Class VirtualBotTunnel

A mock of the regular robot tunnel for the simulator robots

Hierarchy

BotTunnel
- VirtualBotTunnel

Index

Constructors

constructor

new VirtualBotTunnel(robotId: string): VirtualBotTunnel
Parameters
- robotId: string
Returns VirtualBotTunnel
Overrides BotTunnel.constructor
- Defined in src/server/simulator.ts:88

Properties

address

address: undefined | string

connected

connected: boolean = true

dataBuffer

dataBuffer: undefined | Buffer

emitter

emitter: RobotEventEmitter

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

emitActionComplete(packetId: string): void
Parameters
- packetId: string
Returns void
- Defined in src/server/simulator.ts:107

getIdentifier

getIdentifier(): string
get the most relevant identifier possible

Returns
- a robot identifier
Returns string
Overrides BotTunnel.getIdentifier
- Defined in src/server/simulator.ts:103

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/tcp-interface.ts:104

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/tcp-interface.ts:125

isActive

isActive(): boolean
Returns boolean
Overrides BotTunnel.isActive
- Defined in src/server/simulator.ts:99

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;
} | {
    type: ACTION_SUCCESS;
} | {
    reason: string;
    type: ACTION_FAIL;
} | {
    left: number;
    right: number;
    type: DRIVE_TANK;
} | {
    type: ESTOP;
}
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;
} | {
    type: ACTION_SUCCESS;
} | {
    reason: string;
    type: ACTION_FAIL;
} | {
    left: number;
    right: number;
    type: DRIVE_TANK;
} | {
    type: ESTOP;
}
Inherited from BotTunnel.makeHello
- Defined in src/server/api/tcp-interface.ts:258

onClose

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

Returns void
Inherited from BotTunnel.onClose
- Defined in src/server/api/tcp-interface.ts:94

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/tcp-interface.ts:69

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/tcp-interface.ts:82

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;
} | {
    type: ACTION_SUCCESS;
} | {
    reason: string;
    type: ACTION_FAIL;
} | {
    left: number;
    right: number;
    type: DRIVE_TANK;
} | {
    type: ESTOP;
}): 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;
  } | {
      type: ACTION_SUCCESS;
  } | {
      reason: string;
      type: ACTION_FAIL;
  } | {
      left: number;
      right: number;
      type: DRIVE_TANK;
  } | {
      type: ESTOP;
  }
  
  packet to send
Returns Promise<string>
Overrides BotTunnel.send
- Defined in src/server/simulator.ts:118

Class VirtualBotTunnel

Hierarchy

Index

Constructors

Properties

Methods

Constructors

constructor

Parameters

robotId: string

Returns VirtualBotTunnel

Properties

address

connected

dataBuffer

emitter

headingRadians

id

position

Private robotId

Static messages

Methods

Private emitActionComplete

Parameters

packetId: string

Returns void

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

send

Returns

Parameters

Returns Promise<string>

Settings

Member Visibility

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`Private` robotId

`Static` messages

`Private` emitActionComplete