4 +153,18 @@ class AutonomyModel with ChangeNotifier {
 		data.mergeFromMessage(value);
 		notifyListeners();
 	}
+
+	/// Places the marker in [markerBuilder].
+	void placeMarker() {
+		markers.add(markerBuilder.value);
+		markerBuilder.clear();
+		notifyListeners();
+	}
+
+	/// Deletes all the markers in [markers].
+	void clearMarkers() {
+		markers.clear();
+		markerBuilder.clear();
+		notifyListeners();
+	}
 }

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

@@ -5,13 +5,13 @@ import "package:rover_dashboard/models.dart";
 class AutonomyCommandBuilder extends ValueBuilder<AutonomyCommand> {
 	/// The type of task the rover should complete.
 	AutonomyTask task = AutonomyTask.GPS_ONLY;
-	/// The latitude of the destination.
-	final latitude = NumberBuilder<double>(0);
-	/// The longitude of the destination.
-	final longitude = NumberBuilder<double>(0);
+
+	/// The view model to edit the [AutonomyCommand.destination].
+	final gps = GpsBuilder();
 
 	/// The handshake as received by the rover after [submit] is called.
 	AutonomyCommand? _handshake;
+
 	/// Whether the dashboard is awaiting a response from the rover.
 	bool isLoading = false;
 
@@ -31,11 +31,11 @@ class AutonomyCommandBuilder extends ValueBuilder<AutonomyCommand> {
 	}
 
 	@override
-	bool get isValid => latitude.isValid && longitude.isValid;
+	bool get isValid => gps.isValid;
 
 	@override
 	AutonomyCommand get value => AutonomyCommand(
-		destination: GpsCoordinates(latitude: latitude.value, longitude: longitude.value),
+		destination: gps.value,
 		task: task,
 	);
 

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

@@ -70,10 +70,10 @@ class NumberBuilder<T extends num> extends TextBuilder<T> {
 	bool get isInteger => List<int> == List<T>;
 
 	/// The minimum allowed value.
-	num? min;
+	final num? min;
 
 	/// The maximum allowed value.
-	num? max;
+	final num? max;
 
 	/// Creates a number builder based on an initial value.
 	NumberBuilder(super.value, {this.min, this.max});
@@ -95,6 +95,14 @@ class NumberBuilder<T extends num> extends TextBuilder<T> {
 		}
 		notifyListeners();
 	}
+
+	/// Clears the value in this builder.
+	void clear() {
+		error = null;
+		value = (isInteger ? 0 : 0.0) as T;
+		controller.text = value.toString();
+		notifyListeners();
+	}
 }
 
 /// A specialized [TextBuilder] to handle IP addresses.

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

@@ -0,0 +1,84 @@
+import "package:rover_dashboard/data.dart";
+import "package:rover_dashboard/models.dart";
+
+/// The format to enter a GPS coordinate.
+/// 
+/// Internally, all the math is done in [decimal], but [GpsBuilder] supports [degrees] as well.
+enum GpsType {
+	/// Degrees, minutes, seconds format.
+	degrees,
+	/// Decimal longitude and latitude.
+	decimal;
+
+	/// The human-readable name of the GPS type.
+	String get humanName => switch (this) {
+		GpsType.degrees => "Degrees",
+		GpsType.decimal => "Decimal",
+	};
+}
+
+/// A [ValueBuilder] to modify a [GpsCoordinates] object in either [GpsType].
+class GpsBuilder extends ValueBuilder<GpsCoordinates> {
+	/// The format to enter a GPS coordinate.
+	GpsType type = GpsType.decimal;
+
+	/// Longitude in decimal degrees.
+	final longDecimal = NumberBuilder<double>(0);
+	/// Latitude in decimal degrees.
+	final latDecimal = NumberBuilder<double>(0);
+
+	/// Longitude in degrees.
+	final longDegrees = NumberBuilder<int>(0);
+	/// Longitude in minutes.
+	final longMinutes = NumberBuilder<int>(0);
+	/// Longitude in seconds.
+	final longSeconds = NumberBuilder<int>(0);
+
+	/// Latitude in degrees.
+	final latDegrees = NumberBuilder<int>(0);
+	/// Latitude in minutes.
+	final latMinutes = NumberBuilder<int>(0);
+	/// Latitude in seconds.
+	final latSeconds = NumberBuilder<int>(0);
+
+	@override
+	List<NumberBuilder<dynamic>> get otherBuilders => [
+		longDecimal, latDecimal,
+		longDegrees, longMinutes, longSeconds,
+		latDegrees, latMinutes, latSeconds,
+	];
+
+	@override
+	bool get isValid => type == GpsType.decimal
+		? (latDecimal.isValid && longDecimal.isValid)
+		: (latDegrees.isValid && longDegrees.isValid && latMinutes.isValid && longMinutes.isValid && latSeconds.isValid && longSeconds.isValid);
+
+	@override
+	GpsCoordinates get value => switch (type) {
+		GpsType.decimal => GpsCoordinates(longitude: longDecimal.value, latitude: latDecimal.value),
+		GpsType.degrees => GpsCoordinates(
+			longitude: longDegrees.value + (longMinutes.value / 60) + (longSeconds.value / 3600),
+			latitude: latDegrees.value + (latMinutes.value / 60) + (latSeconds.value / 3600),
+		),
+	};
+
+	/// Clears all the data in these text boxes.
+	void clear() {
+		longDecimal.clear();
+		longDegrees.clear();
+		longMinutes.clear();
+		longSeconds.clear();
+
+		latDecimal.clear();
+		latDegrees.clear();
+		latMinutes.clear();
+		latSeconds.clear();
+		notifyListeners();
+	}
+
+	/// Updates the [GpsType].
+	void updateType(GpsType input) {
+		type = input;
+		notifyListeners();
+	}
+}

lib/src/pages/autonomy.dart

@@ -1,3 +1,4 @@
+import "dart:math";
 import "package:flutter/material.dart";
 
 import "package:rover_dashboard/data.dart";
@@ -16,6 +17,7 @@ class AutonomyPage extends StatelessWidget {
 		AutonomyCell.obstacle => Colors.black,
 		AutonomyCell.path => Colors.blueGrey,
 		AutonomyCell.empty => Colors.white,
+		AutonomyCell.marker => Colors.red,
 	};
 
 	@override
@@ -27,11 +29,20 @@ class AutonomyPage extends StatelessWidget {
 					const SizedBox(height: 48),
 					for (final row in model.grid) Expanded(
 						child: Row(children: [
-							for (final cell in row) Expanded(child: Container(
-								height: double.infinity,
-								width: 24,
-								decoration: BoxDecoration(color: getColor(cell), border: Border.all()),
-							),)					
+							for (final cell in row) Expanded(
+								child: Container(
+									height: double.infinity,
+									width: 24,
+									decoration: BoxDecoration(color: getColor(cell), border: Border.all()),
+									child: cell != AutonomyCell.rover ? null : ProviderConsumer<PositionMetrics>.value(
+										value: models.rover.metrics.position, 
+										builder: (position) => Transform.rotate(
+											angle: position.angle * pi / 180, 
+											child: const Icon(Icons.arrow_upward, size: 24),
+										),
+									),
+								),
+							),
 						],),
 					),
 					const SizedBox(height: 4),
@@ -54,6 +65,10 @@ class AutonomyPage extends StatelessWidget {
 						Container(width: 24, height: 24, color: Colors.blueGrey),
 						const SizedBox(width: 4),
 						Text("Path", style: context.textTheme.titleMedium),
+						const SizedBox(width: 24),
+						Container(width: 24, height: 24, color: Colors.red),
+						const SizedBox(width: 4),
+						Text("Marker", style: context.textTheme.titleMedium),
 						const Spacer(),
 						Text("Zoom: ", style: context.textTheme.titleLarge),
 						Expanded(flex: 2, child: Slider(
@@ -65,24 +80,24 @@ class AutonomyPage extends StatelessWidget {
 							onChanged: (value) => model.zoom(value.toInt()),
 						),),
 					],),
+					Row(children: [
+						const SizedBox(width: 4),
+						Text("Place marker: ", style: context.textTheme.titleLarge),
+						const SizedBox(width: 8),
+						ElevatedButton.icon(icon: const Icon(Icons.clear), label: const Text("Clear all"), onPressed: model.clearMarkers),
+						const Spacer(),
+						GpsEditor(model: model.markerBuilder),
+						const SizedBox(width: 8),
+						ElevatedButton(onPressed: model.placeMarker, child: const Text("Place")), 
+						const SizedBox(width: 8),
+					],),
+					const Divider(),
 					ProviderConsumer<AutonomyCommandBuilder>(
 						create: () => AutonomyCommandBuilder(),
 						builder: (command) => Row(mainAxisSize: MainAxisSize.min, children: [
 							const SizedBox(width: 4),
-							Text("Next destination: ", style: context.textTheme.titleLarge),
+							Text("Autonomy: ", style: context.textTheme.titleLarge),
 							const Spacer(),
-							SizedBox(width: 250, child: NumberEditor(
-								name: "Longitude",
-								model: command.longitude,
-								width: 12,
-								titleFlex: 1,
-							),),
-							SizedBox(width: 250, child: NumberEditor(
-								name: "Latitude",
-								model: command.latitude,
-								width: 12,
-								titleFlex: 1,
-							),),
 							DropdownEditor<AutonomyTask>(
 								name: "Task type",
 								value: command.task,
@@ -93,6 +108,9 @@ class AutonomyPage extends StatelessWidget {
 								onChanged: command.updateTask,
 								humanName: (task) => task.humanName,
 							),
+							const SizedBox(width: 16),
+							GpsEditor(model: command.gps),
+							const SizedBox(width: 8),
 							ElevatedButton(
 								onPressed: command.isLoading ? null : command.submit, 
 								child: const Text("Submit"),
@@ -105,14 +123,17 @@ class AutonomyPage extends StatelessWidget {
 			),
 			Container(
 				color: context.colorScheme.surface, 
-				height: 48, 
+				height: 50, 
 				child: Row(children: [  // The header at the top
 					const SizedBox(width: 8),
-					Text("Autonomy", style: context.textTheme.headlineMedium), 
+					Text("Map", style: context.textTheme.headlineMedium), 
 					const Spacer(),
-					Text("State: ${model.data.state.humanName}", style: context.textTheme.headlineSmall),
+					Text("Autonomy status", style: context.textTheme.headlineMedium),
+					const SizedBox(width: 16),
+					Text("State: ${model.data.state.humanName}.", style: context.textTheme.titleLarge),
+					const SizedBox(width: 8),
+					Text("Task: ${model.data.task.humanName}", style: context.textTheme.titleLarge),
 					const VerticalDivider(),
-					Text("Task: ${model.data.task.humanName}", style: context.textTheme.headlineSmall),
 					const ViewsSelector(currentView: Routes.autonomy),
 				],),
 			),