sumorobot-web/sumorobot.js

/* disable enable hotkeys */
var hotkeys = true;
/* enable disable remote control */
var remoteControl = false;
/* the local/remote server URL */
//var robotServer = "10.42.0.1";
var robotServer = "iot.koodur.com";

/* ace editor object */
var pythonEditor = null;

/* the sumorobot code */
var sumocode = "";
/* the sumorobot object */
var sumorobot = null;
/* Blockly workspace */
var workspace = null;
/* the sumorobot state */
var sumostart = false;
/* disable / enable Python code */
var pythonEnabled = false;

/* control_if block id */
var controlBlockId = "";
/* last hightlighted block id */
var lastHighlighted = "";
/* block highlight WebSocket */
var blockHighlight = null;

var Sumorobot = function(wsUri) {
    /* assign the WebSocket URI */
    this.wsUri = wsUri;
    /* start connecting to the WebSocket */
    this.connect();
    /* to ping the robot */
    this.watchdogTimer = null;
};

Sumorobot.prototype.connect = function() {
    /* to have access to this object */
    var self = this;
    this.websocket = new WebSocket(this.wsUri);
    /* when the WebSocket gets connected */
    this.websocket.onopen = function(evt) {
        console.log("INFO websocket connected");
        /* setup a timer to ping the robot */
        self.watchdogTimer = setInterval(function() {
            /* send a ping to the robot */
            //console.log("ping the robot")
            self.send("ping");
        }, 2000);
    };
    /* when the WebSocket closes */
    this.websocket.onclose = function(evt) {
        console.log("INFO websocket disconnected");
        /* clear the pinging */
        clearInterval(self.watchdogTimer);
        /* Try to recnnect to the sumorobot */
        self.connect();
    };
    /* when there is a message from the WebSocket */
    this.websocket.onmessage = function(evt) {
        /* when scope is received */
        var data = evt.data.replace(/'/g, '"').toLowerCase();
        console.log(data);
        var battery = JSON.parse(data)["battery_voltage"];
        $("#battery").html(battery + "V");
        $("#battery").addClass("connected");
    };
    /* when there is an WebSocket error */
    this.websocket.onerror = function(err) {
        console.log("ERROR websocket error: " + err);
    };
};

Sumorobot.prototype.send = function(msg) {
    /* ready state constants: CONNECTING 0, OPEN 1, CLOSING 2, CLOSED 3 */
    /* https://developer.mozilla.org/en-US/docs/Web/API/WebSocket */
    if (this.websocket.readyState == 1) {
        this.websocket.send(msg);
    }
};

Sumorobot.prototype.close = function() {
    /* close the WebSocket connection */
    this.websocket.close();
};

window.onload = function() {
    /* function to update the control panel */
    function updateControlPanel() {
        /* hide all buttons and text fields */
        $(".robot-id, .robot-nr, .btn-robot-nr").hide();
        /* show the first button and text field */
        $(".robot-id:eq(0), .robot-nr:eq(0), .btn-robot-nr:eq(0)").show();

        /* adjust the buttons and text fields to be in the middle */
        $(".input-group, .btn-group-robot").css("width", "20%");
        $(".input-group, .btn-group-robot").css("margin-left", "40%");

        /* hide the robot add button */
        $(".btn-robot-add").hide();

        /* populate robots IDs and buttons */
        for (var i = 0; i < 5; i++) {
            var id = getLocalStorageItem("sumorobot.robotID" + i);
            if (id) {
                $(".robot-id:eq(" + i + ")").val(id);
                $(".robot-id:eq(" + i + "), .robot-nr:eq(" + i + "), .btn-robot-nr:eq(" + i + ")").show();
                $(".input-group, .btn-group-robot").css("width", 20 + (i * 20) + "%");
                $(".input-group, .btn-group-robot").css("margin-left", 40 - (i * 10) + "%");
            } else {
                /* when no robots yet added */
                if (i != 0) {
                    /* show the robot add button */
                    $(".btn-robot-add").show();
                    $(".btn-group-robot").css("width", 20 + (i * 20) + "%");
                    $(".input-group, .btn-group-robot").css("margin-left", 40 - (i * 10) + "%");
                    /* add click listener to the robot add button */
                    $(".btn-robot-add").click(function() {
                        $(".robot-id:eq(" + i + "), .robot-nr:eq(" + i + "), .btn-robot-nr:eq(" + i + ")").show();
                        $(".input-group, .btn-group-robot").css("width", 20 + (i * 20) + "%");
                        $(".input-group, .btn-group-robot").css("margin-left", 40 - (i * 10) + "%");
                        $(this).hide();
                    });
                }
                break;
            }
        }
    }

    /* load the control panel */
    updateControlPanel();

    /* load ace editor */
    pythonEditor = ace.edit("blocklyCode");
    /* set the style */
    pythonEditor.setTheme("ace/theme/textmate");
    pythonEditor.session.setMode("ace/mode/python");
    pythonEditor.session.setTabSize(2);
    pythonEditor.setReadOnly(true);
    /* disable scrolling warning */
    pythonEditor.$blockScrolling = Infinity;
    /* enable autocomplete */
    ace.require("ace/ext/language_tools");
    pythonEditor.setOptions({
        enableSnippets: true,
        enableLiveAutocompletion: true,
        enableBasicAutocompletion: true
    });
    /* add autocomplete keywords */
    pythonEditor.completers.push({
    getCompletions: function(editor, session, pos, prefix, callback) {
            callback(null, [
                {value: "STOP", score: 1000, meta: "sumorobot"},
                {value: "LEFT", score: 1000, meta: "sumorobot"},
                {value: "RIGHT", score: 1000, meta: "sumorobot"},
                {value: "FORWARD", score: 1000, meta: "sumorobot"},
                {value: "BACKWARD", score: 1000, meta: "sumorobot"},
                {value: "STATUS", score: 1000, meta: "sumorobot"},
                {value: "LEFT_LINE", score: 1000, meta: "sumorobot"},
                {value: "RIGHT_LINE", score: 1000, meta: "sumorobot"},
                {value: "sumorobot", score: 1000, meta: "sumorobot"},
                {value: "move", score: 1000, meta: "sumorobot"},
                {value: "sleep", score: 1000, meta: "sumorobot"},
                {value: "set_led", score: 1000, meta: "sumorobot"},
                {value: "is_line", score: 1000, meta: "sumorobot"},
                {value: "get_line", score: 1000, meta: "sumorobot"},
                {value: "set_servo", score: 1000, meta: "sumorobot"},
                {value: "is_opponent", score: 1000, meta: "sumorobot"},
                {value: "calibrate_line", score: 1000, meta: "sumorobot"},
                {value: "get_battery_voltage", score: 1000, meta: "sumorobot"},
                {value: "get_opponent_distance", score: 1000, meta: "sumorobot"}
            ]);
        }
    });

    /* change the if block to be more cheerful */
    Blockly.Msg.LOGIC_HUE = '#44CC00';
    Blockly.Constants.Logic.HUE = '#44CC00';

    /* remote previous and next statement from control_if block */
    Blockly.defineBlocksWithJsonArray([
        {
          "type": "controls_if",
          "message0": "%{BKY_CONTROLS_IF_MSG_IF} %1",
          "args0": [
            {
              "type": "input_value",
              "name": "IF0",
              "check": "Boolean"
            }
          ],
          "message1": "%{BKY_CONTROLS_IF_MSG_THEN} %1",
          "args1": [
            {
              "type": "input_statement",
              "name": "DO0"
            }
          ],
          "colour": "%{BKY_LOGIC_HUE}",
          "helpUrl": "%{BKY_CONTROLS_IF_HELPURL}",
          "mutator": "controls_if_mutator",
          "extensions": ["controls_if_tooltip"]
        }
    ]);

    /* make control_if mutator icon bigger */
    Blockly.Icon.prototype.renderIcon = function(cursorX) {
        if (this.collapseHidden && this.block_.isCollapsed()) {
            this.iconGroup_.setAttribute('display', 'none');
            return cursorX;
        }
        this.iconGroup_.setAttribute('display', 'block');

        var SIZE = 1.7;
        var TOP_MARGIN = 2;
        var LEFT_MARGIN = 5;
        var width = this.SIZE;
        if (this.block_.RTL) {
            cursorX -= width;
        }
        this.iconGroup_.setAttribute('transform',
            'translate(' + LEFT_MARGIN + ',' + TOP_MARGIN + ') scale(' + SIZE + ')');
        this.computeIconLocation();
        if (this.block_.RTL) {
            cursorX -= Blockly.BlockSvg.SEP_SPACE_X;
        } else {
            cursorX += width + Blockly.BlockSvg.SEP_SPACE_X;
        }
        return cursorX;
    };

    /* when mouse click occures on Blockly workspace */
    Blockly.utils.isRightButton = function(e) {
        var target = e.target;

        /* when control_if block is in use */
        if (controlBlockId != "") {
            /* when the user clicks anywhere outside the mutator and not on the mutator icon */
            if (!$(target).is('.blocklyBubbleCanvas') && !$(target).parents().is('.blocklyBubbleCanvas')) {
                if (!$(target).is('.blocklyIconGroup') && !$(target).parents().is('.blocklyIconGroup')) {
                    /* hide the mutator */
                    workspace.getBlockById(controlBlockId).mutator.setVisible(false);
                }
            }
        }
        /* disable right click on Blockly workspace */
        return false;
    };

    Blockly.Blocks['sumorobot_delay'] = {
        init: function() {
            this.setColour("#E64C00");
            this.appendDummyInput()
              .appendField("delay")
                .appendField(new Blockly.FieldTextInput('1000',
                  Blockly.FieldNumber.numberValidator), 'DELAY');
            this.setPreviousStatement(true);
            this.setNextStatement(true);
        }
    };

    Blockly.Blocks['sumorobot_move'] = {
        init: function() {
            var OPERATORS = [
                ['move stop', 'STOP'],
                ['move left', 'LEFT'],
                ['move right', 'RIGHT'],
                ['move forward', 'FORWARD'],
                ['move backward', 'BACKWARD']
            ];
            this.setColour("#E60000");
            var dropdown = new Blockly.FieldDropdown(OPERATORS);
            this.appendDummyInput().appendField(dropdown, 'MOVE');
            this.setPreviousStatement(true);
            this.setNextStatement(true);
        }
    };

    Blockly.Blocks['sumorobot_opponent'] = {
        init: function() {
            this.setColour("#0099E6");
            this.appendDummyInput().appendField('opponent');
            this.setOutput(true, 'Boolean');
        }
    };

    Blockly.Blocks['sumorobot_line'] = {
        init: function() {
            var OPERATORS = [
                ['line left', 'LEFT'],
                ['line right', 'RIGHT']
            ];
            this.setColour("#E6BF00");
            var dropdown = new Blockly.FieldDropdown(OPERATORS);
            this.appendDummyInput().appendField(dropdown, 'LINE');
            this.setOutput(true, 'Boolean');
        }
    };

    Blockly.Python['sumorobot_delay'] = function(block) {
        var code = 'sumorobot.sleep(' + parseFloat(block.getFieldValue('DELAY')) + ', "' + block.id + '")\n';
        return code;
    };

    Blockly.Python['sumorobot_move'] = function(block) {
        var code = 'sumorobot.move(' + block.getFieldValue('MOVE') + ', "' + block.id + '")\n';
        return code;
    };

    Blockly.Python['sumorobot_opponent'] = function(block) {
        var code = 'sumorobot.is_opponent("' + block.id + '")';
        return [code, Blockly.Python.ORDER_ATOMIC];
    };

    Blockly.Python['sumorobot_line'] = function(block) {
        var code = 'sumorobot.is_line(' + block.getFieldValue('LINE') + ', "' + block.id + '")';
        return [code, Blockly.Python.ORDER_ATOMIC];
    };

    /* inject Blockly */
    var blocklyArea = document.getElementById('blocklyArea');
    var blocklyDiv = document.getElementById('blocklyDiv');
    workspace = Blockly.inject(blocklyDiv, {
        scrollbars: false,
        media: 'media/',
        trashcan: true,
        sounds: true,
        zoom: {
            wheel: true,
            controls: true,
            startScale: 1.2
        },
        toolbox: document.getElementById('toolbox')
    });

    /* on Blockly resize */
    var onresize = function(e) {
        // compute the absolute coordinates and dimensions of blocklyArea.
        var element = blocklyArea;
        var x = 0;
        var y = 0;
        do {
            x += element.offsetLeft;
            y += element.offsetTop;
            element = element.offsetParent;
        } while (element);
        /* position blocklyDiv over blocklyArea */
        blocklyDiv.style.left = x + 'px';
        blocklyDiv.style.top = y + 'px';
        blocklyDiv.style.width = blocklyArea.offsetWidth + 'px';
        blocklyDiv.style.height = blocklyArea.offsetHeight + 'px';
    };
    window.addEventListener('resize', onresize, false);
    onresize();
    Blockly.svgResize(workspace);

    /* function to set local storage */
    function getLocalStorageItem(item) {
        /* when the local storage doesn't exist, return empty string */
        if (typeof(Storage) === "undefined") return "";
        /* otherwise return item from the local storage*/
        return localStorage.getItem(item);
    }

    /* function to set local storage */
    function setLocalStorageItem(item, value) {
        /* when local storage doesn't exist, return */
        if (typeof(Storage) === "undefined") return;
        /* otherwise set the item to the local storage */
        localStorage.setItem(item, value)
    }

    /* retrieve the blocks */
    var xml = Blockly.Xml.textToDom(getLocalStorageItem("sumorobot.blockly"));
    /* resume the blocks */
    Blockly.Xml.domToWorkspace(xml, workspace);

    /* on Blockly code change */
    function onCodeChanged(event) {
        /* if the if condition block was created */
        if (event.type == Blockly.Events.CREATE && event.xml.getAttributeNode("type").nodeValue == "controls_if") {
            /* remember the control_if block id */
            controlBlockId = event.blockId;
            /* get the control_if block object */
            var block = workspace.getBlockById(event.blockId);
            /* if the control_if block doesn't already have an else */
            if (block.elseCount_ == 0) {
                /* automatically add the else statement input */
                block.elseCount_ = 1;
                block.updateShape_();
            }
        /* if the if condition block was removed */
        } else if (event.type == Blockly.Events.DELETE && event.oldXml.getAttributeNode("type").nodeValue == "controls_if") {
            /* remove the control_if block id */
            controlBlockId = "";
            /* enable the if condition block */
            workspace.updateToolbox(document.getElementById("toolbox"));
        }

        /* only process change and move commands */
        if (event.type != Blockly.Events.CHANGE && event.type != Blockly.Events.MOVE) return;
        /* generate code from the used blocks */
        sumocode = Blockly.Python.workspaceToCode(workspace);

        /* show the code in the ace editor, filter out block IDs */
        pythonEditor.setValue("\n" + sumocode.replace(/[,]?[ ]?"(.*?)"/g, ""));
        pythonEditor.clearSelection();

        /* save the code to the local storage */
        var xml = Blockly.Xml.workspaceToDom(workspace);
        localStorage.setItem("sumorobot.blockly", Blockly.Xml.domToText(xml));

        /* if control_if block is used */
        if (controlBlockId != "") {
            /* disable the if condition block */
            workspace.updateToolbox(document.getElementById("toolbox_no_if"));
        }
    }

    /* add a change listener to Blockly */
    workspace.addChangeListener(onCodeChanged);

    /* key down event */
    $(document).keydown(function(e) {
        /* if the hotkeys are disabled or the alt key is not pressed, don't use hotkeys */
        if (hotkeys == false || e.altKey == false) return;

        /* prevent typing in textfields */
        e.preventDefault();

        /* select the hotkey */
        switch(e.which) {
            case 32: // space bar
                sumostart = !sumostart;
                if (sumostart) {
                    $(".btn-start").addClass("hover");
                    $(".btn-start").click();
                } else {
                    $(".btn-stop").addClass("hover");
                    $(".btn-stop").click();
                }
                break;
            case 37: // left
                if (remoteControl) sumorobot.send("left");
                break;
            case 38: // up
                if (remoteControl) sumorobot.send("forward");
                break;
            case 39: // right
                if (remoteControl) sumorobot.send("right");
                break;
            case 40: // down
                if (remoteControl) sumorobot.send("backward");
                break;
            case 49: // 1
                $(".btn-robot-nr:eq(0)").click();
                break;
            case 50: // 2
                $(".btn-robot-nr:eq(1)").click();
                break;
            case 51: // 3
                $(".btn-robot-nr:eq(2)").click();
                break;
            case 52: // 4
                $(".btn-robot-nr:eq(3)").click();
                break;
            case 53: // 5
                $(".btn-robot-nr:eq(4)").click();
                break;
            case 67: // c
                updateControlPanel();
                $("#panel").toggle();
                break;
            case 76: // l
                $("#stream").toggle();
                $("#blocklyCode").toggle();
                break;
            case 80: // p
                $("#blocklyDiv").toggle();
                $("#blocklyArea").toggle();
                /* disable / enable ace editor */
                pythonEditor.setReadOnly(pythonEnabled);
                /* toggle python enabled */
                pythonEnabled = !pythonEnabled;
                if (pythonEnabled) {
                    /* get the saved Python code from local storage or set empty */
                    pythonEditor.setValue(getLocalStorageItem("sumorobot.python") || "");
                    /* add an input listener for the code editor */
                    pythonEditor.on("change", function() {
                        setLocalStorageItem("sumorobot.python", pythonEditor.getValue())
                    });
                    pythonEditor.clearSelection();
                    pythonEditor.focus();
                } else {
                    /* remove input listener from the code editor */
                    pythonEditor.session.removeAllListeners("change");
                    /* fire CHANGE event in Blockly workspace to change the Python code */
                    var event = {type: Blockly.Events.CHANGE};
                    workspace.fireChangeListener(event);
                    pythonEditor.blur();
                }
                break;
            case 82: // r
                if (remoteControl)
                    $("#remote-disabled").click();
                else
                    $("#remote-enabled").click();
                break;
            case 83: // s
                $(".btn-stop").addClass("hover");
                $(".btn-stop").click();
                break;
            case 84: // t
                sumorobot.send("calibrate_line");
                break;
            case 87: // w
                $(".btn-start").addClass("hover");
                $(".btn-start").click();
                break;
        }
    });

    /* key up event */
    $(document).keyup(function(e) {
        /* if the hotkeys are disabled or the focused element is a textarea or text input, don't use hotkeys */
        if (hotkeys == false || e.altKey == false) return;
        /* remove hover from buttons */
        $('.btn').removeClass('hover');
        /* if arrow keys */
        if (e.which == 37 || e.which == 38 || e.which == 39 || e.which == 40) {
            if (remoteControl) sumorobot.send("stop");
        }
    });

    /* start button listener */
    $(".btn-close").click(function() {
        $("#stream").hide();
    });

    /* start button listener */
    $(".btn-start").click(function() {
        sumostart = true;
        /* if we are in Python mode */
        if (pythonEnabled) {
            /* send the code from the textarea to the SumoRobot */
            sumorobot.send("start:" + pythonEditor.getValue());
        /* otherwise when we are in Blockly mode */
        } else {
            /* send the code from the blocks to the SumoRobot */
            sumorobot.send("start:" + sumocode);
        }
    });

    /* stop button listener */
    $(".btn-stop").click(function() {
        sumostart = false;
        sumorobot.send("stop");
        workspace.highlightBlock(lastHighlighted, false);
    });

    /* remote control enable listener */
    $("#remote-enabled").click(function() {
        remoteControl = true;
    });

    /* remote control disable listener */
    $("#remote-disabled").click(function() {
        remoteControl = false;
    });

    /* robot number button listener */
    $(".btn-robot-nr").click(function() {
        /* extract and validate the selected robot ID */
        var index = $(".btn-robot-nr").index($(this));
        var robotID = $(".robot-id:eq(" + index + ")").val();
        if (robotID.trim() === "") {
            $(".robot-nr:eq(" + index + "), .robot-id:eq(" + index + ")").addClass("has-error");
            return;
        } else {
            $(".robot-nr:eq(" + index + "), .robot-id:eq(" + index + ")").removeClass("has-error");
        }
        /* highlight the selected robot button */
        $(".btn-robot-nr").removeClass("btn-selected");
        $(this).addClass("btn-selected");
        /* update robot IDs in local storage */
        setLocalStorageItem("sumorobot.robotID" + index, robotID);
        /* in case there is a open connection */
        if (sumorobot && blockHighlight) {
            /* close the connections */
            sumorobot.close();
            blockHighlight.close();
        }
        /* connect to the selected robots WebSocket */
        sumorobot = new Sumorobot("ws://" + robotServer + ":80/p2p/browser/" + robotID + "/");
        /* connect to the other block highlight WebSocket */
        blockHighlight = new WebSocket("ws://" + robotServer + ":80/p2p/browser/" + robotID + "-highlight/");
        /* when there is a message from the WebSocket */
        blockHighlight.onmessage = function(evt) {
            /* when scope is received */
            if (evt.data.length == 20 && sumostart) {
                workspace.highlightBlock(evt.data);
                lastHighlighted = evt.data;
            }
        };
        /* hide the configuration panel */
        $("#panel").hide();
    });

    /* load the Mixer stream */
    $("#stream").html('<iframe width="100%" height="100%" allowfullscreen="true" src="https://mixer.com/embed/player/14551694"></iframe>');

    /* set a click listener on the document */
    $(document).click(function(e) {
        var target = e.target;

        /* when control_if block is in use */
        if (controlBlockId != "") {
            /* when the user clicks anywhere outside the mutator and not on the mutator icon */
            if (!$(target).is('.blocklyBubbleCanvas') && !$(target).parents().is('.blocklyBubbleCanvas')) {
                if (!$(target).is('.blocklyIconGroup') && !$(target).parents().is('.blocklyIconGroup')) {
                    /* hide the mutator */
                    workspace.getBlockById(controlBlockId).mutator.setVisible(false);
                }
            }
        }
    });
}