Replaced MessagesModel.registerHandler with a stream

lib/src/data/metrics/vitals.dart

@@ -37,6 +37,9 @@ class VitalsMetrics extends Metrics {
     }
   }
 
+  /// Publicly exposes [notifyListeners].
+  void notify() => notifyListeners();
+
   @override
   List<MetricLine> get allMetrics => [
     MetricLine("Voltage: ${drive.batteryVoltage.toStringAsFixed(2)} V", severity: voltageSeverity),

lib/src/data/protobuf.dart

@@ -10,15 +10,6 @@ export "package:protobuf/protobuf.dart" show GeneratedMessageGenericExtensions;
 /// The `.fromBuffer` constructor is a type of [MessageDecoder].
 typedef MessageDecoder<T extends Message> = T Function(List<int> data);
 
-/// A callback to execute with a specific serialized Protobuf message.
-typedef MessageHandler<T extends Message> = void Function(T);
-
-/// A callback to handle any [WrappedMessage].
-typedef WrappedMessageHandler = void Function(WrappedMessage);
-
-/// A callback to execute with raw Protobuf data.
-typedef RawDataHandler = void Function(List<int> data);
-
 /// Gets the name of the command message for the given device.
 String getCommandName(Device device) => switch (device) {
 	Device.ARM => "ArmCommand",

lib/src/models/data/logs.dart

@@ -48,7 +48,11 @@ class LogsModel extends Model {
 
   @override
   Future<void> init() async {
-    models.messages.registerHandler<BurtLog>(name: BurtLog().messageName, decoder: BurtLog.fromBuffer, handler: handleLog);
+    models.messages.stream.onMessage<BurtLog>(
+      name: BurtLog().messageName,
+      constructor: BurtLog.fromBuffer,
+      callback: handleLog,
+    );
     saveToFileTimer = Timer.periodic(saveToFileInterval, saveToFile);
   }
 

lib/src/models/data/messages.dart

@@ -1,34 +1,23 @@
-import "package:protobuf/protobuf.dart";
+import "dart:async";
 
 import "package:rover_dashboard/data.dart";
 import "package:rover_dashboard/models.dart";
 
-/// A mixin that delegates [WrappedMessage]s to a handler via [registerHandler].
-/// 
-/// - Use [registerHandler] to invoke your handler whenever a new message is received.
-/// - Use [removeHandler] to remove your handler.
-/// - Override [allowedFallthrough] to allow certain massages to pass unhandled.
-class MessagesModel {
-	/// A set of message types that are allowed to pass through without being handled.
-	static const Set<String> allowedFallthrough = {"AutonomyData", "Disconnect"};
-
-	/// A set of handlers to be called based on [WrappedMessage.name].
-	final Map<String, RawDataHandler> _handlers = {};
-
-	/// Delegates the message contents to the appropriate handler.
-	void onMessage(WrappedMessage wrapper) {
-		final rawHandler = _handlers[wrapper.name];
-		if (rawHandler == null) {
-			if (allowedFallthrough.contains(wrapper.name)) return;
-			throw StateError("No handler registered for ${wrapper.name} message");
-		}
-		try { 
-      return rawHandler(wrapper.data);
-    } on InvalidProtocolBufferException {
-      // Data is corrupt, ignore it
-    }
-	}
+export "package:burt_network/burt_network.dart" show WrappedMessageStream;
 
+/// A single model to consolidate all messages.
+///
+/// Messages can arrive from serial devices or UDP devices, and any device can be unexpectedly
+/// disconnected at any time. To simplify the logic of subscribing for new messages, this model
+/// holds a [stream] of [WrappedMessage]s that anyone can subscribe to. When a message arrives,
+/// simply call [addMessage] to ensure it will be added to the stream.
+///
+/// Note that having this model forward [stream] to the serial and UDP streams would *not* work,
+/// as those streams can be closed when devices are disconnected, and new streams are created when
+/// devices are connected for the first time. In that case, anyone who subscribes to the stream
+/// before a device is connected (eg, in [Model.init]) won't get messages received afterwards. To
+/// get around this issue, this model uses the same [StreamController] the entire time.
+class MessagesModel extends Model {
 	/// Sends a command over the network or over Serial.
 	void sendMessage(Message message, {bool checkVersion = true}) {
     final shouldCheck = checkVersion && models.settings.dashboard.versionChecking;
@@ -42,34 +31,14 @@ class MessagesModel {
 		models.sockets.data.sendMessage(message);
 	}
 
-	/// Adds a handler for the given message type. 
-	/// 
-	/// When a new message is received, [onMessage] checks to see if its type matches [name].
-	/// If so, it calls [decoder] to parse the binary data into a Protobuf class, and then
-	/// calls [handler] with that parsed data class. 
-	/// 
-	/// For example, with a message called `ScienceData`, you would use this function as: 
-	/// ```dart
-	/// registerHandler<ScienceData>(
-	/// 	name: ScienceData().messageName,  // identify the data as a ScienceData message
-	/// 	decoder: ScienceData.fromBuffer,  // deserialize into a ScienceData instance
-	/// 	handler: (ScienceData data) => print(data.methane),  // do something with the data
-	/// );
-	/// ```
-	void registerHandler<T extends Message>({
-		required String name, 
-		required MessageDecoder<T> decoder, 
-		required MessageHandler<T> handler,
-	}) {
-		if (_handlers.containsKey(name)) {  // handler was already registered
-			throw ArgumentError("There's already a message handler for $name.");
-		} else {
-			_handlers[name] = (data) => handler(decoder(data));
-		}
-	}
+  final _controller = StreamController<WrappedMessage>.broadcast();
+
+  /// The stream of messages. Use [WrappedMessageStream.onMessage] to subscribe to messages.
+  Stream<WrappedMessage> get stream => _controller.stream;
+
+  /// Adds a message to the [stream].
+  void addMessage(WrappedMessage message) => _controller.add(message);
 
-	/// Removes the handler for a given message type. 
-	/// 
-	/// This is useful if you register a handler to update a piece of UI that is no longer on-screen.
-	void removeHandler(String name) => _handlers.remove(name);
+  @override
+  Future<void> init() async { }
 }

lib/src/models/data/serial.dart

@@ -10,7 +10,7 @@ import "package:rover_dashboard/models.dart";
 /// names instead.
 ///
 /// Send messages to the connected devices using the [sendMessage] method, and all messages
-/// received all ports are forwarded to [MessagesModel.onMessage].
+/// received all ports are forwarded to [MessagesModel.addMessage].
 class SerialModel extends Model {
   /// All the connected devices and their respective serial ports.
   ///
@@ -37,7 +37,7 @@ class SerialModel extends Model {
     	models.home.setMessage(severity: Severity.error, text: "Could not connect to $port");
     	return;
     }
-    device.messages.listen(models.messages.onMessage);
+    device.messages.listen(models.messages.addMessage);
     models.home.setMessage(severity: Severity.info, text: "Connected to $port");
     devices[port] = device;
     notifyListeners();

lib/src/models/data/sockets.dart

@@ -55,7 +55,7 @@ class Sockets extends Model {
         ? onConnect(socket.device)
         : onDisconnect(socket.device),
       );
-      socket.messages.listen(models.messages.onMessage);
+      socket.messages.listen(models.messages.addMessage);
       await socket.init();
     }
     final level = Logger.level;

lib/src/models/data/video.dart

@@ -17,18 +17,18 @@ class VideoModel extends Model {
 	};
 
 	/// How many frames came in the network in the past second.
-	/// 
+	///
 	/// This number is updated every frame. Use [networkFps] in the UI.
 	Map<CameraName, int> framesThisSecond = {
-		for (final name in CameraName.values) 
+		for (final name in CameraName.values)
 			name: 0,
 	};
 
 	/// How many frames came in the network in the past second.
 	Map<CameraName, int> networkFps = {};
 
 	/// Triggers when it's time to update a new frame.
-	/// 
+	///
 	/// This is kept here to ensure all widgets are in sync.
 	Timer? frameUpdater;
 
@@ -40,15 +40,15 @@ class VideoModel extends Model {
 
 	@override
 	Future<void> init() async {
-		models.messages.registerHandler<VideoData>(
+		models.messages.stream.onMessage<VideoData>(
 			name: VideoData().messageName,
-			decoder: VideoData.fromBuffer,
-			handler: handleData,
+			constructor: VideoData.fromBuffer,
+			callback: handleData,
 		);
-		models.messages.registerHandler<VideoCommand>(
+		models.messages.stream.onMessage<VideoCommand>(
 			name: VideoCommand().messageName,
-			decoder: VideoCommand.fromBuffer,
-			handler: (command) => _handshake = command,
+			constructor: VideoCommand.fromBuffer,
+			callback: (command) => _handshake = command,
 		);
 		fpsTimer = Timer.periodic(const Duration(seconds: 1), resetNetworkFps);
 		reset();
@@ -58,7 +58,7 @@ class VideoModel extends Model {
 	void resetNetworkFps([_]) {
 		networkFps = Map.from(framesThisSecond);
 		framesThisSecond = {
-			for (final name in CameraName.values) 
+			for (final name in CameraName.values)
 				name: 0,
 		};
 		notifyListeners();
@@ -110,13 +110,13 @@ class VideoModel extends Model {
 	/// Takes a screenshot of the current frame.
 	Future<void> saveFrame(CameraName name) async {
 		final cachedFrame = feeds[name]?.frame;
-		if (cachedFrame == null) throw ArgumentError.notNull("Feed for $name"); 
+		if (cachedFrame == null) throw ArgumentError.notNull("Feed for $name");
 		await services.files.writeImage(cachedFrame, name.humanName);
 		models.home.setMessage(severity: Severity.info, text: "Screenshot saved");
 	}
 
 	/// Updates settings for the given camera.
-	Future<void> updateCamera(String id, CameraDetails details, {bool verify = true}) async { 
+	Future<void> updateCamera(String id, CameraDetails details, {bool verify = true}) async {
 		_handshake = null;
 		final command = VideoCommand(id: id, details: details);
 		models.sockets.video.sendMessage(command);
@@ -126,7 +126,7 @@ class VideoModel extends Model {
 	}
 
 	/// Enables or disables the given camera.
-	/// 
+	///
 	/// This function is called automatically, so if the camera is not connected or otherwise available,
 	/// it'll fail silently. However, if the server simply doesn't respond, it'll show a warning.
 	Future<void> toggleCamera(CameraName name, {required bool enable}) async {
@@ -141,16 +141,16 @@ class VideoModel extends Model {
 		await Future<void>.delayed(const Duration(seconds: 2));
 		if (_handshake == null) {
 			models.home.setMessage(
-				severity: Severity.warning, 
+				severity: Severity.warning,
 				text: "Could not ${enable ? 'enable' : 'disable'} the ${name.humanName} camera",
 			);
 		}
-	} 
+	}
 }
 
 /// An exception thrown when the rover does not respond to a handshake.
 ///
 /// Certain changes require a handshake to ensure the rover has received and applied the change.
 /// If the rover fails to acknowledge or apply the change, a response will not be sent. Throw
-/// this error to indicate that. 
+/// this error to indicate that.
 class RequestNotAccepted implements Exception { }

lib/src/models/rover/metrics.dart

@@ -44,31 +44,32 @@ class RoverMetrics extends Model {
 
 	@override
 	Future<void> init() async {
-		models.messages.registerHandler<DriveData>(
+		models.messages.stream.onMessage(
 			name: DriveData().messageName,
-			decoder: DriveData.fromBuffer,
-			handler: drive.update,
+			constructor: DriveData.fromBuffer,
+			callback: drive.update,
 		);
-		models.messages.registerHandler<ScienceData>(
+		models.messages.stream.onMessage(
 			name: ScienceData().messageName,
-			decoder: ScienceData.fromBuffer,
-			handler: science.update,
+			constructor: ScienceData.fromBuffer,
+			callback: science.update,
 		);
-    models.messages.registerHandler<RoverPosition>(
+    models.messages.stream.onMessage(
 			name: RoverPosition().messageName,
-			decoder: RoverPosition.fromBuffer,
-			handler: position.update,
+			constructor: RoverPosition.fromBuffer,
+			callback: position.update,
 		);
-		models.messages.registerHandler<ArmData>(
+		models.messages.stream.onMessage(
 			name: ArmData().messageName,
-			decoder: ArmData.fromBuffer,
-			handler: arm.update,
+			constructor: ArmData.fromBuffer,
+			callback: arm.update,
 		);
-		models.messages.registerHandler<GripperData>(
+		models.messages.stream.onMessage(
 			name: GripperData().messageName,
-			decoder: GripperData.fromBuffer,
-			handler: gripper.update,
+			constructor: GripperData.fromBuffer,
+			callback: gripper.update,
 		);
+    drive.addListener(vitals.notify);
     // versionTimer = Timer.periodic(versionInterval, _sendVersions);
 	}
 

lib/src/models/rover/settings.dart

@@ -5,8 +5,8 @@ import "package:rover_dashboard/models.dart";
 const confirmationDelay = Duration(seconds: 1);
 
 /// Updates sensitive settings on the rover.
-/// 
-/// Certain settings need confirmation that they were actually changed. Due to the nature of UDP, 
+///
+/// Certain settings need confirmation that they were actually changed. Due to the nature of UDP,
 /// we have no way to actually guarantee this, so we simply ask that the rover send the exact same
 /// message in response (see [UpdateSetting]). If we do not get the response after waiting for a
 /// confirmationDelay], we conclude that the rover didn't receive our request, similar to heartbeat.
@@ -22,15 +22,15 @@ class RoverSettings extends Model {
 
 	@override
 	Future<void> init() async {
-		models.messages.registerHandler<UpdateSetting>(
+		models.messages.stream.onMessage(
 			name: UpdateSetting().messageName,
-			decoder: UpdateSetting.fromBuffer,
-			handler: (settings) => _handshakes++,
+			constructor: UpdateSetting.fromBuffer,
+			callback: (settings) => _handshakes++,
 		);
 	}
 
 	/// Sends an [UpdateSetting] and awaits a response.
-	/// 
+	///
 	/// The response must be an echo of the data sent, to ensure the rover acknowledges the data.
 	/// Returns true if the handshake succeeds.
 	Future<bool> tryChangeSettings(UpdateSetting value) async {
@@ -45,15 +45,15 @@ class RoverSettings extends Model {
 	}
 
 	/// Sets the status of the rover.
-	/// 
+	///
 	/// See [RoverStatus] for details.
 	Future<void> setStatus(RoverStatus value) async {
     if (!models.rover.isConnected) return;
     if (value == RoverStatus.AUTONOMOUS || value == RoverStatus.IDLE) {
       for (final controller in models.rover.controllers) {
         controller.setMode(OperatingMode.none);
       }
-    } else if (value == RoverStatus.MANUAL) { 
+    } else if (value == RoverStatus.MANUAL) {
       models.rover.setDefaultControls();
     } else {
       final message = UpdateSetting(status: value);
@@ -66,7 +66,7 @@ class RoverSettings extends Model {
 		settings.status = value;
 		models.rover.status.value = value;
 		notifyListeners();
-	} 
+	}
 
 	/// Changes the color of the rover's LED strip.
 	Future<bool> setColor(ProtoColor color, {required bool blink}) async {

lib/src/models/view/builders/autonomy_command.dart

@@ -1,3 +1,5 @@
+import "dart:async";
+
 import "package:flutter/foundation.dart";
 import "package:rover_dashboard/data.dart";
 import "package:rover_dashboard/models.dart";
@@ -22,19 +24,21 @@ class AutonomyCommandBuilder extends ValueBuilder<AutonomyCommand> {
   @override
   List<ChangeNotifier> get otherBuilders => [models.rover.status];
 
+  StreamSubscription<AutonomyCommand>? _subscription;
+
 	/// Listens for incoming confirmations from the rover that it received the command.
   Future<void> init() async {
     await Future<void>.delayed(const Duration(seconds: 1));
-		models.messages.registerHandler<AutonomyCommand>(
+		_subscription = models.messages.stream.onMessage(
 			name: AutonomyCommand().messageName,
-			decoder: AutonomyCommand.fromBuffer,
-			handler: (data) => _handshake = data,
+			constructor: AutonomyCommand.fromBuffer,
+			callback: (data) => _handshake = data,
 		);
 	}
 
 	@override
 	void dispose() {
-		models.messages.removeHandler(AutonomyCommand().messageName);
+    _subscription?.cancel();
 		super.dispose();
 	}