IVC Taskplanning Cleanup

[nathanaelren]

Motivation

As a developer, I want to:

Refactor IVC tasks to make it more sensible and resolve asynchronous file I/O issues with the log

So that I can:

Use it in a more robot-agnostic criteria

Completion criteria

Minimum Viable Product (MVP)

What criteria must be fulfilled for us to consider this feature complete?

• Oogway and Crush can both run IVC
• No more async I/O issues

Stretch

What additional criteria would be nice to have, but are not vital to the completion of this feature?

• Fully robot-agnostic

Timeline

When do we aim to have this project finished by?

• February 2026

Testing requirements

How should we go about testing this new feature?

• Pool test IVC back and forth

Implementation

High-level overview

• Clean up ivc.py and ivc_tasks.py, making a hierarchical structure that makes sense
• Create generic functions that can be used across both Oogway and Crush
• Have comp_tasks.py call functions in ivc.py and ivc_tasks.py

Checklist

As we know more about how the feature might be implemented, please add a checklist so we can track progress.

Additional notes

I think Electrical should do this, but CS can easily do this in like a week tops.

[viethungle-vt1401]

Remember to edit the corresponding tasks in oogway.py and crush.py when you're done cleaning up the IVC Task Planning interface.

[srinath-iyer]

Finished draft PR, waiting for pool testing time to test IVC with Crush and Oogway.