Class RealBotTunnel

The tunnel for handling communications to the robots

Hierarchy

BotTunnel
- RealBotTunnel

Index

Constructors

constructor

new RealBotTunnel(socket: null | Socket, onHandshake: ((packetContent: string) => void)): RealBotTunnel
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 RealBotTunnel
Overrides BotTunnel.constructor
- Defined in src/server/api/tcp-interface.ts:39

Properties

address

address: undefined | string

connected

connected: boolean = false

dataBuffer

dataBuffer: undefined | Buffer

emitter

emitter: RobotEventEmitter

id

id: undefined | string

`Private` onHandshake

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

Type declaration

- (packetContent: string): void
- handshake handler
  Parameters
  - packetContent: string
  Returns void

pingReceived

pingReceived: boolean

`Private` socket

socket: null | Socket

socket of the incoming connections

Methods

getIdentifier

getIdentifier(): string
get the most relevant identifier possible

Returns
- a robot identifier
Returns string
Overrides BotTunnel.getIdentifier
- Defined in src/server/api/tcp-interface.ts:57

handleData

handleData(data: Buffer): Promise<void>
Sets up the data buffer for it to be handled by the queue
Parameters
- data: Buffer
  
  data to be handled
Returns Promise<void>
Inherited from BotTunnel.handleData
- Defined in src/server/api/bot-tunnel.ts:54

handleQueue

handleQueue(): Promise<void>
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 Promise<void>
Inherited from BotTunnel.handleQueue
- Defined in src/server/api/bot-tunnel.ts:75

isActive

isActive(): boolean
Returns boolean
Overrides BotTunnel.isActive
- Defined in src/server/api/tcp-interface.ts:48

makeHello

makeHello(mac: string): {
    macAddress: string;
    type: CLIENT_HELLO;
} | {
    config: {};
    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;
} | {
    tickDistance: number;
    type: DRIVE_TICKS;
} | {
    type: ACTION_SUCCESS;
} | {
    reason: string;
    type: ACTION_FAIL;
} | {
    left: number;
    right: number;
    type: DRIVE_TANK;
} | {
    type: ESTOP;
} | {
    controlPositionA: { x: number; y: number; };
    controlPositionB: { x: number; y: number; };
    endPosition: { x: number; y: number; };
    startPosition: { x: number; y: number; };
    timeDeltaMs: number;
    type: DRIVE_CUBIC_SPLINE;
} | {
    controlPosition: { x: number; y: number; };
    endPosition: { x: number; y: number; };
    startPosition: { x: number; y: number; };
    timeDeltaMs: number;
    type: DRIVE_QUADRATIC_SPLINE;
} | {
    radians: number;
    timeDeltaMs: number;
    type: SPIN_RADIANS;
}
Parameters
- mac: string
Returns {
    macAddress: string;
    type: CLIENT_HELLO;
} | {
    config: {};
    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;
} | {
    tickDistance: number;
    type: DRIVE_TICKS;
} | {
    type: ACTION_SUCCESS;
} | {
    reason: string;
    type: ACTION_FAIL;
} | {
    left: number;
    right: number;
    type: DRIVE_TANK;
} | {
    type: ESTOP;
} | {
    controlPositionA: { x: number; y: number; };
    controlPositionB: { x: number; y: number; };
    endPosition: { x: number; y: number; };
    startPosition: { x: number; y: number; };
    timeDeltaMs: number;
    type: DRIVE_CUBIC_SPLINE;
} | {
    controlPosition: { x: number; y: number; };
    endPosition: { x: number; y: number; };
    startPosition: { x: number; y: number; };
    timeDeltaMs: number;
    type: DRIVE_QUADRATIC_SPLINE;
} | {
    radians: number;
    timeDeltaMs: number;
    type: SPIN_RADIANS;
}
- Defined in src/server/api/tcp-interface.ts:213

onClose

onClose(): void
log when a connection is removed or lost

Returns void
Inherited from BotTunnel.onClose
- Defined in src/server/api/bot-tunnel.ts:44

onData

onData(data: Buffer): Promise<void>
log when data comes in
Parameters
- data: Buffer
  
  the incoming data
Returns Promise<void>
Inherited from BotTunnel.onData
- Defined in src/server/api/bot-tunnel.ts:19

onError

onError(err: Error): void
log errors and update connection status
Parameters
- err: Error
  
  the error message
Returns void
Inherited from BotTunnel.onError
- Defined in src/server/api/bot-tunnel.ts:32

processPacket

processPacket(packet: PacketWithId): Promise<void>
Parameters
- packet: PacketWithId
Returns Promise<void>
Overrides BotTunnel.processPacket
- Defined in src/server/api/tcp-interface.ts:113

runPings

runPings(): Promise<void>
Returns Promise<void>
- Defined in src/server/api/tcp-interface.ts:71

send

send(packet: {
    macAddress: string;
    type: CLIENT_HELLO;
} | {
    config: {};
    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;
} | {
    tickDistance: number;
    type: DRIVE_TICKS;
} | {
    type: ACTION_SUCCESS;
} | {
    reason: string;
    type: ACTION_FAIL;
} | {
    left: number;
    right: number;
    type: DRIVE_TANK;
} | {
    type: ESTOP;
} | {
    controlPositionA: { x: number; y: number; };
    controlPositionB: { x: number; y: number; };
    endPosition: { x: number; y: number; };
    startPosition: { x: number; y: number; };
    timeDeltaMs: number;
    type: DRIVE_CUBIC_SPLINE;
} | {
    controlPosition: { x: number; y: number; };
    endPosition: { x: number; y: number; };
    startPosition: { x: number; y: number; };
    timeDeltaMs: number;
    type: DRIVE_QUADRATIC_SPLINE;
} | {
    radians: number;
    timeDeltaMs: number;
    type: SPIN_RADIANS;
}): Promise<string>
send packets to robot. promise resolves when the robot acknowledges that the action is complete

Returns
- the packet id
Parameters
- packet: {
      macAddress: string;
      type: CLIENT_HELLO;
  } | {
      config: {};
      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;
  } | {
      tickDistance: number;
      type: DRIVE_TICKS;
  } | {
      type: ACTION_SUCCESS;
  } | {
      reason: string;
      type: ACTION_FAIL;
  } | {
      left: number;
      right: number;
      type: DRIVE_TANK;
  } | {
      type: ESTOP;
  } | {
      controlPositionA: { x: number; y: number; };
      controlPositionB: { x: number; y: number; };
      endPosition: { x: number; y: number; };
      startPosition: { x: number; y: number; };
      timeDeltaMs: number;
      type: DRIVE_CUBIC_SPLINE;
  } | {
      controlPosition: { x: number; y: number; };
      endPosition: { x: number; y: number; };
      startPosition: { x: number; y: number; };
      timeDeltaMs: number;
      type: DRIVE_QUADRATIC_SPLINE;
  } | {
      radians: number;
      timeDeltaMs: number;
      type: SPIN_RADIANS;
  }
  
  packet to send
Returns Promise<string>
Overrides BotTunnel.send
- Defined in src/server/api/tcp-interface.ts:164

Class RealBotTunnel

Hierarchy

Index

Constructors

Properties

Methods

Constructors

constructor

Parameters

socket: null | Socket

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

Parameters

packetContent: string

Returns void

Returns RealBotTunnel

Properties

address

connected

dataBuffer

emitter

id

Private onHandshake

Type declaration

Parameters

packetContent: string

Returns void

pingReceived

Private socket

Methods

getIdentifier

Returns

Returns string

handleData

Parameters

data: Buffer

Returns Promise<void>

handleQueue

Returns

Returns Promise<void>

isActive

Returns boolean

makeHello

Parameters

mac: string

onClose

Returns void

onData

Parameters

data: Buffer

Returns Promise<void>

onError

Parameters

err: Error

Returns void

processPacket

Parameters

packet: PacketWithId

Returns Promise<void>

runPings

Returns Promise<void>

send

Returns

Parameters

Returns Promise<string>

Settings

Member Visibility

Theme

`Private` onHandshake

`Private` socket