const URL = "192.168.185.20";

let socketMoteur = undefined;
let socketInfos = undefined;
let moteur = undefined;


const connectSockets = () => {
    if ((socketMoteur != undefined) || (socketInfos != undefined)) {
        disconnectSocket();
    }
    socketMoteur = new WebSocket("ws://" + URL + "/motors.ws");
    socketInfos  = new WebSocket("ws://" + URL + "/infos.ws");

    socketMoteur.onclose = function(event) {
        if (event.wasClean) {
            console.log(`[socketMoteur] Connection closed cleanly, code=${event.code} reason=${event.reason}`);
        } else {
            console.log('[socketMoteur] Connection died');
        }
    };

    socketMoteur.onopen = function(e) {
        console.log("[socketMoteur] Connection established");
    };

    socketInfos.onopen = function(e) {
        console.log("[socketInfos] Connection established");
    };

    socketInfos.onclose = function(event) {
        if (event.wasClean) {
            console.log(`[socketInfos] Connection closed cleanly, code=${event.code} reason=${event.reason}`);
        } else {
            console.log('[socketInfos] Connection died');
        }
    };

    socketMoteur.onerror = function(error) {
        console.log(`[socketMoteur] ERROR : ${error}`);
    };

    socketInfos.onerror = function(error) {
        console.log(`[socketInfos] ERROR : ${error}`);
    };
}

const disconnectSocket = () => {
    if (socketMoteur != undefined) {
        socketMoteur.close();
    }
    if (socketInfos != undefined) {
        socketInfos.close();
    }

    socketMoteur = undefined;
    socketInfos = undefined;
}




class Moteur {

    motors_buf = new Float32Array(2);

    send(d, g, v) {
        if (socketMoteur == undefined) {
            return;
        }
        this.motors_buf[0] = d * v;
        this.motors_buf[1] = g * v;
        
        socketMoteur.send(this.motors_buf);
    }

    avancer(v) {
        this.send(-1, -1, 1);
    }

    reculer(v) {
        this.send(1, 1, 1);
    }

    droite(v) {
        this.send(1, -1, 1);
    }

    gauche(v) {
        this.send(-1, 1, 1);
    }

    stop(v) {
        this.send(0, 0, 0);
    }


}






function run() {
    connectSockets();
    moteur = new Moteur();

    socketMoteur.onmessage = function(event) {
        console.log(`[message] Data received from server: ${event.data}`);
    };
}