Spaces:
Running
Running
File size: 3,187 Bytes
02eac4b |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 |
/**
* Consumer client for receiving robot commands in LeRobot Arena
*/
import { RoboticsClientCore } from './core.js';
import type {
WebSocketMessage,
JointUpdateMessage,
StateSyncMessage,
ClientOptions,
JointUpdateCallback,
StateSyncCallback,
} from './types.js';
export class RoboticsConsumer extends RoboticsClientCore {
// Event callbacks
private onStateSyncCallback: StateSyncCallback | null = null;
private onJointUpdateCallback: JointUpdateCallback | null = null;
constructor(baseUrl = 'http://localhost:8000', options: ClientOptions = {}) {
super(baseUrl, options);
}
// ============= CONSUMER CONNECTION =============
async connect(workspaceId: string, roomId: string, participantId?: string): Promise<boolean> {
return this.connectToRoom(workspaceId, roomId, 'consumer', participantId);
}
// ============= CONSUMER METHODS =============
async getStateSyncAsync(): Promise<Record<string, number>> {
if (!this.workspaceId || !this.roomId) {
throw new Error('Must be connected to a room');
}
const state = await this.getRoomState(this.workspaceId, this.roomId);
return state.joints;
}
// ============= EVENT CALLBACKS =============
onStateSync(callback: StateSyncCallback): void {
this.onStateSyncCallback = callback;
}
onJointUpdate(callback: JointUpdateCallback): void {
this.onJointUpdateCallback = callback;
}
// ============= MESSAGE HANDLING =============
protected override handleRoleSpecificMessage(message: WebSocketMessage): void {
switch (message.type) {
case 'state_sync':
this.handleStateSync(message as StateSyncMessage);
break;
case 'joint_update':
this.handleJointUpdate(message as JointUpdateMessage);
break;
case 'emergency_stop':
console.warn(`🚨 Emergency stop: ${message.reason || 'Unknown reason'}`);
this.handleError(`Emergency stop: ${message.reason || 'Unknown reason'}`);
break;
case 'error':
console.error(`Server error: ${message.message}`);
this.handleError(message.message);
break;
default:
console.warn(`Unknown message type for consumer: ${message.type}`);
}
}
private handleStateSync(message: StateSyncMessage): void {
if (this.onStateSyncCallback) {
this.onStateSyncCallback(message.data);
}
this.emit('stateSync', message.data);
}
private handleJointUpdate(message: JointUpdateMessage): void {
if (this.onJointUpdateCallback) {
this.onJointUpdateCallback(message.data);
}
this.emit('jointUpdate', message.data);
}
// ============= UTILITY METHODS =============
/**
* Create a consumer and automatically connect to a room
*/
static async createAndConnect(
workspaceId: string,
roomId: string,
baseUrl = 'http://localhost:8000',
participantId?: string
): Promise<RoboticsConsumer> {
const consumer = new RoboticsConsumer(baseUrl);
const connected = await consumer.connect(workspaceId, roomId, participantId);
if (!connected) {
throw new Error('Failed to connect as consumer');
}
return consumer;
}
} |