sphero-websocket/server.js

websocket server and client for Sphero

/*
 * sphero-websocket Server
 * https://github.com/Babibubebon
 */
"use strict";
var WebSocketServer = require("websocket").server;
var http = require("http");
var spheroServer = require("./lib/spheroserver");
var fs = require("fs");
var EventEmitter = require("events").EventEmitter;

module.exports = function(config, isTestMode) {
  var externalEvent = new EventEmitter();

  if (isTestMode) {
    console.log("running test-mode");
  }

  config.sphero.forEach(function(elm) {
    var orb = spheroServer.makeRawOrb(elm.name, elm.port);
    if (!isTestMode)
      orb.instance.connect();
    spheroServer.addOrb(orb, elm.name);
  });


  var httpServer = http.createServer(function(request, response) {
    var clientDir = "/client/";
    if (request.url.substring(0, clientDir.length) === clientDir) {
      var url = request.url.substring(clientDir.length);
      url = url === "" ? "index.html" : url;
      // 拡張可能。拡張子からMIMEタイプをとる。
      var contentTypes = {
        "html": "text/html",
        "js": "text/javascript"
      };
      response.writeHead(200, { "Content-Type": contentTypes[url.split(".").reverse()[0]]});
      fs.readFile(__dirname + clientDir + url, "utf-8", function(err, data) {
        if (err) {
          throw err;
        }
        response.write(data);
        response.end();
      });
    } else {
      response.writeHead(200);
      response.write("This is Sphero WebSocket Server.");
      response.end();
    }
  }).listen(config.wsPort, function() {
    console.log((new Date()) + " Server is listening on port " + config.wsPort);
  });

  var wsServer = new WebSocketServer({
    httpServer: httpServer,
    autoAcceptConnections: false
  });

  function originIsAllowed(origin) {
    if (config.allowedOrigin == null || config.allowedOrigin === "*")
      return true;
    if (config.allowedOrigin === origin)
      return true;
    if (Array.isArray(config.allowedOrigin) && config.allowedOrigin.indexOf(origin) >= 0)
      return true;
    return false;
  }

  wsServer.on("request", function(request) {
    if (!originIsAllowed(request.origin)) {
      request.reject();
      console.log((new Date()) + " Connection from origin " + request.origin + " rejected.");
      return;
    }
    if (config.linkMode === "multiple" && Object.keys(spheroServer.getUnlinkedOrbs()).length === 0) {
      request.reject();
      console.log("orbの数がcontrollerに対して足りませんのでreject!");
    }

    var connection = request.accept(null, request.origin);
    var client = spheroServer.addClient(request.key, connection);
    if (config.linkMode === "multiple") {
      var unlinkedOrbs = spheroServer.getUnlinkedOrbs();
      client.setLinkedOrb(unlinkedOrbs[Object.keys(unlinkedOrbs)[0]]);
    } else if (config.linkMode === "single") {
      client.setLinkedOrb(spheroServer.getOrb(0));
    }
    console.log((new Date()) + " Connection from " + request.remoteAddress + " accepted");

    client.on("message", function() {
      console.log("client: " + request.key);
    });
    client.on("arriveInternalCommand", function(command, args, mesID) {
      // internal command
      switch (command) {
        case "_list":
          client.sendMessage(spheroServer.getList(), mesID);
          break;
        case "_use":
          if (args.length === 1) {
            client.setLinkedOrb(spheroServer.getOrb(args[0]));
          }
          break;
      }
      console.log(command + "(" + args + ")");
    });
    client.on("arriveNormalCommand", function(command, args) {
      var orb = client.linkedOrb;
      if (orb !== null) {
        if (orb.hasCommand(command)) {
          // Sphero"s command
          if (!isTestMode) {
            orb.command(command, args);
          }
          console.log(orb.name + "." + command + "(" + args.join(",") + ")");
          externalEvent.emit("command", request.key, command, args);
        } else {
          // invalid command
          console.error("invalid command: " + command);
        }
      }
    });
    connection.on("close", function(reasonCode, description) {
      spheroServer.removeClient(request.key);
      console.log((new Date()) + " Peer " + connection.remoteAddress + " disconnected.");
    });
  });

  process.on("uncaughtException", function(err) {
    console.error(err);
  });

  return {
    events: externalEvent,
    // ↓セキュリティ的にOKなのか
    spheroServer: spheroServer
  };
};