sim_pb/network.rs
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use crate::driving::SimRobot;
use crate::{MyApp, RobotReference, Wall};
use bevy::prelude::{error, info, Commands, Entity, Query, ResMut, Resource, Transform};
use bevy_rapier2d::dynamics::{ExternalImpulse, Velocity};
use bevy_rapier2d::na::{Point2, Rotation2};
use core_pb::constants::{GAME_SERVER_MAGIC_NUMBER, GAME_SERVER_PORT, SIMULATION_LISTENER_PORT};
use core_pb::messages::{GameServerCommand, ServerToSimulationMessage, SimulationToServerMessage};
use core_pb::names::RobotName;
use core_pb::pacbot_rs::game_state::GameState;
use core_pb::pacbot_rs::location::Direction::*;
use core_pb::threaded_websocket::TextOrT;
use core_pb::{bin_decode_single, bin_encode};
use simple_websockets::{Event, EventHub, Message, Responder};
use std::collections::HashMap;
use std::time::{Duration, Instant};
pub const GAME_FPS: f32 = 24.0;
#[derive(Resource)]
pub struct PacbotNetworkSimulation {
pub game_state: GameState,
pub last_state_update: Instant,
pub event_hub: EventHub,
pub game_server_clients: HashMap<u64, Responder>,
pub simulation_event_hub: EventHub,
pub simulation_clients: HashMap<u64, Responder>,
}
pub fn update_network(
app: ResMut<MyApp>,
mut network: ResMut<PacbotNetworkSimulation>,
commands: Commands,
walls: Query<(Entity, &Wall)>,
robots: Query<(
Entity,
&mut Transform,
&mut Velocity,
&mut ExternalImpulse,
&RobotReference,
)>,
) {
network.update(app, commands, walls, robots);
}
impl PacbotNetworkSimulation {
pub fn new() -> Result<Self, simple_websockets::Error> {
let event_hub = simple_websockets::launch(GAME_SERVER_PORT)?;
info!("Listening on port {GAME_SERVER_PORT}");
let simulation_event_hub = simple_websockets::launch(SIMULATION_LISTENER_PORT)?;
let game_state = GameState {
paused: true,
..Default::default()
};
Ok(Self {
game_state,
last_state_update: Instant::now(),
event_hub,
game_server_clients: HashMap::new(),
simulation_event_hub,
simulation_clients: HashMap::new(),
})
}
/// All updates for network, game state, and simulation - will complete quickly, expects
/// to be called in a loop
pub fn update(
&mut self,
mut app: ResMut<MyApp>,
mut commands: Commands,
// mut pos_query: Query<&mut Transform>,
walls: Query<(Entity, &Wall)>,
mut robots: Query<(
Entity,
&mut Transform,
&mut Velocity,
&mut ExternalImpulse,
&RobotReference,
)>,
) {
while let Some(event) = self.event_hub.next_event() {
match event {
Event::Connect(id, responder) => {
info!("Client #{id} connected");
// this message lets clients know that this game server supports
// extra messages like pause, reset, custom game state
if !responder.send(Message::Binary(GAME_SERVER_MAGIC_NUMBER.to_vec())) {
error!("Error sending magic numbers, client already closed");
};
self.game_server_clients.insert(id, responder);
info!("{} client(s) connected", self.game_server_clients.len());
}
Event::Disconnect(id) => {
info!("Client #{id} disconnected");
self.game_server_clients.remove(&id);
info!("{} client(s) connected", self.game_server_clients.len());
}
Event::Message(id, msg) => match msg {
Message::Binary(bytes) => {
info!("Message received from rust client #{id}");
// binary messages originate from rust clients only
match bincode::serde::decode_from_slice::<GameServerCommand, _>(
&bytes,
bincode::config::standard(),
) {
Ok((msg, _)) => match msg {
GameServerCommand::Pause => self.game_state.paused = true,
GameServerCommand::Unpause => self.game_state.paused = false,
GameServerCommand::Reset => self.game_state = GameState::default(),
GameServerCommand::Direction(dir) => {
self.game_state.move_pacman_dir(dir)
}
GameServerCommand::SetState(s) => self.game_state = s,
},
Err(e) => {
error!("Couldn't deserialize client command from {:?}: {:?}", id, e)
}
}
}
Message::Text(ref s) => {
// text messages may originate from web clients
let chars = s.chars().collect::<Vec<_>>();
info!("Received message from {:?}: {:?}", id, msg.clone());
match chars[0] {
'p' => self.game_state.paused = true,
'P' => self.game_state.paused = false,
'r' | 'R' => self.game_state = GameState::default(),
'w' => self.game_state.move_pacman_dir(Up),
'a' => self.game_state.move_pacman_dir(Left),
's' => self.game_state.move_pacman_dir(Down),
'd' => self.game_state.move_pacman_dir(Right),
'x' => {
if s.len() != 3 {
error!(
"Received invalid position message from {:?}: '{:?}'",
id, s
)
} else {
self.game_state
.set_pacman_location((chars[1] as i8, chars[2] as i8));
}
}
_ => error!("Received unexpected message from {:?}: {:?}", id, s),
}
}
},
}
}
// simulation specific messages
while let Some(event) = self.simulation_event_hub.next_event() {
match event {
Event::Connect(id, responder) => {
self.simulation_clients.insert(id, responder);
}
Event::Message(_, message) => match message {
Message::Binary(bytes) => {
match bin_decode_single::<ServerToSimulationMessage>(&bytes) {
Ok(msg) => match msg {
ServerToSimulationMessage::Spawn(name) => {
app.spawn_robot(&mut commands, name);
}
ServerToSimulationMessage::Delete(name) => {
app.despawn_robot(name, &mut commands);
}
ServerToSimulationMessage::SetPacman(name) => {
app.selected_robot = name;
}
ServerToSimulationMessage::SetStandardGrid(grid) => {
app.standard_grid = grid;
app.grid = app.standard_grid.compute_grid();
app.reset_grid(&walls, &mut robots, &mut commands)
}
ServerToSimulationMessage::Teleport(name, loc) => {
if !app.grid.wall_at(&loc) {
if let Some((_, mut transforms, ..)) = robots
.iter_mut()
.find(|(_, _, _, _, robot)| robot.0 == name)
{
transforms.translation.x = loc.x as f32;
transforms.translation.y = loc.y as f32;
}
}
}
ServerToSimulationMessage::RobotButton(name, event) => {
if let Some((_, sim_robot)) = &app.robots[name as usize] {
sim_robot.write().unwrap().button_events.push_back(event)
}
}
ServerToSimulationMessage::RobotJoystick(name, values) => {
if let Some((_, sim_robot)) = &app.robots[name as usize] {
sim_robot.write().unwrap().joystick = Some(values)
}
}
},
Err(e) => error!("Error decoding simulation message: {e:?}"),
}
}
Message::Text(text) => error!("Unexpected simulation message: {text}"),
},
Event::Disconnect(id) => {
self.simulation_clients.remove(&id);
}
}
}
// send status to simulation clients
for client in self.simulation_clients.values_mut() {
client.send(Message::Binary(
bin_encode(
false,
TextOrT::T(SimulationToServerMessage::RobotPositions(
RobotName::get_all().map(|name| {
if !name.is_simulated() {
None
} else {
app.robots[name as usize]
.iter()
.next()
.and_then(|(_, _)| {
robots
.iter_mut()
.find(|(_, _, _, _, robot)| robot.0 == name)
})
.map(|(_, t, ..)| t)
.map(|t| {
(
Point2::new(t.translation.x, t.translation.y),
// feels weird, but this does work
Rotation2::new(
2.0 * t.rotation.normalize().w.acos()
* t.rotation.z.signum(),
),
)
})
}
}),
)),
)
.unwrap(),
));
}
// send updated displays to clients
for name in RobotName::get_all() {
if !name.is_simulated() {
continue;
}
if let Some((_, robot)) = &app.robots[name as usize] {
let mut updated_display = None;
{
let mut sim_robot = robot.write().unwrap();
if sim_robot.display_updated {
updated_display = Some(sim_robot.display.pixels);
sim_robot.display_updated = false;
}
}
if let Some(updated_display) = updated_display {
let updated_display: Vec<u128> = updated_display
.into_iter()
.map(|row| {
row.into_iter()
.enumerate()
.fold(0u128, |acc, (i, x)| acc | (u128::from(x) << i))
})
.collect();
for client in self.simulation_clients.values_mut() {
client.send(Message::Binary(
bin_encode(
false,
TextOrT::T(SimulationToServerMessage::RobotDisplay(
name,
updated_display.clone(),
)),
)
.unwrap(),
));
}
}
}
}
// robot messages
for (_, robot) in app.robots.iter_mut().flatten() {
if let Some((name, swapped)) = {
let mut sim_robot = robot.write().unwrap();
if sim_robot.reboot {
let (name, swapped) = (sim_robot.name, sim_robot.firmware_updated);
sim_robot.destroy();
Some((name, swapped))
} else {
None
}
} {
*robot = SimRobot::start(name, swapped);
}
}
// update the game state if it has been long enough
if self.time_to_update().is_none() {
if !self.game_state.paused {
self.game_state.step();
}
// send game state to clients
let serialized_state = self.game_state.to_bytes();
for (id, responder) in &mut self.game_server_clients {
if !responder.send(Message::Binary(serialized_state.clone())) {
error!("Failed to send game state to {id}: already closed");
}
}
self.last_state_update = Instant::now();
}
}
pub fn time_to_update(&self) -> Option<Duration> {
let elapsed = self.last_state_update.elapsed();
let interval = Duration::from_secs_f32(1.0 / GAME_FPS);
if elapsed > interval {
None
} else {
Some(interval - elapsed)
}
}
}