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[WIP] Improve presentation of connection status #6

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36 changes: 28 additions & 8 deletions lib/core/ros.dart
Original file line number Diff line number Diff line change
@@ -7,7 +7,7 @@ import 'package:web_socket_channel/io.dart';
import 'request.dart';

/// Status enums.
enum Status { NONE, CONNECTING, CONNECTED, CLOSED, ERRORED }
enum Status { NONE, CONNECTING, CONNECTED, CLOSING, CLOSED, ERRORED }
enum TopicStatus {
SUBSCRIBED,
UNSUBSCRIBED,
@@ -21,13 +21,16 @@ enum TopicStatus {
class Ros {
/// Initializes the [_statusController] as a broadcast.
/// The [url] of the ROS node can be optionally specified at this point.
Ros({this.url}) {
Ros({this.url, this.timeout}) {
_statusController = StreamController<Status>.broadcast();
}

/// The url of ROS node running the rosbridge server.
dynamic url;

/// The timeout of the connection
Duration timeout;

/// Total subscribers to ever connect.
int subscribers = 0;

@@ -62,17 +65,25 @@ class Ros {
Status status = Status.NONE;

/// Connect to the ROS node, the [url] can override what was provided in the constructor.
void connect({dynamic url}) {
void connect({dynamic url, Duration timeout}) {
this.url = url ?? this.url;
url ??= this.url;
timeout ??= this.timeout;
// Initialize the connection to the ROS node with a Websocket channel.
try {
_channel = IOWebSocketChannel.connect(url);
_channel = IOWebSocketChannel.connect(url, timeout: timeout);
stream =
_channel.stream.asBroadcastStream().map((raw) => json.decode(raw));
// Update the connection status.
status = Status.CONNECTED;
status = Status.CONNECTING;
_statusController.add(status);

// Listen to the ready status (connection to the websocket established)
_channel.ready.then((data) {
status = Status.CONNECTED;
_statusController.add(status);
});

// Listen for messages on the connection to update the status.
_channelListener = stream.listen((data) {
print('INCOMING: $data');
@@ -87,7 +98,7 @@ class Ros {
status = Status.CLOSED;
_statusController.add(status);
});
} on WebSocketException catch (e) {
} on WebSocketException catch (_) {
status = Status.ERRORED;
_statusController.add(status);
}
@@ -96,13 +107,22 @@ class Ros {
/// Close the connection to the ROS node, an exit [code] and [reason] can
/// be optionally specified.
Future<void> close([int code, String reason]) async {
status = Status.CLOSING;
_statusController.add(status);

/// Close listener and websocket.
await _channelListener?.cancel();
await _channel?.sink?.close(code, reason);

List<Future> futures = [];
if (_channel != null && _channel.sink != null)
futures.add(_channel?.sink?.close(code, reason));
if (timeout != null) futures.add(Future.delayed(timeout));

await Future.any(futures);

/// Update the connection status.
_statusController.add(Status.CLOSED);
status = Status.CLOSED;
_statusController.add(status);
}

/// Send a [message] to the ROS node
10 changes: 6 additions & 4 deletions pubspec.lock
Original file line number Diff line number Diff line change
@@ -152,9 +152,11 @@ packages:
web_socket_channel:
dependency: "direct main"
description:
name: web_socket_channel
url: "https://pub.dartlang.org"
source: hosted
version: "1.0.12"
path: "."
ref: "feature/ready"
resolved-ref: "5584f5e5cc031aa2a08f32b0df50aade0d551fb9"
url: "git://github.com/artrmz/web_socket_channel.git"
source: git
version: "1.0.13"
sdks:
dart: ">=2.2.2 <3.0.0"
5 changes: 4 additions & 1 deletion pubspec.yaml
Original file line number Diff line number Diff line change
@@ -10,7 +10,10 @@ environment:
dependencies:
flutter:
sdk: flutter
web_socket_channel: ^1.0.12
web_socket_channel:
git:
url: git://github.com/artrmz/web_socket_channel.git
ref: feature/ready

dev_dependencies:
flutter_test:
4 changes: 1 addition & 3 deletions test/roslib_errors_test.dart
Original file line number Diff line number Diff line change
@@ -1,11 +1,9 @@
// Copyright (c) 2019 Conrad Heidebrecht.

import 'dart:async';
import 'package:flutter_test/flutter_test.dart';
import 'package:roslib/roslib.dart';

void main() {

Ros ros;

setUp(() {
@@ -21,5 +19,5 @@ void main() {
expect(ros.statusStream, isNotNull);
expect(ros.status, Status.ERRORED);
});

}