Class VirtualBotTunnel

Hierarchy

Constructors

constructor

Properties

address connected dataBuffer emitter headingRadians id position robotId messages

Methods

emitActionComplete getIdentifier handleData handleQueue isActive makeHello onClose onData onError send waitForActionResponse

Constructors

constructor

Properties

address

address: undefined | string

connected

connected: boolean = true

dataBuffer

dataBuffer: undefined | Buffer

emitter

emitter: EventEmitter

headingRadians

headingRadians: number = 0

id

id: undefined | string

position

position: Position = ZERO_POSITION

Private robotId

robotId: string

Static messages

messages: {
    message: SimulatorUpdateMessage;
    ts: Date;
}[] = []

Methods

Private emitActionComplete

getIdentifier

handleData

handleQueue

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

  • 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";
      }

    Returns void

waitForActionResponse

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