forked from marva/sumorobot-web
105 lines
3.5 KiB
JavaScript
Executable File
105 lines
3.5 KiB
JavaScript
Executable File
// Sumorobot constructor
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var Sumorobot = function(wsUri, robotId) {
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// Assign the WebSocket URI
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this.wsUri = wsUri;
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// Assign the SumoRobot ID
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this.robotId = robotId;
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// To keep track of the WebSocket connection
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this.watchdogCounter = 0;
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// When connection was intentionally closed
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this.terminate = false;
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// To store Blockly code
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this.blocklyCode = '';
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// If robot is moving
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this.moving = false;
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// Sensor data
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this.sensors = {
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'opponent': 99,
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'line_left': 0,
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'line_right': 0,
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'battery_voltage': 0
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};
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// Start connecting to the WebSocket
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this.connect();
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};
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// Function to initiate the WebSocket connection
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Sumorobot.prototype.connect = function() {
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// To have access to this object inside events
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var self = this;
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this.websocket = new WebSocket(this.wsUri);
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// Setup connection watchdog interval
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self.connectionTimer = setInterval(function() {
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if (self.watchdogCounter == 0 && !self.terminate) {
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$('#battery').removeClass('connected');
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$('#battery').html('Disconnected');
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}
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// Reset watchdog counter
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self.watchdogCounter = 0;
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}, 3000);
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// When the WebSocket gets connected
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this.websocket.onopen = function(evt) {
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// Send authentication packet
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self.websocket.send(`{"setID": "browser-${self.robotId}@00000514", "passwd": "salakala"}`);
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// Setup a timer to ping the robot
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self.watchdogTimer = setInterval(function() {
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// Send a ping to the robot
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self.send(self.robotId, 'ping');
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}, 500);
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};
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// When the WebSocket closes
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this.websocket.onclose = function(evt) {
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// Clear the timers
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clearInterval(self.watchdogTimer);
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clearInterval(self.connectionTimer);
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// Try to recnnect to the sumorobot
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// Only if the connection wasn't closed intentionally
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if (!self.terminate) {
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self.connect();
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}
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};
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// When there is a message from the WebSocket
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this.websocket.onmessage = function(evt) {
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// When scope is received
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var data = evt.data.replace(/'/g, '"').toLowerCase();
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// Get SumoRobot battery voltage
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self.sensors = JSON.parse(data);
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// When sensor data received
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if (self.sensors['battery_voltage']) {
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$('#battery').html(self.sensors['battery_voltage'] + 'V');
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$('#battery').addClass('connected');
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}
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// Count data received packets
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self.watchdogCounter += 1;
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};
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// When there is an WebSocket error
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this.websocket.onerror = function(err) {
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console.log('ERROR websocket error: ' + err);
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};
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};
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// Function to send WebSocket data
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Sumorobot.prototype.send = function(cmd, val) {
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if (cmd !== 'ping' && cmd !== 'stop') {
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this.moving = true;
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} else {
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this.moving = false;
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}
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// Ready state constants: CONNECTING 0, OPEN 1, CLOSING 2, CLOSED 3
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// https://developer.mozilla.org/en-US/docs/Web/API/WebSocket
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if (!this.terminate && this.websocket.readyState == 1) {
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if (val) {
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this.websocket.send(`{"to": "sumo-${this.robotId}@00000514", "cmd": "${cmd}", "val": "${val}"}`);
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} else {
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this.websocket.send(`{"to": "sumo-${this.robotId}@00000514", "cmd": "${cmd}"}`);
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}
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}
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};
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// Function to close the WebSocket connection
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Sumorobot.prototype.close = function() {
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this.terminate = true;
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// Close the WebSocket connection
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this.websocket.close();
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};
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