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https://github.com/legop3/MultiRoombaRover.git
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@@ -0,0 +1,19 @@
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{
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"name": "multiroombarover-server",
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"version": "0.1.0",
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"private": true,
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"scripts": {
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"start": "node src/index.js",
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"dev": "nodemon src/index.js"
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},
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"dependencies": {
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"express": "^4.19.2",
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"morgan": "^1.10.0",
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"socket.io": "^4.7.5",
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"uuid": "^9.0.1",
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"ws": "^8.18.0"
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},
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"devDependencies": {
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"nodemon": "^3.1.0"
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}
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}
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@@ -0,0 +1,155 @@
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const socket = io();
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const statusEl = document.getElementById('status');
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const roverSelect = document.getElementById('roverSelect');
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const sensorToggleBtn = document.getElementById('sensorToggle');
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const motorsStopBtn = document.getElementById('motorsStop');
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const sensorOutput = document.getElementById('sensorOutput');
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const mediaRestartBtn = document.getElementById('mediaRestart');
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let selectedRover = null;
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let sensorEnabled = false;
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let lastDrive = { left: 0, right: 0 };
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const OI_COMMANDS = {
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start: [128],
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safe: [131],
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full: [132],
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passive: [128],
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dock: [143],
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};
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socket.on('connect', () => {
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statusEl.textContent = 'Connected';
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});
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socket.on('disconnect', () => {
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statusEl.textContent = 'Disconnected';
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});
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socket.on('rovers', (list) => {
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roverSelect.innerHTML = '';
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list.forEach((rover) => {
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const option = document.createElement('option');
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option.value = rover.id;
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option.textContent = `${rover.name} (${rover.id})`;
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roverSelect.appendChild(option);
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});
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if (list.length && !selectedRover) {
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roverSelect.selectedIndex = 0;
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selectedRover = list[0].id;
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}
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});
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socket.on('sensorFrame', ({ roverId, frame }) => {
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if (roverId !== selectedRover) return;
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sensorOutput.textContent = formatSensorFrame(frame.data);
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});
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socket.on('commandAck', ({ roverId, status, error }) => {
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if (roverId !== selectedRover) return;
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if (status === 'ok') {
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statusEl.textContent = 'Command applied';
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} else {
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statusEl.textContent = `Command failed: ${error}`;
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}
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});
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roverSelect.addEventListener('change', (e) => {
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selectedRover = e.target.value;
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});
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sensorToggleBtn.addEventListener('click', () => {
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if (!selectedRover) return;
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sensorEnabled = !sensorEnabled;
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sensorToggleBtn.textContent = sensorEnabled ? 'Disable Sensor Stream' : 'Enable Sensor Stream';
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sendCommand('sensorStream', { enable: sensorEnabled });
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});
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motorsStopBtn.addEventListener('click', () => {
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sendCommand('motors', { main: 0, side: 0, vacuum: 0 });
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});
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mediaRestartBtn.addEventListener('click', () => {
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sendCommand('media', { action: 'restart' });
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});
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document.querySelectorAll('[data-mode]').forEach((btn) => {
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btn.addEventListener('click', () => {
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const mode = btn.dataset.mode;
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if (!OI_COMMANDS[mode]) return;
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sendCommand('raw', { bytes: OI_COMMANDS[mode] });
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});
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});
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const keys = new Set();
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const driveInterval = 120;
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window.addEventListener('keydown', (event) => {
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keys.add(event.key.toLowerCase());
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});
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window.addEventListener('keyup', (event) => {
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keys.delete(event.key.toLowerCase());
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});
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setInterval(() => {
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if (!selectedRover) return;
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const speeds = computeDrive();
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if (speeds.left === lastDrive.left && speeds.right === lastDrive.right) {
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return;
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}
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lastDrive = speeds;
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sendCommand('drive', speeds);
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}, driveInterval);
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function computeDrive() {
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const forward = keys.has('w');
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const backward = keys.has('s');
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const left = keys.has('a');
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const right = keys.has('d');
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const fast = keys.has('shift');
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const base = fast ? 300 : 150;
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let leftSpeed = 0;
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let rightSpeed = 0;
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if (forward && !backward) {
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leftSpeed += base;
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rightSpeed += base;
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} else if (backward && !forward) {
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leftSpeed -= base;
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rightSpeed -= base;
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}
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if (left && !right) {
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leftSpeed -= base;
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rightSpeed += base;
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} else if (right && !left) {
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leftSpeed += base;
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rightSpeed -= base;
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}
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if (!forward && !backward && (left || right)) {
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leftSpeed = left ? -base : base;
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rightSpeed = left ? base : -base;
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}
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return {
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left: clamp(leftSpeed, -500, 500),
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right: clamp(rightSpeed, -500, 500),
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};
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}
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function sendCommand(type, data = {}) {
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if (!selectedRover) return;
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socket.emit('command', { roverId: selectedRover, type, data });
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}
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function formatSensorFrame(base64) {
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const buffer = Uint8Array.from(atob(base64), (c) => c.charCodeAt(0));
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return Array.from(buffer)
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.map((b) => b.toString(16).padStart(2, '0'))
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.join(' ');
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}
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function clamp(value, min, max) {
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return Math.max(min, Math.min(max, value));
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}
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@@ -0,0 +1,46 @@
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<!doctype html>
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<html>
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<head>
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<meta charset="utf-8" />
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<title>Multi Roomba Rover</title>
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<style>
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body { font-family: sans-serif; margin: 16px; }
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#layout { display: flex; gap: 16px; }
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#roverList { width: 240px; }
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#sensorOutput { font-family: monospace; height: 320px; overflow: auto; border: 1px solid #999; padding: 8px; }
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button { margin: 4px; }
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.row { margin-bottom: 8px; }
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</style>
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</head>
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<body>
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<h1>Multi Roomba Rover</h1>
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<div id="status">Connecting…</div>
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<div id="layout">
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<div id="roverList">
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<label for="roverSelect">Rovers</label>
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<select id="roverSelect" size="10" style="width: 100%"></select>
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<div class="row">
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<button data-mode="start">Start OI</button>
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<button data-mode="safe">Safe</button>
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<button data-mode="full">Full</button>
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<button data-mode="passive">Passive</button>
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<button data-mode="dock">Dock</button>
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</div>
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<div class="row">
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<button id="sensorToggle">Enable Sensor Stream</button>
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</div>
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<div class="row">
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<button id="motorsStop">Stop Motors</button>
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<button id="mediaRestart">Restart Camera</button>
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</div>
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</div>
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<div style="flex: 1">
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<h3>Sensor Frames</h3>
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<pre id="sensorOutput"></pre>
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<p>Use WASD keys to drive the selected rover. Shift increases speed.</p>
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</div>
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</div>
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<script src="/socket.io/socket.io.js"></script>
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<script src="app.js" type="module"></script>
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</body>
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</html>
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@@ -0,0 +1,171 @@
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const http = require('http');
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const path = require('path');
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const express = require('express');
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const morgan = require('morgan');
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const { Server: SocketIOServer } = require('socket.io');
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const { WebSocketServer } = require('ws');
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const { v4: uuidv4 } = require('uuid');
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const PORT = process.env.PORT || 8080;
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const app = express();
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app.use(morgan('dev'));
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app.use(express.json());
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app.use(express.static(path.join(__dirname, '..', 'public')));
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const httpServer = http.createServer(app);
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const io = new SocketIOServer(httpServer, {
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cors: { origin: '*' },
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});
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const roverWSS = new WebSocketServer({ noServer: true });
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const rovers = new Map();
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const pendingCommands = new Map();
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httpServer.on('upgrade', (req, socket, head) => {
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if (req.url.startsWith('/rover')) {
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roverWSS.handleUpgrade(req, socket, head, (ws) => {
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roverWSS.emit('connection', ws, req);
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});
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} else {
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socket.destroy();
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}
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});
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roverWSS.on('connection', (ws) => {
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handleRoverConnection(ws);
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});
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function handleRoverConnection(ws) {
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let roverId = null;
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ws.on('message', (raw) => {
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let msg;
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try {
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msg = JSON.parse(raw.toString());
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} catch (err) {
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return;
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}
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switch (msg.type) {
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case 'hello':
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roverId = msg.name;
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rovers.set(roverId, {
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id: roverId,
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ws,
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meta: msg,
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lastSensor: null,
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lastSeen: Date.now(),
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});
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broadcastRoster();
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break;
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case 'sensor':
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if (!roverId || !rovers.has(roverId)) {
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return;
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}
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rovers.get(roverId).lastSensor = msg;
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rovers.get(roverId).lastSeen = Date.now();
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io.emit('sensorFrame', { roverId, frame: msg });
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break;
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case 'ack':
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if (msg.id && pendingCommands.has(msg.id)) {
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const pending = pendingCommands.get(msg.id);
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pendingCommands.delete(msg.id);
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io.emit('commandAck', { roverId: pending.roverId, id: msg.id, status: msg.status, error: msg.error });
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}
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break;
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default:
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break;
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}
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});
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ws.on('close', () => {
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if (roverId) {
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rovers.delete(roverId);
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broadcastRoster();
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}
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});
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}
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io.on('connection', (socket) => {
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socket.emit('rovers', getRoster());
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socket.on('command', (payload = {}, cb = () => {}) => {
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try {
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const commandId = routeCommand(payload);
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cb({ id: commandId });
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} catch (err) {
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cb({ error: err.message });
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}
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});
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});
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function getRoster() {
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return Array.from(rovers.values()).map(({ id, meta, lastSeen }) => ({
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id,
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name: meta?.name ?? id,
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battery: meta?.battery ?? null,
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maxWheelSpeed: meta?.maxWheelSpeed ?? null,
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media: meta?.media ?? null,
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lastSeen,
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}));
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}
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function broadcastRoster() {
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io.emit('rovers', getRoster());
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}
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function routeCommand(payload) {
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const { roverId, type, data } = payload;
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if (!roverId) {
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throw new Error('roverId missing');
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}
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if (!rovers.has(roverId)) {
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throw new Error(`rover ${roverId} not connected`);
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}
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const rover = rovers.get(roverId);
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const message = buildCommand(type, data);
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const id = uuidv4();
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message.id = id;
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rover.ws.send(JSON.stringify(message));
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pendingCommands.set(id, { roverId, issuedAt: Date.now(), type });
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return id;
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}
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function buildCommand(type, data = {}) {
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switch (type) {
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case 'drive':
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return { type: 'drive', driveDirect: { left: data.left || 0, right: data.right || 0 } };
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case 'motors':
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return {
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type: 'motors',
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motorPwm: {
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main: data.main ?? 0,
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side: data.side ?? 0,
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vacuum: data.vacuum ?? 0,
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},
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};
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case 'raw':
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return { type: 'raw', raw: Buffer.from(data.bytes || []).toString('base64') };
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case 'sensorStream':
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return { type: 'sensorStream', sensorStream: { enable: Boolean(data.enable) } };
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case 'media':
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if (!data || !data.action) {
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throw new Error('media action required');
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}
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return { type: 'media', media: { action: data.action } };
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default:
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throw new Error(`unknown command type: ${type}`);
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}
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}
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if (require.main === module) {
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httpServer.listen(PORT, () => {
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console.log(`Server listening on :${PORT}`);
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});
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}
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module.exports = {
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httpServer,
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io,
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routeCommand,
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};
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