IMU Code

bin/serial.dart

@@ -1,15 +1,36 @@
+import "dart:convert";
+
+import 'package:osc/osc.dart';
 import "dart:typed_data";
 import "package:subsystems/subsystems.dart";
 import "package:burt_network/logging.dart";
 
-const port = "COM11";
+const port = "/dev/ttyACM0";
+
+// void printXYZ(List<int> data) {
+// 	data = data.sublist(20);
+// 	String message = utf8.decode(data, allowMalformed: true);
+// 	logger.info("Received: $data");
+// 	print("Message: ${message}");
+// 	try {
+// 		final message = OSCMessage.fromBytes(data);
+// 		print (message);
+// 	} catch (error) {
+// 		print("Invalid message. Got error: $error");
+// 	}
+// }
+
+// void main() async {
+// 	final device = SerialDevice(
+// 		portName: port, 
+// 		readInterval: const Duration(milliseconds: 500),
+// 	);
+// 	device.open();
+// 	device.stream.listen(printXYZ);
+// 	// device.write(Uint8List.fromList([1, 2, 3]));
+// }
 
-void main() async {
-	final device = SerialDevice(
-		portName: port, 
-		readInterval: const Duration(milliseconds: 100),
-	);
-	device.open();
-	device.stream.listen((data) => logger.info("Received: $data"));
-	device.write(Uint8List.fromList([1, 2, 3]));
+void main() {
+	reader = ImuReader(stdin);
+	reader.init();
 }

lib/src/serial/imu.dart

@@ -0,0 +1,49 @@
+import "dart:convert";
+
+import 'package:osc/osc.dart';
+import "dart:typed_data";
+import "package:subsystems/subsystems.dart";
+import "package:burt_network/logging.dart";
+
+const port = "/dev/ttyACM0";
+
+class ImuReader {
+	final String port;
+
+	ImuReader(this.port);
+
+	void printXYZ(List <int> data){
+
+		data = data.sublist(20);
+		String message = utf8.decode(data, allowMalformed: true);
+
+		logger.info("Received: $data");
+
+		print("Message: ${message}");
+
+		try {
+
+		final message = OSCMessage.fromBytes(data);
+		print (message);
+
+		} catch (error) {
+
+		print("Invalid message. Got error: $error");
+
+		}
+	}
+
+	void init() {
+		final Stream<List<int>> inputStream;
+		ImuReader(this.inputStream);
+
+		void intit() {
+			inputStream.listen(printXYZ);
+		}
+	}
+	void dispose() {
+		ImuReader.dispose();
+		logger.info("ImuReader disposed");
+
+	}
+}

lib/subsystems.dart

@@ -4,6 +4,7 @@ import "package:subsystems/can.dart";
 import "src/server.dart";
 
 export "src/server.dart";
+export "src/serial/imu.dart";
 export "src/serial/serial.dart";
 
 /// Contains all the resources needed by the subsystems program.
@@ -15,6 +16,7 @@ class SubsystemsCollection {
 
 	/// Initializes all the resources needed by the subsystems.
 	Future<void> init() async {
+		BurtLogger.level = LogLevel.debug;
 		logger.debug("Running in debug mode...");
 		can.init();
 		await server.init();

pubspec.lock

@@ -234,6 +234,14 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "2.0.2"
+  osc:
+    dependency: "direct main"
+    description:
+      name: osc
+      sha256: "5252beff07c0ecb1e94af5cd5e2b1fefe80c10367c5d49fadfef2c9986e9969b"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.0.0"
   package_config:
     dependency: transitive
     description:

pubspec.yaml

@@ -12,6 +12,7 @@ dependencies:
     git: https://github.com/BinghamtonRover/Networking.git
   ffi: ^2.0.2
   libserialport: ^0.3.0+1
+  osc: ^1.0.0
 
 dev_dependencies:
   ffigen: ^9.0.1