remoteturtle/server/server.js

import express from 'express';
import { WebSocketServer } from 'ws';
import cors from 'cors';
import { createServer } from 'http';

const app = express();
const PORT = 3001;
const WS_PORT = 3002;

app.use(cors());
app.use(express.json());

// Store connected web clients and turtle data
const webClients = new Set();
const turtleData = new Map(); // turtleID -> turtle state
const worldBlocks = new Map(); // "x,y,z" -> {name, metadata, discoveredBy, timestamp}

// Helper to store discovered blocks
function storeBlock(x, y, z, blockData, turtleID) {
  const key = `${x},${y},${z}`;
  worldBlocks.set(key, {
    ...blockData,
    discoveredBy: turtleID,
    timestamp: Date.now()
  });
}

// Helper to calculate block position based on turtle position and facing
function getBlockPosition(turtlePos, facing, direction) {
  if (!turtlePos) return null;
  
  const pos = { ...turtlePos };
  
  if (direction === 'up') {
    pos.y += 1;
  } else if (direction === 'down') {
    pos.y -= 1;
  } else if (direction === 'forward') {
    // Calculate based on facing direction
    if (facing === 0) pos.z -= 1; // North
    else if (facing === 1) pos.x += 1; // East
    else if (facing === 2) pos.z += 1; // South
    else if (facing === 3) pos.x -= 1; // West
  }
  
  return pos;
}

// Create HTTP server
const server = createServer(app);

// WebSocket server for web clients
const wss = new WebSocketServer({ port: WS_PORT });

console.log(`🚀 Turtle Control Server starting...`);
console.log(`📡 HTTP Server: http://localhost:${PORT}`);
console.log(`🔌 WebSocket Server: ws://localhost:${WS_PORT}`);

// WebSocket connection handler
wss.on('connection', (ws) => {
  console.log('🌐 New web client connected');
  webClients.add(ws);

  // Send current turtle data and world blocks to new client
  const blocks = [];
  for (const [key, blockData] of worldBlocks.entries()) {
    const [x, y, z] = key.split(',').map(Number);
    blocks.push({ x, y, z, ...blockData });
  }
  
  ws.send(JSON.stringify({
    type: 'initial_state',
    turtles: Array.from(turtleData.values()),
    blocks: blocks
  }));

  ws.on('message', (message) => {
    try {
      const data = JSON.parse(message);
      console.log('📨 Received from web client:', data);

      // Handle commands from web client
      if (data.type === 'command') {
        // Store command for turtle to poll
        const turtleID = data.turtleID;
        if (turtleData.has(turtleID)) {
          const turtle = turtleData.get(turtleID);
          turtle.pendingCommands = turtle.pendingCommands || [];
          turtle.pendingCommands.push({
            command: data.command,
            param: data.param,
            timestamp: Date.now()
          });
          console.log(`✅ Command queued for turtle ${turtleID}: ${data.command}`, data.param ? `(param: ${data.param})` : '');
          console.log(`   Pending commands: ${turtle.pendingCommands.length}`);
        } else {
          console.log(`❌ Turtle ${turtleID} not found in turtleData`);
          console.log(`   Available turtles:`, Array.from(turtleData.keys()));
        }
      }
    } catch (error) {
      console.error('❌ Error processing web client message:', error);
    }
  });

  ws.on('close', () => {
    console.log('👋 Web client disconnected');
    webClients.delete(ws);
  });

  ws.on('error', (error) => {
    console.error('❌ WebSocket error:', error);
  });
});

// Broadcast to all web clients
function broadcastToClients(data) {
  const message = JSON.stringify(data);
  webClients.forEach((client) => {
    if (client.readyState === 1) { // OPEN
      client.send(message);
    }
  });
}

// REST API endpoint for turtles to update their status
app.post('/api/turtle/update', (req, res) => {
  try {
    const turtleUpdate = req.body;
    const turtleID = turtleUpdate.turtleID;

    console.log(`🐢 Status update from Turtle ${turtleID}`);

    // Update turtle data
    if (!turtleData.has(turtleID)) {
      console.log(`✨ New turtle registered: ${turtleID}`);
    }

    turtleData.set(turtleID, {
      ...turtleUpdate,
      lastUpdate: Date.now()
    });
    
    // Store discovered blocks in world map
    if (turtleUpdate.surroundings && turtleUpdate.position && turtleUpdate.facing !== undefined) {
      for (const [direction, blockData] of Object.entries(turtleUpdate.surroundings)) {
        const blockPos = getBlockPosition(turtleUpdate.position, turtleUpdate.facing, direction);
        if (blockPos) {
          storeBlock(blockPos.x, blockPos.y, blockPos.z, blockData, turtleID);
        }
      }
    }

    // Broadcast to web clients
    broadcastToClients({
      type: 'turtle_update',
      turtle: turtleData.get(turtleID)
    });

    res.json({ success: true });
  } catch (error) {
    console.error('❌ Error processing turtle update:', error);
    res.status(500).json({ error: error.message });
  }
});

// Endpoint for turtles to poll for commands
app.get('/api/turtle/:id/commands', (req, res) => {
  try {
    const turtleID = parseInt(req.params.id);

    if (turtleData.has(turtleID)) {
      const turtle = turtleData.get(turtleID);
      const commands = turtle.pendingCommands || [];
      
      if (commands.length > 0) {
        console.log(`📤 Sending ${commands.length} command(s) to turtle ${turtleID}`);
        commands.forEach(cmd => console.log(`   - ${cmd.command}`, cmd.param ? `(${cmd.param})` : ''));
      }
      
      // Clear pending commands
      turtle.pendingCommands = [];
      
      res.json({ commands });
    } else {
      res.json({ commands: [] });
    }
  } catch (error) {
    console.error('❌ Error getting commands:', error);
    res.status(500).json({ error: error.message });
  }
});

// Get all turtles
app.get('/api/turtles', (req, res) => {
  res.json({
    turtles: Array.from(turtleData.values())
  });
});

// Get world blocks for map visualization
app.get('/api/world/blocks', (req, res) => {
  const blocks = [];
  for (const [key, blockData] of worldBlocks.entries()) {
    const [x, y, z] = key.split(',').map(Number);
    blocks.push({
      x, y, z,
      ...blockData
    });
  }
  res.json({ blocks });
});

// Send command to turtle
app.post('/api/turtle/:id/command', (req, res) => {
  try {
    const turtleID = parseInt(req.params.id);
    const { command, param } = req.body;

    if (turtleData.has(turtleID)) {
      const turtle = turtleData.get(turtleID);
      turtle.pendingCommands = turtle.pendingCommands || [];
      turtle.pendingCommands.push({
        command,
        param,
        timestamp: Date.now()
      });

      console.log(`📤 Command queued for turtle ${turtleID}:`, command);
      res.json({ success: true });
    } else {
      res.status(404).json({ error: 'Turtle not found' });
    }
  } catch (error) {
    console.error('❌ Error sending command:', error);
    res.status(500).json({ error: error.message });
  }
});

// Cleanup stale turtles (haven't updated in 30 seconds)
setInterval(() => {
  const now = Date.now();
  const timeout = 30000; // 30 seconds

  for (const [turtleID, turtle] of turtleData.entries()) {
    if (now - turtle.lastUpdate > timeout) {
      console.log(`🗑️  Removing stale turtle: ${turtleID}`);
      turtleData.delete(turtleID);
      
      broadcastToClients({
        type: 'turtle_disconnected',
        turtleID
      });
    }
  }
}, 10000); // Check every 10 seconds

server.listen(PORT, () => {
  console.log(`✅ Server ready!`);
  console.log(`\nConfigured turtles to send updates to:`);
  console.log(`  http://localhost:${PORT}/api/turtle/update`);
});