Class RobotClient

A gRPC-web client for a Robot.

Hierarchy

  • EventDispatcher
    • RobotClient

Implements

Constructors

constructor

Properties

armServiceClient baseServiceClient boardServiceClient connectResolve connecting directOptions encoderServiceClient gRPCConnectionManager gantryServiceClient genericServiceClient gripperServiceClient inputControllerServiceClient listeners motionServiceClient motorServiceClient movementSensorServiceClient navigationServiceClient peerConn powerSensorServiceClient robotServiceClient savedAuthEntity savedCreds sensorsServiceClient serviceHost servoServiceClient sessionManager sessionOptions slamServiceClient transportFactory visionServiceClient webrtcOptions notConnectedYetStr

Accessors

armService baseService boardService encoderService gantryService genericService gripperService inputControllerService motionService motorService movementSensorService navigationService noReconnect peerConnection powerSensorService reconnectMaxAttempts reconnectMaxWait robotService sensorsService servoService sessionId slamService visionService

Methods

blockForOperation cancelOperation connect createServiceClient disconnect discoverComponents emit frameSystemConfig getOperations getStatus has isConnected off on once resourceNames resourceRPCSubtypes stopAll streamStatus transformPCD transformPose

Constructors

constructor

  • Parameters

    • serviceHost: string
    • Optional webrtcOptions: WebRTCOptions
    • Optional sessionOptions: SessionOptions
    • Optional directOptions: DirectOptions

    Returns RobotClient

Properties

Private armServiceClient

armServiceClient: undefined | ArmServiceClient

Private baseServiceClient

baseServiceClient: undefined | BaseServiceClient

Private boardServiceClient

boardServiceClient: undefined | BoardServiceClient

Private connectResolve

connectResolve: undefined | (() => void)

Private connecting

connecting: undefined | Promise<void>

Private Readonly directOptions

directOptions: undefined | DirectOptions

Private encoderServiceClient

encoderServiceClient: undefined | EncoderServiceClient

Private gRPCConnectionManager

gRPCConnectionManager: default

Private gantryServiceClient

gantryServiceClient: undefined | GantryServiceClient

Private genericServiceClient

genericServiceClient: undefined | GenericServiceClient

Private gripperServiceClient

gripperServiceClient: undefined | GripperServiceClient

Private inputControllerServiceClient

inputControllerServiceClient: undefined | InputControllerServiceClient

listeners

listeners: Record<string, Set<Callback>> = {}

Private motionServiceClient

motionServiceClient: undefined | MotionServiceClient

Private motorServiceClient

motorServiceClient: undefined | MotorServiceClient

Private movementSensorServiceClient

movementSensorServiceClient: undefined | MovementSensorServiceClient

Private navigationServiceClient

navigationServiceClient: undefined | NavigationServiceClient

Private peerConn

peerConn: undefined | RTCPeerConnection

Private powerSensorServiceClient

powerSensorServiceClient: undefined | PowerSensorServiceClient

Private robotServiceClient

robotServiceClient: undefined | RobotServiceClient

Private savedAuthEntity

savedAuthEntity: undefined | string

Private savedCreds

savedCreds: undefined | Credentials

Private sensorsServiceClient

sensorsServiceClient: undefined | SensorsServiceClient

Private Readonly serviceHost

serviceHost: string

Private servoServiceClient

servoServiceClient: undefined | ServoServiceClient

Private sessionManager

sessionManager: default

Private Readonly sessionOptions

sessionOptions: undefined | SessionOptions

Private slamServiceClient

slamServiceClient: undefined | SLAMServiceClient

Private transportFactory

transportFactory: undefined | TransportFactory

Private visionServiceClient

visionServiceClient: undefined | VisionServiceClient

Private Readonly webrtcOptions

webrtcOptions: undefined | WebRTCOptions

Static Private Readonly notConnectedYetStr

notConnectedYetStr: "not connected yet" = 'not connected yet'

Accessors

armService

  • get armService(): ArmServiceClient

  • Returns ArmServiceClient

baseService

  • get baseService(): BaseServiceClient

  • Returns BaseServiceClient

boardService

  • get boardService(): BoardServiceClient

  • Returns BoardServiceClient

encoderService

  • get encoderService(): EncoderServiceClient

  • Returns EncoderServiceClient

gantryService

  • get gantryService(): GantryServiceClient

  • Returns GantryServiceClient

genericService

  • get genericService(): GenericServiceClient

  • Returns GenericServiceClient

gripperService

  • get gripperService(): GripperServiceClient

  • Returns GripperServiceClient

inputControllerService

  • get inputControllerService(): InputControllerServiceClient

  • Returns InputControllerServiceClient

motionService

  • get motionService(): MotionServiceClient

  • Returns MotionServiceClient

motorService

  • get motorService(): MotorServiceClient

  • Returns MotorServiceClient

movementSensorService

  • get movementSensorService(): MovementSensorServiceClient

  • Returns MovementSensorServiceClient

navigationService

  • Returns NavigationServiceClient

Private noReconnect

  • get noReconnect(): undefined | boolean

  • Returns undefined | boolean

peerConnection

  • get peerConnection(): undefined | RTCPeerConnection

  • Returns undefined | RTCPeerConnection

powerSensorService

  • get powerSensorService(): PowerSensorServiceClient

  • Returns PowerSensorServiceClient

Private reconnectMaxAttempts

  • get reconnectMaxAttempts(): undefined | number

  • Returns undefined | number

Private reconnectMaxWait

  • get reconnectMaxWait(): undefined | number

  • Returns undefined | number

robotService

  • get robotService(): RobotServiceClient

  • Returns RobotServiceClient

sensorsService

  • get sensorsService(): SensorsServiceClient

  • Returns SensorsServiceClient

servoService

  • get servoService(): ServoServiceClient

  • Returns ServoServiceClient

sessionId

  • get sessionId(): string

  • Returns string

slamService

  • get slamService(): SLAMServiceClient

  • Returns SLAMServiceClient

visionService

  • get visionService(): VisionServiceClient

  • Returns VisionServiceClient

Methods

blockForOperation

  • Alpha

    Blocks on the specified operation on the robot. This function will only return when the specific operation has finished or has been cancelled.

    Parameters

    • id: string

      ID of operation to block on.

    Returns Promise<void>

cancelOperation

  • Alpha

    Cancels the specified operation on the robot.

    Parameters

    • id: string

      ID of operation to kill.

    Returns Promise<void>

connect

  • Parameters

    • __namedParameters: ConnectOptions = {}

    Returns Promise<void>

createServiceClient

  • Type Parameters

    • T extends ServiceClient<T>

    Parameters

    • SC: (new (serviceHost: string, options?: RpcOptions) => T)
        • new (serviceHost: string, options?: RpcOptions): T

        • Parameters

          • serviceHost: string
          • Optional options: RpcOptions

          Returns T

    Returns T

disconnect

  • Returns Promise<void>

discoverComponents

emit

  • Parameters

    • type: string
    • args: unknown

    Returns void

frameSystemConfig

getOperations

getStatus

has

  • Parameters

    • type: string
    • listener: Callback

    Returns undefined | boolean

isConnected

  • Returns boolean

off

  • Parameters

    • type: string
    • listener: Callback

    Returns void

on

  • Alpha

    Call a function when an event of either 'reconnected' or 'disconnected' is triggered. Note that these events will only be triggered on WebRTC connections.

    Parameters

    • type: string

      The event ('reconnected' or 'disconnected') that was triggered.

    • listener: Callback

      The function to call

    Returns void

once

  • Parameters

    • type: string
    • listener: Callback

    Returns void

resourceNames

resourceRPCSubtypes

stopAll

  • Alpha

    Cancel all current and outstanding operations for the robot and stop all actuators and movement.

    Returns Promise<void>

streamStatus

transformPCD

  • Alpha

    Transform a given source point cloud from the reference frame to a new specified destination which is a reference frame.

    Parameters

    • pointCloudPCD: Uint8Array

      The point clouds to transform. This should be in the PCD format encoded into bytes: https://pointclouds.org/documentation/tutorials/pcd_file_format.html

    • source: string

      The reference frame of the point cloud.

    • destination: string

      The reference frame into which the source data should be transformed, if unset this defaults to the "world" reference frame. Do not move the robot between the generation of the initial pointcloud and the receipt of the transformed pointcloud because that will make the transformations inaccurate.

    Returns Promise<Uint8Array>

transformPose

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