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Merge pull request #1 from Huibean/pr-add-mavlink-signing

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add mavlink signing and wss support
This commit is contained in:
Huibean Luo
2025-08-14 09:59:18 +08:00
committed by GitHub
parent c3c4eb64f0 7bffe34f54
commit ae31462434
8 changed files with 1816 additions and 8375 deletions
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3
.gitignore vendored
View File

@@ -3,4 +3,5 @@ dist
.DS_Store
mav.parm
mav.tlog
mav.tlog.raw
mav.tlog.raw
deploy.sh

226
package-lock.json generated
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@@ -1,12 +1,12 @@
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@@ -3288,16 +3286,16 @@
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@@ -4342,9 +4340,9 @@
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@@ -5899,21 +5902,53 @@
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@@ -7522,14 +7585,15 @@
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@@ -7577,6 +7641,18 @@
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3
package.json
View File

@@ -1,6 +1,6 @@
{
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"version": "1.0.2",
"description": "",
"main": "index.js",
"scripts": {
@@ -22,6 +22,7 @@
"buffer": "^6.0.3",
"crypto-browserify": "^3.12.1",
"html-webpack-plugin": "^5.6.3",
"jspack": "^0.0.4",
"long": "^5.2.4",
"process": "^0.11.10",
"react": "^18.3.1",

157
src/ConnectionSettingsModal.js
View File

@@ -1,13 +1,15 @@
import React, { useState, useEffect } from 'react';
import {
Dialog, DialogTitle, DialogContent, DialogActions,
Dialog, DialogTitle, DialogContent,
Button, FormControl, InputLabel, Select, MenuItem,
Typography, Box, Divider, RadioGroup, FormControlLabel, Radio, Chip,
TextField, Tabs, Tab, Paper, IconButton
Typography, Box, Divider, Chip,
TextField, Paper, IconButton
} from '@mui/material';
import RefreshIcon from '@mui/icons-material/Refresh';
import UsbIcon from '@mui/icons-material/Usb';
import CloseIcon from '@mui/icons-material/Close';
import Visibility from '@mui/icons-material/Visibility';
import VisibilityOff from '@mui/icons-material/VisibilityOff';
import WebSerial from './web_serial';
// Add this constant at the top of your file, outside the component
@@ -74,6 +76,11 @@ const ConnectionSettingsModal = ({
selectedBus, // New prop
onBusChange // New prop
}) => {
// State for showing/hiding mavlink signing
const [showMavlinkSigning, setShowMavlinkSigning] = useState(false);
const handleToggleMavlinkSigning = () => {
setShowMavlinkSigning((show) => !show);
};
// Port and connection management
const [ports, setPorts] = useState([]);
const [selectedPort, setSelectedPort] = useState(null);
@@ -88,11 +95,13 @@ const ConnectionSettingsModal = ({
const [activeConnection, setActiveConnection] = useState(null); // null, 'serial', or 'websocket'
// Add these state variables after your other state declarations
const [ipError, setIpError] = useState('');
const [hostError, setHostError] = useState('');
const [portError, setPortError] = useState('');
// Add nodeId state to use the prop value
const [nodeId, setNodeId] = useState(127);
// Add mavlink signing state
const [mavlinkSigning, setMavlinkSigning] = useState('');
// Add state for the forwarding interval
const [forwardingInterval, setForwardingInterval] = useState(null);
@@ -315,34 +324,27 @@ const ConnectionSettingsModal = ({
return '';
}
// Check for IPv4 format
if (input.includes('.')) {
// If input matches IPv4 pattern, validate as IPv4, else treat as hostname/domain
const ipv4Pattern = /^\d{1,3}(\.\d{1,3}){3}$/;
if (ipv4Pattern.test(input)) {
const octets = input.split('.');
// An IPv4 address must have exactly 4 octets
if (octets.length !== 4) {
return 'Invalid IPv4 format';
}
// Each octet must be a number between 0 and 255
for (const octet of octets) {
const num = parseInt(octet, 10);
if (isNaN(num) || num < 0 || num > 255 || octet !== num.toString()) {
return 'Each part must be a number between 0-255';
}
}
// Valid IPv4
return '';
}
// Check for hostname format
const hostnamePattern = /^([a-zA-Z0-9]|[a-zA-Z0-9][a-zA-Z0-9\-]*[a-zA-Z0-9])(\.[a-zA-Z0-9]|[a-zA-Z0-9][a-zA-Z0-9\-]*[a-zA-Z0-9])*$/;
// Check for hostname or domain (including subdomains)
// Allow domains like 'support.ardupilot.org', 'foo.local', etc.
const hostnamePattern = /^([a-zA-Z0-9]([a-zA-Z0-9\-]{0,61}[a-zA-Z0-9])?\.)*[a-zA-Z0-9]([a-zA-Z0-9\-]{0,61}[a-zA-Z0-9])?$/;
if (hostnamePattern.test(input)) {
return '';
}
return 'Invalid IP address or hostname';
};
@@ -377,11 +379,16 @@ const ConnectionSettingsModal = ({
}
};
// Handler for Mavlink Signing input
const handleMavlinkSigningChange = (e) => {
setMavlinkSigning(e.target.value);
};
// Update the ws host/port change handlers
const handleWsHostChange = (e) => {
const value = e.target.value;
setWsHost(value);
setIpError(validateIpAddress(value));
setHostError(validateIpAddress(value));
};
const handleWsPortChange = (e) => {
@@ -396,54 +403,48 @@ const ConnectionSettingsModal = ({
if (activeConnection === 'websocket') {
// Force close the connection
window.mavlinkSession.close();
// Always update the UI state regardless of actual connection state
setActiveConnection(null);
onConnectionStatusChange(false);
showMessage('WebSocket connection closed', 'info');
// Clear the forwarding interval
if (forwardingInterval) {
clearInterval(forwardingInterval);
setForwardingInterval(null);
}
} else {
// Set in-progress state before attempting to connect
setConnectionInProgress(true);
// Validate both fields before connecting
const hostError = validateIpAddress(wsHost);
const portError = validatePort(wsPort);
setIpError(hostError);
setPortError(portError);
// Only connect if both validations pass
if (!hostError && !portError) {
const hostErr = validateIpAddress(wsHost);
const portErr = validatePort(wsPort);
setHostError(hostErr);
setPortError(portErr);
if (!hostErr && !portErr) {
if (activeConnection) {
window.mavlinkSession.close();
// Clear any existing interval
if (forwardingInterval) {
clearInterval(forwardingInterval);
}
}
// Use window.mavlinkSession consistently
window.mavlinkSession.initWebSocketConnection(wsHost, parseInt(wsPort, 10));
// Use wss if signing is present, else ws
const wsProtocol = mavlinkSigning ? 'wss' : 'ws';
// Compose the full URL for the websocket
const wsUrl = `${wsProtocol}://${wsHost}:${wsPort}`;
if (window.mavlinkSession.initWebSocketConnection.length === 1) {
// If the function expects a URL
window.mavlinkSession.initWebSocketConnection(wsUrl);
} else {
// Fallback to old signature (host, port)
window.mavlinkSession.initWebSocketConnection(wsHost, parseInt(wsPort, 10), mavlinkSigning);
}
window.mavlinkSession.addWebSocketOpenHandler(() => {
console.log('WebSocket connection open');
// Set Node ID and Bus for the local node
window.localNode.setNodeId(parseInt(nodeId, 10));
window.localNode.setBus(selectedBus);
// Start the mavlinkCanForward interval
const intervalId = setInterval(() => {
if (window.mavlinkSession) {
window.mavlinkSession.enableMavlinkCanForward(window.localNode.bus);
}
}, 1000);
setForwardingInterval(intervalId);
setActiveConnection('websocket');
onConnectionStatusChange(true);
@@ -453,20 +454,13 @@ const ConnectionSettingsModal = ({
window.mavlinkSession.addWebSocketErrorHandler((error) => {
console.error('WebSocket error:', error);
// Clear any existing interval
if (forwardingInterval) {
clearInterval(forwardingInterval);
setForwardingInterval(null);
}
setActiveConnection(null);
onConnectionStatusChange(false);
// Reset in-progress state on error
setConnectionInProgress(false);
// Show error message using App's showMessage function
let errorMsg = 'Connection failed';
if (error && error.message) {
errorMsg = `Connection failed: ${error.message}`;
@@ -478,14 +472,12 @@ const ConnectionSettingsModal = ({
window.mavlinkSession.webSocketConnect();
} else {
// If validation fails, reset the in-progress state
setConnectionInProgress(false);
}
}
} catch (error) {
console.error('Error with WebSocket connection:', error);
showMessage(`WebSocket error: ${error.message || 'Unknown error'}`, 'error');
// Reset in-progress state on any error
setConnectionInProgress(false);
}
};
@@ -650,8 +642,8 @@ const ConnectionSettingsModal = ({
disabled={activeConnection !== null}
size="small"
sx={{ flex: 3 }}
error={!!ipError}
helperText={ipError}
error={!!hostError}
helperText={hostError}
/>
<TextField
label="Port"
@@ -667,23 +659,23 @@ const ConnectionSettingsModal = ({
</Box>
<Box sx={{ display: 'flex', justifyContent: 'flex-end' }}>
<Button
onClick={handleWebSocketConnect}
color={activeConnection === 'websocket' ? "error" : "primary"}
variant="contained"
disabled={
connectionInProgress || // Disable when connection attempt is in progress
!!ipError ||
!!portError ||
!wsHost ||
!wsPort ||
(activeConnection !== null && activeConnection !== 'websocket')
}
size="small"
>
{activeConnection === 'websocket' ? 'Disconnect' :
connectionInProgress && !activeConnection ? 'Connecting...' : 'Connect'}
</Button>
<Button
onClick={handleWebSocketConnect}
color={activeConnection === 'websocket' ? "error" : "primary"}
variant="contained"
disabled={
connectionInProgress || // Disable when connection attempt is in progress
!!hostError ||
!!portError ||
!wsHost ||
!wsPort ||
(activeConnection !== null && activeConnection !== 'websocket')
}
size="small"
>
{activeConnection === 'websocket' ? 'Disconnect' :
connectionInProgress && !activeConnection ? 'Connecting...' : 'Connect'}
</Button>
</Box>
</Box>
</Paper>
@@ -691,7 +683,7 @@ const ConnectionSettingsModal = ({
<Divider />
{/* Bus Selection */}
{/* Bus Selection and Mavlink Signing */}
<Box>
<Box sx={{ display: 'flex', alignItems: 'center', gap: 2 }}>
<TextField
@@ -708,6 +700,29 @@ const ConnectionSettingsModal = ({
error={validateNodeId(nodeId) !== ''}
helperText={validateNodeId(nodeId)}
/>
<TextField
label="Mavlink Signing"
value={mavlinkSigning}
onChange={handleMavlinkSigningChange}
disabled={activeConnection !== null}
size="small"
placeholder="Secret Key"
type={showMavlinkSigning ? 'text' : 'password'}
sx={{ flex: 1 }}
InputProps={{
endAdornment: (
<IconButton
aria-label={showMavlinkSigning ? 'Hide secret' : 'Show secret'}
onClick={handleToggleMavlinkSigning}
edge="end"
size="small"
tabIndex={-1}
>
{showMavlinkSigning ? <VisibilityOff fontSize="small" /> : <Visibility fontSize="small" />}
</IconButton>
),
}}
/>
</Box>
</Box>
</Box>

270
src/local_modules/jspack/jspack.js Normal file
View File

@@ -0,0 +1,270 @@
/*!
* Copyright © 2008 Fair Oaks Labs, Inc.
* All rights reserved.
*/
// Utility object: Encode/Decode C-style binary primitives to/from octet arrays
function JSPack()
{
// Module-level (private) variables
var el, bBE = false, m = this;
// Raw byte arrays
m._DeArray = function (a, p, l)
{
return [a.slice(p,p+l)];
};
m._EnArray = function (a, p, l, v)
{
for (var i = 0; i < l; a[p+i] = v[i]?v[i]:0, i++);
};
// ASCII characters
m._DeChar = function (a, p)
{
return String.fromCharCode(a[p]);
};
m._EnChar = function (a, p, v)
{
a[p] = v.charCodeAt(0);
};
// Little-endian (un)signed N-byte integers
m._DeInt = function (a, p)
{
var lsb = bBE?(el.len-1):0, nsb = bBE?-1:1, stop = lsb+nsb*el.len, rv, i, f;
for (rv = 0, i = lsb, f = 1; i != stop; rv+=(a[p+i]*f), i+=nsb, f*=256);
if (el.bSigned && (rv & Math.pow(2, el.len*8-1))) { rv -= Math.pow(2, el.len*8); }
return rv;
};
m._EnInt = function (a, p, v)
{
var lsb = bBE?(el.len-1):0, nsb = bBE?-1:1, stop = lsb+nsb*el.len, i;
v = (v<el.min)?el.min:(v>el.max)?el.max:v;
for (i = lsb; i != stop; a[p+i]=v&0xff, i+=nsb, v>>=8);
};
// ASCII character strings
m._DeString = function (a, p, l)
{
for (var rv = new Array(l), i = 0; i < l; rv[i] = String.fromCharCode(a[p+i]), i++);
return rv.join('');
};
m._EnString = function (a, p, l, v)
{
for (var t, i = 0; i < l; a[p+i] = (t=v.charCodeAt(i))?t:0, i++);
};
// Little-endian N-bit IEEE 754 floating point
m._De754 = function (a, p)
{
var s, e, m, i, d, nBits, mLen, eLen, eBias, eMax;
mLen = el.mLen, eLen = el.len*8-el.mLen-1, eMax = (1<<eLen)-1, eBias = eMax>>1;
i = bBE?0:(el.len-1); d = bBE?1:-1; s = a[p+i]; i+=d; nBits = -7;
for (e = s&((1<<(-nBits))-1), s>>=(-nBits), nBits += eLen; nBits > 0; e=e*256+a[p+i], i+=d, nBits-=8);
for (m = e&((1<<(-nBits))-1), e>>=(-nBits), nBits += mLen; nBits > 0; m=m*256+a[p+i], i+=d, nBits-=8);
switch (e)
{
case 0:
// Zero, or denormalized number
e = 1-eBias;
break;
case eMax:
// NaN, or +/-Infinity
return m?NaN:((s?-1:1)*Infinity);
default:
// Normalized number
m = m + Math.pow(2, mLen);
e = e - eBias;
break;
}
return (s?-1:1) * m * Math.pow(2, e-mLen);
};
m._En754 = function (a, p, v)
{
var s, e, m, i, d, c, mLen, eLen, eBias, eMax;
mLen = el.mLen, eLen = el.len*8-el.mLen-1, eMax = (1<<eLen)-1, eBias = eMax>>1;
s = v<0?1:0;
v = Math.abs(v);
if (isNaN(v) || (v == Infinity))
{
m = isNaN(v)?1:0;
e = eMax;
}
else
{
e = Math.floor(Math.log(v)/Math.LN2); // Calculate log2 of the value
if (v*(c = Math.pow(2, -e)) < 1) { e--; c*=2; } // Math.log() isn't 100% reliable
// Round by adding 1/2 the significand's LSD
if (e+eBias >= 1) { v += el.rt/c; } // Normalized: mLen significand digits
else { v += el.rt*Math.pow(2, 1-eBias); } // Denormalized: <= mLen significand digits
if (v*c >= 2) { e++; c/=2; } // Rounding can increment the exponent
if (e+eBias >= eMax)
{
// Overflow
m = 0;
e = eMax;
}
else if (e+eBias >= 1)
{
// Normalized - term order matters, as Math.pow(2, 52-e) and v*Math.pow(2, 52) can overflow
m = (v*c-1)*Math.pow(2, mLen);
e = e + eBias;
}
else
{
// Denormalized - also catches the '0' case, somewhat by chance
m = v*Math.pow(2, eBias-1)*Math.pow(2, mLen);
e = 0;
}
}
for (i = bBE?(el.len-1):0, d=bBE?-1:1; mLen >= 8; a[p+i]=m&0xff, i+=d, m/=256, mLen-=8);
for (e=(e<<mLen)|m, eLen+=mLen; eLen > 0; a[p+i]=e&0xff, i+=d, e/=256, eLen-=8);
a[p+i-d] |= s*128;
};
// Convert int64 to array with 3 elements: [lowBits, highBits, unsignedFlag]
// '>>>' trick to convert signed 32bit int to unsigned int (because << always results in a signed 32bit int)
m._DeInt64 = function (a, p) {
var start = bBE ? 0 : 7, nsb = bBE ? 1 : -1, stop = start + nsb * 8, rv = [0,0, !el.bSigned], i, f, rvi;
for (i = start, rvi = 1, f = 0;
i != stop;
rv[rvi] = (((rv[rvi]<<8)>>>0) + a[p + i]), i += nsb, f++, rvi = (f < 4 ? 1 : 0));
return rv;
};
m._EnInt64 = function (a, p, v) {
var start = bBE ? 0 : 7, nsb = bBE ? 1 : -1, stop = start + nsb * 8, i, f, rvi, s;
for (i = start, rvi = 1, f = 0, s = 24;
i != stop;
a[p + i] = v[rvi]>>s & 0xff, i += nsb, f++, rvi = (f < 4 ? 1 : 0), s = 24 - (8 * (f % 4)));
};
// Class data
m._sPattern = '(\\d+)?([AxcbBhHsfdiIlLqQ])';
m._lenLut = {'A':1, 'x':1, 'c':1, 'b':1, 'B':1, 'h':2, 'H':2, 's':1, 'f':4, 'd':8, 'i':4, 'I':4, 'l':4, 'L':4, 'q':8, 'Q':8};
m._elLut = { 'A': {en:m._EnArray, de:m._DeArray},
's': {en:m._EnString, de:m._DeString},
'c': {en:m._EnChar, de:m._DeChar},
'b': {en:m._EnInt, de:m._DeInt, len:1, bSigned:true, min:-Math.pow(2, 7), max:Math.pow(2, 7)-1},
'B': {en:m._EnInt, de:m._DeInt, len:1, bSigned:false, min:0, max:Math.pow(2, 8)-1},
'h': {en:m._EnInt, de:m._DeInt, len:2, bSigned:true, min:-Math.pow(2, 15), max:Math.pow(2, 15)-1},
'H': {en:m._EnInt, de:m._DeInt, len:2, bSigned:false, min:0, max:Math.pow(2, 16)-1},
'i': {en:m._EnInt, de:m._DeInt, len:4, bSigned:true, min:-Math.pow(2, 31), max:Math.pow(2, 31)-1},
'I': {en:m._EnInt, de:m._DeInt, len:4, bSigned:false, min:0, max:Math.pow(2, 32)-1},
'l': {en:m._EnInt, de:m._DeInt, len:4, bSigned:true, min:-Math.pow(2, 31), max:Math.pow(2, 31)-1},
'L': {en:m._EnInt, de:m._DeInt, len:4, bSigned:false, min:0, max:Math.pow(2, 32)-1},
'f': {en:m._En754, de:m._De754, len:4, mLen:23, rt:Math.pow(2, -24)-Math.pow(2, -77)},
'd': {en:m._En754, de:m._De754, len:8, mLen:52, rt:0},
'q': {en:m._EnInt64, de:m._DeInt64, bSigned:true},
'Q': {en:m._EnInt64, de:m._DeInt64, bSigned:false}};
// Unpack a series of n elements of size s from array a at offset p with fxn
m._UnpackSeries = function (n, s, a, p)
{
for (var fxn = el.de, rv = [], i = 0; i < n; rv.push(fxn(a, p+i*s)), i++);
return rv;
};
// Pack a series of n elements of size s from array v at offset i to array a at offset p with fxn
m._PackSeries = function (n, s, a, p, v, i)
{
for (var fxn = el.en, o = 0; o < n; fxn(a, p+o*s, v[i+o]), o++);
};
// Unpack the octet array a, beginning at offset p, according to the fmt string
m.Unpack = function (fmt, a, p)
{
// Set the private bBE flag based on the format string - assume big-endianness
bBE = (fmt.charAt(0) != '<');
p = p?p:0;
var re = new RegExp(this._sPattern, 'g'), m, n, s, rv = [];
while (m = re.exec(fmt))
{
n = ((m[1]==undefined)||(m[1]==''))?1:parseInt(m[1]);
s = this._lenLut[m[2]];
if ((p + n*s) > a.length)
{
return undefined;
}
switch (m[2])
{
case 'A': case 's':
rv.push(this._elLut[m[2]].de(a, p, n));
break;
case 'c': case 'b': case 'B': case 'h': case 'H':
case 'i': case 'I': case 'l': case 'L': case 'f': case 'd': case 'q': case 'Q':
el = this._elLut[m[2]];
rv.push(this._UnpackSeries(n, s, a, p));
break;
}
p += n*s;
}
return Array.prototype.concat.apply([], rv);
};
// Pack the supplied values into the octet array a, beginning at offset p, according to the fmt string
m.PackTo = function (fmt, a, p, values)
{
// Set the private bBE flag based on the format string - assume big-endianness
bBE = (fmt.charAt(0) != '<');
var re = new RegExp(this._sPattern, 'g'), m, n, s, i = 0, j;
while (m = re.exec(fmt))
{
n = ((m[1]==undefined)||(m[1]==''))?1:parseInt(m[1]);
s = this._lenLut[m[2]];
if ((p + n*s) > a.length)
{
return false;
}
switch (m[2])
{
case 'A': case 's':
if ((i + 1) > values.length) { return false; }
this._elLut[m[2]].en(a, p, n, values[i]);
i += 1;
break;
case 'c': case 'b': case 'B': case 'h': case 'H':
case 'i': case 'I': case 'l': case 'L': case 'f': case 'd': case 'q': case 'Q':
el = this._elLut[m[2]];
if ((i + n) > values.length) { return false; }
this._PackSeries(n, s, a, p, values, i);
i += n;
break;
case 'x':
for (j = 0; j < n; j++) { a[p+j] = 0; }
break;
}
p += n*s;
}
return a;
};
// Pack the supplied values into a new octet array, according to the fmt string
m.Pack = function (fmt, values)
{
return this.PackTo(fmt, new Array(this.CalcLength(fmt)), 0, values);
};
// Determine the number of bytes represented by the format string
m.CalcLength = function (fmt)
{
var re = new RegExp(this._sPattern, 'g'), m, sum = 0;
while (m = re.exec(fmt))
{
sum += (((m[1]==undefined)||(m[1]==''))?1:parseInt(m[1])) * this._lenLut[m[2]];
}
return sum;
};
};
exports.jspack = new JSPack();

9516
src/mavlink.js
View File

File diff suppressed because it is too large Load Diff

15
src/mavlink_session.js
View File

@@ -1,8 +1,8 @@
import { EventEmitter } from 'events';
import WebSocketClient from './ws_client';
import WebSerial from './web_serial';
import { mavlink20, MAVLink20Processor } from './mavlink';
import dronecan from './dronecan';
import './mavlink';
class MavlinkSession extends EventEmitter {
constructor() {
@@ -27,8 +27,17 @@ class MavlinkSession extends EventEmitter {
}
}
initWebSocketConnection(ip, port) {
this.wsClient = new WebSocketClient(`ws://${ip}:${port}`);
initWebSocketConnection(ip, port, mavlinkSigning='') {
if (mavlinkSigning) {
const enc = new TextEncoder();
const data = enc.encode(mavlinkSigning);
const hash = mavlink20.sha256(data);
this.mavlinkProcessor.signing.secret_key = new Uint8Array(hash);
this.mavlinkProcessor.signing.sign_outgoing = true;
this.wsClient = new WebSocketClient(`wss://${ip}:${port}`);
} else {
this.wsClient = new WebSocketClient(`ws://${ip}:${port}`);
}
this.mavlinkProcessor.file = this.wsClient;
this.wsClient.addMessageHandler((buffer) => {

1
src/ws_client.js
View File

@@ -12,6 +12,7 @@ class WebSocketClient {
connect() {
// Reset connected status before attempting a new connection
this.connected = false;
console.log(`Connecting to WebSocket at ${this.url}`);
this.socket = new WebSocket(this.url);
this.socket.addEventListener('open', (event) => {