BurtSocket class abstract

A UdpSocket that follows the BURT protocols.

Instead of raw bytes, we send Protobuf messages. This class transforms stream into messages, a stream of WrappedMessages. Instead of using send, you may want to use sendMessage or sendWrapper to send Messages or WrappedMessages, respectively.

This class also filters incoming messages to handle special types of messages:

To ensure connectedness, even over UDP, we send Heartbeat messages periodically. Override checkHeartbeats and heartbeatInterval to send or wait for heartbeats, and set isConnected accordingly. When the value changes, call onConnect or onDisconnect as needed.

This class is meant to be used by all BURT devices, both on-rover and at the base station. For example, the rover might override checkHeartbeats to ensure a heartbeat has been sent, while the Dashboard might use it to send a heartbeat and await a response.

Inheritance
Implementers

Constructors

BurtSocket({required int? port, required Device device, SocketInfo? destination, bool quiet = false, Service? collection})
Creates a UdpSocket that follows BURT protocols.

Properties

collection ↔ Service?
The main service, or collection of services, of the program, if any.
getter/setter pair
destination ↔ SocketInfo?
The destination port to send to.
getter/setter pairinherited
device → Device
The device this socket will be used on.
final
hashCode → int
The hash code for this object.
no setterinherited
heartbeatInterval → Duration
How often to check for new heartbeats.
no setter
isConnected → bool
Whether the device on the other end is connected.
no setter
logger → BurtLogger
A logger to capture important events during operation.
finalinherited
messages → Stream<WrappedMessage>
A stream of WrappedMessages as they arrive in the UDP socket.
no setteroverride
port → int?
The port this socket is listening on. See RawDatagramSocket.bind.
no setterinherited
quiet → bool
Whether to silence "normal" output, like opening/closing and resetting sockets.
finalinherited
runtimeType → Type
A representation of the runtime type of the object.
no setterinherited
stream → Stream<Datagram>
A stream containing all the data coming out of the socket.
no setterinherited

Methods

checkHeartbeats() → void
Sends or waits for heartbeats to or from the other device.
dispose() → Future<void>
Closes the connection to the device.
override
init() → Future<bool>
Initializes the connection to the device.
override
noSuchMethod(Invocation invocation) → dynamic
Invoked when a nonexistent method or property is accessed.
inherited
onConnect(SocketInfo source) → void
Sets destination to the incoming source.
onDisconnect() → Future<void>
Sends a Disconnect message to the dashboard and sets destination to null.
override
onHeartbeat(Heartbeat heartbeat, SocketInfo source) → void
Handle an incoming heartbeat coming from a given source.
onSettings(NetworkSettings settings) → void
Handle an incoming request to change network settings.
send(List<int> data, {SocketInfo? destination}) → void
Sends data to the given destination.
inherited
sendMessage(Message message, {SocketInfo? destination}) → void
Sends a Message over the socket (in a WrappedMessage).
inherited
sendWrapper(WrappedMessage wrapper, {SocketInfo? destination}) → void
Sends a WrappedMessage over the socket.
inherited
toString() → String
A string representation of this object.
inherited
waitForConnection() → Future<void>
Waits for a connection to be established.

Operators

operator ==(Object other) → bool
The equality operator.
inherited