Class BotTunnel

The tunnel for handling communications to the robots

Hierarchy

Constructors

constructor

Properties

address connected dataBuffer emitter id onHandshake socket

Methods

getIdentifier handleData handleQueue isActive makeHello onClose onData onError send waitForActionResponse

Constructors

constructor

  • take the robot socket and creates an emitter to notify dependencies

    Parameters

    • socket: null | Socket

      socket of the incoming connections

    • onHandshake: ((packetContent: string) => void)

      handshake handler

        • (packetContent: string): void

        • Parameters

          • packetContent: string

          Returns void

    Returns BotTunnel

Properties

address

address: undefined | string

connected

connected: boolean = false

dataBuffer

dataBuffer: undefined | Buffer

emitter

emitter: EventEmitter

id

id: undefined | string

Private onHandshake

onHandshake: ((packetContent: string) => void)

Type declaration

    • (packetContent: string): void

    • handshake handler

      Parameters

      • packetContent: string

      Returns void

Private socket

socket: null | Socket

socket of the incoming connections

Methods

getIdentifier

handleData

  • Sets up the data buffer for it to be handled by the queue

    Parameters

    • data: Buffer

      data to be handled

    Returns void

handleQueue

  • handles the incoming data and check if it is valid

    emits result for further handling

    Returns

    • nothing if nothing happened and nothing if something happened

    Returns void

isActive

makeHello

  • Parameters

    • mac: string

    Returns {
        macAddress: string;
        type: "CLIENT_HELLO";
    } | {
        config: [string, string][];
        protocol: number;
        type: "SERVER_HELLO";
    } | {
        type: "PING_SEND";
    } | {
        type: "PING_RESPONSE";
    } | {
        type: "QUERY_VAR";
        var_id: number;
        var_type: "float" | "int32" | "uint32";
    } | {
        type: "QUERY_RESPONSE";
        var_id: number;
        var_val: number;
    } | Object | {
        deltaHeadingRadians: number;
        type: "TURN_BY_ANGLE";
    } | {
        tileDistance: number;
        type: "DRIVE_TILES";
    } | {
        type: "ACTION_SUCCESS";
    } | {
        reason: string;
        type: "ACTION_FAIL";
    } | {
        left: number;
        right: number;
        type: "DRIVE_TANK";
    } | {
        type: "ESTOP";
    }

onClose

onData

onError

send

  • send packets to robot

    Parameters

    • packet: {
          macAddress: string;
          type: "CLIENT_HELLO";
      } | {
          config: [string, string][];
          protocol: number;
          type: "SERVER_HELLO";
      } | {
          type: "PING_SEND";
      } | {
          type: "PING_RESPONSE";
      } | {
          type: "QUERY_VAR";
          var_id: number;
          var_type: "float" | "int32" | "uint32";
      } | {
          type: "QUERY_RESPONSE";
          var_id: number;
          var_val: number;
      } | Object | {
          deltaHeadingRadians: number;
          type: "TURN_BY_ANGLE";
      } | {
          tileDistance: number;
          type: "DRIVE_TILES";
      } | {
          type: "ACTION_SUCCESS";
      } | {
          reason: string;
          type: "ACTION_FAIL";
      } | {
          left: number;
          right: number;
          type: "DRIVE_TANK";
      } | {
          type: "ESTOP";
      }

      packet to send

    Returns void

waitForActionResponse

  • Wait for the socket to respond to the sent action

    Returns

    • if the action was completed or rejected

    Returns Promise<void>

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