refactor: enhance WebSocket handling for bridge connections and command forwarding

server/server.js

@@ -7,7 +7,6 @@ import { Turtle } from './Turtle.js';
 
 const app = express();
 const PORT = 3001;
-const WS_PORT = 3002;
 
 app.use(cors());
 app.use(express.json({ limit: '5mb' }));
@@ -99,13 +98,9 @@ function getOrCreateTurtle(turtleID) {
 
   // ---- Event handlers ----
 
-  // Forward eval commands to webbridge via pending command queue
+  // Forward eval commands to webbridge via WebSocket (or fallback to poll queue)
   turtle.on('sendCommand', (command) => {
-    // Queue eval command for webbridge to poll
-    turtle.pendingCommands.push({
-      ...command,
-      timestamp: Date.now(),
-    });
+    pushCommandToBridge(turtleID, command);
   });
 
   // Store discovered blocks
@@ -201,15 +196,162 @@ function getBlockPosition(turtlePos, facing, direction) {
 // Create HTTP server
 const server = createServer(app);
 
-// WebSocket server for web clients
-const wss = new WebSocketServer({ port: WS_PORT });
+// WebSocket server for web clients AND bridge connections
+const wss = new WebSocketServer({ server });
+
+// Track bridge connections separately
+const bridgeClients = new Set();
 
 console.log(`🚀 Turtle Control Server starting...`);
 console.log(`📡 HTTP Server: http://localhost:${PORT}`);
-console.log(`🔌 WebSocket Server: ws://localhost:${WS_PORT}`);
+console.log(`🔌 WebSocket Server: ws://localhost:${PORT}/ws`);
+
+/**
+ * Push a command to the webbridge for a specific turtle.
+ * If a bridge is connected via WebSocket, send instantly.
+ * Otherwise, queue for HTTP polling (fallback).
+ */
+function pushCommandToBridge(turtleID, command) {
+  let sent = false;
+  for (const bridge of bridgeClients) {
+    if (bridge.readyState === 1) { // OPEN
+      bridge.send(JSON.stringify({
+        type: 'command',
+        turtleID,
+        command,
+      }));
+      sent = true;
+    }
+  }
+  if (!sent) {
+    // Fallback: queue for HTTP polling (backward compatible)
+    const turtle = turtles.get(turtleID);
+    if (turtle) {
+      turtle.pendingCommands.push({ ...command, timestamp: Date.now() });
+    }
+  }
+}
 
 // WebSocket connection handler
-wss.on('connection', (ws) => {
+wss.on('connection', (ws, req) => {
+  const url = req.url || '';
+
+  // ---- Bridge WebSocket connection ----
+  if (url.startsWith('/ws/bridge')) {
+    console.log('🌉 Webbridge connected via WebSocket');
+    bridgeClients.add(ws);
+
+    // Send list of known turtle IDs so bridge knows who to listen for
+    ws.send(JSON.stringify({
+      type: 'init',
+      turtleIDs: Array.from(turtles.keys()),
+    }));
+
+    ws.on('message', (raw) => {
+      try {
+        const data = JSON.parse(raw);
+
+        if (data.type === 'status') {
+          // Turtle status update forwarded from bridge
+          const turtleID = data.turtleID;
+          if (!turtleID) return;
+
+          const turtle = getOrCreateTurtle(turtleID);
+          turtle.updateFromStatus(data);
+
+          // Store home position if provided
+          if (data.homePosition) {
+            turtleHomes.set(turtleID, data.homePosition);
+            db.saveTurtleHome(turtleID, data.homePosition);
+          }
+
+        } else if (data.type === 'eval_response') {
+          // Eval response from turtle via bridge
+          const turtle = turtles.get(data.turtleID);
+          if (turtle) {
+            const handled = turtle.handleResponse(data.uuid, data.result, data.error);
+            if (handled) {
+              console.log(`📩 Eval response T#${data.turtleID} uuid:${(data.uuid || '').substring(0, 8)} - resolved`);
+            }
+          }
+
+        } else if (data.type === 'event') {
+          // Real-time events (inventory, peripheral)
+          const turtle = turtles.get(data.turtleID);
+          if (turtle) {
+            turtle.handleEvent(data.eventType, data.message);
+          }
+
+        } else if (data.type === 'request_home') {
+          // Turtle requesting home position
+          const home = turtleHomes.get(data.turtleID);
+          ws.send(JSON.stringify({
+            type: 'home_position',
+            turtleID: data.turtleID,
+            homePosition: home || null,
+          }));
+
+        } else if (data.type === 'set_home') {
+          // Turtle setting home position
+          const pos = data.position;
+          if (pos && data.turtleID) {
+            turtleHomes.set(data.turtleID, pos);
+            db.saveTurtleHome(data.turtleID, pos);
+            const turtle = turtles.get(data.turtleID);
+            if (turtle) turtle.homePosition = pos;
+            ws.send(JSON.stringify({
+              type: 'home_set_confirm',
+              turtleID: data.turtleID,
+              homePosition: pos,
+            }));
+          }
+
+        } else if (data.type === 'blocks_discovered') {
+          // Batch block discovery from turtle
+          if (data.blocks && Array.isArray(data.blocks)) {
+            for (const block of data.blocks) {
+              storeBlock(block.x, block.y, block.z, { name: block.name, metadata: block.metadata || 0 }, data.turtleID || block.discoveredBy);
+            }
+            broadcastToClients({
+              type: 'blocks_discovered',
+              blocks: data.blocks.map(b => ({
+                x: b.x, y: b.y, z: b.z,
+                name: b.name, metadata: b.metadata || 0,
+                discoveredBy: data.turtleID || b.discoveredBy,
+                timestamp: Date.now(),
+              })),
+            });
+          }
+
+        } else if (data.type === 'player_update') {
+          // Player position from pocket computer
+          if (data.playerID && data.position) {
+            db.savePlayerPosition(data.playerID, data.position);
+            broadcastToClients({
+              type: 'player_update',
+              player: { id: data.playerID, ...data.position },
+            });
+          }
+        }
+      } catch (error) {
+        console.error('❌ Bridge WS message error:', error.message);
+      }
+    });
+
+    ws.on('close', () => {
+      console.log('🌉 Webbridge disconnected');
+      bridgeClients.delete(ws);
+    });
+
+    ws.on('error', (error) => {
+      console.error('❌ Bridge WS error:', error);
+      bridgeClients.delete(ws);
+    });
+
+    return;
+  }
+
+  // ---- Web client WebSocket connection ----
   console.log('🌐 New web client connected');
   webClients.add(ws);