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- Listen to drive data to properly update the rover status - Send message to drive firmware to update the LEDs
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Also some changes around isolates: - There are now three types of `IsolatePayload`s: - `LogPayload`: Sends a log message to the dashboard - `FramePayload`: Sends an `OpenCVImage` to the dashboard - `DepthFramePayload`: Sends a depth frame to Autonomy - Isolates now extend from `CameraIsolate` and are free to implement `sendFrame` however they need - `OpenCVIsolate` uses `package:opencv_ffi` to read RGB frames - `RealSenseIsolate` uses FFI and the [RealSense SDK](https://www.intelrealsense.com/sdk-2) to read depth, RGB, and colorized depth frames - `ROVER_FRONT` is mapped to `AUTONOMY_DEPTH` because the RealSense SDK takes ownership of the RGB stream as well The entire RealSense SDK is submoduled under `src/librealsense`. This will eventually be moved to a new Dart package that will be published to Pub.dev
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If no device command is received for 500 ms, the device is automatically stopped. This prevents a scenario where a program (such as autonomy) crashes, and the rover will continue driving since no additional commands are received.
Additionally, the last received rover status of
UpdateSettingis cached, and no commands will be sent to firmware if the status is not manual or autonomous. This means that even if a command is somehow sent to subsystems while the dashboard is set to idle, the rover will not move.