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Fix device names and add serial number to udev #53

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Merged
Gold872 merged 2 commits into from
Sep 12, 2025
Merged

Fix device names and add serial number to udev #53

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6bbd22c
Update dartcv and fix device names
Gold872 Sep 11, 2025
7d4060b
Add ability to assign device alias from serial number
Gold872 Sep 11, 2025
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4 changes: 4 additions & 0 deletions lib/src/device.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,9 @@ class Device {
/// The interface this device has, if known.
final String? interface;

/// The serial number of the device, if it has one
final String? serialNumber;

/// The index of this device, if known.
final int? index;

Expand All @@ -54,5 +57,6 @@ class Device {
this.index,
this.port,
this.interface,
this.serialNumber,
});
}
1 change: 1 addition & 0 deletions lib/src/udev.dart
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Expand Up @@ -40,6 +40,7 @@ extension UdevGenerator on Device {
if (product != null) buffer.write('ATTRS{product}=="$product", ');
if (port != null) buffer.write('KERNELS=="$port", ');
if (interface != null) buffer.write('ATTRS{interface}=="$interface", ');
if (serialNumber != null) buffer.write('ATTRS{serial}=="$serialNumber", ');
buffer.writeln('ENV{$varName}="t"');

// Line 2 generates the symlink for the device
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2 changes: 1 addition & 1 deletion subsystems/lib/src/devices/gps.dart
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Expand Up @@ -7,7 +7,7 @@ import "package:burt_network/burt_network.dart";
import "package:subsystems/subsystems.dart";

/// The port/device file to listen to the GPS on.
const gpsPort = "/dev/rover-gps";
const gpsPort = "/dev/rover_gps";

/// The UDP socket on the Autonomy program.
final autonomySocket = SocketInfo(
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2 changes: 1 addition & 1 deletion subsystems/lib/src/devices/imu.dart
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Expand Up @@ -9,7 +9,7 @@ import "package:burt_network/burt_network.dart";
import "../osc.dart";

/// The serial port that the IMU is connected to.
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);
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2 changes: 1 addition & 1 deletion video/lib/src/isolates/child.dart
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Expand Up @@ -3,7 +3,7 @@ import "dart:convert";
import "dart:io";

import "package:burt_network/burt_network.dart";
import "package:dartcv4/dartcv.dart";
import "package:dartcv4/dartcv.dart" hide LogLevel;
import "package:typed_isolate/typed_isolate.dart";
import "package:video/video.dart";

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2 changes: 1 addition & 1 deletion video/lib/src/isolates/opencv.dart
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@@ -1,4 +1,4 @@
import "package:dartcv4/dartcv.dart";
import "package:dartcv4/dartcv.dart" hide LogLevel;
import "package:burt_network/burt_network.dart";

import "package:video/utils.dart";
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2 changes: 1 addition & 1 deletion video/lib/src/isolates/payload.dart
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@@ -1,7 +1,7 @@
import "dart:ffi";

import "package:burt_network/burt_network.dart";
import "package:dartcv4/dartcv.dart";
import "package:dartcv4/dartcv.dart" hide LogLevel;
import "package:video/video.dart";

/// A payload containing some data to report back to the parent isolate.
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2 changes: 1 addition & 1 deletion video/lib/src/isolates/realsense.dart
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@@ -1,7 +1,7 @@
import "dart:ffi";

import "package:burt_network/burt_network.dart";
import "package:dartcv4/dartcv.dart";
import "package:dartcv4/dartcv.dart" hide LogLevel;
import "package:protobuf/protobuf.dart";

import "package:video/utils.dart";
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16 changes: 8 additions & 8 deletions video/lib/src/utils/constants.dart
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Expand Up @@ -11,14 +11,14 @@ import "package:video/video.dart";
///
/// Map for MAC or LINUX devices
Map<CameraName, String> cameraNames = {
CameraName.ROVER_FRONT: "/dev/rover-cam_realsense_rgb",
CameraName.ROVER_REAR: "/dev/rover-cam_subsystem_3",
CameraName.AUTONOMY_DEPTH: "/dev/rover-cam_realsense_depth",
CameraName.SUBSYSTEM1: "/dev/rover-cam_subsystem_1",
CameraName.SUBSYSTEM2: "/dev/rover-cam_subsystem_2",
CameraName.SUBSYSTEM3: "/dev/rover-cam_subsystem_3",
CameraName.BOTTOM_LEFT: "/dev/rover-cam_bottom_left",
CameraName.BOTTOM_RIGHT: "/dev/rover-cam_bottom_right",
CameraName.ROVER_FRONT: "/dev/rover_cam_front",
CameraName.ROVER_REAR: "/dev/rover_cam_rear",
CameraName.AUTONOMY_DEPTH: "/dev/rover_cam_realsense_depth",
CameraName.SUBSYSTEM1: "/dev/rover_cam_subsystem_1",
CameraName.SUBSYSTEM2: "/dev/rover_cam_subsystem_2",
CameraName.SUBSYSTEM3: "/dev/rover_cam_subsystem_3",
CameraName.BOTTOM_LEFT: "/dev/rover_cam_bottom_left",
CameraName.BOTTOM_RIGHT: "/dev/rover_cam_bottom_right",
};

/// Map for WINDOWS devices
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2 changes: 1 addition & 1 deletion video/pubspec.yaml
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Expand Up @@ -13,7 +13,7 @@ dependencies:
typed_isolate: ^6.0.0
ffi: ^2.1.0
protobuf: ^3.1.0
dartcv4: ^1.1.4
dartcv4: ^1.1.8

dev_dependencies:
ffigen: ^19.1.0
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