Server Messages

Overview

Server messages are JSON objects sent from the MARL WebSocket server to your client application. These messages provide real-time updates about agents, simulation state changes, and system events. All messages follow a consistent format with type and payload fields.

Message Format

{
  "type": "message_type",
  "payload": {
    // Message-specific data
  }
}

Message Types

add_agent

Sent individually for each agent when the client requests initial agents or when new agents are dynamically added to the simulation. Direction: Server → Client (to requesting client) Payload:

{
  "id": "sim_agent_0",
  "position": [37.78, -122.41],           // [latitude, longitude]
  "velocity": [0.0001, -0.00005],         // [dLat, dLng] movement vector
  "type": 1,                              // 0=PEDESTRIAN, 1=VEHICLE
  "goal": [37.79, -122.42],               // [latitude, longitude] destination
  "attributes": {},                       // Custom attributes (currently empty)
  "is_fleeing": false,                    // Whether agent is fleeing from stimulus
  "path_coords": [                        // Array of [lat, lon, elevation] waypoints
    [37.78, -122.41, 10.0],
    [37.781, -122.411, 10.5]
    // ... more coordinates
  ]
}

Example Handler:

function handleAddAgent(agentData) {
  // Create visual representation
  const agentMesh = createAgentMesh(agentData.type);
  
  // Position in 3D space
  const position = geoToWorldCoords(agentData.position);
  agentMesh.position.set(position.x, position.y, position.z);
  
  // Set color based on fleeing status
  agentMesh.material.color.setHex(
    agentData.is_fleeing ? 0xff0000 : 0x00ff00
  );
  
  // Store agent data
  agents.set(agentData.id, {
    mesh: agentMesh,
    data: agentData,
    pathIndex: 0
  });
  
  scene.add(agentMesh);
}

Notes:

path_coords is null for pedestrians (they don’t follow road networks)
Elevation data is included for realistic 3D positioning
velocity can be used to calculate agent orientation
attributes field reserved for future customization

initial_population_complete

Sent after all initial agents have been generated and sent via individual add_agent messages. Direction: Server → Client (to requesting client) Payload:

{
  "count": 1000  // Number of agents successfully added
}

Example Handler:

function handlePopulationComplete(data) {
  console.log(`Simulation ready with ${data.count} agents`);
  
  // Hide loading screen
  document.getElementById('loading').style.display = 'none';
  
  // Enable simulation controls
  enableSimulationControls();
  
  // Start simulation loop
  startSimulationLoop();
}

Use Cases:

Hide loading indicators
Enable user interface controls
Begin simulation updates
Initialize performance monitoring

new_path

Sent in response to a successful request_new_path message from the client. Direction: Server → Client (to requesting client) Payload:

{
  "agent_id": "sim_agent_123",
  "goal": [37.77, -122.40],               // [latitude, longitude] new destination
  "path_coords": [                        // New path waypoints (vehicles only)
    [37.775, -122.405, 12.0],
    [37.776, -122.406, 12.5]
    // ... more coordinates
  ],
  "is_fleeing": false                     // Current fleeing status
}

Example Handler:

function handleNewPath(pathData) {
  const agent = agents.get(pathData.agent_id);
  if (!agent) return;
  
  // Update agent goal
  agent.data.goal = pathData.goal;
  agent.data.path_coords = pathData.path_coords;
  agent.data.is_fleeing = pathData.is_fleeing;
  
  // Reset path progress
  agent.pathIndex = 0;
  
  // Update visual goal indicator
  updateGoalMarker(pathData.agent_id, pathData.goal);
  
  // Update path visualization
  if (pathData.path_coords) {
    updatePathVisualization(pathData.agent_id, pathData.path_coords);
  }
}

Notes:

Only sent if path generation succeeds
path_coords may be null for pedestrians
Includes current fleeing status (may have changed due to stimulus)
Path includes elevation data for each waypoint

update_flee_status

Broadcast to all connected clients when one or more agents’ fleeing status changes due to a stimulus event. Direction: Server → All Clients (broadcast) Payload:

{
  "agent_id": "sim_agent_456",
  "is_fleeing": true  // New fleeing status
}

Example Handler:

function handleFleeStatusUpdate(statusData) {
  const agent = agents.get(statusData.agent_id);
  if (!agent) return;
  
  // Update agent data
  agent.data.is_fleeing = statusData.is_fleeing;
  
  // Update visual appearance
  const color = statusData.is_fleeing ? 0xff0000 : 0x00ff00;
  agent.mesh.material.color.setHex(color);
  
  // Update behavior
  if (statusData.is_fleeing) {
    // Increase movement speed
    agent.fleeSpeed = 2.0;
    
    // Add panic animation
    startPanicAnimation(agent.mesh);
  } else {
    // Return to normal speed
    agent.fleeSpeed = 1.0;
    
    // Stop panic animation
    stopPanicAnimation(agent.mesh);
  }
}

Behavior Changes:

Fleeing Agents: Move faster, may ignore normal pathfinding
Normal Agents: Resume regular behavior patterns
Visual Indicators: Color changes, animations, effects

ping

Sent periodically by the server to maintain WebSocket connection and detect unresponsive clients. Direction: Server → Client Payload: null or empty object

{
  "type": "ping"
  // payload may be null or absent
}

Example Handler:

function handlePing() {
  // Optional: Send pong response
  // Most WebSocket implementations handle this automatically
  console.log('Received ping from server');
  
  // Update connection status indicator
  updateConnectionStatus('connected');
  lastPingTime = Date.now();
}

Notes:

Sent every 30 seconds by default
Used for connection keep-alive
No response required from client
Can be used to detect connection issues

error

Sent when the server encounters an error processing a client request. Direction: Server → Client (to requesting client) Payload:

{
  "message": "Failed to initialize simulation area."  // Error description
}

Example Handler:

function handleError(errorData) {
  console.error('Server error:', errorData.message);
  
  // Show user-friendly error message
  showErrorNotification(errorData.message);
  
  // Attempt recovery based on error type
  if (errorData.message.includes('simulation area')) {
    // Try with default coordinates
    requestInitialAgents();
  }
}

Common Error Scenarios:

Invalid coordinates in request_initial_agents
Agent not found in request_new_path
Simulation initialization failures
Network or processing errors

Advanced Message Handling

Message Router

class MARLMessageRouter {
  constructor() {
    this.handlers = new Map();
    this.middleware = [];
  }
  
  // Register message handlers
  on(messageType, handler) {
    if (!this.handlers.has(messageType)) {
      this.handlers.set(messageType, []);
    }
    this.handlers.get(messageType).push(handler);
  }
  
  // Add middleware for all messages
  use(middleware) {
    this.middleware.push(middleware);
  }
  
  // Process incoming message
  handle(message) {
    // Run middleware
    for (const middleware of this.middleware) {
      message = middleware(message);
      if (!message) return; // Middleware can block messages
    }
    
    // Route to handlers
    const handlers = this.handlers.get(message.type) || [];
    handlers.forEach(handler => {
      try {
        handler(message.payload, message);
      } catch (error) {
        console.error(`Error in ${message.type} handler:`, error);
      }
    });
  }
}

// Usage
const router = new MARLMessageRouter();

// Add logging middleware
router.use((message) => {
  console.log(`Received ${message.type}:`, message.payload);
  return message;
});

// Register handlers
router.on('add_agent', handleAddAgent);
router.on('new_path', handleNewPath);
router.on('update_flee_status', handleFleeStatusUpdate);

// WebSocket message handler
ws.onmessage = (event) => {
  const message = JSON.parse(event.data);
  router.handle(message);
};

Agent State Management

class AgentStateManager {
  constructor() {
    this.agents = new Map();
    this.listeners = new Map();
  }
  
  addAgent(agentData) {
    this.agents.set(agentData.id, {
      ...agentData,
      lastUpdate: Date.now(),
      pathProgress: 0
    });
    
    this.emit('agentAdded', agentData);
  }
  
  updateAgentPath(pathData) {
    const agent = this.agents.get(pathData.agent_id);
    if (!agent) return;
    
    agent.goal = pathData.goal;
    agent.path_coords = pathData.path_coords;
    agent.is_fleeing = pathData.is_fleeing;
    agent.pathProgress = 0;
    agent.lastUpdate = Date.now();
    
    this.emit('agentPathUpdated', agent);
  }
  
  updateFleeStatus(statusData) {
    const agent = this.agents.get(statusData.agent_id);
    if (!agent) return;
    
    const wasFleeingBefore = agent.is_fleeing;
    agent.is_fleeing = statusData.is_fleeing;
    agent.lastUpdate = Date.now();
    
    if (wasFleeingBefore !== statusData.is_fleeing) {
      this.emit('agentFleeStatusChanged', agent);
    }
  }
  
  // Event system
  on(event, callback) {
    if (!this.listeners.has(event)) {
      this.listeners.set(event, []);
    }
    this.listeners.get(event).push(callback);
  }
  
  emit(event, data) {
    const callbacks = this.listeners.get(event) || [];
    callbacks.forEach(callback => callback(data));
  }
}

Performance Monitoring

class MARLPerformanceMonitor {
  constructor() {
    this.messageStats = new Map();
    this.startTime = Date.now();
    this.totalMessages = 0;
  }
  
  recordMessage(messageType) {
    this.totalMessages++;
    
    if (!this.messageStats.has(messageType)) {
      this.messageStats.set(messageType, {
        count: 0,
        lastReceived: null
      });
    }
    
    const stats = this.messageStats.get(messageType);
    stats.count++;
    stats.lastReceived = Date.now();
  }
  
  getStats() {
    const runtime = Date.now() - this.startTime;
    const messagesPerSecond = this.totalMessages / (runtime / 1000);
    
    return {
      runtime: runtime,
      totalMessages: this.totalMessages,
      messagesPerSecond: messagesPerSecond.toFixed(2),
      messageBreakdown: Object.fromEntries(this.messageStats)
    };
  }
  
  logStats() {
    console.table(this.getStats());
  }
}

// Usage
const monitor = new MARLPerformanceMonitor();

ws.onmessage = (event) => {
  const message = JSON.parse(event.data);
  monitor.recordMessage(message.type);
  
  // Handle message...
};

// Log stats every 30 seconds
setInterval(() => {
  monitor.logStats();
}, 30000);

Error Recovery Patterns

Graceful Degradation

class RobustMARLClient {
  constructor(url) {
    this.url = url;
    this.reconnectAttempts = 0;
    this.maxReconnectAttempts = 5;
    this.agents = new Map();
    this.pendingRequests = new Map();
  }
  
  connect() {
    this.ws = new WebSocket(this.url);
    
    this.ws.onmessage = (event) => {
      try {
        const message = JSON.parse(event.data);
        this.handleMessage(message);
      } catch (error) {
        console.error('Failed to parse message:', error);
      }
    };
    
    this.ws.onerror = (error) => {
      console.error('WebSocket error:', error);
      this.handleConnectionError();
    };
    
    this.ws.onclose = () => {
      console.log('Connection closed');
      this.handleConnectionClose();
    };
  }
  
  handleMessage(message) {
    // Reset reconnect attempts on successful message
    this.reconnectAttempts = 0;
    
    switch (message.type) {
      case 'add_agent':
        this.handleAddAgent(message.payload);
        break;
      case 'error':
        this.handleServerError(message.payload);
        break;
      // ... other handlers
    }
  }
  
  handleConnectionError() {
    if (this.reconnectAttempts < this.maxReconnectAttempts) {
      const delay = Math.pow(2, this.reconnectAttempts) * 1000; // Exponential backoff
      console.log(`Reconnecting in ${delay}ms...`);
      
      setTimeout(() => {
        this.reconnectAttempts++;
        this.connect();
      }, delay);
    } else {
      console.error('Max reconnection attempts reached');
      this.showOfflineMode();
    }
  }
  
  showOfflineMode() {
    // Switch to offline simulation mode
    console.log('Switching to offline mode');
    // Implement local simulation fallback
  }
}

Best Practices

Handle All Message Types: Implement handlers for all message types you might receive
Validate Message Structure: Check for required fields before processing
Error Recovery: Implement graceful degradation for connection issues
Performance Monitoring: Track message frequency and processing time
State Synchronization: Keep local state in sync with server updates
Memory Management: Clean up agent references when no longer needed

Next Steps

Review Client Messages to understand the full communication flow
Explore the WebSocket Overview for integration patterns
Check out Risk Analysis for enhanced simulation capabilities

Simulation APIs

Urban Mobility MARL

Risk Assessment

Overview

Message Format

Message Types

add_agent

initial_population_complete

new_path

update_flee_status

ping

error

Advanced Message Handling

Message Router

Agent State Management

Performance Monitoring

Error Recovery Patterns

Graceful Degradation

Best Practices

Next Steps

Simulation APIs

Urban Mobility MARL

Risk Assessment

​Overview

​Message Format

​Message Types

​add_agent

​initial_population_complete

​new_path

​update_flee_status

​ping

​error

​Advanced Message Handling

​Message Router

​Agent State Management

​Performance Monitoring

​Error Recovery Patterns

​Graceful Degradation

​Best Practices

​Next Steps

Overview

Message Format

Message Types

add_agent

initial_population_complete

new_path

update_flee_status

ping

error

Advanced Message Handling

Message Router

Agent State Management

Performance Monitoring

Error Recovery Patterns

Graceful Degradation

Best Practices

Next Steps