Refactor and split functionality into more layers

analysis_options.yaml

@@ -47,4 +47,4 @@ linter:
     cascade_invocations: false  # sometimes, multi-line code is more readable
 
     # Temporarily disabled until we are ready to document
-    # public_member_api_docs: false
+    public_member_api_docs: false

bin/logs.dart

@@ -2,11 +2,14 @@ import "package:burt_network/burt_network.dart";
 import "package:burt_network/logging.dart";
 
 // 1. Define a new socket on port 8001 that doesn't do anything
-class LogsServer extends ServerSocket {
+class LogsServer extends RoverServer {
   LogsServer() : super(port: 8001, device: Device.SUBSYSTEMS);
 
   @override
-  void onMessage(_) { }  
+  void onMessage(_) { }
+
+  @override
+  void restart() { }
 }
 
 // 2. Create that socket and make a logger that uses it.

example/client.dart

@@ -1,36 +1,27 @@
 import "dart:io";
 import "package:burt_network/burt_network.dart";
-import "package:burt_network/logging.dart";
 
 final destination = SocketInfo(
-	address: InternetAddress("192.168.47.223"),
+	// address: InternetAddress("192.168.47.223"),
+	address: InternetAddress.loopbackIPv4,
 	port: 8001,
 );
 
-final logger = BurtLogger();
-
 class BasicServer extends ProtoSocket {
-	BasicServer({required super.port, required super.device}) : super(
-		destination: destination,
-		heartbeatInterval: const Duration(seconds: 1),
-	);
-
-	@override
-	void onMessage(WrappedMessage wrapper) => logger.info("Received ${wrapper.name} message: ${wrapper.data}");
-
-	@override
-	void onHeartbeat(Connect heartbeat, SocketInfo source) { }
-
-	@override
-	Future<void> checkHeartbeats() async { }
+	BasicServer({required super.port, required super.device});
 
-	@override
-	void updateSettings(UpdateSetting setting) { }
+  @override
+  void onWrapper(WrappedMessage wrapper, SocketInfo source) => 
+    logger.info("Received ${wrapper.name} message: ${wrapper.data}");
 }
 
 void main() async {
 	final client = BasicServer(port: 8000, device: Device.DASHBOARD);
 	await client.init();
+  client.destination = destination;
 	final message = ScienceData(methane: 1, co2: 2);
-	client.sendMessage(message);
+  while (true) {
+    client.sendMessage(message);
+    await Future<void>.delayed(const Duration(seconds: 1));
+  }
 }

example/server.dart

@@ -3,11 +3,14 @@ import "package:burt_network/logging.dart";
 
 final logger = BurtLogger();
 
-class BasicServer extends ServerSocket {
+class BasicServer extends ProtoSocket {
 	BasicServer({required super.port, required super.device});
 
 	@override
-	void onMessage(WrappedMessage wrapper) => logger.info("Received ${wrapper.name} message: ${wrapper.data}");
+	void onWrapper(WrappedMessage wrapper, SocketInfo source) {
+    final message = ScienceData.fromBuffer(wrapper.data); 
+    logger.info("Received ${wrapper.name} message: ${message.co2} & ${message.methane}");
+  }
 }
 
 void main() async {

lib/burt_network.dart

@@ -8,19 +8,28 @@
 /// 
 /// - [UdpSocket] is a raw UDP socket that allows sending and receiving lists of bytes.
 /// - [ProtoSocket] is a layer on top of [UdpSocket] that translates bytes to Protobuf messages.
-/// - [ServerSocket] is a [ProtoSocket] that can respond to heartbeats and monitors its connection.
+/// - [BurtUdpProtocol] extends [ProtoSocket] to handle special messages like heartbeats.
+/// - [RoverHeartbeats] extends [BurtUdpProtocol] to respond to the dashboard's heartbeats.
+/// - [RoverLogger] extends [BurtUdpProtocol] by buffering logs until the dashboard connects.
+/// - [RoverServer] combines [RoverHeartbeats] and [RoverLogger] to handle all on-rover needs.
 /// 
-/// On the rover, use [ServerSocket]. On the dashboard, use [ProtoSocket]. To use these classes, 
+/// On the rover, use [RoverServer]. On the dashboard, extend [BurtUdpProtocol]. To use these classes, 
 /// extend them and override the suggested methods in their respective documentation. You should
 /// not have to use [UdpSocket] directly as it has no Protobuf support.
 library;
 
+// For doc comments:
+import "src/burt_protocol.dart";
 import "src/proto_socket.dart";
-import "src/server_socket.dart";
+import "src/rover_heartbeats.dart";
+import "src/rover_logger.dart";
+import "src/rover_server.dart";
 import "src/udp_socket.dart";
 
 export "src/proto_socket.dart";
-export "src/server_socket.dart";
+export "src/rover_server.dart";
+export "src/burt_protocol.dart";
+export "src/rover_heartbeats.dart";
 export "src/socket_info.dart";
 export "src/udp_socket.dart";
 

lib/logging.dart

@@ -19,8 +19,7 @@ class BurtLogger {
 
   /// The device that's sending these logs.
   final Device? device;
-  /// The [ServerSocket] that will be used to send the log to the Dashboard.
-  final ServerSocket? socket;
+  final RoverServer? socket;
   /// Creates a logger capable of sending network messages over the given socket.
   BurtLogger({this.socket}) : device = socket?.device;
 

lib/src/burt_protocol.dart

@@ -0,0 +1,49 @@
+import "package:meta/meta.dart";
+
+import "package:burt_network/generated.dart";
+import "dart:async";
+
+import "proto_socket.dart";
+import "socket_info.dart";
+
+abstract class BurtUdpProtocol extends ProtoSocket {
+  /// A timer to call [checkHeartbeats] every [heartbeatInterval].
+  Timer? heartbeatTimer;
+
+  /// How often to check for heartbeats.
+  Duration get heartbeatInterval;
+
+  BurtUdpProtocol({
+    required super.port, 
+    required super.device, 
+    super.quiet,
+  });
+
+  @override
+  Future<void> init() async {
+    await super.init();
+    heartbeatTimer = Timer.periodic(heartbeatInterval, (_) => checkHeartbeats());
+  }
+
+  @override
+  Future<void> dispose() async {
+    heartbeatTimer?.cancel();
+    await super.dispose();
+  }
+
+  @override
+  @mustCallSuper
+  void onWrapper(WrappedMessage wrapper, SocketInfo source) {
+    if (wrapper.name == Connect().messageName) {
+      final heartbeat = Connect.fromBuffer(wrapper.data);
+      onHeartbeat(heartbeat, source);
+    } else {
+      onMessage(wrapper);
+    }
+  }
+
+  bool get isConnected;
+  void checkHeartbeats();
+  void onHeartbeat(Connect heartbeat, SocketInfo source);
+  void onMessage(WrappedMessage wrapper);
+}

lib/src/generated/drive.pb.dart

@@ -13,6 +13,10 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
+import 'drive.pbenum.dart';
+
+export 'drive.pbenum.dart';
+
 class DriveCommand extends $pb.GeneratedMessage {
   factory DriveCommand({
     $core.double? throttle,
@@ -25,6 +29,7 @@ class DriveCommand extends $pb.GeneratedMessage {
     $core.double? frontTilt,
     $core.double? rearSwivel,
     $core.double? rearTilt,
+    DriveDirection? direction,
   }) {
     final $result = create();
     if (throttle != null) {
@@ -57,6 +62,9 @@ class DriveCommand extends $pb.GeneratedMessage {
     if (rearTilt != null) {
       $result.rearTilt = rearTilt;
     }
+    if (direction != null) {
+      $result.direction = direction;
+    }
     return $result;
   }
   DriveCommand._() : super();
@@ -74,6 +82,7 @@ class DriveCommand extends $pb.GeneratedMessage {
     ..a<$core.double>(8, _omitFieldNames ? '' : 'frontTilt', $pb.PbFieldType.OF)
     ..a<$core.double>(9, _omitFieldNames ? '' : 'rearSwivel', $pb.PbFieldType.OF)
     ..a<$core.double>(10, _omitFieldNames ? '' : 'rearTilt', $pb.PbFieldType.OF)
+    ..e<DriveDirection>(11, _omitFieldNames ? '' : 'direction', $pb.PbFieldType.OE, defaultOrMaker: DriveDirection.DRIVE_DIRECTION_UNDEFINED, valueOf: DriveDirection.valueOf, enumValues: DriveDirection.values)
     ..hasRequiredFields = false
   ;
 
@@ -193,6 +202,15 @@ class DriveCommand extends $pb.GeneratedMessage {
   $core.bool hasRearTilt() => $_has(9);
   @$pb.TagNumber(10)
   void clearRearTilt() => clearField(10);
+
+  @$pb.TagNumber(11)
+  DriveDirection get direction => $_getN(10);
+  @$pb.TagNumber(11)
+  set direction(DriveDirection v) { setField(11, v); }
+  @$pb.TagNumber(11)
+  $core.bool hasDirection() => $_has(10);
+  @$pb.TagNumber(11)
+  void clearDirection() => clearField(11);
 }
 
 class DriveData extends $pb.GeneratedMessage {

lib/src/generated/drive.pbenum.dart

@@ -9,3 +9,30 @@
 // ignore_for_file: non_constant_identifier_names, prefer_final_fields
 // ignore_for_file: unnecessary_import, unnecessary_this, unused_import
 
+import 'dart:core' as $core;
+
+import 'package:protobuf/protobuf.dart' as $pb;
+
+class DriveDirection extends $pb.ProtobufEnum {
+  static const DriveDirection DRIVE_DIRECTION_UNDEFINED = DriveDirection._(0, _omitEnumNames ? '' : 'DRIVE_DIRECTION_UNDEFINED');
+  static const DriveDirection DRIVE_DIRECTION_FORWARD = DriveDirection._(1, _omitEnumNames ? '' : 'DRIVE_DIRECTION_FORWARD');
+  static const DriveDirection DRIVE_DIRECTION_LEFT = DriveDirection._(2, _omitEnumNames ? '' : 'DRIVE_DIRECTION_LEFT');
+  static const DriveDirection DRIVE_DIRECTION_RIGHT = DriveDirection._(3, _omitEnumNames ? '' : 'DRIVE_DIRECTION_RIGHT');
+  static const DriveDirection DRIVE_DIRECTION_STOP = DriveDirection._(4, _omitEnumNames ? '' : 'DRIVE_DIRECTION_STOP');
+
+  static const $core.List<DriveDirection> values = <DriveDirection> [
+    DRIVE_DIRECTION_UNDEFINED,
+    DRIVE_DIRECTION_FORWARD,
+    DRIVE_DIRECTION_LEFT,
+    DRIVE_DIRECTION_RIGHT,
+    DRIVE_DIRECTION_STOP,
+  ];
+
+  static final $core.Map<$core.int, DriveDirection> _byValue = $pb.ProtobufEnum.initByValue(values);
+  static DriveDirection? valueOf($core.int value) => _byValue[value];
+
+  const DriveDirection._($core.int v, $core.String n) : super(v, n);
+}
+
+
+const _omitEnumNames = $core.bool.fromEnvironment('protobuf.omit_enum_names');

lib/src/generated/drive.pbjson.dart

@@ -13,6 +13,24 @@ import 'dart:convert' as $convert;
 import 'dart:core' as $core;
 import 'dart:typed_data' as $typed_data;
 
+@$core.Deprecated('Use driveDirectionDescriptor instead')
+const DriveDirection$json = {
+  '1': 'DriveDirection',
+  '2': [
+    {'1': 'DRIVE_DIRECTION_UNDEFINED', '2': 0},
+    {'1': 'DRIVE_DIRECTION_FORWARD', '2': 1},
+    {'1': 'DRIVE_DIRECTION_LEFT', '2': 2},
+    {'1': 'DRIVE_DIRECTION_RIGHT', '2': 3},
+    {'1': 'DRIVE_DIRECTION_STOP', '2': 4},
+  ],
+};
+
+/// Descriptor for `DriveDirection`. Decode as a `google.protobuf.EnumDescriptorProto`.
+final $typed_data.Uint8List driveDirectionDescriptor = $convert.base64Decode(
+    'Cg5Ecml2ZURpcmVjdGlvbhIdChlEUklWRV9ESVJFQ1RJT05fVU5ERUZJTkVEEAASGwoXRFJJVk'
+    'VfRElSRUNUSU9OX0ZPUldBUkQQARIYChREUklWRV9ESVJFQ1RJT05fTEVGVBACEhkKFURSSVZF'
+    'X0RJUkVDVElPTl9SSUdIVBADEhgKFERSSVZFX0RJUkVDVElPTl9TVE9QEAQ=');
+
 @$core.Deprecated('Use driveCommandDescriptor instead')
 const DriveCommand$json = {
   '1': 'DriveCommand',
@@ -27,6 +45,7 @@ const DriveCommand$json = {
     {'1': 'front_tilt', '3': 8, '4': 1, '5': 2, '10': 'frontTilt'},
     {'1': 'rear_swivel', '3': 9, '4': 1, '5': 2, '10': 'rearSwivel'},
     {'1': 'rear_tilt', '3': 10, '4': 1, '5': 2, '10': 'rearTilt'},
+    {'1': 'direction', '3': 11, '4': 1, '5': 14, '6': '.DriveDirection', '10': 'direction'},
   ],
 };
 
@@ -37,7 +56,8 @@ final $typed_data.Uint8List driveCommandDescriptor = $convert.base64Decode(
     'EhsKCXNldF9yaWdodBgFIAEoCFIIc2V0UmlnaHQSIQoMc2V0X3Rocm90dGxlGAYgASgIUgtzZX'
     'RUaHJvdHRsZRIhCgxmcm9udF9zd2l2ZWwYByABKAJSC2Zyb250U3dpdmVsEh0KCmZyb250X3Rp'
     'bHQYCCABKAJSCWZyb250VGlsdBIfCgtyZWFyX3N3aXZlbBgJIAEoAlIKcmVhclN3aXZlbBIbCg'
-    'lyZWFyX3RpbHQYCiABKAJSCHJlYXJUaWx0');
+    'lyZWFyX3RpbHQYCiABKAJSCHJlYXJUaWx0Ei0KCWRpcmVjdGlvbhgLIAEoDjIPLkRyaXZlRGly'
+    'ZWN0aW9uUglkaXJlY3Rpb24=');
 
 @$core.Deprecated('Use driveDataDescriptor instead')
 const DriveData$json = {