Pre-competition rover.py refactor 2: Electric Boogaloo

.python-version

@@ -1 +1 @@
-3.8.18
+pypy@3.7.13

explain

@@ -0,0 +1,12 @@
+calc_bearing function: Calulates the `true bearing` for the rover
+
+- true bearing is the bearing from North
+
+bearing_to: This calculates the `relative bearing` between the rover and a coordinate
+
+- This would be the difference between the rover's tru bearing and the coords true bearing
+- relative bearing is the bearing between any two objects
+
+gps_controller we need calc_bearing
+
+navigation we need bearing_to

libs/args.py

@@ -0,0 +1,92 @@
+from argparse import ArgumentParser, Namespace
+from dataclasses import dataclass
+from typing import Union, List
+from loguru import logger
+
+from libs.coordinate import Coordinate
+
+
+@dataclass
+class Args:
+    aruco_id: Union[int, None]  # the ArUco tag ID to search for, if any
+    coord_file_path: str  # a file that's in the format: `lat lon`, each on a new line
+    coordinate_list: List[Coordinate]
+    camera_id: int  # the camera to use. defaults to 0
+
+    def __init__(self):
+        """
+        Gets the command line arugments and updates internal state.
+        """
+        arg_parser = ArgumentParser()
+
+        # get opencv camera id
+        arg_parser.add_argument(
+            "--camera_id",
+            "-c",
+            required=False,
+            default=0,
+            type=int,
+            help="The OpenCV capture device (camera) ID to use. Use `tools/camera_list.py` to determine usable values.",
+        )
+
+        # get the coordinate file path
+        arg_parser.add_argument(
+            "--coords",
+            "-f",
+            required=True,
+            type=str,
+            help="A file path pointing to a list of coordinates. The file should have one coordinate pair per line, in this format: `lat long`",
+        )
+
+        # get the aruco ID to use
+        arg_parser.add_argument(
+            "--aruco_id",
+            "-a",
+            required=False,
+            type=int,
+            help="The ArUco ID number to use from the DICT_4X4_50 list. Safe testing values are 0 and 1.",
+        )
+
+        # place all data into internal state
+        args: Namespace = arg_parser.parse_args()
+
+        self.aruco_id = args.aruco_id
+        if self.aruco_id is not None:
+            if self.aruco_id > 50 or self.aruco_id < 0:
+                logger.error(
+                    f"You must pass an ArUco ID within the range: [0, 50]. You gave: `{self.aruco_id}`."
+                )
+                exit(1)
+
+        self.camera_id = args.camera_id if args.camera_id else 0
+
+        self.coord_file_path = args.coords
+        coordinate_list = []
+
+        with open(self.coord_file_path) as file:
+            for line in file:
+                try:
+                    (lat_str, lon_str) = line.split(" ")
+
+                    # attempt to parse the strings into two numbers
+                    (lat, lon) = (
+                        float(lat_str.replace("\ufeff", "")),
+                        float(lon_str.replace("\ufeff", "")),
+                    )
+
+                    # create a `Coordinate` from the data
+                    coordinate_list.append(Coordinate(lat, lon))
+                except ValueError as e:
+                    logger.error(
+                        f"Failed to parse given coordinate file. Failed with error: `{e}`"
+                    )
+                    exit(1)
+
+            file.close()
+            self.coordinate_list = coordinate_list
+            logger.info(f"The coordinates file was parsed successfully! Here's the list: {self.coordinate_list}")
+
+
+        pass
+
+    pass