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use tokio::sync::mpsc::{
error::SendError,
Permit,
};
use tokio_tungstenite::{connect_async, tungstenite::protocol::Message};
use core::pin::Pin;
use futures_util::{sink::*, StreamExt};
use url::Url;
// use crate::*;
use crate::{MoonMSG, MoonResultData};
/// A WebSocket connection to a Moonraker server.
pub struct MoonConnection {
write_stream: tokio::sync::mpsc::Sender<MoonMSG>,
read_stream: tokio::sync::mpsc::Receiver<MoonMSG>,
}
impl MoonConnection {
/// Creates a new `MoonConnection` instance and establishes a WebSocket connection to the specified `url`.
///
/// # Arguments
///
/// * `url` - A `String` containing the URL of the Moonraker instance to connect to.
///
/// # Returns
///
/// A new `MoonConnection` instance.
pub async fn new(url: String, writer_buffer_size: usize, reader_buffer_size: usize) -> MoonConnection {
let (ws_writer_sender, mut ws_writer_receiver) = tokio::sync::mpsc::channel(writer_buffer_size);
let connect_addr = Url::parse(&url).unwrap();
let (ws_stream, _) = match connect_async(&connect_addr).await {
Ok(stuff) => stuff,
Err(_) => panic!("Error connecting to websocket"),
};
println!("WebSocket handshake has been successfully completed");
let (mut moon_socket_sink, mut moon_socket_stream) = ws_stream.split();
// Spawns Moonraker Websocket writer thread
tokio::spawn(async move {
while let Some(msg) = ws_writer_receiver.recv().await {
let mut vec = serde_json::to_vec(&msg).expect("Could not Serialize Request");
vec.truncate(vec.len());
let result = Pin::new(&mut moon_socket_sink)
.send(Message::binary(vec))
.await;
match result {
Ok(_) => continue,
Err(_) => println!("Unable to send to moon_socket_sink"),
}
}
});
println!("Split websocket Stream");
let (ws_reader_sender, ws_reader_receiver) = tokio::sync::mpsc::channel(reader_buffer_size);
println!("Created Reader Runtime");
// Spawns Moonraker Websocket reader thread
tokio::spawn(async move {
while let Some(message) = moon_socket_stream.next().await {
match message {
Ok(msg) => {
if msg.len() == 0 {
continue;
}
let message = msg.into_text().unwrap();
println!("Received: {}", message);
let parsed = serde_json::from_str(&message);
match parsed {
Ok(message) => match ws_reader_sender.send(message).await {
Ok(()) => continue,
Err(_) => println!("Unable to send to ws_reader_sender"),
},
Err(_) => {
println!("----------------------------MESSAGE NOT PARSED----------------------------");
println!("Message Length: {}", message.len());
println!("{}", message);
println!("--------------------------------------------------------------------------");
},
}
}
Err(_) => println!("Hi, I'm a error"),
}
}
});
MoonConnection {
write_stream: ws_writer_sender,
read_stream: ws_reader_receiver,
}
}
/// The most basic of the sender methods. Adds a message to the WebSocket writer queue to be sent to the Moonraker instance.
/// This function is non-blocking and returns immediately.
/// When the websocket writer queue is full, this function will not block, but will yield back to the parent function until a spot opens up in the queue which
/// can be probelmatic if the order of messages you're sending to the printer is important. In that case, consider using the `send_reserved` function instead.
///
/// # Arguments
///
/// * `message` - The `MoonMSG` message to send.
///
/// # Returns
///
/// Returns `Ok(())` if the message was successfully added to the queue, or a `SendError<MoonMSG>` if the queue is full.
pub async fn send(&mut self, message: MoonMSG) -> Result<(), SendError<MoonMSG>> {
self.write_stream.send(message).await?;
Ok(())
}
/// Sends a message over the WebSocket connection, using a reserved spot in the writer queue.
///
/// This function is similar to `send`, but it uses a reserved spot in the writer queue, so it
/// doesn't block the thread if the queue is full, but also ensures that the order of messages is exactly as your program describes.
/// Use this function if you are sending a lot of messages in a short amount of time and the order of those messages matters.
///
/// Essentially, you are putting a dynmic buffer on top of the fixed-sized primary message buffer to ensure that messages are sent in the order you want.
///
/// For example, say you wanted to ensure the printer recieved a `G28` (Home Printer) command before a `G1 Z10` (move printer bed up) command.
/// Although, in this case, you'll want to sleep for a bit after the `G28` command to ensure the printer has time to home before moving the bed up.
///
/// # Arguments
///
/// * `message` - The message to send over the WebSocket connection.
///
/// # Returns
///
/// A `Result` indicating whether the message was successfully sent or not. An error here indicates that the websocket channel is probably closed.
pub async fn send_reserved(&mut self, message: MoonMSG) -> Result<(), SendError<()>> {
let permit = self.reserve().await?;
permit.send(message);
Ok(())
}
/// Reserves a permit from the WebSocket writer queue for sending a message.
///
/// # Returns
///
/// Returns a `Permit<MoonMSG>` if a permit was successfully reserved, or a `SendError<()>` if the connection has closed.
pub async fn reserve(&self) -> Result<Permit<MoonMSG>, SendError<()>> {
self.write_stream.reserve().await
}
/// Waits for a message to be received from the Moonraker instance.
///
/// # Returns
///
/// Returns an `Option<MoonMSG>` containing the received message, or `None` if the receiver channel has been closed.
pub async fn recv(&mut self) -> Option<MoonMSG> {
self.read_stream.recv().await
}
pub async fn send_checked(&mut self, message: MoonMSG) -> Result<(), SendError<MoonMSG>> {
let this_id = 3243;
let msg = message.set_id(this_id);
self.send(msg).await?;
// let mut ok_received = false;
loop {
match self.recv().await {
Some(msg) => {
match msg {
MoonMSG::MoonResult { id, result, .. } => {
if id == this_id {
match result {
MoonResultData::Ok(..) => {
return Ok(());
}
_ => continue,
}
}
},
_ => continue,
}
},
None => continue,
}
}
// Ok(())
}
pub async fn send_listen(&mut self, message: MoonMSG) -> Result<MoonMSG, SendError<MoonMSG>> {
let this_id = message.id().expect("Message must have an ID");
self.send(message).await?;
loop {
match self.recv().await {
Some(msg) => {
match msg.id() {
Some(id) => {
if id == this_id {
return Ok(msg)
}
},
None => continue,
}
},
None => continue,
}
}
// Ok(())
}
}