change arm check

api/index.js

@@ -1,120 +1,11 @@
 var express = require("express");
 var app = express();
-const WebSocket = require("ws");
-
-//# TODO SSE https://www.digitalocean.com/community/tutorials/nodejs-server-sent-events-build-realtime-app
-
-var last_status = {};
-var last_image;
-var received_picture = false;
-var received_error = false;
 
 let sse_clients = [];
 
 app.use(express.static("public"));
 app.use(express.json());
 
-var ws;
-var api_connected = false;
-
-function send_events_to_clients(data) {
-    // console.log("sending events to clients");
-  sse_clients.forEach((client) => {
-    client.response.write("event: message\n");
-    client.response.write("data:" + JSON.stringify(data) + "\n\n");
-  });
-}
-
-function handle_sse_client(request, response, next) {
-  console.log("handling sse client");
-  const headers = {
-    "Content-Type": "text/event-stream",
-    Connection: "keep-alive",
-    "Cache-Control": "no-cache",
-  };
-
-  response.writeHead(200, headers);
-  response.write(JSON.stringify("yeet") + "\n\n");
-  const clientID = Date.now();
-  const newClient = {
-    id: clientID,
-    response,
-  };
-
-  sse_clients.push(newClient);
-
-  request.on("close", () => {
-    console.log(`${clientID} Connection closed`);
-    sse_clients = sse_clients.filter((client) => client.id !== clientID);
-  });
-}
-
-var connect_to_api = function () {
-  console.log("Connecting to API");
-  ws = new WebSocket("ws://10.100.0.40:9001/");
-
-  ws.on("open", function open() {
-    console.log("connected with websockets to API!");
-    api_connected = true;
-  });
-
-  ws.on("message", function message(message) {
-    try {
-      var msg = JSON.parse(message);
-      if (msg.type != "IMAGE") {
-        //   console.log("got message");
-        send_events_to_clients(msg);
-      } else {
-        console.log("got image");
-      }
-    } catch (error) {
-      console.log("could not parse as json");
-      //   send_image_data_to_clients(message);
-    }
-  });
-
-  ws.on("error", function error(err) {
-    console.log("there was an error");
-    console.error("error: " + err);
-    received_error = true;
-  });
-};
-
-function send_image_data_to_clients(videoData) {
-  sse_clients.forEach((client) => {
-    // Set the SSE event name as 'message'
-    client.response.write("event: message\n");
-
-    // Convert the Buffer to a base64-encoded string
-    const base64Data = videoData.toString("base64");
-
-    // Set the SSE event data as the base64-encoded string
-    client.response.write(
-      "data: " + JSON.stringify({ image: base64Data }) + "\n\n"
-    );
-  });
-}
-
-// Define the endpoint to receive video data
-app.post("/video", (req, res) => {
-  // console.log("got video endpoint")
-  let videoData = Buffer.from("");
-
-  req.on("data", (chunk) => {
-    // Accumulate the received video data
-    videoData = Buffer.concat([videoData, chunk]);
-  });
-
-  req.on("end", () => {
-    // Process the received video data
-    //   console.log("Received video data:" + videoData.length);
-    send_image_data_to_clients(videoData);
-
-    // Send a response indicating successful receipt
-    res.sendStatus(200);
-  });
-});
-
 // set the view engine to ejs
 app.set("view engine", "ejs");
 
@@ -127,65 +18,5 @@ app.get("/", function (req, res) {
 
 app.get("/events", handle_sse_client);
 
-app.get("/image", function (req, res) {
-  console.log("got picture request");
-  var request = JSON.stringify({
-    command: 5,
-  });
-  console.log("sending picture request");
-  ws.send(request);
-  res.status(200).send(last_image);
-});
-
-app.post("/move", function (req, res) {
-  console.log("got move request");
-  var request = JSON.stringify({
-    command: 3,
-    up_down: req.body.up_down,
-    left_right: req.body.left_right,
-    forward_backward: req.body.forward_backward,
-    yaw: req.body.turn_left_right,
-  });
-  ws.send(request);
-});
-
-app.post("/estop", function (req, res) {
-  console.log("got estop request");
-  var request = JSON.stringify({
-    command: 6,
-  });
-  ws.send(request);
-});
-
-app.post("/land", function (req, res) {
-  console.log("got land request");
-  var request = JSON.stringify({ command: 0 });
-  ws.send(request);
-});
-
-app.post("/arm_disarm", function (req, res) {
-  console.log("got arm/disarm request");
-  var request = JSON.stringify({ command: 1 });
-  ws.send(request);
-});
-
-app.get("/connect", function (req, res) {
-  console.log("got connect request");
-  connect_to_api();
-  setTimeout(function () {
-    if (api_connected) {
-      console.log("Connected to API");
-      res.status(200).json({ connected: true });
-    } else {
-      received_error = false;
-      res.status(400).json({ connected: false });
-    }
-  }, 1000);
-});
-
-app.get("/test", function (req, res) {
-  res.render("test");
-});
-
 app.listen(8080);
 console.log("Server is listening on port 8080");