robotank/client-hodejs/robobase.ts

// SPDX-License-Identifier: GPL-3.0-or-later
// Author: Sascha Nitsch https://contentnation.net/@grumpydevelop

import WebSocket from 'ws';
import { RobotCmd } from './robotcmd';
import { RobotStatus } from './robotstatus';

abstract class RoboBase {
  private pingTimeout: NodeJS.Timeout;
  private socket: WebSocket;
  private name: string;
  private model: string;
  protected cmd: RobotCmd;
  protected width: number;
  protected height: number;
  private lastUpdate: number;
  protected deltaTime: number;

  constructor(name: string, model:string) {
    this.name = name;
    this.model = model;
    this.cmd = new RobotCmd();
    this.width = 0;
    this.height = 0;
    this.lastUpdate = 0;
    this.deltaTime = 0;
  }

  connect() {
    this.socket = new WebSocket('ws://127.0.0.1:3000/robot', undefined, {
      perMessageDeflate: false,
      autoPong: true
    });
    this.socket.addEventListener('error', this.error);
    this.socket.addEventListener('open', () => {
      this.open();
      this.heartbeat();
    });
    this.socket.addEventListener('ping', this.heartbeat);
    this.socket.addEventListener('message', this.message);
    this.socket.addEventListener('close', () => {
      clearTimeout(this.pingTimeout);
    });
  }

  disconnect() {
    this.socket.close();
  }

  error(...param) {
    console.error(param);
  }

  private heartbeat = () => {
    clearTimeout(this.pingTimeout);
    this.pingTimeout = setTimeout(() => {
        this.socket.terminate();
      }, 30000 + 1000);
  }

  message = (event: MessageEvent) => {
    this.heartbeat();
    const msgtext = event.data.toString();
    const tokens = msgtext.split(' ');
    if (tokens.length == 1) {
      switch (tokens[0]) {
        case 'lost':
          this.lost();
          break;
        case 'ready':
          this.ready();
          break;
        case 'start':
          this.start();
          break;
        case 'won':
          this.won();
          break;
        default:
          console.log('msg', tokens[0])
      }
    } else if (tokens.length == 2) {
      switch (tokens[0]) {
        case 'specs':
          const specs = JSON.parse(tokens[1]);
          this.width = specs['width'];
          this.height = specs['height'];
          break;
        case 'status':
          const status:RobotStatus = JSON.parse(tokens[1]);
          this.deltaTime = status.simulationTime - this.lastUpdate;
          this.lastUpdate = status.simulationTime;
          this.statusReady(status);
          break;
        default:
          console.log('unknown command tk2 ', msgtext);
      }
    } else {
      console.log('unknown command tk3', msgtext);
    }
  }

  open() {
    this.socket.send('name ' + this.name);
    this.socket.send('model ' + this.model);
  }

  sendCmd() {
    this.socket.send('cmd ' + JSON.stringify(this.cmd.toObject()));
    this.cmd.fire = false;
  }

  abstract lost(): void;
  abstract ready(): void;
  abstract start(): void;
  abstract statusReady(status: RobotStatus): void;
  abstract won(): void;
}

export { RoboBase }