Refactored a bit more of DashboardSocket

BinghamtonRover · Jul 20, 2023 · 7960e0a · 7960e0a
1 parent 99c8a2f
commit 7960e0a
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Showing 2 changed files with 10 additions and 7 deletions.
diff --git a/lib/src/models/data/sockets.dart b/lib/src/models/data/sockets.dart
@@ -34,7 +34,7 @@ class Sockets extends Model {
 		allowedFallthrough: {AutonomyData().messageName},
 	);
 
-  /// A UDP socket for controlling rover position
+  /// A UDP socket for controlling the MARS subsystem.
   late final mars = DashboardSocket(
   	device: Device.MARS_SERVER,
   	onConnect: onConnect, 

diff --git a/lib/src/services/socket.dart b/lib/src/services/socket.dart
@@ -50,27 +50,30 @@ class DashboardSocket extends ProtoSocket with WrapperRegistry implements Servic
 	@override
 	void updateSettings(UpdateSetting settings) { }
 
+	@override
+	void onHeartbeat(Connect heartbeat, SocketInfo source) => _heartbeats++;
+
 	@override
 	Future<void> checkHeartbeats() async {
 		if (_isChecking) return;
+		// 1. Clear state and send a heartbeat
 		_isChecking = true;
 		_heartbeats = 0;
+		final wasConnected = isConnected;
 		sendMessage(Connect(sender: Device.DASHBOARD, receiver: device));
+		// 2. Wait a bit and count the number of responses
 		await Future<void>.delayed(heartbeatWaitDelay);
-		final wasConnected = isConnected;
 		if (_heartbeats > 0) {			
-			if (!wasConnected) onConnect(device);
 			connectionStrength.value += connectionIncrement * _heartbeats;
 		} else {
-			if (wasConnected) onDisconnect(device);
 			connectionStrength.value -= connectionIncrement;
 		}
+		// 3. Assess the current state
 		connectionStrength.value = connectionStrength.value.clamp(0, 1);
+		if (isConnected && !wasConnected) onConnect(device);
+		if (wasConnected && !isConnected) onDisconnect(device);
 		_isChecking = false;
 	}
-
-	@override
-	void onHeartbeat(Connect heartbeat, SocketInfo source) => _heartbeats++;
 }
 
 /// How much each successful/missed handshake is worth, as a percent.