// Sumorobot constructor
var Sumorobot = function(wsUri, robotId) {
    // Assign the WebSocket URI
    this.wsUri = wsUri;
    // Assign the SumoRobot ID
    this.robotId = robotId;
    // To keep track of the WebSocket connection
    this.watchdogCounter = 0;
    // Timer to ping the SumoRobot
    this.watchdogTimer = null;
    // To store Blockly code
    this.blocklyCode = '';
    // If robot is moving
    this.moving = false;
    // Start connecting to the WebSocket
    this.connect();
};

// Function to initiate the WebSocket connection
Sumorobot.prototype.connect = function() {
    // To have access to this object inside events
    var self = this;
    this.websocket = new WebSocket(this.wsUri);
    // Setup connection watchdog interval
    setInterval(function() {
        if (self.watchdogCounter == 0) {
            $('#battery').removeClass('connected');
            $('#battery').html('Disconnected');
        }
        // Reset watchdog counter
        self.watchdogCounter = 0;
    }, 3000);
    // When the WebSocket gets connected
    this.websocket.onopen = function(evt) {
        // Send authentication packet
        self.websocket.send(`{"setID": "browser-${self.robotId}@00000514", "passwd": "salakala"}`);
        // Setup a timer to ping the robot
        self.watchdogTimer = setInterval(function() {
            // Send a ping to the robot
            self.send(self.robotId, 'ping');
        }, 500);
    };
    // When the WebSocket closes
    this.websocket.onclose = function(evt) {
        // 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();
        // Get SumoRobot battery voltage
        var batVolt = JSON.parse(data)['battery_voltage'];
        // When sensor data received
        if (batVolt) {
            $('#battery').html(batVolt + 'V');
            $('#battery').addClass('connected');
        }
        // Count data received packets
        self.watchdogCounter += 1;
    };
    // When there is an WebSocket error
    this.websocket.onerror = function(err) {
        console.log('ERROR websocket error: ' + err);
    };
};

// Function to send WebSocket data
Sumorobot.prototype.send = function(cmd, val) {
    if (cmd !== 'ping' && cmd !== 'stop') {
        this.moving = true;
    } else {
        this.moving = false;
    }
    // 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 (val) {
            this.websocket.send(`{"to": "sumo-${this.robotId}@00000514", "cmd": "${cmd}", "val": "${val}"}`);
        } else {
            this.websocket.send(`{"to": "sumo-${this.robotId}@00000514", "cmd": "${cmd}"}`);
        }
    }
};

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

// Function to get SumoRobot Blockly code
Sumorobot.prototype.getBlocklyCode = function() {
    return this.blocklyCode;
};

// Function to set SumoRobot Blockly code
Sumorobot.prototype.setBlocklyCode = function(blocklyCode) {
    this.blocklyCode = blocklyCode;
};