forked from marva/sumorobot-web
102 lines
3.4 KiB
JavaScript
Executable File
102 lines
3.4 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.watchdogTimer = 0;
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// Timer to ping the SumoRobot
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this.watchdogTimer = null;
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// To store Blockly code
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this.blocklyCode = "";
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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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setInterval(function() {
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if (self.watchdogCounter == 0) {
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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-${self.robotId}@00000514", "passwd": "salakala"}`);
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// Setup a timer to ping the robot
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self.watchdogTimer = setInterval(function() {
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// Send a ping to the robot
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self.send(self.robotId, "ping");
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}, 500);
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};
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// When the WebSocket closes
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this.websocket.onclose = function(evt) {
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console.log("INFO websocket disconnected");
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// Clear the pinging
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clearInterval(self.watchdogTimer);
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// Try to recnnect to the sumorobot
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self.connect();
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};
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// When there is a message from the WebSocket
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this.websocket.onmessage = function(evt) {
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// When scope is received
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var data = evt.data.replace(/'/g, '"').toLowerCase();
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// Get SumoRobot battery voltage
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var battery = JSON.parse(data)["battery_voltage"];
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// When sensor data received
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if (battery) {
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$("#battery").html(battery + "V");
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$("#battery").addClass("connected");
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}
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// Count data received packets
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self.watchdogCounter += 1;
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};
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// When there is an WebSocket error
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this.websocket.onerror = function(err) {
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console.log("ERROR websocket error: " + err);
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};
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};
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// Function to send WebSocket data
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Sumorobot.prototype.send = function(msg, val) {
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// Ready state constants: CONNECTING 0, OPEN 1, CLOSING 2, CLOSED 3
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// https://developer.mozilla.org/en-US/docs/Web/API/WebSocket
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if (this.websocket.readyState == 1) {
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if (val === 'undefined') {
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console.log("no val")
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this.websocket.send(`{"to": "sumo-${this.robotId}@00000514", "cmd": "${msg}"}`);
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} else {
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console.log("val")
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this.websocket.send(`{"to": "sumo-${this.robotId}@00000514", "cmd": "${msg}", "val": "${val}"}`);
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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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// When a WebSocket connection exists
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if (this.websocket !== 'undefined') {
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// Close the WebSocket connection
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this.websocket.close();
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}
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};
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// Function to get SumoRobot Blockly code
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Sumorobot.prototype.getBlocklyCode = function() {
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return this.blocklyCode;
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};
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// Function to set SumoRobot Blockly code
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Sumorobot.prototype.setBlocklyCode = function(blocklyCode) {
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this.blocklyCode = blocklyCode;
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};
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