From 53c1cc6aaf25cf7a4c3bec5f14fc5224421f8021 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Fri, 7 Feb 2025 09:52:13 -0500
Subject: [PATCH 01/11] Add timestamped version of onMessage()

---
 burt_network/lib/src/utils.dart | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/burt_network/lib/src/utils.dart b/burt_network/lib/src/utils.dart
index d76a6d9b..860764da 100644
--- a/burt_network/lib/src/utils.dart
+++ b/burt_network/lib/src/utils.dart
@@ -31,6 +31,28 @@ extension WrappedMessageStream on Stream<WrappedMessage> {
     where((wrapper) => wrapper.name == name)
     .map((wrapper) => constructor(wrapper.data))
     .listen(callback);
+
+  /// Allows callers to listen only for specific messages, with a specific timestamp.
+  ///
+  /// To use this, pass the name of the message, a function to create the message
+  /// from binary data, and a callback to handle the message and its time. For example,
+  /// ```dart
+  /// collection.server.messages.onMessageTimestamped(
+  ///   name: VideoData().messageName,  // equals "VideoData"
+  ///   constructor: VideoData.fromBuffer,
+  ///   callback: (data, time) => print("${data.name}\t$time");
+  /// )
+  /// ```
+  ///
+  /// This function returns a [StreamSubscription] that you can use to stop listening.
+  StreamSubscription<WrappedMessage> onMessageTimestamped<T extends Message>({
+    required String name,
+    required T Function(List<int>) constructor,
+    required void Function(T message, Timestamp timestamp) callback,
+  }) =>
+      where((wrapper) => wrapper.name == name).listen(
+        (wrapper) => callback(constructor(wrapper.data), wrapper.timestamp),
+      );
 }
 
 /// Helpful methods on streams of nullable values.

From a82816be8c869609961e41761b8e115d7661c102 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Fri, 21 Mar 2025 16:12:55 -0400
Subject: [PATCH 02/11] Added time synchronization protocol

---
 burt_network/lib/protobuf.dart                |  2 +-
 burt_network/lib/src/generated/core.pb.dart   | 67 +++++++++++++++++++
 .../lib/src/generated/core.pbjson.dart        | 14 ++++
 burt_network/lib/src/generated/drive.pb.dart  | 18 ++---
 burt_network/lib/src/generated/logs.pb.dart   | 10 +--
 .../lib/src/generated/wrapper.pb.dart         | 12 ++--
 burt_network/lib/src/udp/burt_socket.dart     | 65 +++++++++++++++++-
 burt_network/lib/src/udp/rover_socket.dart    |  5 +-
 burt_network/lib/src/udp/rover_timesync.dart  | 38 +++++++++++
 burt_network/lib/src/udp/timesync_server.dart | 37 ++++++++++
 burt_network/lib/udp.dart                     |  1 +
 11 files changed, 245 insertions(+), 24 deletions(-)
 create mode 100644 burt_network/lib/src/udp/rover_timesync.dart
 create mode 100644 burt_network/lib/src/udp/timesync_server.dart

diff --git a/burt_network/lib/protobuf.dart b/burt_network/lib/protobuf.dart
index eeba137d..bf9ca6ad 100644
--- a/burt_network/lib/protobuf.dart
+++ b/burt_network/lib/protobuf.dart
@@ -44,7 +44,7 @@ extension MessageUtils on Message {
   WrappedMessage wrap([DateTime? timestamp]) => WrappedMessage(
     data: writeToBuffer(),
     name: messageName,
-    timestamp: Timestamp.fromDateTime(timestamp ?? DateTime.now()),
+    timestamp: Timestamp.fromDateTime(timestamp ?? DateTime.timestamp()),
   );
 }
 
diff --git a/burt_network/lib/src/generated/core.pb.dart b/burt_network/lib/src/generated/core.pb.dart
index 1cf1a85c..e871fa23 100644
--- a/burt_network/lib/src/generated/core.pb.dart
+++ b/burt_network/lib/src/generated/core.pb.dart
@@ -14,6 +14,7 @@ import 'dart:core' as $core;
 import 'package:protobuf/protobuf.dart' as $pb;
 
 import 'core.pbenum.dart';
+import 'google/protobuf/timestamp.pb.dart' as $5;
 
 export 'core.pbenum.dart';
 
@@ -82,6 +83,72 @@ class Connect extends $pb.GeneratedMessage {
   void clearReceiver() => clearField(2);
 }
 
+class Timesync extends $pb.GeneratedMessage {
+  factory Timesync({
+    Device? sender,
+    $5.Timestamp? sendTime,
+  }) {
+    final $result = create();
+    if (sender != null) {
+      $result.sender = sender;
+    }
+    if (sendTime != null) {
+      $result.sendTime = sendTime;
+    }
+    return $result;
+  }
+  Timesync._() : super();
+  factory Timesync.fromBuffer($core.List<$core.int> i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromBuffer(i, r);
+  factory Timesync.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
+
+  static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'Timesync', createEmptyInstance: create)
+    ..e<Device>(1, _omitFieldNames ? '' : 'sender', $pb.PbFieldType.OE, defaultOrMaker: Device.DEVICE_UNDEFINED, valueOf: Device.valueOf, enumValues: Device.values)
+    ..aOM<$5.Timestamp>(2, _omitFieldNames ? '' : 'sendTime', protoName: 'sendTime', subBuilder: $5.Timestamp.create)
+    ..hasRequiredFields = false
+  ;
+
+  @$core.Deprecated(
+  'Using this can add significant overhead to your binary. '
+  'Use [GeneratedMessageGenericExtensions.deepCopy] instead. '
+  'Will be removed in next major version')
+  Timesync clone() => Timesync()..mergeFromMessage(this);
+  @$core.Deprecated(
+  'Using this can add significant overhead to your binary. '
+  'Use [GeneratedMessageGenericExtensions.rebuild] instead. '
+  'Will be removed in next major version')
+  Timesync copyWith(void Function(Timesync) updates) => super.copyWith((message) => updates(message as Timesync)) as Timesync;
+
+  $pb.BuilderInfo get info_ => _i;
+
+  @$core.pragma('dart2js:noInline')
+  static Timesync create() => Timesync._();
+  Timesync createEmptyInstance() => create();
+  static $pb.PbList<Timesync> createRepeated() => $pb.PbList<Timesync>();
+  @$core.pragma('dart2js:noInline')
+  static Timesync getDefault() => _defaultInstance ??= $pb.GeneratedMessage.$_defaultFor<Timesync>(create);
+  static Timesync? _defaultInstance;
+
+  @$pb.TagNumber(1)
+  Device get sender => $_getN(0);
+  @$pb.TagNumber(1)
+  set sender(Device v) { setField(1, v); }
+  @$pb.TagNumber(1)
+  $core.bool hasSender() => $_has(0);
+  @$pb.TagNumber(1)
+  void clearSender() => clearField(1);
+
+  @$pb.TagNumber(2)
+  $5.Timestamp get sendTime => $_getN(1);
+  @$pb.TagNumber(2)
+  set sendTime($5.Timestamp v) { setField(2, v); }
+  @$pb.TagNumber(2)
+  $core.bool hasSendTime() => $_has(1);
+  @$pb.TagNumber(2)
+  void clearSendTime() => clearField(2);
+  @$pb.TagNumber(2)
+  $5.Timestamp ensureSendTime() => $_ensure(1);
+}
+
 /// Notifies the recipient that the sender will no longer be connected.
 class Disconnect extends $pb.GeneratedMessage {
   factory Disconnect({
diff --git a/burt_network/lib/src/generated/core.pbjson.dart b/burt_network/lib/src/generated/core.pbjson.dart
index f04e5f18..65f9c588 100644
--- a/burt_network/lib/src/generated/core.pbjson.dart
+++ b/burt_network/lib/src/generated/core.pbjson.dart
@@ -56,6 +56,20 @@ final $typed_data.Uint8List connectDescriptor = $convert.base64Decode(
     'CgdDb25uZWN0Eh8KBnNlbmRlchgBIAEoDjIHLkRldmljZVIGc2VuZGVyEiMKCHJlY2VpdmVyGA'
     'IgASgOMgcuRGV2aWNlUghyZWNlaXZlcg==');
 
+@$core.Deprecated('Use timesyncDescriptor instead')
+const Timesync$json = {
+  '1': 'Timesync',
+  '2': [
+    {'1': 'sender', '3': 1, '4': 1, '5': 14, '6': '.Device', '10': 'sender'},
+    {'1': 'sendTime', '3': 2, '4': 1, '5': 11, '6': '.google.protobuf.Timestamp', '10': 'sendTime'},
+  ],
+};
+
+/// Descriptor for `Timesync`. Decode as a `google.protobuf.DescriptorProto`.
+final $typed_data.Uint8List timesyncDescriptor = $convert.base64Decode(
+    'CghUaW1lc3luYxIfCgZzZW5kZXIYASABKA4yBy5EZXZpY2VSBnNlbmRlchI2CghzZW5kVGltZR'
+    'gCIAEoCzIaLmdvb2dsZS5wcm90b2J1Zi5UaW1lc3RhbXBSCHNlbmRUaW1l');
+
 @$core.Deprecated('Use disconnectDescriptor instead')
 const Disconnect$json = {
   '1': 'Disconnect',
diff --git a/burt_network/lib/src/generated/drive.pb.dart b/burt_network/lib/src/generated/drive.pb.dart
index 052c97f1..c5fd3ddd 100644
--- a/burt_network/lib/src/generated/drive.pb.dart
+++ b/burt_network/lib/src/generated/drive.pb.dart
@@ -14,7 +14,7 @@ import 'dart:core' as $core;
 import 'package:protobuf/protobuf.dart' as $pb;
 
 import 'drive.pbenum.dart';
-import 'status.pbenum.dart' as $5;
+import 'status.pbenum.dart' as $6;
 import 'utils.pbenum.dart' as $0;
 import 'version.pb.dart' as $3;
 
@@ -32,7 +32,7 @@ class DriveCommand extends $pb.GeneratedMessage {
     $core.double? frontTilt,
     $core.double? rearSwivel,
     $core.double? rearTilt,
-    $5.RoverStatus? status,
+    $6.RoverStatus? status,
     $3.Version? version,
     ProtoColor? color,
     $0.BoolState? blink,
@@ -97,7 +97,7 @@ class DriveCommand extends $pb.GeneratedMessage {
     ..a<$core.double>(8, _omitFieldNames ? '' : 'frontTilt', $pb.PbFieldType.OF)
     ..a<$core.double>(9, _omitFieldNames ? '' : 'rearSwivel', $pb.PbFieldType.OF)
     ..a<$core.double>(10, _omitFieldNames ? '' : 'rearTilt', $pb.PbFieldType.OF)
-    ..e<$5.RoverStatus>(11, _omitFieldNames ? '' : 'status', $pb.PbFieldType.OE, defaultOrMaker: $5.RoverStatus.DISCONNECTED, valueOf: $5.RoverStatus.valueOf, enumValues: $5.RoverStatus.values)
+    ..e<$6.RoverStatus>(11, _omitFieldNames ? '' : 'status', $pb.PbFieldType.OE, defaultOrMaker: $6.RoverStatus.DISCONNECTED, valueOf: $6.RoverStatus.valueOf, enumValues: $6.RoverStatus.values)
     ..aOM<$3.Version>(12, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
     ..e<ProtoColor>(13, _omitFieldNames ? '' : 'color', $pb.PbFieldType.OE, defaultOrMaker: ProtoColor.PROTO_COLOR_UNDEFINED, valueOf: ProtoColor.valueOf, enumValues: ProtoColor.values)
     ..e<$0.BoolState>(14, _omitFieldNames ? '' : 'blink', $pb.PbFieldType.OE, defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
@@ -222,9 +222,9 @@ class DriveCommand extends $pb.GeneratedMessage {
   void clearRearTilt() => clearField(10);
 
   @$pb.TagNumber(11)
-  $5.RoverStatus get status => $_getN(10);
+  $6.RoverStatus get status => $_getN(10);
   @$pb.TagNumber(11)
-  set status($5.RoverStatus v) { setField(11, v); }
+  set status($6.RoverStatus v) { setField(11, v); }
   @$pb.TagNumber(11)
   $core.bool hasStatus() => $_has(10);
   @$pb.TagNumber(11)
@@ -283,7 +283,7 @@ class DriveData extends $pb.GeneratedMessage {
     $core.double? middleRight,
     $core.double? frontRight,
     ProtoColor? color,
-    $5.RoverStatus? status,
+    $6.RoverStatus? status,
   }) {
     final $result = create();
     if (throttle != null) {
@@ -380,7 +380,7 @@ class DriveData extends $pb.GeneratedMessage {
     ..a<$core.double>(19, _omitFieldNames ? '' : 'middleRight', $pb.PbFieldType.OF)
     ..a<$core.double>(20, _omitFieldNames ? '' : 'frontRight', $pb.PbFieldType.OF)
     ..e<ProtoColor>(21, _omitFieldNames ? '' : 'color', $pb.PbFieldType.OE, defaultOrMaker: ProtoColor.PROTO_COLOR_UNDEFINED, valueOf: ProtoColor.valueOf, enumValues: ProtoColor.values)
-    ..e<$5.RoverStatus>(22, _omitFieldNames ? '' : 'status', $pb.PbFieldType.OE, defaultOrMaker: $5.RoverStatus.DISCONNECTED, valueOf: $5.RoverStatus.valueOf, enumValues: $5.RoverStatus.values)
+    ..e<$6.RoverStatus>(22, _omitFieldNames ? '' : 'status', $pb.PbFieldType.OE, defaultOrMaker: $6.RoverStatus.DISCONNECTED, valueOf: $6.RoverStatus.valueOf, enumValues: $6.RoverStatus.values)
     ..hasRequiredFields = false
   ;
 
@@ -605,9 +605,9 @@ class DriveData extends $pb.GeneratedMessage {
   void clearColor() => clearField(21);
 
   @$pb.TagNumber(22)
-  $5.RoverStatus get status => $_getN(21);
+  $6.RoverStatus get status => $_getN(21);
   @$pb.TagNumber(22)
-  set status($5.RoverStatus v) { setField(22, v); }
+  set status($6.RoverStatus v) { setField(22, v); }
   @$pb.TagNumber(22)
   $core.bool hasStatus() => $_has(21);
   @$pb.TagNumber(22)
diff --git a/burt_network/lib/src/generated/logs.pb.dart b/burt_network/lib/src/generated/logs.pb.dart
index 2c99466f..0f673c31 100644
--- a/burt_network/lib/src/generated/logs.pb.dart
+++ b/burt_network/lib/src/generated/logs.pb.dart
@@ -13,7 +13,7 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
-import 'core.pbenum.dart' as $6;
+import 'core.pbenum.dart' as $7;
 import 'logs.pbenum.dart';
 
 export 'logs.pbenum.dart';
@@ -23,7 +23,7 @@ class BurtLog extends $pb.GeneratedMessage {
     BurtLogLevel? level,
     $core.String? title,
     $core.String? body,
-    $6.Device? device,
+    $7.Device? device,
   }) {
     final $result = create();
     if (level != null) {
@@ -48,7 +48,7 @@ class BurtLog extends $pb.GeneratedMessage {
     ..e<BurtLogLevel>(1, _omitFieldNames ? '' : 'level', $pb.PbFieldType.OE, defaultOrMaker: BurtLogLevel.BURT_LOG_LEVEL_UNDEFINED, valueOf: BurtLogLevel.valueOf, enumValues: BurtLogLevel.values)
     ..aOS(2, _omitFieldNames ? '' : 'title')
     ..aOS(3, _omitFieldNames ? '' : 'body')
-    ..e<$6.Device>(4, _omitFieldNames ? '' : 'device', $pb.PbFieldType.OE, defaultOrMaker: $6.Device.DEVICE_UNDEFINED, valueOf: $6.Device.valueOf, enumValues: $6.Device.values)
+    ..e<$7.Device>(4, _omitFieldNames ? '' : 'device', $pb.PbFieldType.OE, defaultOrMaker: $7.Device.DEVICE_UNDEFINED, valueOf: $7.Device.valueOf, enumValues: $7.Device.values)
     ..hasRequiredFields = false
   ;
 
@@ -101,9 +101,9 @@ class BurtLog extends $pb.GeneratedMessage {
   void clearBody() => clearField(3);
 
   @$pb.TagNumber(4)
-  $6.Device get device => $_getN(3);
+  $7.Device get device => $_getN(3);
   @$pb.TagNumber(4)
-  set device($6.Device v) { setField(4, v); }
+  set device($7.Device v) { setField(4, v); }
   @$pb.TagNumber(4)
   $core.bool hasDevice() => $_has(3);
   @$pb.TagNumber(4)
diff --git a/burt_network/lib/src/generated/wrapper.pb.dart b/burt_network/lib/src/generated/wrapper.pb.dart
index 0938c731..c000cd3f 100644
--- a/burt_network/lib/src/generated/wrapper.pb.dart
+++ b/burt_network/lib/src/generated/wrapper.pb.dart
@@ -13,13 +13,13 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
-import 'google/protobuf/timestamp.pb.dart' as $8;
+import 'google/protobuf/timestamp.pb.dart' as $5;
 
 class WrappedMessage extends $pb.GeneratedMessage {
   factory WrappedMessage({
     $core.List<$core.int>? data,
     $core.String? name,
-    $8.Timestamp? timestamp,
+    $5.Timestamp? timestamp,
   }) {
     final $result = create();
     if (data != null) {
@@ -40,7 +40,7 @@ class WrappedMessage extends $pb.GeneratedMessage {
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'WrappedMessage', createEmptyInstance: create)
     ..a<$core.List<$core.int>>(1, _omitFieldNames ? '' : 'data', $pb.PbFieldType.OY)
     ..aOS(2, _omitFieldNames ? '' : 'name')
-    ..aOM<$8.Timestamp>(3, _omitFieldNames ? '' : 'timestamp', subBuilder: $8.Timestamp.create)
+    ..aOM<$5.Timestamp>(3, _omitFieldNames ? '' : 'timestamp', subBuilder: $5.Timestamp.create)
     ..hasRequiredFields = false
   ;
 
@@ -84,15 +84,15 @@ class WrappedMessage extends $pb.GeneratedMessage {
   void clearName() => clearField(2);
 
   @$pb.TagNumber(3)
-  $8.Timestamp get timestamp => $_getN(2);
+  $5.Timestamp get timestamp => $_getN(2);
   @$pb.TagNumber(3)
-  set timestamp($8.Timestamp v) { setField(3, v); }
+  set timestamp($5.Timestamp v) { setField(3, v); }
   @$pb.TagNumber(3)
   $core.bool hasTimestamp() => $_has(2);
   @$pb.TagNumber(3)
   void clearTimestamp() => clearField(3);
   @$pb.TagNumber(3)
-  $8.Timestamp ensureTimestamp() => $_ensure(2);
+  $5.Timestamp ensureTimestamp() => $_ensure(2);
 }
 
 
diff --git a/burt_network/lib/src/udp/burt_socket.dart b/burt_network/lib/src/udp/burt_socket.dart
index 3520a008..36669537 100644
--- a/burt_network/lib/src/udp/burt_socket.dart
+++ b/burt_network/lib/src/udp/burt_socket.dart
@@ -4,8 +4,12 @@ import "dart:io";
 import "package:burt_network/burt_network.dart";
 import "package:meta/meta.dart";
 
-extension on Datagram {
+/// Utility methods for parsing datagram messages as wrapped messages
+extension DatagramUtil on Datagram {
+  /// Returns the wrapped message parsed from the data of the datagram
   WrappedMessage parseWrapper() => WrappedMessage.fromBuffer(data);
+
+  /// The source that the datagram was sent from
   SocketInfo get source => SocketInfo(address: address, port: port);
 }
 
@@ -40,7 +44,16 @@ abstract class BurtSocket extends UdpSocket {
   /// Used to properly respond to heartbeats and for thorough logging.
   final Device device;
 
+  /// The port to send and receive timesync messages from
+  /// If this socket is configured to send timesync messages,
+  /// the [Timesync] message will be sent to a socket with
+  /// the [destination] IP address, and timesync port.
+  /// 
+  /// By default, the timesync port is 8020
+  final int timesyncPort;
+
   Timer? _heartbeatTimer;
+  Timer? _timesyncTimer;
 
   StreamSubscription<Datagram?>? _subscription;
 
@@ -53,6 +66,7 @@ abstract class BurtSocket extends UdpSocket {
   BurtSocket({
     required super.port,
     required this.device,
+    this.timesyncPort = 8020,
     super.destination,
     super.quiet,
     super.keepDestination,
@@ -68,6 +82,9 @@ abstract class BurtSocket extends UdpSocket {
     await super.init();
     _subscription = stream.listen(_onPacket);
     _heartbeatTimer = Timer.periodic(heartbeatInterval, (_) => checkHeartbeats());
+    if (shouldSendTimesync) {
+      _timesyncTimer = Timer.periodic(const Duration(seconds: 1), (_) => sendTimesync());
+    }
     return true;
   }
 
@@ -75,6 +92,7 @@ abstract class BurtSocket extends UdpSocket {
   Future<void> dispose() async {
     await _subscription?.cancel();
     _heartbeatTimer?.cancel();
+    _timesyncTimer?.cancel();
     await super.dispose();
   }
 
@@ -114,10 +132,14 @@ abstract class BurtSocket extends UdpSocket {
   }
 
   void _onPacket(Datagram packet) {
+    final receiveTime = DateTime.timestamp();
     final wrapper = packet.parseWrapper();
     if (wrapper.name == Connect().messageName) {
       final heartbeat = Connect.fromBuffer(wrapper.data);
       onHeartbeat(heartbeat, packet.source);
+    } else if (wrapper.name == Timesync().messageName) {
+      final timesync = Timesync.fromBuffer(wrapper.data);
+      onTimesync(timesync, wrapper.timestamp, receiveTime, packet.source);
     } else if (wrapper.name == UpdateSetting().messageName) {
       final settings = UpdateSetting.fromBuffer(wrapper.data);
       onSettings(settings);
@@ -133,6 +155,18 @@ abstract class BurtSocket extends UdpSocket {
   /// the current [destination] to properly handle the heartbeat.
   void onHeartbeat(Heartbeat heartbeat, SocketInfo source);
 
+  /// Handle an incoming Timesync message from a given source.
+  ///
+  /// The message's send time, server receive time, and client receive
+  /// time will be used to calculate the estimated time offset between
+  /// the socket and timesync server
+  void onTimesync(
+    Timesync timesync,
+    Timestamp serverReceiveTime,
+    DateTime clientReceiveTime,
+    SocketInfo source,
+  ) {}
+
   /// Handle an incoming request to change network settings.
   ///
   /// Be sure to echo the message back using [sendMessage], to confirm receipt.
@@ -144,9 +178,34 @@ abstract class BurtSocket extends UdpSocket {
   /// Whether the device on the other end is connected.
   bool get isConnected;
 
+  /// Whether or not this socket should be sending timesync events to its destination
+  /// If true, it will periodically send timesync events to its destination to 
+  bool get shouldSendTimesync;
+
+  /// The current timestamp of the socket
+  /// This timestamp is used as the default timestamp when sending a message
+  DateTime get timestamp;
+
   /// Sends or waits for heartbeats to or from the other device.
   void checkHeartbeats();
 
+  /// Sends a timesync message to the destination IP address on port [timesyncPort]
+  void sendTimesync() {
+    if (destination == null) {
+      return;
+    }
+    sendMessage(
+      Timesync(
+        sender: device,
+        sendTime: Timestamp.fromDateTime(DateTime.timestamp()),
+      ),
+      destination: SocketInfo(
+        address: destination!.address,
+        port: timesyncPort,
+      ),
+    );
+  }
+
   /// Sets [destination] to the incoming [source].
   ///
   /// Override this function to run custom code when a device connects to this socket.
@@ -178,4 +237,8 @@ abstract class BurtSocket extends UdpSocket {
     _connectionCompleter = Completer();
     return _connectionCompleter!.future;
   }
+
+  @override
+  void sendMessage(Message message, {SocketInfo? destination}) =>
+      sendWrapper(message.wrap(timestamp), destination: destination);
 }
diff --git a/burt_network/lib/src/udp/rover_socket.dart b/burt_network/lib/src/udp/rover_socket.dart
index de35ed29..4f0f3f53 100644
--- a/burt_network/lib/src/udp/rover_socket.dart
+++ b/burt_network/lib/src/udp/rover_socket.dart
@@ -1,7 +1,8 @@
 import "burt_socket.dart";
 import "rover_heartbeats.dart";
+import "rover_timesync.dart";
 import "rover_logger.dart";
 import "rover_settings.dart";
 
-/// A UDP socket fit for use on the rover, with heartbeats, logging, and settings included.
-class RoverSocket = BurtSocket with RoverHeartbeats, RoverLogger, RoverSettings;
+/// A UDP socket fit for use on the rover, with heartbeats, timesync, logging, and settings included.
+class RoverSocket = BurtSocket with RoverHeartbeats, RoverTimesync, RoverLogger, RoverSettings;
diff --git a/burt_network/lib/src/udp/rover_timesync.dart b/burt_network/lib/src/udp/rover_timesync.dart
new file mode 100644
index 00000000..80c60512
--- /dev/null
+++ b/burt_network/lib/src/udp/rover_timesync.dart
@@ -0,0 +1,38 @@
+import "package:burt_network/burt_network.dart";
+
+/// A mixin to automatically handle time synchronization
+mixin RoverTimesync on BurtSocket {
+  Duration _timeOffset = Duration.zero;
+
+  @override
+  bool get shouldSendTimesync => true;
+
+  @override
+  DateTime get timestamp => DateTime.timestamp().subtract(_timeOffset);
+
+  @override
+  void onTimesync(Timesync timesync, Timestamp serverReceiveTime, DateTime clientReceiveTime, SocketInfo source) {
+    if (timesync.sender != device) {
+      if (!quiet) {
+      logger.warning(
+        "Device ${device.name} received a timesync event for ${timesync.sender.name}",
+      );}
+      return;
+    }
+    if (source.port != timesyncPort) {
+      if (!quiet) {
+        logger.warning(
+          "Socket on port ${destination?.port} expected to receive timesync message from port $timesyncPort, but received from ${source.port} instead",
+        );
+      }
+      return;
+    }
+    final pongLocalTime = clientReceiveTime.microsecondsSinceEpoch;
+    final pingClientTime = timesync.sendTime.toDateTime().microsecondsSinceEpoch;
+    final pongServerTime = serverReceiveTime.toDateTime().microsecondsSinceEpoch;
+
+    final rtt = pongLocalTime - pingClientTime;
+    final serverOffsetMicros = pongServerTime - rtt ~/ 2 - pingClientTime;
+    _timeOffset = Duration(microseconds: serverOffsetMicros);
+  }
+}
diff --git a/burt_network/lib/src/udp/timesync_server.dart b/burt_network/lib/src/udp/timesync_server.dart
new file mode 100644
index 00000000..82771e8c
--- /dev/null
+++ b/burt_network/lib/src/udp/timesync_server.dart
@@ -0,0 +1,37 @@
+import "dart:async";
+import "dart:io";
+
+import "package:burt_network/burt_network.dart";
+
+/// A UDP socket to act as the "time server" for time synchronization events
+///
+/// The time synchronization is received and handled from an independent UDP
+/// socket, to reduce congestion with other data messages, which lowers latency
+/// and improves time accuracy.
+class TimesyncServer extends UdpSocket {
+  StreamSubscription<Datagram?>? _subscription;
+
+  /// Default constructor for TimesyncServer
+  TimesyncServer({required super.port});
+
+  @override
+  Future<bool> init() async {
+    await super.init();
+    _subscription = stream.listen(_onPacket);
+    return true;
+  }
+
+  @override
+  Future<void> dispose() async {
+    await _subscription?.cancel();
+    await super.dispose();
+  }
+
+  void _onPacket(Datagram packet) {
+    final rxTime = DateTime.timestamp();
+    final wrapper = packet.parseWrapper();
+    wrapper.timestamp = Timestamp.fromDateTime(rxTime);
+
+    sendWrapper(wrapper, destination: packet.source);
+  }
+}
diff --git a/burt_network/lib/udp.dart b/burt_network/lib/udp.dart
index 75c9161e..64bbc9ab 100644
--- a/burt_network/lib/udp.dart
+++ b/burt_network/lib/udp.dart
@@ -30,3 +30,4 @@ export "src/udp/rover_settings.dart";
 export "src/udp/rover_heartbeats.dart";
 export "src/udp/socket_info.dart";
 export "src/udp/udp_socket.dart";
+export "src/udp/timesync_server.dart";

From d345c328445f3a649f8f41bb030eb6e21d609a3d Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Fri, 21 Mar 2025 16:20:55 -0400
Subject: [PATCH 03/11] Add default timestamp getter

---
 burt_network/lib/src/udp/burt_socket.dart | 2 +-
 burt_network/test/udp_sockets.dart        | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/burt_network/lib/src/udp/burt_socket.dart b/burt_network/lib/src/udp/burt_socket.dart
index 36669537..66df6006 100644
--- a/burt_network/lib/src/udp/burt_socket.dart
+++ b/burt_network/lib/src/udp/burt_socket.dart
@@ -184,7 +184,7 @@ abstract class BurtSocket extends UdpSocket {
 
   /// The current timestamp of the socket
   /// This timestamp is used as the default timestamp when sending a message
-  DateTime get timestamp;
+  DateTime get timestamp => DateTime.timestamp();
 
   /// Sends or waits for heartbeats to or from the other device.
   void checkHeartbeats();
diff --git a/burt_network/test/udp_sockets.dart b/burt_network/test/udp_sockets.dart
index a6cf6374..7a618239 100644
--- a/burt_network/test/udp_sockets.dart
+++ b/burt_network/test/udp_sockets.dart
@@ -104,6 +104,9 @@ class TestClient extends BurtSocket {
 
   @override
   void onSettings(UpdateSetting settings) { }
+  
+  @override
+  bool get shouldSendTimesync => false;
 }
 
 class RestartTrackingService extends Service {

From d38e2a7d17df8261ae7792de316d9d3f579dfbd6 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Mon, 24 Mar 2025 11:00:20 -0400
Subject: [PATCH 04/11] Default shouldSendTimesync to false

---
 burt_network/lib/src/udp/burt_socket.dart    |  2 +-
 burt_network/lib/src/udp/rover_timesync.dart | 22 +++++++++++++-------
 2 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/burt_network/lib/src/udp/burt_socket.dart b/burt_network/lib/src/udp/burt_socket.dart
index 66df6006..148e3b2c 100644
--- a/burt_network/lib/src/udp/burt_socket.dart
+++ b/burt_network/lib/src/udp/burt_socket.dart
@@ -180,7 +180,7 @@ abstract class BurtSocket extends UdpSocket {
 
   /// Whether or not this socket should be sending timesync events to its destination
   /// If true, it will periodically send timesync events to its destination to 
-  bool get shouldSendTimesync;
+  bool get shouldSendTimesync => false;
 
   /// The current timestamp of the socket
   /// This timestamp is used as the default timestamp when sending a message
diff --git a/burt_network/lib/src/udp/rover_timesync.dart b/burt_network/lib/src/udp/rover_timesync.dart
index 80c60512..597ec14b 100644
--- a/burt_network/lib/src/udp/rover_timesync.dart
+++ b/burt_network/lib/src/udp/rover_timesync.dart
@@ -8,15 +8,21 @@ mixin RoverTimesync on BurtSocket {
   bool get shouldSendTimesync => true;
 
   @override
-  DateTime get timestamp => DateTime.timestamp().subtract(_timeOffset);
+  DateTime get timestamp => DateTime.timestamp().add(_timeOffset);
 
   @override
-  void onTimesync(Timesync timesync, Timestamp serverReceiveTime, DateTime clientReceiveTime, SocketInfo source) {
+  void onTimesync(
+    Timesync timesync,
+    Timestamp serverReceiveTime,
+    DateTime clientReceiveTime,
+    SocketInfo source,
+  ) {
     if (timesync.sender != device) {
       if (!quiet) {
-      logger.warning(
-        "Device ${device.name} received a timesync event for ${timesync.sender.name}",
-      );}
+        logger.warning(
+          "Device ${device.name} received a timesync event for ${timesync.sender.name}",
+        );
+      }
       return;
     }
     if (source.port != timesyncPort) {
@@ -28,8 +34,10 @@ mixin RoverTimesync on BurtSocket {
       return;
     }
     final pongLocalTime = clientReceiveTime.microsecondsSinceEpoch;
-    final pingClientTime = timesync.sendTime.toDateTime().microsecondsSinceEpoch;
-    final pongServerTime = serverReceiveTime.toDateTime().microsecondsSinceEpoch;
+    final pingClientTime =
+        timesync.sendTime.toDateTime().microsecondsSinceEpoch;
+    final pongServerTime =
+        serverReceiveTime.toDateTime().microsecondsSinceEpoch;
 
     final rtt = pongLocalTime - pingClientTime;
     final serverOffsetMicros = pongServerTime - rtt ~/ 2 - pingClientTime;

From fedfa14b6945ed0b88351325f8d3925221cbf841 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Mon, 24 Mar 2025 11:12:48 -0400
Subject: [PATCH 05/11] Updated docs

---
 burt_network/lib/src/udp/burt_socket.dart | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/burt_network/lib/src/udp/burt_socket.dart b/burt_network/lib/src/udp/burt_socket.dart
index 148e3b2c..5afd9b05 100644
--- a/burt_network/lib/src/udp/burt_socket.dart
+++ b/burt_network/lib/src/udp/burt_socket.dart
@@ -28,6 +28,7 @@ typedef NetworkSettings = UpdateSetting;
 /// This class also filters incoming messages to handle special types of messages:
 /// - Override [onHeartbeat] to handle [Heartbeat] messages
 /// - Override [onSettings] to handle [NetworkSettings] messages
+/// - Override [onTimesync] to handle [Timesync] 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]
@@ -179,11 +180,16 @@ abstract class BurtSocket extends UdpSocket {
   bool get isConnected;
 
   /// Whether or not this socket should be sending timesync events to its destination
-  /// If true, it will periodically send timesync events to its destination to 
+  /// If true, it will periodically send timesync events to a destination timesync server.
+  ///
+  /// This serves a separate function than heartbeats. Heartbeats are used solely to
+  /// keep up the connection, wheras timesync is used to ensure that the dashboard and
+  /// rover are on the same time scale, allowing message timestamps to be consistent
+  /// regardless of where they are sent to or from.
   bool get shouldSendTimesync => false;
 
-  /// The current timestamp of the socket
-  /// This timestamp is used as the default timestamp when sending a message
+  /// The current time of the socket.
+  /// This timestamp is used as the default timestamp when sending a message.
   DateTime get timestamp => DateTime.timestamp();
 
   /// Sends or waits for heartbeats to or from the other device.

From e9b5e0230232c46509ad46663f39273a14337f15 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Mon, 24 Mar 2025 11:15:11 -0400
Subject: [PATCH 06/11] Allow timesync server to be quiet

---
 burt_network/lib/src/udp/timesync_server.dart | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/burt_network/lib/src/udp/timesync_server.dart b/burt_network/lib/src/udp/timesync_server.dart
index 82771e8c..b1ca43b8 100644
--- a/burt_network/lib/src/udp/timesync_server.dart
+++ b/burt_network/lib/src/udp/timesync_server.dart
@@ -12,7 +12,7 @@ class TimesyncServer extends UdpSocket {
   StreamSubscription<Datagram?>? _subscription;
 
   /// Default constructor for TimesyncServer
-  TimesyncServer({required super.port});
+  TimesyncServer({required super.port, super.quiet});
 
   @override
   Future<bool> init() async {

From a59038e0cb9838e643ce536c53e83a1a026a9f0e Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Mon, 24 Mar 2025 13:23:27 -0400
Subject: [PATCH 07/11] Fix server offset math

---
 burt_network/lib/src/udp/rover_timesync.dart | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/burt_network/lib/src/udp/rover_timesync.dart b/burt_network/lib/src/udp/rover_timesync.dart
index 597ec14b..bd43168d 100644
--- a/burt_network/lib/src/udp/rover_timesync.dart
+++ b/burt_network/lib/src/udp/rover_timesync.dart
@@ -33,14 +33,20 @@ mixin RoverTimesync on BurtSocket {
       }
       return;
     }
+    if (source.address.isLoopback) {
+      _timeOffset = Duration.zero;
+      return;
+    }
+
     final pongLocalTime = clientReceiveTime.microsecondsSinceEpoch;
     final pingClientTime =
         timesync.sendTime.toDateTime().microsecondsSinceEpoch;
     final pongServerTime =
         serverReceiveTime.toDateTime().microsecondsSinceEpoch;
 
-    final rtt = pongLocalTime - pingClientTime;
-    final serverOffsetMicros = pongServerTime - rtt ~/ 2 - pingClientTime;
+    final rtt2 = pongLocalTime - pingClientTime;
+    final serverTimeAtRx = pongServerTime + rtt2 ~/ 2;
+    final serverOffsetMicros = serverTimeAtRx - pongLocalTime;
     _timeOffset = Duration(microseconds: serverOffsetMicros);
   }
 }

From aa38b326e1fe896b4422362d024e9856e7b177c5 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Mon, 24 Mar 2025 18:51:12 -0400
Subject: [PATCH 08/11] Use socketinfo for destination

---
 burt_network/lib/src/udp/burt_socket.dart    | 42 ++++++++++++--------
 burt_network/lib/src/udp/rover_timesync.dart |  6 ++-
 2 files changed, 29 insertions(+), 19 deletions(-)

diff --git a/burt_network/lib/src/udp/burt_socket.dart b/burt_network/lib/src/udp/burt_socket.dart
index 5afd9b05..a05d0042 100644
--- a/burt_network/lib/src/udp/burt_socket.dart
+++ b/burt_network/lib/src/udp/burt_socket.dart
@@ -45,13 +45,25 @@ abstract class BurtSocket extends UdpSocket {
   /// Used to properly respond to heartbeats and for thorough logging.
   final Device device;
 
-  /// The port to send and receive timesync messages from
-  /// If this socket is configured to send timesync messages,
-  /// the [Timesync] message will be sent to a socket with
-  /// the [destination] IP address, and timesync port.
-  /// 
-  /// By default, the timesync port is 8020
-  final int timesyncPort;
+  /// The address and port of the timesync server.
+  ///
+  /// If this socket is configured to send timesync messages, the [Timesync] message
+  /// will be sent to a socket with the specified IP address and port.
+  ///
+  /// If the Socket Info's IP address is [InternetAddress.anyIPv4], it will be sent to
+  /// the [destination] address
+  ///
+  /// By default, the address is the destination address, on port 8020
+  SocketInfo get timesyncDestination {
+    final address =
+        _timesyncDestination.address != InternetAddress.anyIPv4
+            ? _timesyncDestination.address
+            : destination?.address ?? InternetAddress.loopbackIPv4;
+
+    return SocketInfo(address: address, port: _timesyncDestination.port);
+  }
+
+  late final SocketInfo _timesyncDestination;
 
   Timer? _heartbeatTimer;
   Timer? _timesyncTimer;
@@ -67,12 +79,14 @@ abstract class BurtSocket extends UdpSocket {
   BurtSocket({
     required super.port,
     required this.device,
-    this.timesyncPort = 8020,
     super.destination,
     super.quiet,
     super.keepDestination,
     this.collection,
-  });
+    SocketInfo? timesyncAddress,
+  }) : _timesyncDestination =
+           timesyncAddress ??
+           SocketInfo(address: InternetAddress.anyIPv4, port: 8020);
 
   /// A stream of [WrappedMessage]s as they arrive in the UDP socket.
   @override
@@ -195,20 +209,14 @@ abstract class BurtSocket extends UdpSocket {
   /// Sends or waits for heartbeats to or from the other device.
   void checkHeartbeats();
 
-  /// Sends a timesync message to the destination IP address on port [timesyncPort]
+  /// Sends a timesync message to the [timesyncDestination]
   void sendTimesync() {
-    if (destination == null) {
-      return;
-    }
     sendMessage(
       Timesync(
         sender: device,
         sendTime: Timestamp.fromDateTime(DateTime.timestamp()),
       ),
-      destination: SocketInfo(
-        address: destination!.address,
-        port: timesyncPort,
-      ),
+      destination: timesyncDestination,
     );
   }
 
diff --git a/burt_network/lib/src/udp/rover_timesync.dart b/burt_network/lib/src/udp/rover_timesync.dart
index bd43168d..c8ccfcd9 100644
--- a/burt_network/lib/src/udp/rover_timesync.dart
+++ b/burt_network/lib/src/udp/rover_timesync.dart
@@ -25,14 +25,16 @@ mixin RoverTimesync on BurtSocket {
       }
       return;
     }
-    if (source.port != timesyncPort) {
+
+    if (source != timesyncDestination) {
       if (!quiet) {
         logger.warning(
-          "Socket on port ${destination?.port} expected to receive timesync message from port $timesyncPort, but received from ${source.port} instead",
+          "Socket on port $port expected to receive timesync message from $timesyncDestination, but received from $source instead",
         );
       }
       return;
     }
+
     if (source.address.isLoopback) {
       _timeOffset = Duration.zero;
       return;

From 522e3c62c8751d181d25e750bca8e3216429339f Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Mon, 24 Mar 2025 19:26:59 -0400
Subject: [PATCH 09/11] Add timesync file

---
 burt_network/bin/timesync_server.dart | 6 ++++++
 1 file changed, 6 insertions(+)
 create mode 100644 burt_network/bin/timesync_server.dart

diff --git a/burt_network/bin/timesync_server.dart b/burt_network/bin/timesync_server.dart
new file mode 100644
index 00000000..4f7ea628
--- /dev/null
+++ b/burt_network/bin/timesync_server.dart
@@ -0,0 +1,6 @@
+import "package:burt_network/src/udp/timesync_server.dart";
+
+void main() async {
+  final timesync = TimesyncServer(port: 8020);
+  await timesync.init();
+}

From f5a994eef354455305c90d7b6e9d8b4ffa18bf3d Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Mon, 24 Mar 2025 19:41:50 -0400
Subject: [PATCH 10/11] Make timesync destination mutable

---
 burt_network/lib/src/udp/burt_socket.dart | 6 +++++-
 burt_network/lib/udp.dart                 | 1 +
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/burt_network/lib/src/udp/burt_socket.dart b/burt_network/lib/src/udp/burt_socket.dart
index a05d0042..b5070e66 100644
--- a/burt_network/lib/src/udp/burt_socket.dart
+++ b/burt_network/lib/src/udp/burt_socket.dart
@@ -63,7 +63,11 @@ abstract class BurtSocket extends UdpSocket {
     return SocketInfo(address: address, port: _timesyncDestination.port);
   }
 
-  late final SocketInfo _timesyncDestination;
+  set timesyncDestination(SocketInfo destination) {
+    _timesyncDestination = destination;
+  }
+
+  late SocketInfo _timesyncDestination;
 
   Timer? _heartbeatTimer;
   Timer? _timesyncTimer;
diff --git a/burt_network/lib/udp.dart b/burt_network/lib/udp.dart
index 64bbc9ab..85c9dc36 100644
--- a/burt_network/lib/udp.dart
+++ b/burt_network/lib/udp.dart
@@ -28,6 +28,7 @@ export "src/udp/burt_socket.dart";
 export "src/udp/rover_socket.dart";
 export "src/udp/rover_settings.dart";
 export "src/udp/rover_heartbeats.dart";
+export "src/udp/rover_timesync.dart";
 export "src/udp/socket_info.dart";
 export "src/udp/udp_socket.dart";
 export "src/udp/timesync_server.dart";

From 834814151ef9c5eaf986de831bbdce53df18b3e7 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Mon, 24 Mar 2025 19:52:11 -0400
Subject: [PATCH 11/11] Default to localhost for timesync address

---
 burt_network/lib/src/udp/burt_socket.dart | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/burt_network/lib/src/udp/burt_socket.dart b/burt_network/lib/src/udp/burt_socket.dart
index b5070e66..b0245702 100644
--- a/burt_network/lib/src/udp/burt_socket.dart
+++ b/burt_network/lib/src/udp/burt_socket.dart
@@ -90,7 +90,7 @@ abstract class BurtSocket extends UdpSocket {
     SocketInfo? timesyncAddress,
   }) : _timesyncDestination =
            timesyncAddress ??
-           SocketInfo(address: InternetAddress.anyIPv4, port: 8020);
+           SocketInfo(address: InternetAddress.loopbackIPv4, port: 8020);
 
   /// A stream of [WrappedMessage]s as they arrive in the UDP socket.
   @override