CarCheckTerminal/entry/src/main/ets/pages/control/utils/Control.ets

import Logger from '../../../utils/Logger'
import { TaskPool } from '../../../utils/TaskPool'
import { EventType, WebsocketClient } from '../../../utils/WebsocketUtils'
import { VehicleBean, VehicleInfo } from './Model'
import { BusinessError } from '@kit.BasicServicesKit'
import { promptAction } from '@kit.ArkUI'

const Tag = "RebootControl"

interface MessageResult {
  mode: number
  success: number
}

export class RebootControl {
  private service: WebsocketClient
  private taskPool: TaskPool<boolean> = new TaskPool()
  private callback: Function[] = []

  constructor(url: string) {
    this.service = new WebsocketClient(url)
    this.service.subscribe(EventType.Message, (message: string) => {
      this.callback.forEach(cb => {
        cb(message)
      })
    })
  }

  private addTask(data: string) {
    this.taskPool.add({
      execute: (): Promise<boolean> => {
        return this.service.send(data)
      },
      repair: (): Promise<void> => {
        return this.service.reconnect()
      },
      retryCount: 5
    })
  }

  init() {
    return this.service.connect()
  }

  getMode() {
    return new Promise<MessageResult>((resolve, reject) => {
      this.service.send(JSON.stringify({
        "cmmand": "getMode"
      })).then(() => {
        let cb = (msg: string) => {
          resolve(JSON.parse(msg))
          this.callback = this.callback.filter(item => item != cb)
        }
        this.callback.push(cb)
      }).catch((err: BusinessError) => {
        reject(err)
      })
    })
  }

  setMode(mode: number) {
    return new Promise<boolean>((resolve, reject) => {
      this.service.send(JSON.stringify({ mode })).then(resolve).catch((err: BusinessError) => {
        promptAction.showToast({
          message: JSON.stringify(err)
        })
        reject(err)
      })
    })
  }

  destroy() {
    return this.service.close()
  }

  forward() {
    let vehicleInfo = new VehicleInfo();
    let angularBean = new VehicleBean();
    let lineBean = new VehicleBean();
    let speed = 0.1
    lineBean.setX(speed);
    vehicleInfo.setAngular(angularBean);
    vehicleInfo.setLinear(lineBean);
    this.addTask(JSON.stringify(vehicleInfo))
    Logger.info(Tag, "添加向前指令")
  }

  backward() {
    let vehicleInfo = new VehicleInfo();
    let angularBean = new VehicleBean();
    let lineBean = new VehicleBean();
    let speed = -0.1
    lineBean.setX(speed);
    vehicleInfo.setAngular(angularBean);
    vehicleInfo.setLinear(lineBean);
    this.addTask(JSON.stringify(vehicleInfo))
    Logger.info(Tag, "添加向后指令")
  }

  left() {
    let vehicleInfo = new VehicleInfo();
    let angularBean = new VehicleBean();
    let lineBean = new VehicleBean();
    let speed = 0.1
    angularBean.setZ(speed);
    vehicleInfo.setAngular(angularBean);
    vehicleInfo.setLinear(lineBean);
    this.addTask(JSON.stringify(vehicleInfo))
    Logger.info(Tag, "添加向左指令")
  }

  right() {
    let vehicleInfo = new VehicleInfo();
    let angularBean = new VehicleBean();
    let lineBean = new VehicleBean();
    let speed = -0.1
    angularBean.setZ(speed);
    vehicleInfo.setAngular(angularBean);
    vehicleInfo.setLinear(lineBean);
    this.addTask(JSON.stringify(vehicleInfo))
    Logger.info(Tag, "添加向右指令")
  }
}