feat!: upgrade to rovercom V2

Author: ielaajezdev

go.mod

@@ -5,16 +5,15 @@ go 1.21.6
 toolchain go1.22.10
 
 require (
-	github.com/VU-ASE/rovercom v1.7.0
-	github.com/VU-ASE/roverlib-go v1.2.7
+	github.com/VU-ASE/rovercom/v2 v2.0.0
+	github.com/VU-ASE/roverlib-go/v2 v2.0.0
 	github.com/rs/zerolog v1.33.0
-	gocv.io/x/gocv v0.39.0
-	google.golang.org/protobuf v1.34.2
 )
 
 require (
 	github.com/mattn/go-colorable v0.1.13 // indirect
 	github.com/mattn/go-isatty v0.0.20 // indirect
 	github.com/pebbe/zmq4 v1.2.11 // indirect
 	golang.org/x/sys v0.14.0 // indirect
+	google.golang.org/protobuf v1.34.2 // indirect
 )

go.sum

@@ -1,13 +1,7 @@
-github.com/VU-ASE/rovercom v1.5.1 h1:2lbaZ0ZS1AC8XamyBzCKAsvKX7JFiTibS/fdWdKRwtU=
-github.com/VU-ASE/rovercom v1.5.1/go.mod h1:1T9bXpOPMMkubm6YBa847vseBRALFzq8lkDx96w0Hr8=
-github.com/VU-ASE/rovercom v1.7.0 h1:Ip6HaQtsoNAVnAZKt345nN8VK7lIR3qOARc3K4FXQ/c=
-github.com/VU-ASE/rovercom v1.7.0/go.mod h1:1T9bXpOPMMkubm6YBa847vseBRALFzq8lkDx96w0Hr8=
-github.com/VU-ASE/roverlib-go v1.2.0 h1:52fEzJAExaWqOLy0meBmAExWBEOnrxAsIzQK0ErdM3k=
-github.com/VU-ASE/roverlib-go v1.2.0/go.mod h1:wCre2f0pgcCOjM+9HPNdWxqF/ZsS/EgEyy6bJWjXjW0=
-github.com/VU-ASE/roverlib-go v1.2.6 h1:2AxTKCJeOt1XT1O6q5nMQmSrbOfrlBhgS/mBf3rZ6JE=
-github.com/VU-ASE/roverlib-go v1.2.6/go.mod h1:wCre2f0pgcCOjM+9HPNdWxqF/ZsS/EgEyy6bJWjXjW0=
-github.com/VU-ASE/roverlib-go v1.2.7 h1:hUSlJsMmR61GID4Y49cXFR67gQEW0KcFCqG9dqoks3o=
-github.com/VU-ASE/roverlib-go v1.2.7/go.mod h1:1qLI93E/CI8tzh7HEPejqopRzFbe/D7Ag13kkFl0J40=
+github.com/VU-ASE/rovercom/v2 v2.0.0 h1:2LUExP8Utji7ynEOxZfG7MEdwXcqIh3E19sf8QDj2f4=
+github.com/VU-ASE/rovercom/v2 v2.0.0/go.mod h1:ON3KbCs65HXqBfyWLTOggBrBvX/iU8YV39UlnbV34n0=
+github.com/VU-ASE/roverlib-go/v2 v2.0.0 h1:5jzXskTixq1kCm35GgnyFczzXVZfHVyIiWYr4Wn1Bf8=
+github.com/VU-ASE/roverlib-go/v2 v2.0.0/go.mod h1:PeboTMTKUyjw6dx/hpTsdRqtpQ5IKhZhQsoB9Y0veT0=
 github.com/coreos/go-systemd/v22 v22.5.0/go.mod h1:Y58oyj3AT4RCenI/lSvhwexgC+NSVTIJ3seZv2GcEnc=
 github.com/godbus/dbus/v5 v5.0.4/go.mod h1:xhWf0FNVPg57R7Z0UbKHbJfkEywrmjJnf7w5xrFpKfA=
 github.com/google/go-cmp v0.5.5 h1:Khx7svrCpmxxtHBq5j2mp/xVjsi8hQMfNLvJFAlrGgU=
@@ -24,8 +18,6 @@ github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINE
 github.com/rs/xid v1.5.0/go.mod h1:trrq9SKmegXys3aeAKXMUTdJsYXVwGY3RLcfgqegfbg=
 github.com/rs/zerolog v1.33.0 h1:1cU2KZkvPxNyfgEmhHAz/1A9Bz+llsdYzklWFzgp0r8=
 github.com/rs/zerolog v1.33.0/go.mod h1:/7mN4D5sKwJLZQ2b/znpjC3/GQWY/xaDXUM0kKWRHss=
-gocv.io/x/gocv v0.39.0 h1:vWHupDE22LebZW6id2mVeT767j1YS8WqGt+ZiV7XJXE=
-gocv.io/x/gocv v0.39.0/go.mod h1:zYdWMj29WAEznM3Y8NsU3A0TRq/wR/cy75jeUypThqU=
 golang.org/x/sys v0.0.0-20220811171246-fbc7d0a398ab/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.6.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.12.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=

src/main.go

@@ -5,8 +5,8 @@ import (
 	"os"
 	"time"
 
-	pb_outputs "github.com/VU-ASE/rovercom/packages/go/outputs"
-	roverlib "github.com/VU-ASE/roverlib-go/src"
+	pb_outputs "github.com/VU-ASE/rovercom/v2/packages/go/outputs"
+	roverlib "github.com/VU-ASE/roverlib-go/v2/src"
 
 	"github.com/rs/zerolog/log"
 )
@@ -69,11 +69,11 @@ func run(service roverlib.Service, configuration *roverlib.ServiceConfiguration)
 		if imagingData == nil {
 			return fmt.Errorf("Message does not contain camera output. What did imaging do??")
 		}
-		log.Info().Msgf("Imaging service captured a %d by %d image", imagingData.Trajectory.Width, imagingData.Trajectory.Height)
+		log.Info().Msgf("Imaging service captured a %d by %d image", imagingData.Resolution.Width, imagingData.Resolution.Height)
 
 		// Print the X and Y coordinates of the middle point of the track that Imaging has detected
-		if len(imagingData.Trajectory.Points) > 0 {
-			log.Info().Msgf("The X: %d and Y: %d values of the middle point of the track", imagingData.Trajectory.Points[0].X, imagingData.Trajectory.Points[0].Y)
+		if len(imagingData.HorizontalScans) > 0 {
+			log.Info().Msgf("The left side of the track is at X: %d, and the right side of the track is at X: %d. Both are at Y: %d", imagingData.HorizontalScans[0].XLeft, imagingData.HorizontalScans[0].XRight, imagingData.HorizontalScans[0].Y)
 		} else {
 			log.Info().Msgf("imaging could didn't detect track edges. Is the Rover on the track?")
 		}
@@ -85,7 +85,7 @@ func run(service roverlib.Service, configuration *roverlib.ServiceConfiguration)
 		actuatorMsg := pb_outputs.SensorOutput{
 			Timestamp: uint64(time.Now().UnixMilli()), // milliseconds since epoch
 			Status:    0,                              // all is well
-			SensorId:  1,                              
+			SensorId:  1,
 			SensorOutput: &pb_outputs.SensorOutput_ControllerOutput{
 				ControllerOutput: &pb_outputs.ControllerOutput{
 					SteeringAngle: steerPosition,