added version checking setting, laser metrics, network handshake freq…

…uency setting

lib/src/data/metrics/arm.dart

@@ -10,8 +10,8 @@ class ArmMetrics extends Metrics<ArmData> {
 
 	/// Returns a description of a [MotorData].
 	List<MetricLine> getMotorData(MotorData motor) => [
-		MetricLine("  Is moving? ${motor.isMoving}", severity: motor.isMoving.toBool() ? Severity.info : null),
-		MetricLine("  Limit? ${motor.isLimitSwitchPressed}", severity: motor.isLimitSwitchPressed.toBool() ? Severity.warning : null),
+		MetricLine("  Is moving? ${motor.isMoving.displayName}", severity: motor.isMoving.toBool() ? Severity.info : null),
+		MetricLine("  Limit? ${motor.isLimitSwitchPressed.displayName}", severity: motor.isLimitSwitchPressed.toBool() ? Severity.warning : null),
 		MetricLine("  Direction: ${motor.direction.humanName}"),
 		MetricLine("  Steps: ${motor.currentStep} --> ${motor.targetStep}"),
 		MetricLine("  Angle: ${motor.angle.toDegrees()} degrees"),

lib/src/data/metrics/gripper.dart

@@ -10,15 +10,18 @@ class GripperMetrics extends Metrics<GripperData> {
 
 	/// Returns a description of a [MotorData].
 	List<MetricLine> getMotorData(MotorData motor) => [
-		MetricLine("  Is moving? ${motor.isMoving}", severity: motor.isMoving.toBool() ? Severity.info : null),
-		MetricLine("  Limit? ${motor.isLimitSwitchPressed}", severity: motor.isLimitSwitchPressed.toBool() ? Severity.warning : null),
+		MetricLine("  Is moving? ${motor.isMoving.displayName}", severity: motor.isMoving.toBool() ? Severity.info : null),
+		MetricLine("  Limit? ${motor.isLimitSwitchPressed.displayName}", severity: motor.isLimitSwitchPressed.toBool() ? Severity.warning : null),
 		MetricLine("  Direction: ${motor.direction.humanName}"),
 		MetricLine("  Steps: ${motor.currentStep} --> ${motor.targetStep}"),
 		MetricLine("  Angle: ${motor.angle.toDegrees() % 360} degrees"),
 	];
 
 	@override
 	List<MetricLine> get allMetrics => [
+    MetricLine("Camera Angle: ${data.servoAngle} degrees"),
+    MetricLine("Laser: ${data.laserState.displayName}", severity: data.laserState.toBool() ? Severity.critical : null),
+    MetricLine("------------------------------",),
     MetricLine("Lift:"),
 		...getMotorData(data.lift,),
 		MetricLine("------------------------------",),

lib/src/data/metrics/metrics.dart

@@ -51,6 +51,7 @@ abstract class Metrics<T extends Message> with ChangeNotifier {
 
   /// Checks this message's version and checks for support.
   bool checkVersion(T data) {
+    if (!models.settings.dashboard.versionChecking) return true;
     if (data is RoverPosition) return true;
     final newVersion = parseVersion(data);
     if (newVersion.hasMajor()) version = newVersion;

lib/src/data/protobuf.dart

@@ -301,6 +301,15 @@ extension BoolUtils on BoolState {
   bool toBool() => switch (this) {
     BoolState.NO => false,
     BoolState.YES => true,
+    BoolState.BOOL_UNDEFINED => false,
+    _ => throw ArgumentError("Unrecognized bool state: $this"),
+  };
+
+  /// Converts this Protobuf boolean into a human readable string.
+  String get displayName => switch(this) {
+    BoolState.NO => "No",
+    BoolState.YES => "Yes",
+    BoolState.BOOL_UNDEFINED => "No Data",
     _ => throw ArgumentError("Unrecognized bool state: $this"),
   };
 }

lib/src/data/settings.dart

@@ -242,6 +242,9 @@ class DashboardSettings {
   /// Tank controls offer more custom control, but modern drive controls are more intuitive.
   final bool preferTankControls;
 
+  /// Whether to have version checking on protobuf messages.
+  final bool versionChecking;
+
   /// A const constructor.
   const DashboardSettings({
     required this.splitMode,
@@ -250,6 +253,7 @@ class DashboardSettings {
     required this.themeMode,
     required this.splitCameras,
     required this.preferTankControls,
+    required this.versionChecking,
   });
 
   /// Parses Dashboard settings from JSON.
@@ -259,6 +263,7 @@ class DashboardSettings {
     maxFps = (json?["maxFps"] ?? 60) as int,
     splitCameras = json?["splitCameras"] ?? false,
     preferTankControls = json?["preferTankControls"] ?? false,
+    versionChecking = json?["versionChecking"] ?? true,
     themeMode = ThemeMode.values.byName(json?["theme"] ?? ThemeMode.system.name);
 
   /// Serializes these settings to JSON.
@@ -269,6 +274,7 @@ class DashboardSettings {
     "theme": themeMode.name,
     "splitCameras": splitCameras,
     "preferTankControls": preferTankControls,
+    "versionChecking": versionChecking,
   };
 }
 

lib/src/models/data/messages.dart

@@ -31,7 +31,8 @@ class MessagesModel {
 
 	/// Sends a command over the network or over Serial.
 	void sendMessage(Message message, {bool checkVersion = true}) {
-    if (checkVersion && !models.rover.metrics.isSupportedVersion(message)) {
+    final shouldCheck = checkVersion && models.settings.dashboard.versionChecking;
+    if (shouldCheck && !models.rover.metrics.isSupportedVersion(message)) {
       if (models.rover.isConnected) {
         models.home.setMessage(severity: Severity.error, text: "Rover has the wrong ${message.messageName} version!");
       }

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

@@ -54,7 +54,7 @@ class NetworkSettingsBuilder extends ValueBuilder<NetworkSettings> {
 		videoSocket = SocketBuilder(initial.videoSocket),
 		autonomySocket = SocketBuilder(initial.autonomySocket),
 		tankSocket = SocketBuilder(initial.tankSocket),
-    connectionTimeout = NumberBuilder<double>(initial.connectionTimeout);
+    connectionTimeout = NumberBuilder<double>(initial.connectionTimeout, min: 0);
 
 	@override
 	bool get isValid => dataSocket.isValid
@@ -195,13 +195,17 @@ class DashboardSettingsBuilder extends ValueBuilder<DashboardSettings> {
   /// Whether to default to tank controls. See [DashboardSettings.preferTankControls].
   bool preferTankControls;
 
+  /// Whether to use version checking. See [DashboardSettings.versionChecking].
+  bool versionChecking;
+
 	/// Modifies the given [DashboardSettings].
   DashboardSettingsBuilder(DashboardSettings initial) : 
 		fps = NumberBuilder(initial.maxFps),
 		blockSize = NumberBuilder(initial.mapBlockSize),
     splitMode = initial.splitMode,
     splitCameras = initial.splitCameras,
     preferTankControls = initial.preferTankControls,
+    versionChecking = initial.versionChecking,
     themeMode = initial.themeMode;
 
   @override
@@ -215,6 +219,7 @@ class DashboardSettingsBuilder extends ValueBuilder<DashboardSettings> {
     themeMode: themeMode,
     splitCameras: splitCameras,
     preferTankControls: preferTankControls,
+    versionChecking: versionChecking,
   );
 
   /// Updates the [splitMode] when a new one is selected.
@@ -244,6 +249,13 @@ class DashboardSettingsBuilder extends ValueBuilder<DashboardSettings> {
     preferTankControls = input;
     notifyListeners();
   }
+
+  /// Updates [versionChecking].
+  void updateVersionChecking(bool? input){ // ignore: avoid_positional_boolean_parameters
+    if (input == null) return;
+    versionChecking = input;
+    notifyListeners();
+  }
 }
 
 /// A [ValueBuilder] that modifies an [EasterEggsSettings].

lib/src/pages/settings.dart

@@ -72,7 +72,7 @@ class SettingsPage extends ReactiveWidget<SettingsBuilder> {
                   }
                 },
               ),
-              NumberEditor(name: "Connection Timeout", model: model.network.connectionTimeout),
+              NumberEditor(name: "Heart beats per second", model: model.network.connectionTimeout),
             ],
           ),
           const Divider(),
@@ -136,6 +136,12 @@ class SettingsPage extends ReactiveWidget<SettingsBuilder> {
                 value: model.dashboard.preferTankControls,
                 onChanged: model.dashboard.updateTank,
               ),
+              SwitchListTile(
+                title: const Text("Require version checking"),
+                subtitle: const Text("Default to version checking on"),
+                value: model.dashboard.versionChecking,
+                onChanged: model.dashboard.updateVersionChecking,
+              ),
               Row(children: [
                 const SizedBox(
                   width: 200,

lib/src/services/socket.dart

@@ -2,6 +2,7 @@ import "package:burt_network/burt_network.dart";
 import "package:flutter/foundation.dart";  // <-- Used for ValueNotifier
 
 import "package:rover_dashboard/data.dart";
+import "package:rover_dashboard/models.dart";
 
 /// A service to send and receive Protobuf messages over a UDP socket, using [ProtoSocket].
 /// 
@@ -24,6 +25,9 @@ class DashboardSocket extends BurtUdpProtocol {
 	/// The handler to call when a [WrappedMessage] comes in. Used by [onMessage].
 	final WrappedMessageHandler messageHandler;
 
+  /// Number of times to check heart beat per seconds based on [settings.network.connectionTimeout].
+  double get frequency => models.settings.network.connectionTimeout;
+
 	/// Listens for incoming messages on a UDP socket and sends heartbeats to the [device].
 	DashboardSocket({
 		required this.onConnect, 
@@ -36,7 +40,7 @@ class DashboardSocket extends BurtUdpProtocol {
 	);
 
   @override
-  Duration get heartbeatInterval => const Duration(milliseconds: 200);
+  Duration get heartbeatInterval => Duration(milliseconds: 1000 ~/ frequency);
 
 	/// The connection strength, as a percentage to this [device].
 	final connectionStrength = ValueNotifier<double>(0);
@@ -78,10 +82,10 @@ class DashboardSocket extends BurtUdpProtocol {
 		if (wasConnected && !isConnected) onDisconnect(device);
 		_isChecking = false;
 	}
-}
 
-/// How much each successful/missed handshake is worth, as a percent.
-const connectionIncrement = 0.2;
+  /// How much each successful/missed handshake is worth, as a percent.
+  double get connectionIncrement => 1 / frequency;
 
-/// How long to wait for incoming heartbeats after sending them out.
-const heartbeatWaitDelay = Duration(milliseconds: 200);
+  /// How long to wait for incoming heartbeats after sending them out.
+  Duration get heartbeatWaitDelay => Duration(milliseconds: 1000 ~/ frequency);
+}