Reading IMU reliably

Author: Bing-Rover

.gitignore

@@ -11,6 +11,7 @@ build/
 *.o
 *.out
 *.exp
+*.exe
 
 # This file tells the rover to get its dependencies from local files instead of Git/Pub.
 # GitHub's CI needs to use the Pub versions, so we don't check in this file.

lib/src/devices/imu.dart

@@ -7,8 +7,7 @@ import "package:subsystems/subsystems.dart";
 import "package:burt_network/burt_network.dart";
 
 /// The serial port that the IMU is connected to.
-const imuPort = "COM5";
-// const imuPort = "/dev/rover-imu";
+const imuPort = "/dev/rover-imu";
 
 /// The version that we are using for [RoverPosition] data.
 final positionVersion = Version(major: 1, minor: 0);

lib/src/devices/serial_utils.dart

@@ -15,7 +15,7 @@ Future<Iterable<String>> getPortNames() async {
   if (!Platform.isLinux) return allPorts;
   final imuPort = await getRealPath("/dev/rover-imu");
   final gpsPort = await getRealPath("/dev/rover-gps");
-  final forbiddenPorts = {imuPort, gpsPort};
+  final forbiddenPorts = {imuPort, gpsPort, "/dev/ttyAMA10"};
   return allPorts.toSet().difference(forbiddenPorts);
 }
 

lib/subsystems.dart

@@ -33,17 +33,16 @@ class SubsystemsCollection extends Service {
 
   @override
   Future<bool> init() async {
-    logger.socket = server;
-    logger.debug("Running in debug mode...");
-    logger.trace("Running in trace mode...");
     await server.init();
+    logger.socket = server;
     var result = true;
     try {
       result &= await firmware.init();
       result &= await gps.init();
       result &= await imu.init();
-      logger.info("Subsystems initialized");
-      if (!result) {
+      if (result) {
+        logger.info("Subsystems initialized");
+      } else {
         logger.warning("The subsystems did not start properly");
       }
       isReady = true;
@@ -60,9 +59,10 @@ class SubsystemsCollection extends Service {
     await onDisconnect();
     isReady = false;
     await firmware.dispose();
-    await server.dispose();
     await imu.dispose();
     await gps.dispose();
+    await server.dispose();
+    logger.socket = null;
     logger.info("Subsystems disposed");
   }