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import type { Consumer, ConnectionStatus, RobotCommand, RemoteDriverConfig } from '../models.js';
import { robotics } from "@robothub/transport-server-client";
import type { JointData } from "@robothub/transport-server-client/robotics";
export class RemoteConsumer implements Consumer {
readonly id: string;
readonly name: string;
readonly config: RemoteDriverConfig;
private _status: ConnectionStatus = { isConnected: false };
private statusCallbacks: ((status: ConnectionStatus) => void)[] = [];
private commandCallbacks: ((command: RobotCommand) => void)[] = [];
private consumer: robotics.RoboticsConsumer | null = null;
private client: robotics.RoboticsClientCore | null = null;
private workspaceId: string | null = null;
constructor(config: RemoteDriverConfig) {
this.config = config;
this.id = `remote-consumer-${config.robotId}-${Date.now()}`;
this.name = `Remote Consumer (${config.robotId})`;
}
get status(): ConnectionStatus {
return this._status;
}
async connect(joinExistingRoom = false): Promise<void> {
try {
const serverUrl = this.config.url.replace(/^ws/, "http");
console.log(`[RemoteConsumer] Connecting to ${serverUrl} for robot ${this.config.robotId} (join mode: ${joinExistingRoom})`);
// Create core client for room management
this.client = new robotics.RoboticsClientCore(serverUrl);
// Create consumer to receive commands
this.consumer = new robotics.RoboticsConsumer(serverUrl);
// Set up event handlers
this.consumer.onConnected(() => {
console.log(`[RemoteConsumer] Connected to room ${this.config.robotId}`);
});
this.consumer.onDisconnected(() => {
console.log(`[RemoteConsumer] Disconnected from room ${this.config.robotId}`);
});
this.consumer.onError((error: string) => {
console.error(`[RemoteConsumer] Error:`, error);
this._status = { isConnected: false, error: `Consumer error: ${error}` };
this.notifyStatusChange();
});
// RECEIVE joint updates and forward as normalized commands
this.consumer.onJointUpdate((joints: JointData[]) => {
console.debug(`[RemoteConsumer] Received joint update:`, joints);
const command: RobotCommand = {
timestamp: Date.now(),
joints: joints.map((joint: JointData) => ({
name: joint.name,
value: joint.value, // Already normalized from server
}))
};
this.notifyCommand(command);
});
// RECEIVE state sync
this.consumer.onStateSync((state: Record<string, number>) => {
console.debug(`[RemoteConsumer] Received state sync:`, state);
const joints = Object.entries(state).map(([name, value]) => ({
name,
value: value as number
}));
if (joints.length > 0) {
const command: RobotCommand = {
timestamp: Date.now(),
joints
};
this.notifyCommand(command);
}
});
// Use workspace ID from config or default
this.workspaceId = this.config.workspaceId || 'default-workspace';
let roomData;
if (joinExistingRoom) {
// Join existing room (for Inference Session integration)
roomData = { workspaceId: this.workspaceId, roomId: this.config.robotId };
console.log(`[RemoteConsumer] Joining existing room ${this.config.robotId} in workspace ${this.workspaceId}`);
} else {
// Create new room (for standalone operation)
roomData = await this.client.createRoom(this.workspaceId, this.config.robotId);
console.log(`[RemoteConsumer] Created new room ${roomData.roomId} in workspace ${roomData.workspaceId}`);
}
const success = await this.consumer.connect(roomData.workspaceId, roomData.roomId, this.id);
if (!success) {
throw new Error("Failed to connect consumer to room");
}
this._status = { isConnected: true, lastConnected: new Date() };
this.notifyStatusChange();
console.log(`[RemoteConsumer] Connected successfully to workspace ${roomData.workspaceId}, room ${roomData.roomId}`);
} catch (error) {
console.error(`[RemoteConsumer] Connection failed:`, error);
this._status = { isConnected: false, error: `Connection failed: ${error}` };
this.notifyStatusChange();
throw error;
}
}
async disconnect(): Promise<void> {
console.log(`[RemoteConsumer] Disconnecting...`);
if (this.consumer) {
await this.consumer.disconnect();
this.consumer = null;
}
if (this.client) {
// Client doesn't need explicit disconnect
this.client = null;
}
this.workspaceId = null;
this._status = { isConnected: false };
this.notifyStatusChange();
console.log(`[RemoteConsumer] Disconnected`);
}
// Event handlers
onStatusChange(callback: (status: ConnectionStatus) => void): () => void {
this.statusCallbacks.push(callback);
return () => {
const index = this.statusCallbacks.indexOf(callback);
if (index >= 0) {
this.statusCallbacks.splice(index, 1);
}
};
}
onCommand(callback: (command: RobotCommand) => void): () => void {
this.commandCallbacks.push(callback);
return () => {
const index = this.commandCallbacks.indexOf(callback);
if (index >= 0) {
this.commandCallbacks.splice(index, 1);
}
};
}
// Private methods
private notifyCommand(command: RobotCommand): void {
this.commandCallbacks.forEach(callback => {
try {
callback(command);
} catch (error) {
console.error('[RemoteConsumer] Error in command callback:', error);
}
});
}
private notifyStatusChange(): void {
this.statusCallbacks.forEach(callback => {
try {
callback(this._status);
} catch (error) {
console.error('[RemoteConsumer] Error in status callback:', error);
}
});
}
} |