From 7960e0a2efd47c47bad6d86ed7f0ef91343c92a2 Mon Sep 17 00:00:00 2001
From: Levi Lesches <levilesches@gmail.com>
Date: Thu, 20 Jul 2023 17:24:59 -0400
Subject: [PATCH] Refactored a bit more of DashboardSocket

---
 lib/src/models/data/sockets.dart |  2 +-
 lib/src/services/socket.dart     | 15 +++++++++------
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/lib/src/models/data/sockets.dart b/lib/src/models/data/sockets.dart
index 6edfb5a25..24d01e1ce 100644
--- 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
index 78ba2bb23..adc2b65dc 100644
--- 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.