add sensor data & connection termination

assets/js/sumorobot.js

@@ -6,12 +6,19 @@ var Sumorobot = function(wsUri, robotId) {
     this.robotId = robotId;
     // To keep track of the WebSocket connection
     this.watchdogCounter = 0;
-    // Timer to ping the SumoRobot
+    // When connection was intentionally closed
-    this.watchdogTimer = null;
+    this.terminate = false;
     // To store Blockly code
     this.blocklyCode = '';
     // If robot is moving
     this.moving = false;
+    // Sensor data
+    this.sensors = {
+        'opponent': 99,
+        'line_left': 0,
+        'line_right': 0,
+        'battery_voltage': 0
+    };
     // Start connecting to the WebSocket
     this.connect();
 };
@@ -22,8 +29,8 @@ Sumorobot.prototype.connect = function() {
     var self = this;
     this.websocket = new WebSocket(this.wsUri);
     // Setup connection watchdog interval
-    setInterval(function() {
+    self.connectionTimer = setInterval(function() {
-        if (self.watchdogCounter == 0) {
+        if (self.watchdogCounter == 0 && !self.terminate) {
             $('#battery').removeClass('connected');
             $('#battery').html('Disconnected');
         }
@@ -42,20 +49,24 @@ Sumorobot.prototype.connect = function() {
     };
     // When the WebSocket closes
     this.websocket.onclose = function(evt) {
-        // Clear the pinging
+        // Clear the timers
         clearInterval(self.watchdogTimer);
+        clearInterval(self.connectionTimer);
         // Try to recnnect to the sumorobot
-        self.connect();
+        // Only if the connection wasn't closed intentionally
+        if (!self.terminate) {
+            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();
         // Get SumoRobot battery voltage
-        var batVolt = JSON.parse(data)['battery_voltage'];
+        self.sensors = JSON.parse(data);
         // When sensor data received
-        if (batVolt) {
+        if (self.sensors['battery_voltage']) {
-            $('#battery').html(batVolt + 'V');
+            $('#battery').html(self.sensors['battery_voltage'] + 'V');
             $('#battery').addClass('connected');
         }
         // Count data received packets
@@ -76,7 +87,7 @@ Sumorobot.prototype.send = function(cmd, val) {
     }
     // Ready state constants: CONNECTING 0, OPEN 1, CLOSING 2, CLOSED 3
     // https://developer.mozilla.org/en-US/docs/Web/API/WebSocket
-    if (this.websocket.readyState == 1) {
+    if (!this.terminate && this.websocket.readyState == 1) {
         if (val) {
             this.websocket.send(`{"to": "sumo-${this.robotId}@00000514", "cmd": "${cmd}", "val": "${val}"}`);
         } else {
@@ -87,6 +98,7 @@ Sumorobot.prototype.send = function(cmd, val) {
 
 // Function to close the WebSocket connection
 Sumorobot.prototype.close = function() {
+    this.terminate = true;
     // Close the WebSocket connection
     this.websocket.close();
 };