Restarts are now safe

bin/video.dart

@@ -2,6 +2,6 @@ import "package:burt_network/logging.dart";
 import "package:video/video.dart";
 
 void main() async {
-  Logger.level = LogLevel.info;
+  Logger.level = LogLevel.all;
   await collection.init();
 }

lib/src/collection.dart

@@ -51,16 +51,15 @@ class Collection {
   /// Function to initialize cameras
   Future<void> init() async {
     logger..trace("Running in trace mode")..debug("Running in debug mode");
-    await videoServer.init();
     await parent.init();
+    await videoServer.init();
     logger.info("Video program initialized");
   }
 
   /// Stops all cameras and disconnects from the hardware.
   Future<void> dispose() async { 
     parent.stopAll();
-    parent.killAll();
-    parent.isolates.clear();
+    await parent.dispose();
     await videoServer.dispose();
   }
 

lib/src/isolates/opencv.dart

@@ -1,3 +1,5 @@
+import "dart:ffi";
+
 import "package:opencv_ffi/opencv_ffi.dart";
 import "package:burt_network/burt_network.dart";
 import "package:burt_network/logging.dart";
@@ -36,6 +38,7 @@ class OpenCVCameraIsolate extends CameraIsolate {
   @override
   void sendFrames() {
     final matrix = camera.getFrame();
+    if (matrix == nullptr) return;
     final frame = encodeJpg(matrix, quality: details.quality);
     matrix.dispose();
     if (frame == null) {  // Error getting the frame

lib/src/isolates/parent.dart

@@ -17,6 +17,7 @@ import "package:video/video.dart";
 class VideoController extends IsolateParent<VideoCommand, IsolatePayload>{
   @override
   Future<void> init() async {
+    super.init();
     for (final name in CameraName.values) {
       switch (name) {
         case CameraName.CAMERA_NAME_UNDEFINED: continue;

lib/src/utils/constants.dart

@@ -17,9 +17,9 @@ Map<CameraName, String> cameraNames = {
 /// Map for WINDOWS devices
 Map<CameraName, int> cameraIndexes = {
   CameraName.ROVER_REAR: 0,
-  CameraName.AUTONOMY_DEPTH: 1,
-  CameraName.ROVER_FRONT: 2,
-  CameraName.SUBSYSTEM1: 3,
-  CameraName.SUBSYSTEM2: 4,
-  CameraName.SUBSYSTEM3: 5,
+  CameraName.AUTONOMY_DEPTH: 4,
+  CameraName.ROVER_FRONT: 5,
+  CameraName.SUBSYSTEM1: 1,
+  CameraName.SUBSYSTEM2: 2,
+  CameraName.SUBSYSTEM3: 3,
 };

pubspec.lock

@@ -196,10 +196,10 @@ packages:
     dependency: transitive
     description:
       name: meta
-      sha256: d584fa6707a52763a52446f02cc621b077888fb63b93bbcb1143a7be5a0c0c04
+      sha256: bdb68674043280c3428e9ec998512fb681678676b3c54e773629ffe74419f8c7
       url: "https://pub.dev"
     source: hosted
-    version: "1.11.0"
+    version: "1.15.0"
   mime:
     dependency: transitive
     description:
@@ -395,10 +395,10 @@ packages:
     dependency: "direct main"
     description:
       name: typed_isolate
-      sha256: b5a4fb51cb65f60f281dc287dfb8a71395dad97d7480159cbcb95043240503d8
+      sha256: "6d778a29d25a1d5402ecc243a5de7bd8c0e7035bd3d1c7b03a969494a9726b50"
       url: "https://pub.dev"
     source: hosted
-    version: "3.0.0"
+    version: "4.0.0"
   very_good_analysis:
     dependency: "direct dev"
     description:

pubspec.yaml

@@ -14,7 +14,7 @@ dependencies:
     git: https://github.com/Levi-Lesches/opencv_ffi
   burt_network: 
     git: https://github.com/BinghamtonRover/Networking
-  typed_isolate: ^3.0.0
+  typed_isolate: ^4.0.0
   ffi: ^2.1.0
   protobuf: ^3.1.0