fix(express): fixing a version mismatch preventing the server from wo…

README.md

@@ -13,18 +13,27 @@ notification (e.g. websockets) would most likely be used for the sake of perform
 
 ## Building the Demo
 
- 1. Set up the OpenDDS environment variables (DDS_ROOT, TAO_ROOT, ACE_ROOT etc)
- 2. Set up PATH / LD_LIBRARY_PATH to include OpenDDS, TAO, ACE, and MPC binaries
- 3. Set up the environment variable DEMO_ROOT to point to the root of this repository
- 4. Generate project files using mwc. Assuming `gnuace`:
+ 1.
+   - Set up the OpenDDS environment variables (DDS_ROOT, TAO_ROOT, ACE_ROOT etc)
+   - Set up PATH / LD_LIBRARY_PATH to include OpenDDS, TAO, ACE, and MPC binaries
+```
+  cd <PathToOpenDDS>
+  source sentenv.sh
+  cd <pathToThisDemoRoot>
+```
+ 2. Set up the environment variable DEMO_ROOT to point to the root of this repository
+```
+  export DEMO_ROOT=$(pwd)
+```
+ 3. Generate project files using mwc. Assuming `gnuace`:
 ```
   mwc.pl -type gnuace node-opendds-rest-demo.mwc
 ```
- 5. Build C++ IDL library and `control` application. Again, assuming 'gnuace':
+ 4. Build C++ IDL library and `control` application. Again, assuming 'gnuace':
 ```
   make depend && make
 ```
- 6. Build Node.js `server` application
+ 5. Build Node.js `server` application
 ```
   cd server
   npm install
@@ -47,12 +56,27 @@ at the same time. Generally speaking, you hopefully shouldn't ever need to resta
  2. Run the server application
 ```
   cd server
-  node main.js -DCPSPendingTimeout 3 -DCPSConfigFile ../rtps.ini
+  npx ts-node main.ts -DCPSPendingTimeout 3 -DCPSConfigFile ../rtps.ini
 ```
+
  3. Navigate a javascript-enabled web browser to [http://localhost:3210](http://localhost:3210)
 
 ### Multiple Servers
 
 Same as the steps above, though you will obviously need to launch multiple 'server' applications running on different
 ports (use the `--port <PORT>` option) as well as have multiple browser tabs open to connect to each of the servers.
 
+### Trouble Shooting
+
+#### Error: Could not load node-opendds addon module
+If you are experiencing the following error when starting the server,
+```
+Error: Could not load node-opendds addon module
+```
+make that the $PATH is containing all OpenDDS libs. It should look something like:
+
+```
+/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/ubuntu/source/OpenDDS-3.22/ACE_wrappers/bin:/home/ubuntu/source/OpenDDS-3.22/bin
+```
+
+fix it by sourcing the OpenDDS `setenv.sh` script, e.g. `source ../OpenDDS-3.2.2/setenv.sh`

server/GameControlClient.ts

@@ -0,0 +1,116 @@
+import * as opendds from 'opendds';
+import * as path from 'path';
+
+export class GameControlClient {
+  public playerConnectionWriter = null;
+  public augmentedPlayerConnectionReader = null;
+
+  private factory;
+  private participant;
+  private library;
+
+  public constructor() {
+    // Handle exit gracefully
+    process.on('SIGINT', () => {
+      console.log("OnSIGINT");
+      this.finalizeDds();
+      process.exit(0);
+    });
+    process.on('SIGTERM', () => {
+      console.log("OnSIGTERM");
+      this.finalizeDds();
+      process.exit(0);
+    });
+    process.on('exit', () => {
+      console.log("OnExit");
+      this.finalizeDds();
+    });
+  }
+
+  public create_player_connection(player_connection_request) {
+    if (this.playerConnectionWriter) {
+      console.log("Attempting to write player connection: " + JSON.stringify(player_connection_request));
+      try {
+        this.playerConnectionWriter.write(player_connection_request);
+        return true;
+      } catch (err) {
+        console.error(err.message);
+      }
+    }
+    return false;
+  };
+
+  public remove_player_connection(player_connection_request) {
+    if (this.playerConnectionWriter) {
+      console.log("Attempting to unregister / dispose player connection: " + JSON.stringify(player_connection_request));
+      try {
+        this.playerConnectionWriter.dispose(player_connection_request);
+        return true;
+      } catch (err) {
+        console.error(err.message);
+      }
+    }
+    return false;
+  };
+
+  public subscribe_augmented_player_connections(apc_received, apc_removed) {
+    try {
+      var qos = { durability: 'TRANSIENT_LOCAL_DURABILITY_QOS' };
+      this.augmentedPlayerConnectionReader =
+        this.participant.subscribe(
+          'Augmented Player Connections',
+          'Game::AugmentedPlayerConnection',
+          qos,
+          function (dr, sInfo, sample) {
+            if (sInfo.valid_data) {
+              apc_received(sample);
+            } else if (sInfo.instance_state == 2 || sInfo.instance_state == 4) {
+              console.log("About to call apc_removed for guid '" + JSON.stringify(sample.guid) + '"');
+              apc_removed(sample.guid);
+            }
+          }
+        );
+      console.log("successfully created APC reader");
+    } catch (e) {
+      console.log(e);
+    }
+  };
+
+  private finalizeDds() {
+    if (this.factory) {
+      console.log("finalizing DDS connection");
+      if (this.participant) {
+        this.factory.delete_participant(this.participant);
+        delete this.participant;
+      }
+      opendds.finalize(this.factory);
+      delete this.factory;
+    }
+  };
+
+  public initializeDds(argsArray) {
+    var CONTROL_DOMAIN_ID = 9;
+    this.factory = opendds.initialize.apply(null, argsArray);
+    if (!process.env.DEMO_ROOT) {
+      throw new Error("DEMO_ROOT environment variable not set");
+    }
+    this.library = opendds.load(path.join(process.env.DEMO_ROOT, 'lib', 'Game_Idl'));
+    if (!this.library) {
+      throw new Error("Could not open type support library");
+    }
+    this.participant = this.factory.create_participant(CONTROL_DOMAIN_ID);
+
+    try {
+      var qos = {};
+      this.playerConnectionWriter =
+        this.participant.create_datawriter(
+          'Player Connections',
+          'Game::PlayerConnection',
+          qos
+        );
+      console.log("successfully created PC writer");
+    } catch (e) {
+      console.log(e);
+    }
+  };
+}