mirobot lib

js/mirobot.js

@@ -0,0 +1,209 @@
+(function (root, factory) {
+    'use strict';
+    if (typeof exports === 'object') {
+        // Node. Does not work with strict CommonJS, but
+        // only CommonJS-like enviroments that support module.exports,
+        // like Node.
+        module.exports = factory(root);
+    } else if (typeof define === 'function' && define.amd) {
+        // AMD. Register as an anonymous module.
+        define('mirobot', function () {
+            var Mirobot = factory(root);
+            if (!root.Mirobot) {
+                root.Mirobot = Mirobot;
+            }
+            return Mirobot;
+        });
+    } else {
+        // Browser globals
+        root.Mirobot = factory(root);
+    }
+}(this, function (window, undefined) {
+
+    var Mirobot = function(url, cb){
+      this.url = url;
+      this.connectedCb = cb || function(){};
+      this.connect();
+      this.cbs = {};
+      this.listeners = [];
+      this.robot_state = 'idle';
+    }
+
+    Mirobot.prototype = {
+
+      connected: false,
+
+      connect: function(){
+        if(!this.connected){
+          var self = this;
+          this.ws = new WebSocket(this.url);
+          this.ws.onmessage = function(ws_msg){self.handle_ws(ws_msg)};
+          this.ws.onopen = function(){ 
+            console.log("Mirobot is connected"); 
+            self.setConnectedState(true)
+            self.connectedCb();
+          }
+          this.ws.onerror = function(err){self.handleError(err)}
+          this.ws.onclose = function(err){self.handleError(err)}
+        }
+      },
+
+      setConnectedState: function(state){
+        var self = this;
+        self.connected = state;
+        self.broadcast(state ? 'connected' : 'disconnected');
+        // Try to auto reconnect if disconnected
+        if(state){
+          if(self.reconnectTimer){
+            clearInterval(self.reconnectTimer);
+            self.reconnectTimer = undefined;
+          }
+        }else{
+          if(!self.reconnectTimer){
+            self.reconnectTimer = setInterval(function(){
+              self.connect();
+            }, 1000);
+          }
+        }
+      },
+
+      broadcast: function(msg){
+        for(i in this.listeners){
+          this.listeners[i](msg);
+        }
+      },
+
+      addListener: function(listener){
+        this.listeners.push(listener);
+      },
+
+      handleError: function(err){
+        if(err instanceof CloseEvent){
+          this.setConnectedState(false);
+        }else{
+          console.log(err);
+        }
+      },
+
+      move: function(direction, distance, cb){
+        this.send({cmd: direction, arg: distance}, cb);
+        // this.send({cmd: direction, arg: distance}, function(state, msg, recursion){
+        //   // console.log(state, msg, recursion);
+        //   // if(state === 'started'){
+        //   //   console.log('ACEITO');
+        //   // }
+        // });
+      },
+
+      turn: function(direction, angle, cb){
+        this.send({cmd: direction, arg: angle}, cb);
+        // this.send({cmd: direction, arg: angle}, function(state, msg, recursion){
+        //   // console.log(state, msg, recursion);
+        //   // if(state === 'started'){
+        //   //   console.log('ACEITO');
+        //   // }
+        // });
+      },
+
+      penup: function(cb){
+        this.send({cmd: 'penup'}, cb);
+      },
+
+      pendown: function(cb){
+        this.send({cmd: 'pendown'}, cb);
+      },
+
+      ping: function(cb){
+        this.send({cmd: 'ping'}, cb);
+      },
+
+      stop: function(cb){
+        var self = this;
+        this.send({cmd:'stop'}, function(state, msg, recursion){
+          if(state === 'complete' && !recursion){
+            for(var i in self.cbs){
+              self.cbs[i]('complete', undefined, true);
+            }
+            self.robot_state = 'idle';
+            self.msg_stack = [];
+            self.cbs = {};
+            if(cb){ cb(state); }
+          }
+        });
+      },
+
+      pause: function(cb){
+        this.send({cmd:'pause'}, cb);
+      },
+
+      resume: function(cb){
+        this.send({cmd:'resume'}, cb);
+      },
+
+      version: function(cb){
+        this.send({cmd:'version'}, cb);
+      },
+
+      send: function(msg, cb){
+        msg.id = Math.random().toString(36).substr(2, 10)
+        if(cb){
+          this.cbs[msg.id] = cb;
+        }
+        if(msg.arg){ 
+          msg.arg = msg.arg.toString(); 
+        }
+        if(['stop', 'pause', 'resume', 'ping', 'version'].indexOf(msg.cmd) >= 0){
+          this.ws.send(JSON.stringify(msg));
+        } else{
+          this.push_msg(msg);
+        }
+      },
+
+      push_msg: function(msg){
+        this.msg_stack.push(msg);
+        this.run_stack();
+      },
+
+      run_stack: function(){
+        if(this.robot_state === 'idle' && this.msg_stack.length > 0){
+          this.robot_state = 'receiving';
+          console.log(this.msg_stack[0]);
+          this.ws.send(JSON.stringify(this.msg_stack[0]));
+        }
+      },
+
+      handle_ws: function(ws_msg){
+        msg = JSON.parse(ws_msg.data);
+        console.log('Handle message:', msg);
+        if(this.msg_stack.length > 0 && this.msg_stack[0].id == msg.id){
+          if(msg.status === 'accepted'){
+            if(this.cbs[msg.id]){
+              this.cbs[msg.id]('started', msg);
+            }
+            this.robot_state = 'running';
+            // console.log(this.robot_state);
+          }else if(msg.status === 'complete'){
+            if(this.cbs[msg.id]){
+              this.cbs[msg.id]('complete', msg);
+              delete this.cbs[msg.id];
+            }
+            this.msg_stack.shift();
+            if(this.msg_stack.length === 0){
+              this.broadcast('program_complete');
+            }
+            this.robot_state = 'idle';
+            this.run_stack();
+          }
+        }else{
+          if(this.cbs[msg.id]){
+            this.cbs[msg.id]('complete', msg);
+            delete this.cbs[msg.id];
+          }
+        } 
+      },
+
+      robot_state: 'idle',
+      msg_stack: []
+    }
+    return Mirobot;
+}));