Initial commit

robot/PythonSender.js

@@ -0,0 +1,53 @@
+
+module.exports  = class PythonSender {
+    
+
+    constructor(p = 9875){
+        const WebSocket = require('ws');
+        
+
+        this.sockets = [];
+        this.server = new WebSocket.Server({port: p});
+  
+        this.server.on('connection', (socket) => this.connectThis(socket));
+    }
+
+    msgThis(msg){
+        console.log("message:" + msg.toString())
+        this.sockets.forEach(s => s.send(msg));
+    }
+
+    closeThis(socket){
+        console.log("Python Receiver is closing the connection");
+        this.sockets = this.sockets.filter(s => s !== socket);
+    }
+    connectThis(socket) {
+        console.log("Python Receiver is connected")
+        this.sockets.push(socket);
+      
+        // When you receive a message, send that message to every socket.
+        socket.on('message', (msg) => this.msgThis(msg));
+        
+    
+        // When a socket closes, or disconnects, remove it from the array.
+        socket.on('close', () => this.closeThis(socket));
+    }
+
+    send(m){
+        if((this.sockets.length) > 0){
+            this.sockets.forEach( s => s.send(m));
+        }
+        else{ console.warn("No sockets connected. Can't send the Message.");}
+    }
+    /*
+ if(this.pythonSender != null){
+            var strJSON = CANCreator.cmdMovement(this.motorPositionOld, this.motorPosition);
+            if(strJSON != '{"message":"empty"}'){ 
+                this.pythonSender.send(strJSON);
+            }
+        }
+
+    */
+}
+
+