From 1ad66ed1830a980703b07e56ff75519ccc4c865b Mon Sep 17 00:00:00 2001
From: Binghamton University Rover Team <rover@binghamton.edu>
Date: Sat, 16 Mar 2024 02:18:28 -0400
Subject: [PATCH] Bug fixes with serial port

---
 lib/src/messages/serial.dart | 8 ++++++--
 lib/subsystems.dart          | 2 +-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/lib/src/messages/serial.dart b/lib/src/messages/serial.dart
index 11ef174..871b4ad 100644
--- a/lib/src/messages/serial.dart
+++ b/lib/src/messages/serial.dart
@@ -28,10 +28,13 @@ class SerialService extends MessageService {
     logger.trace("IMU is on: $imuPort");
     final gpsCommand = await Process.run("realpath", ["/dev/rover-gps"]);
     final gpsPort = gpsCommand.stdout.trim();
+	const piPort = "/dev/ttyAMA0";
     logger.trace("GPS is on: $gpsPort");
-    return [
+	logger.trace("All ports: $allPorts");
+    final forbiddenPorts = {imuPort, gpsPort, piPort};
+	return [
       for (final port in allPorts)
-        if (port != imuPort && port != gpsPort)
+	if (!forbiddenPorts.contains(port))
           port,
     ];
   }
@@ -51,6 +54,7 @@ class SerialService extends MessageService {
   Future<bool> init() async {
     devices = await getFirmware();    
     for (final device in devices) {
+	logger.debug("Initializing device: ${device.port}");
       await device.init();
       if (!device.isReady) continue;
       final subscription = device.stream?.listen((data) => _onMessage(data, device));
diff --git a/lib/subsystems.dart b/lib/subsystems.dart
index 4a9397d..e23d923 100644
--- a/lib/subsystems.dart
+++ b/lib/subsystems.dart
@@ -47,7 +47,7 @@ class SubsystemsCollection extends MessageService {
       result &= await gps.init();
       result &= await imu.init();
       logger.info("Subsystems initialized");
-      if (result) {
+      if (!result) {
         logger.warning("The subsystems did not start properly");
       }
       isReady = true;