Modified Critical Metric from String to MetricLine

lib/data.dart

@@ -16,7 +16,6 @@ export "src/data/metrics/arm.dart";
 export "src/data/metrics/drive.dart";
 export "src/data/metrics/gripper.dart";
 export "src/data/metrics/position.dart";
-export "src/data/metrics/mars.dart";
 export "src/data/metrics/metrics.dart";
 export "src/data/metrics/science.dart";
 

lib/models.dart

@@ -41,7 +41,6 @@ export "src/models/rover/rover.dart";
 // View models
 export "src/models/view/map.dart";
 export "src/models/view/logs.dart";
-export "src/models/view/mars.dart";
 export "src/models/view/science.dart";
 export "src/models/view/timer.dart";
 

lib/src/data/metrics/arm.dart

@@ -9,24 +9,23 @@ class ArmMetrics extends Metrics<ArmData> {
 	String get name => "Arm Base";
 
 	/// Returns a description of a [MotorData].
-	List<String> getMotorData(MotorData motor) => [
-		"  Is moving? ${motor.isMoving}",
-		"  Limit? ${motor.isLimitSwitchPressed}",
-		"  Direction: ${motor.direction.humanName}",
-		"  Steps: ${motor.currentStep} --> ${motor.targetStep}",
-		"  Angle: ${motor.angle}",
+	List<MetricLine> getMotorData(MotorData motor, String part) => [
+		MetricLine("$part:   Is moving? ${motor.isMoving}", severity: motor.isMoving ? Severity.info : null),
+		MetricLine("$part:   Limit? ${motor.isLimitSwitchPressed}", severity: motor.isLimitSwitchPressed ? Severity.warning : null),
+		MetricLine("$part:   Direction: ${motor.direction.humanName}"),
+		MetricLine("$part:   Steps: ${motor.currentStep} --> ${motor.targetStep}"),
+		MetricLine("$part:   Angle: ${motor.angle}"),
 	];
 
 	@override
-	List<String> get allMetrics => [
-		"IK: ",
-		"  Current: ${data.currentPosition.prettyPrint}",
-		"  Target: ${data.targetPosition.prettyPrint}",
-		"------------------------------",
-		"Swivel: ", ...getMotorData(data.base),
-		"------------------------------",
-		"Shoulder: ", ...getMotorData(data.shoulder),
-		"------------------------------",
-		"Elbow: ", ...getMotorData(data.elbow),
+	List<MetricLine> get allMetrics => [
+		MetricLine("IK: "),
+		MetricLine("  Current: ${data.currentPosition.prettyPrint}"),
+		MetricLine("  Target: ${data.targetPosition.prettyPrint}"),
+		...getMotorData(data.base, "Swivel"),
+    MetricLine("------------------------------",),
+		...getMotorData(data.shoulder, "Shoulder"),
+    MetricLine("------------------------------",),
+		...getMotorData(data.elbow, "Elbow"),
 	];
 }

lib/src/data/metrics/drive.dart

@@ -13,12 +13,37 @@ class DriveMetrics extends Metrics<DriveData> {
 	@override
 	String get name => "Drive";
 
+  /// The severity based on the throttle speed.
+  Severity? get throttleSeverity {
+    if (data.throttle == 0) {
+      return null;
+    } else if (data.throttle <= 0.3) {
+      return Severity.info;
+    } else if (data.throttle <= 0.75) {
+      return Severity.warning;
+    } else {
+      return Severity.critical;
+    }
+  }
+
+  /// The severity for the electrical metrics.
+  Severity? get electricalSeverity {
+    if (data.batteryVoltage == 0) return null;
+    if (data.batteryVoltage <= 25) {
+      return Severity.critical;
+    } else if (data.batteryVoltage <= 26) {
+      return Severity.warning;
+    } else {
+      return null;
+    }
+  }
+
 	@override
-	List<String> get allMetrics => [  
-		"Throttle: ${data.throttle.toStringAsFixed(2)}",
-		"Left: ${data.left.toStringAsFixed(2)}",
-		"Right: ${data.right.toStringAsFixed(2)}",
-    "Battery: ${data.batteryVoltage.toStringAsFixed(2)}V, ${data.batteryCurrent.toStringAsFixed(2)}A, ${data.batteryTemperature.toStringAsFixed(2)}°F",
+	List<MetricLine> get allMetrics => [  
+		MetricLine("Throttle: ${data.throttle.toStringAsFixed(2)}", severity: throttleSeverity),
+		MetricLine("Left: ${data.left.toStringAsFixed(2)}"),
+		MetricLine("Right: ${data.right.toStringAsFixed(2)}"),
+    MetricLine("Battery: ${data.batteryVoltage.toStringAsFixed(2)}V,${data.batteryCurrent.toStringAsFixed(2)}A, ${data.batteryTemperature.toStringAsFixed(2)}°F", severity: electricalSeverity),
 	];
 
 	@override

lib/src/data/metrics/gripper.dart

@@ -9,20 +9,20 @@ class GripperMetrics extends Metrics<GripperData> {
 	String get name => "Gripper";
 
 	/// Returns a human-readable description of a [MotorData].
-	List<String> getMotorData(MotorData motor) => [
-		"  Is moving? ${motor.isMoving}",
-		"  Limit? ${motor.isLimitSwitchPressed}",
-		"  Direction: ${motor.direction.humanName}",
-		"  Steps: ${motor.currentStep} --> ${motor.targetStep}",
-		"  Angle: ${motor.angle}",
+	List<MetricLine> getMotorData(MotorData motor, String functionality) => [
+		MetricLine("$functionality  Is moving? ${motor.isMoving}", severity: motor.isMoving ? Severity.info : null),
+		MetricLine("$functionality  Limit? ${motor.isLimitSwitchPressed}", severity: motor.isLimitSwitchPressed ? Severity.warning : null),
+		MetricLine("$functionality  Direction: ${motor.direction.humanName}"),
+		MetricLine("$functionality  Steps: ${motor.currentStep} --> ${motor.targetStep}"),
+		MetricLine("$functionality  Angle: ${motor.angle}"),
 	];
 
 	@override
-	List<String> get allMetrics => [
-		"Lift: ", ...getMotorData(data.lift),
-		"------------------------------",
-		"Rotate: ", ...getMotorData(data.rotate),
-		"------------------------------",
-		"Pinch: ", ...getMotorData(data.pinch),
+	List<MetricLine> get allMetrics => [
+		...getMotorData(data.lift, "Lift",),
+		MetricLine("------------------------------",),
+		...getMotorData(data.rotate, "Rotate"),
+		MetricLine("------------------------------",),
+		...getMotorData(data.pinch, "Pinch"),
 	];
 }

lib/src/data/metrics/metrics.dart

@@ -1,8 +1,22 @@
+// import "package:math";
+
+import "dart:math";
+
 import "package:flutter/foundation.dart";
 
 import "package:rover_dashboard/data.dart";
 import "package:rover_dashboard/services.dart";
 
+/// Class to construct a Metric
+class MetricLine {
+  /// Severity of the Metric
+	final Severity? severity;
+  /// Message for the Metric
+	final String text;
+  /// Constructor for the MetricLine class
+	MetricLine(this.text, {this.severity});
+}
+
 /// A readout of metrics reported by one of the rover's subsystems. 
 /// 
 /// To use this class, create a subclass that extends this class with [T] as the generated 
@@ -24,7 +38,15 @@ abstract class Metrics<T extends Message> with ChangeNotifier {
 	/// 
 	/// Be sure to store the actual values as fields. This property should be a list of one 
 	/// user-friendly explanation per metric. 
-	List<String> get allMetrics;
+	List<MetricLine> get allMetrics;
+
+  /// Fetch the overall Security
+	Severity? get overallSeverity {
+		final indexes = [for (final metric in allMetrics) metric.severity?.index ?? -1];
+		final index = indexes.reduce(max);
+    if (index == -1) return null;
+		return Severity.values[index];
+	}
 
 	/// Updates [data] with new data.
 	void update(T value) {

lib/src/data/metrics/position.dart

@@ -22,17 +22,31 @@ class PositionMetrics extends Metrics<RoverPosition> {
 		notifyListeners();
 	}
 
+  /// Gets the severity of the rover's orientation for both pitch and roll.
+  Severity? getRotationSeverity(double orientation) {
+    final abs = orientation.abs();
+    if (abs >= 30) {
+      return Severity.critical;
+    } else if (abs >= 15) {
+      return Severity.warning;
+    } else if (abs >= 10) {
+      return Severity.info;
+    } else {
+      return null;
+    }
+  }
+
 	@override
-	List<String> get allMetrics => [  
-    "GPS: ",
-    "  Latitude: ${data.gps.latitude.toStringAsFixed(6)}°",
-		"  Longitude: ${data.gps.longitude.toStringAsFixed(6)}°",
-		"  Altitude: ${data.gps.altitude.toStringAsFixed(2)} m",
-		"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",
+	List<MetricLine> get allMetrics => [  
+    MetricLine("GPS: "),
+    MetricLine("  Latitude: ${data.gps.latitude.toStringAsFixed(6)}°",),
+		MetricLine("  Longitude: ${data.gps.longitude.toStringAsFixed(6)}°",),
+		MetricLine("  Altitude: ${data.gps.altitude.toStringAsFixed(2)} m"),
+		MetricLine("Orientation:",),
+		MetricLine("  X: ${data.orientation.x.toStringAsFixed(2)}°", severity: getRotationSeverity(data.orientation.x)),
+		MetricLine("  Y: ${data.orientation.y.toStringAsFixed(2)}°", severity: getRotationSeverity(data.orientation.y)),
+		MetricLine("  Z: ${data.orientation.z.toStringAsFixed(2)}°"),
+    MetricLine("Distance: ${data.gps.distanceTo(baseStation).toStringAsFixed(2)} m",),
 	];
 
 	@override

lib/src/data/metrics/science.dart

@@ -12,12 +12,12 @@ class ScienceMetrics extends Metrics<ScienceData> {
 	String get name => "Science";
 
 	@override
-	List<String> get allMetrics => [  
-		"Methane: ${data.methane.toStringAsFixed(3)}",
-		"CO2: ${data.co2.toStringAsFixed(3)}",
-		"Temperature: ${data.temperature.toStringAsFixed(3)}",
-		"Humidity: ${data.humidity.toStringAsFixed(3)}",
-		"pH: ${data.pH.toStringAsFixed(3)}",
+	List<MetricLine> get allMetrics => [  
+		MetricLine("Methane: ${data.methane.toStringAsFixed(3)}"),
+		MetricLine("CO2: ${data.co2.toStringAsFixed(3)}"),
+		MetricLine("Temperature: ${data.temperature.toStringAsFixed(3)}"),
+		MetricLine("Humidity: ${data.humidity.toStringAsFixed(3)}"),
+		MetricLine("pH: ${data.pH.toStringAsFixed(3)}"),
 	];
 
 	@override

lib/src/models/rover/metrics.dart

@@ -13,9 +13,6 @@ class RoverMetrics extends Model {
   /// Data from the drive subsystem.
   final drive = DriveMetrics();
 
-  /// Data from the MARS subsystem.
-  final mars = MarsMetrics();
-
   /// Data from the HREI subsystem about the arm base.
   final arm = ArmMetrics();
 
@@ -26,7 +23,7 @@ class RoverMetrics extends Model {
 	///
 	/// 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 => [position, mars, drive, science, arm, gripper];
+	List<Metrics> get allMetrics => [position, drive, science, arm, gripper];
 
 	@override
 	Future<void> init() async {
@@ -45,11 +42,6 @@ class RoverMetrics extends Model {
 			decoder: RoverPosition.fromBuffer,
 			handler: position.update,
 		);
-		models.messages.registerHandler<MarsData>(
-			name: MarsData().messageName,
-			decoder: MarsData.fromBuffer,
-			handler: mars.update,
-		);
 		models.messages.registerHandler<ArmData>(
 			name: ArmData().messageName,
 			decoder: ArmData.fromBuffer,

lib/src/widgets/navigation/sidebar.dart

@@ -42,15 +42,33 @@ class MetricsList extends ReusableReactiveWidget<Metrics> {
     childrenPadding: const EdgeInsets.symmetric(horizontal: 16),
     title: Text(
       model.name,
-      style: Theme.of(context).textTheme.headlineSmall,
+      style: Theme.of(context).textTheme.headlineSmall?.copyWith(
+        color: model.overallSeverity?.color,
+      ),
     ),
     children: [
-      for (final String metric in model.allMetrics) Text(metric),
+      for (final MetricLine metric in model.allMetrics) Text(
+      	metric.text, 
+      	style: TextStyle(
+      		color: metric.severity?.color,
+    		),
+    	),
       const SizedBox(height: 4),
     ],
   );
 }
 
+/// Extension for COlors on Severity
+extension SeverityUtil on Severity {
+  /// Fetch the color based on the severity
+  Color? get color => switch (this) {
+    Severity.info => Colors.blueGrey,
+    Severity.warning => Colors.orange,
+    Severity.error => Colors.red,
+    Severity.critical => Colors.red.shade900,
+  };
+}
+
 /// Displays controls for the given [Controller].
 class ControlsDisplay extends ReusableReactiveWidget<Controller> {
 	/// The number gamepad being used.