appRobotDriver/startRobot.js

const fs = require('fs');
const https = require('https');
const { createRobotFromEnv } = require('./robot/KinematicsFactory');
const GCode = require('./robot/GCode');
const TelnetSender = require('./robot/TelnetSenderGRBL');
const ShellySender  = require('./robot/ShellyEmergencyStop');
const RobotConfig = require('./robot/RobotConfig');

const initInputWS = require('./server/InputWS');
const createInfoServer = require('./server/InfoServer');

function loadHttpsOptions(fsModule, processEnv) {
  try {
    return {
      enable: true,
      key: fsModule.readFileSync('https/localhost.key'),
      cert: fsModule.readFileSync('https/localhost.pem'),
      passphrase: processEnv.HTTPS_PASSPHRASE ?? 'abcd'
    };
  } catch (err) {
    throw new Error(`Failed to load HTTPS certificate/key: ${err.message}`);
  }
}

function getSenderConnectionStatus(senderInfo) {
  const { name, instance } = senderInfo;

  let status = 'disconnected';
  let reason = 'no active socket connection';

  if (instance?.getStatus) {
    const senderStatus = instance.getStatus();
    status = senderStatus.state || status;
    reason = senderStatus.state === 'disconnected' ? senderStatus.error || reason : undefined;
  } else if (instance?.isTestMode || instance?.tSocket) {
    status = 'connected';
    reason = undefined;
  }

  return { name, status, reason };
}

function createApp(options = {}) {
  const {
    fsModule = fs,
    httpsModule = https,
    processEnv = process.env,
    RobotClass = null,
    GCodeModule = GCode,
    TelnetSenderClass = TelnetSender,
    ShellyClass       = ShellySender,
    initInputWSFn = initInputWS,
    createInfoServerFn = createInfoServer,
    setTimeoutFn = setTimeout,
    consoleObj = console
  } = options;

  const startupStatus = {
    https: { ok: false, error: null },
    senders: []
  };

  let httpsOptions;
  try {
    httpsOptions = loadHttpsOptions(fsModule, processEnv);
    startupStatus.https = { ok: true };
  } catch (err) {
    startupStatus.https = { ok: false, error: err.message };
    consoleObj.error(startupStatus.https.error);
    return { startupStatus };
  }

  // logs/-Verzeichnis sicherstellen (idempotent)
  fsModule.mkdirSync?.('logs', { recursive: true });

  const httpsServer = httpsModule.createServer(httpsOptions);

  // robot.json lesen: Kinematik-Params, Bewegungs-Defaults, Controller-Endpunkte.
  // Env-Variablen überschreiben robot.json (Override-Ebene).
  const cfg = RobotConfig.load(fsModule, processEnv, consoleObj);

  const robot = RobotClass
    ? new RobotClass(cfg.kinematics.l1, cfg.kinematics.l2, cfg.kinematics.l3, cfg.motion)
    : createRobotFromEnv(processEnv, { ...cfg.kinematics, ...cfg.motion });

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

  initInputWSFn(httpsServer, robot, GCodeModule, sharedState);

  const senders = [];
  for (const [key, ctrl] of Object.entries(cfg.controllers)) {
    const name = key.charAt(0).toUpperCase() + key.slice(1);

    if (ctrl.protocol === 'shelly') {
      // Shelly Smart Plug: kein GCode-Empfänger, nur Emergency-Stop-Aktor
      const instance = new ShellyClass(ctrl.url);
      senders.push({ name, instance, isGCodeReceiver: false });
    } else {
      // Telnet (FluidNC): Konstruktor erwartet 7 Achsen-Slots (x y z a b c e) vor dem
      // Options-Objekt. Auf genau 7 auffüllen, damit heartbeatInterval nicht als
      // Achsen-Arg landet.
      const axes7 = [...(ctrl.axes ?? [])];
      while (axes7.length < 7) axes7.push(null);
      const instance = new TelnetSenderClass(ctrl.ip, ctrl.port, ...axes7, {
        heartbeatInterval: ctrl.heartbeatInterval,
        deadTimeout:       2 * ctrl.heartbeatInterval,
      });
      senders.push({ name, instance, isGCodeReceiver: true });
    }
  }

  startupStatus.senders = senders.map(getSenderConnectionStatus);
  const disconnectedSenders = startupStatus.senders.filter(s => s.status === 'disconnected');
  if (disconnectedSenders.length > 0) {
    consoleObj.warn(`Startup warning: ${disconnectedSenders.length} sender(s) disconnected at startup.`);
  }

  // Nur Telnet-Sender (FluidNC) empfangen GCode — Shelly wird ausgeschlossen.
  // Jeder Sender reconnectet automatisch, daher sofortige Registrierung ohne Delay.
  senders.filter(s => s.isGCodeReceiver).forEach(s => robot.cmdReceivers.push(s.instance));

  const port = Number(processEnv.PORT) || 2095;
  httpsServer.listen(port);
  consoleObj.log(`Input HTTPS/WebSocket on https://localhost:${port}`);

  const infoServer = createInfoServerFn(
    httpsOptions,
    sharedState,
    robot,
    GCodeModule,
    senders,
    { apiKey: processEnv.ROBOT_API_KEY }
  );

  const infoPort = 2098;
  infoServer.listen(infoPort);
  consoleObj.log(`Info server on https://localhost:${infoPort}`);

  return {
    httpsServer,
    infoServer,
    robot,
    senders: senders.map(s => s.instance),
    sharedState,
    httpsOptions,
    startupStatus
  };
}

if (require.main === module) {
  createApp();
}

module.exports = { createApp };