appRobotDriver/startRobot.js

const fs = require('fs');
const https = require('https');
const WebSocket = require('ws');

function getLastLines(filePath, numLines) {
  try {
    const data = fs.readFileSync(filePath, 'utf8');
    const lines = data.split('\n').filter(line => line.trim());
    return lines.slice(-numLines);
  } catch (e) {
    return [];
  }
}


const Robot = require('./robot/Robot.js')
const GCode = require('./robot/GCode.js')
                        // 238 + 1 + 25 = 264
let robot = new Robot(250,264,100); //(300,290,10);



let connectedClients = [];
let lastCommands = [];
let lastPings = [];

let sharedState = {
  connectedClients: [],
  lastCommands: [],
  lastPings: []
};


const httpsOptions = {
  "enable": true,
  'key': fs.readFileSync('https/localhost.key'),
  'cert':  fs.readFileSync('https/localhost.pem'),
  "passphrase":   "abcd" 
}

server = https.createServer(httpsOptions, (req, res) => {;});


const wss = new WebSocket.Server({ server });

// Input Connection for WebService
wss.on('connection', function connection(ws) 
{
  console.log("WebServer for Input is connected");
  const clientIP = ws._socket.remoteAddress || 'unknown';
  connectedClients.push(clientIP);

  ws.on('close', () => {
    connectedClients = connectedClients.filter(client => client !== clientIP);
  });

  ws.on('message', function incoming(message) 
  {
    if(message == "Ping"){
      fs.appendFileSync('./logs/pings.log', `${new Date().toISOString()} ${clientIP}: ${message}\n`);
      lastPings.push(new Date().toISOString() + ': ' + message);
      if (lastPings.length > 10) lastPings.shift();
      wss.clients.forEach(function (client) 
      {
        if (client.readyState == WebSocket.OPEN) 
        {
            client.send( message );
        }
      });
    }

    if(GCode.containsCommand(message)){
      fs.appendFileSync('./logs/gcode_commands.log', `${new Date().toISOString()} ${clientIP}: ${message}\n`);
      lastCommands.push(new Date().toISOString() + ': ' + message);
      if (lastCommands.length > 10) lastCommands.shift();
      GCode.receiveGCode(robot,message);
      reply = GCode.getM114(robot);
      wss.clients.forEach(function (client) 
      {
        if (client.readyState == WebSocket.OPEN) 
        {
            client.send( reply );
        }
      });
    }

    if(GCode.ContainsFilesCommand(message)){
      fs.appendFileSync('./logs/gcode_commands.log', `${new Date().toISOString()} ${clientIP}: ${message}\n`);
      lastCommands.push(new Date().toISOString() + ': ' + message);
      if (lastCommands.length > 10) lastCommands.shift();
      reply = GCode.receiveFC(robot, message);
      wss.clients.forEach(function (client) 
      {
        if (client.readyState == WebSocket.OPEN) 
        {
            client.send( reply );
        }
      });
    }
    
    // Request for Status
    if(message == "M114"){
      fs.appendFileSync('./logs/gcode_commands.log', `${new Date().toISOString()} ${clientIP}: ${message}\n`);
      lastCommands.push(new Date().toISOString() + ': ' + message);
      if (lastCommands.length > 10) lastCommands.shift();
      reply = GCode.getM114(robot);
      wss.clients.forEach(function (client) 
      {
        if (client.readyState == WebSocket.OPEN) 
        {
            client.send( reply );
        }
      });
    }
  });
});


/*
const InputWS = require('./robot/InputWS.js')
const wss = InputWS(server, robot, GCode, sharedState);
*/

var TenetSender = require('./robot/TelnetSenderGRBL.js')



const baseIP = process.env.GRBL_BASE_IP  ?? "fluidNcBase.local";
const elbowIP = process.env.GRBL_ELLBOW_IP ?? "fluidNcEllbow.local";
const handIP = process.env.GRBL_HAND_IP ?? "fluidNcHand.local";

console.log(baseIP, elbowIP, handIP);


var telnetSender1 = new TenetSender(urlGRBL = baseIP,   maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
var telnetSender2 = new TenetSender(urlGRBL = elbowIP, maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
var telnetSender3 = new TenetSender(urlGRBL = handIP,   maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");


setTimeout(function() {
  if(telnetSender1?.tSocket != null) { robot.cmdReceivers.push(telnetSender1); console.log("Socket 1 added");}
  else{ console.log("Socket 1 is not connected"); console.log(telnetSender1?.tSocket);}
  
  if(telnetSender2?.tSocket != null) { robot.cmdReceivers.push(telnetSender2); console.log("Socket 2 added");}
  else{ console.log("Socket 2 is not connected"); console.log(telnetSender2?.tSocket);}

  if(telnetSender3?.tSocket != null) { robot.cmdReceivers.push(telnetSender3); console.log("Socket 3 added");}
  else{ console.log("Socket 3 is not connected"); console.log(telnetSender3?.tSocket);}
}, 8000);

setTimeout(function(){
  if(robot.cmdReceivers.length == 0){
    console.log("Kein GRBL Command-Receiver gefunden. Verwende reines Test-Setting.")
  }
},8002)

console.log("Works with FluidNc Base");



const port = Number(process.env.PORT);
const listenPort = Number.isInteger(port) ? port : 2095;

console.log("Starting server on port: " + listenPort.toString());

server.listen(listenPort);
console.log("Listen on Port: https://localhost:" + listenPort.toString()+ "/")




// Info server on port 2098
const infoServer = https.createServer(httpsOptions, (req, res) => {
  if (req.url === '/') {
    fs.readFile('./public/index.html', (err, data) => {
      if (err) {
        res.writeHead(404);
        res.end('Not found');
      } else {
        res.writeHead(200, {'Content-Type': 'text/html'});
        res.end(data);
      }
    });
  } else if (req.url === '/app.js') {
    fs.readFile('./public/app.js', (err, data) => {
      if (err) {
        res.writeHead(404);
        res.end('Not found');
      } else {
        res.writeHead(200, {'Content-Type': 'application/javascript'});
        res.end(data);
      }
    });
  } else if (req.url === '/style.css') {
    fs.readFile('./public/style.css', (err, data) => {
      if (err) {
        res.writeHead(404);
        res.end('Not found');
      } else {
        res.writeHead(200, {'Content-Type': 'text/css'});
        res.end(data);
      }
  });  } else if (req.url === '/allApps.css') {
    fs.readFile('./public/allApps.css', (err, data) => {
      if (err) {
        res.writeHead(404);
        res.end('Not found');
      } else {
        res.writeHead(200, {'Content-Type': 'text/css'});
        res.end(data);
      }
    });
  } else if (req.url === '/api/status') {
    const status = {
      clients: connectedClients,
      senders: [
        {name: 'Base', status: telnetSender1?.tSocket ? 'connected' : 'disconnected'},
        {name: 'Elbow', status: telnetSender2?.tSocket ? 'connected' : 'disconnected'},
        {name: 'Hand', status: telnetSender3?.tSocket ? 'connected' : 'disconnected'}
      ],
      lastCommands: getLastLines('./logs/gcode_commands.log', 15),
      lastPings: getLastLines('./logs/pings.log', 15)
    };
    res.writeHead(200, {'Content-Type': 'application/json'});
    res.end(JSON.stringify(status));
  } else if (req.url === '/api/position'){
    res.writeHead(200, {'Content-Type': 'application/json'});
    res.end(GCode.getM114(robot));
  } else {
    res.writeHead(404);
    res.end('Not found');
  }
});


const InfPort = Number(process.env.PORT);
const listenInfoPort = Number.isInteger(InfPort) ? InfPort : 2098;

console.log("Starting info server on port: " + listenInfoPort.toString());
infoServer.listen(listenInfoPort);
console.log("Info server listening on https://localhost:"+ listenInfoPort.toString() + "/");