Dawn-Field Control Integration via Socket.IO (#534)

dawn/main/MenuTemplate/DebugMenu.js

@@ -1,6 +1,6 @@
 import { fork } from 'child_process';
 import RendererBridge from '../RendererBridge';
-import LCMObject from '../networking/FieldControlLCM';
+import FCObject from '../networking/FieldControl';
 
 let fakeRuntime = null;
 
@@ -31,10 +31,10 @@ const DebugMenu = {
       },
     },
     {
-      label: 'Restart LCM',
+      label: 'Restart FC',
       click() {
-        LCMObject.LCMInternal.quit();
-        LCMObject.setup();
+        FCObject.FCInternal.quit();
+        FCObject.setup();
       },
     },
     {

dawn/main/main-process.js

@@ -10,7 +10,7 @@ import RendererBridge from './RendererBridge';
 import { killFakeRuntime } from './MenuTemplate/DebugMenu';
 import Template from './MenuTemplate/Template';
 import Ansible from './networking/Ansible';
-import LCMObject from './networking/FieldControlLCM';
+import FCObject from './networking/FieldControl';
 
 
 app.on('window-all-closed', () => {
@@ -25,17 +25,17 @@ app.on('will-quit', () => {
   }
 });
 
-function initializeLCM(event) { // eslint-disable-line no-unused-vars
+function initializeFC(event) { // eslint-disable-line no-unused-vars
   try {
-    LCMObject.setup();
+    FCObject.setup();
   } catch (err) {
     console.log(err);
   }
 }
 
-function teardownLCM(event) { // eslint-disable-line no-unused-vars
-  if (LCMObject.LCMInternal !== null) {
-    LCMObject.LCMInternal.quit();
+function teardownFC(event) { // eslint-disable-line no-unused-vars
+  if (FCObject.FCInternal !== null) {
+    FCObject.FCInternal.quit();
   }
 }
 
@@ -59,9 +59,9 @@ export default function showAPI() {
 
 app.on('ready', () => {
   Ansible.setup();
-  ipcMain.on('LCM_CONFIG_CHANGE', LCMObject.changeLCMInfo);
-  ipcMain.on('LCM_INITIALIZE', initializeLCM);
-  ipcMain.on('LCM_TEARDOWN', teardownLCM);
+  ipcMain.on('FC_CONFIG_CHANGE', FCObject.changeFCInfo);
+  ipcMain.on('FC_INITIALIZE', initializeFC);
+  ipcMain.on('FC_TEARDOWN', teardownFC);
 
   const mainWindow = new BrowserWindow();
 

dawn/main/networking/Ansible.js

@@ -7,7 +7,6 @@ import _ from 'lodash';
 import RendererBridge from '../RendererBridge';
 import {
   updateConsole,
-  clearConsole,
 } from '../../renderer/actions/ConsoleActions';
 import {
   ansibleDisconnect,
@@ -18,7 +17,7 @@ import {
 } from '../../renderer/actions/InfoActions';
 import { updatePeripherals } from '../../renderer/actions/PeripheralActions';
 import { robotState, Logger, defaults } from '../../renderer/utils/utils';
-import LCMObject from './FieldControlLCM';
+import FCObject from './FieldControl';
 
 const DawnData = (new protobuf.Root()).loadSync(`${__dirname}/ansible.proto`, { keepCase: true }).lookupType('DawnData');
 const { StudentCodeStatus } = DawnData;
@@ -59,7 +58,7 @@ function buildProto(data) {
   return DawnData.create({
     student_code_status: status,
     gamepads,
-    team_color: (LCMObject.stationNumber < 2) ? DawnData.TeamColor.BLUE : DawnData.TeamColor.GOLD,
+    team_color: (FCObject.stationNumber < 2) ? DawnData.TeamColor.BLUE : DawnData.TeamColor.GOLD,
   });
 }
 
@@ -179,8 +178,9 @@ class TCPSocket {
   constructor(socket, logger) {
     this.tryUpload = this.tryUpload.bind(this);
     this.requestTimestamp = this.requestTimestamp.bind(this);
-    this.logger = logger;
+    this.sendFieldControl = this.sendFieldControl.bind(this);
 
+    this.logger = logger;
     this.socket = socket;
 
     this.logger.log('Runtime connected');
@@ -227,6 +227,20 @@ class TCPSocket {
     });
   }
 
+  sendFieldControl(data) {
+    const rawMsg = {
+      header: Notification.Type.GAMECODE_TRANSMISSION,
+      gamecode_solutions: data.solutions,
+      gamecodes: data.codes,
+      rfids: data.rfids,
+    };
+    const message = Notification.encode(Notification.create(rawMsg)).finish();
+
+    this.socket.write(message, () => {
+      this.logger.log(`FC Message Sent: ${rawMsg}`);
+    });
+  }
+
   tryUpload() {
     const message = Notification.encode(Notification.create({
       header: Notification.Type.STUDENT_SENT,
@@ -274,28 +288,6 @@ class TCPServer {
   }
 }
 
-const onUpdateCodeStatus = (status) => {
-  RendererBridge.reduxDispatch(updateCodeStatus(status));
-};
-
-const onClearConsole = () => {
-  RendererBridge.reduxDispatch(clearConsole());
-};
-
-/* Redux short-circuiting for when field control wants to start/stop robot
- */
-const startRobot = () => { // eslint-disable-line no-unused-vars
-  // TODO: Probably move this to Editor using ipcRenderer/ipcMain.
-  // this.state.mode doesn't exist here.
-  RendererBridge.reduxDispatch(onUpdateCodeStatus(this.state.mode));
-  RendererBridge.reduxDispatch(onClearConsole());
-};
-
-const stopRobot = () => { // eslint-disable-line no-unused-vars
-  // TODO: Probably move this to Editor using ipcRenderer/ipcMain. GUI can't change here.
-  RendererBridge.reduxDispatch(onUpdateCodeStatus(robotState.IDLE));
-};
-
 const Ansible = {
   conns: [],
   logger: new Logger('ansible', 'Ansible Debug'),

dawn/main/networking/FieldControl.js

@@ -0,0 +1,71 @@
+import io from 'socket.io-client';
+import { updateRobot } from '../../renderer/actions/FieldActions';
+import RendererBridge from '../RendererBridge';
+import { Logger } from '../../renderer/utils/utils';
+import Ansible from './Ansible';
+
+class FCInternals {
+  constructor(stationNumber, bridgeAddress, logger) {
+    this.socket = null;
+    this.queuedPublish = null;
+    this.stationNumber = stationNumber;
+    this.bridgeAddress = bridgeAddress;
+    this.logger = logger;
+    this.logger.log(`Field Control: SN-${this.stationNumber} BA-${this.bridgeAddress}`);
+    this.init = this.init.bind(this);
+    this.quit = this.quit.bind(this);
+  }
+
+  init() {
+    this.socket = io(`http://${this.bridgeAddress}:7000`);
+    this.socket.on('connect', () => {
+      this.socket.on('robot_state', (data) => {
+        RendererBridge.reduxDispatch(updateRobot(JSON.parse(data)));
+      });
+      this.socket.on('codes', (data) => {
+        if (Ansible.conns[2].socket !== null) {
+          Ansible.conns[2].socket.sendFieldControl(JSON.parse(data));
+        } else {
+          this.logger.log('Trying to send FC Info to Disconnected Robot');
+        }
+      });
+    });
+  }
+
+  quit() {
+    try {
+      this.socket.close();
+    } catch (err) {
+      this.logger.log(err);
+    }
+    this.socket = null;
+  }
+}
+
+const FCObject = {
+  FCInternal: null,
+  stationNumber: 4,
+  bridgeAddress: 'localhost',
+  logger: new Logger('fieldControl', 'Field Control Debug'),
+  setup() {
+    if (this.FCInternal !== null) {
+      this.FCInternal.quit();
+    }
+    this.FCInternal = new FCInternals(this.stationNumber, this.bridgeAddress, FCObject.logger);
+    this.FCInternal.init();
+  },
+  changeFCInfo(event, arg) {
+    if (arg.stationNumber !== null) {
+      FCObject.stationNumber = arg.stationNumber;
+      FCObject.logger.log(`stationNumber set to ${FCObject.stationNumber}`);
+    }
+
+    if (arg.bridgeAddress !== null) {
+      FCObject.bridgeAddress = arg.bridgeAddress;
+      FCObject.logger.log(`bridgeAddress set to ${FCObject.bridgeAddress}`);
+    }
+  },
+};
+
+
+export default FCObject;

dawn/package.json

@@ -57,7 +57,6 @@
   "dependencies": {
     "brace": "0.11.0",
     "bufferutil": "3.0.3",
-    "circular-json": "0.5.1",
     "create-react-class": "15.6.2",
     "electron": "1.7.11",
     "electron-json-storage": "4.0.2",
@@ -81,6 +80,7 @@
     "redux-saga": "0.16.0",
     "seedrandom": "2.4.3",
     "smalltalk": "2.5.1",
+    "socket.io-client": "^2.0.4",
     "ssh2": "0.5.5",
     "superagent": "3.8.2",
     "utf-8-validate": "4.0.0",

dawn/renderer/components/App.js

@@ -53,7 +53,7 @@ class AppComponent extends React.Component {
         return;
       }
       this.props.onFCUpdate(data);
-      ipcRenderer.send('LCM_CONFIG_CHANGE', data);
+      ipcRenderer.send('FC_CONFIG_CHANGE', data);
     });
   }
 

dawn/renderer/components/ConfigBox.js

@@ -86,7 +86,7 @@ class ConfigBoxComponent extends React.Component {
     storage.set('fieldControl', newConfig, (err) => {
       if (err) logging.log(err);
     });
-    ipcRenderer.send('LCM_CONFIG_CHANGE', newConfig);
+    ipcRenderer.send('FC_CONFIG_CHANGE', newConfig);
 
     this.props.hide();
   }