tower-FOD/serve/control.js

import dgram from 'node:dgram'
import {existsSync, readFileSync} from 'node:fs'
import http from 'node:http'
import net from 'node:net'
import {resolve} from 'node:path'
import {fileURLToPath} from 'node:url'

loadDotEnv()

const DEFAULT_ADDRESS = 0x01
const DEFAULT_SPEED = 0x20

const CONTROL_HOST = process.env.CONTROL_HOST || '0.0.0.0'
const CONTROL_PORT = Number(process.env.CONTROL_PORT || 8090)
const CONTROL_TRANSPORT = process.env.CONTROL_TRANSPORT || 'log'
const CONTROL_TCP_HOST = process.env.CONTROL_TCP_HOST || ''
const CONTROL_TCP_PORT = Number(process.env.CONTROL_TCP_PORT || 0)
const CONTROL_UDP_HOST = process.env.CONTROL_UDP_HOST || ''
const CONTROL_UDP_PORT = Number(process.env.CONTROL_UDP_PORT || 0)
const CONTROL_ADDRESS = parseByte(process.env.CONTROL_ADDRESS, DEFAULT_ADDRESS)
const CONTROL_SPEED = parseByte(process.env.CONTROL_SPEED, DEFAULT_SPEED)

function loadDotEnv() {
  const envPath = resolve(process.cwd(), '.env')

  if (!existsSync(envPath)) {
    return
  }

  const lines = readFileSync(envPath, 'utf8').split(/\r?\n/)
  for (const line of lines) {
    const trimmed = line.trim()
    if (!trimmed || trimmed.startsWith('#')) {
      continue
    }

    const separatorIndex = trimmed.indexOf('=')
    if (separatorIndex === -1) {
      continue
    }

    const key = trimmed.slice(0, separatorIndex).trim()
    let value = trimmed.slice(separatorIndex + 1).trim()
    if (
      (value.startsWith('"') && value.endsWith('"')) ||
      (value.startsWith("'") && value.endsWith("'"))
    ) {
      value = value.slice(1, -1)
    }

    if (!process.env[key]) {
      process.env[key] = value
    }
  }
}

function parseByte(value, fallback) {
  if (!value) {
    return fallback
  }

  const normalized = String(value).trim().toLowerCase()
  const parsed = normalized.startsWith('0x')
      ? Number.parseInt(normalized.slice(2), 16)
      : Number.parseInt(normalized, 10)

  if (!Number.isInteger(parsed) || parsed < 0 || parsed > 0xff) {
    return fallback
  }

  return parsed
}

function clampPelcoSpeed(value) {
  return Math.max(0x00, Math.min(0x3f, value))
}

function createPelcoDCommand(command1, command2, data1 = 0x00, data2 = 0x00) {
  const address = CONTROL_ADDRESS
  const checksum = (address + command1 + command2 + data1 + data2) & 0xff
  return Buffer.from([
    0xff,
    address,
    command1,
    command2,
    data1,
    data2,
    checksum,
  ])
}

function createPresetCommand(operation, presetNo) {
  const preset = parseByte(presetNo, 0x00)

  if (preset < 0x01 || preset > 0xff) {
    throw new Error(`Invalid preset number: ${presetNo}`)
  }

  const command2ByOperation = {
    set: 0x03,
    clear: 0x05,
    call: 0x07,
  }
  const command2 = command2ByOperation[operation]

  if (command2 === undefined) {
    throw new Error(`Invalid preset operation: ${operation}`)
  }

  return createPelcoDCommand(0x00, command2, 0x00, preset)
}

export const CONTROL_COMMANDS = Object.freeze({
  PTZ_UP: 'PTZ_UP',
  PTZ_DOWN: 'PTZ_DOWN',
  PTZ_LEFT: 'PTZ_LEFT',
  PTZ_RIGHT: 'PTZ_RIGHT',
  PTZ_STOP: 'PTZ_STOP',
  ZOOM_TELE: 'ZOOM_TELE',
  ZOOM_WIDE: 'ZOOM_WIDE',
  FOCUS_FAR: 'FOCUS_FAR',
  FOCUS_NEAR: 'FOCUS_NEAR',
  IRIS_OPEN: 'IRIS_OPEN',
  IRIS_CLOSE: 'IRIS_CLOSE',
  AUX_2_ON: 'AUX_2_ON',
  AUX_2_OFF: 'AUX_2_OFF',
  PRESET_1_CALL: 'PRESET_1_CALL',
  LASER_ON: 'LASER_ON',
  LASER_AUTO: 'LASER_AUTO',
  LASER_OFF: 'LASER_OFF',
  AUTO_FOCUS_ON: 'AUTO_FOCUS_ON',
  AUTO_FOCUS_OFF: 'AUTO_FOCUS_OFF',
  DEFOG_ON: 'DEFOG_ON',
  DEFOG_OFF: 'DEFOG_OFF',
  DEFROST_ON: 'DEFROST_ON',
  DEFROST_OFF: 'DEFROST_OFF',
  REBOOT: 'REBOOT',
})

export function buildControlCommand(action) {
  const speed = clampPelcoSpeed(CONTROL_SPEED)

  switch (action) {
    case CONTROL_COMMANDS.PTZ_UP:
      return createPelcoDCommand(0x00, 0x08, 0x00, speed)
    case CONTROL_COMMANDS.PTZ_DOWN:
      return createPelcoDCommand(0x00, 0x10, 0x00, speed)
    case CONTROL_COMMANDS.PTZ_LEFT:
      return createPelcoDCommand(0x00, 0x04, speed, 0x00)
    case CONTROL_COMMANDS.PTZ_RIGHT:
      return createPelcoDCommand(0x00, 0x02, speed, 0x00)
    case CONTROL_COMMANDS.PTZ_STOP:
      return createPelcoDCommand(0x00, 0x00, 0x00, 0x00)
    case CONTROL_COMMANDS.ZOOM_TELE:
      return createPelcoDCommand(0x00, 0x20, 0x00, 0x00)
    case CONTROL_COMMANDS.ZOOM_WIDE:
      return createPelcoDCommand(0x00, 0x40, 0x00, 0x00)
    case CONTROL_COMMANDS.FOCUS_FAR:
      return createPelcoDCommand(0x00, 0x80, 0x00, 0x00)
    case CONTROL_COMMANDS.FOCUS_NEAR:
      return createPelcoDCommand(0x01, 0x00, 0x00, 0x00)
    case CONTROL_COMMANDS.IRIS_OPEN:
      return createPelcoDCommand(0x02, 0x00, 0x00, 0x00)
    case CONTROL_COMMANDS.IRIS_CLOSE:
      return createPelcoDCommand(0x04, 0x00, 0x00, 0x00)
    case CONTROL_COMMANDS.AUX_2_ON:
      return createPelcoDCommand(0x00, 0x09, 0x00, 0x02)
    case CONTROL_COMMANDS.AUX_2_OFF:
      return createPelcoDCommand(0x00, 0x0b, 0x00, 0x02)
    case CONTROL_COMMANDS.PRESET_1_CALL:
      return createPresetCommand('call', 1)
    case CONTROL_COMMANDS.LASER_ON:
      return createPresetCommand('call', 224)
    case CONTROL_COMMANDS.LASER_AUTO:
      return createPresetCommand('call', 225)
    case CONTROL_COMMANDS.LASER_OFF:
      return createPresetCommand('call', 226)
    case CONTROL_COMMANDS.AUTO_FOCUS_ON:
      return createPresetCommand('call', 135)
    case CONTROL_COMMANDS.AUTO_FOCUS_OFF:
      return createPresetCommand('call', 136)
    case CONTROL_COMMANDS.DEFOG_ON:
      return createPresetCommand('call', 252)
    case CONTROL_COMMANDS.DEFOG_OFF:
      return createPresetCommand('call', 253)
    case CONTROL_COMMANDS.DEFROST_ON:
      return createPresetCommand('call', 250)
    case CONTROL_COMMANDS.DEFROST_OFF:
      return createPresetCommand('call', 251)
    case CONTROL_COMMANDS.REBOOT:
      return createPresetCommand('call', 220)
    default:
      throw new Error(`Unsupported control action: ${action}`)
  }
}

function writeTcp(command) {
  return new Promise((resolve, reject) => {
    if (!CONTROL_TCP_HOST || !CONTROL_TCP_PORT) {
      reject(new Error('Missing CONTROL_TCP_HOST or CONTROL_TCP_PORT'))
      return
    }

    const socket = net.createConnection({
      host: CONTROL_TCP_HOST,
      port: CONTROL_TCP_PORT,
    })

    socket.setTimeout(3000)
    socket.on('connect', () => {
      socket.end(command)
    })
    socket.on('close', resolve)
    socket.on('timeout', () => {
      socket.destroy(new Error('Control TCP connection timed out'))
    })
    socket.on('error', reject)
  })
}

function writeUdp(command) {
  return new Promise((resolve, reject) => {
    if (!CONTROL_UDP_HOST || !CONTROL_UDP_PORT) {
      reject(new Error('Missing CONTROL_UDP_HOST or CONTROL_UDP_PORT'))
      return
    }

    const socket = dgram.createSocket('udp4')
    socket.send(command, CONTROL_UDP_PORT, CONTROL_UDP_HOST, (error) => {
      socket.close()

      if (error) {
        reject(error)
        return
      }

      resolve()
    })
  })
}

export async function sendControlAction(action) {
  const command = buildControlCommand(action)
  const hex = command.toString('hex').match(/../g).join(' ').toUpperCase()

  if (CONTROL_TRANSPORT === 'tcp') {
    await writeTcp(command)
  } else if (CONTROL_TRANSPORT === 'udp') {
    await writeUdp(command)
  } else {
    console.log(`[control] dry-run ${action}: ${hex}`)
  }

  return {
    action,
    hex,
    transport: CONTROL_TRANSPORT,
  }
}

export function getControlStatus() {
  return {
    host: CONTROL_HOST,
    port: CONTROL_PORT,
    transport: CONTROL_TRANSPORT,
    address: CONTROL_ADDRESS,
    speed: clampPelcoSpeed(CONTROL_SPEED),
    tcpConfigured: Boolean(CONTROL_TCP_HOST && CONTROL_TCP_PORT),
    udpConfigured: Boolean(CONTROL_UDP_HOST && CONTROL_UDP_PORT),
  }
}

function writeJson(response, statusCode, payload) {
  response.writeHead(statusCode, {
    'access-control-allow-origin': '*',
    'access-control-allow-methods': 'GET,POST,OPTIONS',
    'access-control-allow-headers': 'content-type',
    'content-type': 'application/json; charset=utf-8',
  })
  response.end(JSON.stringify(payload))
}

function readRequestJson(request) {
  return new Promise((resolve, reject) => {
    let body = ''

    request.setEncoding('utf8')
    request.on('data', (chunk) => {
      body += chunk

      if (body.length > 1024 * 1024) {
        request.destroy(new Error('Request body is too large'))
      }
    })
    request.on('end', () => {
      if (!body.trim()) {
        resolve({})
        return
      }

      try {
        resolve(JSON.parse(body))
      } catch {
        reject(new Error('Invalid JSON body'))
      }
    })
    request.on('error', reject)
  })
}

async function handleControlRequest(request, response) {
  try {
    const payload = await readRequestJson(request)
    const action = payload.action

    if (!action || typeof action !== 'string') {
      writeJson(response, 400, {
        ok: false,
        message: 'Missing action',
      })
      return
    }

    const result = await sendControlAction(action)
    writeJson(response, 200, {
      ok: true,
      ...result,
    })
  } catch (error) {
    writeJson(response, 400, {
      ok: false,
      message: error.message,
    })
  }
}

export function startControlServer() {
  const server = http.createServer((request, response) => {
    if (request.method === 'OPTIONS') {
      writeJson(response, 204, {})
      return
    }

    if (request.method === 'GET' && request.url === '/health') {
      writeJson(response, 200, {
        ok: true,
        control: getControlStatus(),
      })
      return
    }

    if (request.method === 'GET' && request.url === '/commands') {
      writeJson(response, 200, {
        ok: true,
        commands: Object.values(CONTROL_COMMANDS),
      })
      return
    }

    if (request.method === 'POST' && request.url === '/control') {
      handleControlRequest(request, response)
      return
    }

    writeJson(response, 404, {
      ok: false,
      message: 'Not Found',
    })
  })

  server.on('error', (error) => {
    console.error(`[control] failed to listen on ${CONTROL_HOST}:${CONTROL_PORT}: ${error.message}`)
    process.exitCode = 1
  })

  server.listen(CONTROL_PORT, CONTROL_HOST, () => {
    console.log(`[control] http://${CONTROL_HOST}:${CONTROL_PORT}`)
    console.log(`[control] transport=${CONTROL_TRANSPORT}`)
  })

  return server
}

const currentFile = fileURLToPath(import.meta.url)

if (process.argv[1] === currentFile) {
  startControlServer()
}