RICConnector | @robotical/ricjs

Hierarchy

RICConnector

Index

Constructors

constructor

Constructors

constructor

new RICConnector(): RICConnector

- Defined in RICConnector.ts:100
Returns RICConnector

Properties

Private _addOnManager

_addOnManager: RICAddOnManager = ...

Private _channelConnLocator

_channelConnLocator: string | object = ""

Private _channelConnMethod

_channelConnMethod: string = ""

Private _commsStats

_commsStats: RICCommsStats = ...

Private Readonly _connPerfRsltDelayMs

_connPerfRsltDelayMs: 4000 = 4000

Private _ledPatternChecker

_ledPatternChecker: RICLEDPatternChecker = ...

Private _ledPatternRefreshTimer

_ledPatternRefreshTimer: null | Timeout = null

Private _ledPatternTimeoutMs

_ledPatternTimeoutMs: number = 10000

Private _onEventFn

_onEventFn: null | RICEventFn = null

Private _retryIfLostDisconnectTime

_retryIfLostDisconnectTime: null | number = null

Private _retryIfLostEnabled

_retryIfLostEnabled: boolean = true

Private _retryIfLostForSecs

_retryIfLostForSecs: number = 10

Private _retryIfLostIsConnected

_retryIfLostIsConnected: boolean = false

Private Readonly _retryIfLostRetryDelayMs

_retryIfLostRetryDelayMs: 500 = 500

Private _ricChannel

_ricChannel: null | RICChannel = null

Private _ricFileHandler

_ricFileHandler: RICFileHandler = ...

Private _ricMsgHandler

_ricMsgHandler: RICMsgHandler = ...

Private _ricStateInfo

_ricStateInfo: RICStateInfo = ...

Private _ricStreamHandler

_ricStreamHandler: RICStreamHandler = ...

Private _ricSystem

_ricSystem: RICSystem = ...

Private _ricUpdateManager

_ricUpdateManager: null | RICUpdateManager = null

Private _subscribeRateHz

_subscribeRateHz: number = 10

Private Readonly _testConnPerfBlockSize

_testConnPerfBlockSize: 500 = 500

Private Readonly _testConnPerfNumBlocks

_testConnPerfNumBlocks: 20 = 20

ricServoFaultDetector

ricServoFaultDetector: default = ...

Methods

_checkCorrectRICRefreshLEDs

_checkCorrectRICRefreshLEDs(): Promise<boolean>

- Defined in RICConnector.ts:453
Refresh LED pattern on RIC

Returns Promise<boolean>
boolean - true if checking still active

_clearLedPatternRefreshTimer

_clearLedPatternRefreshTimer(): void

- Defined in RICConnector.ts:471
Returns void

_connectToChannel

_connectToChannel(): Promise<boolean>

- Defined in RICConnector.ts:673
Returns Promise<boolean>

_onUpdateEvent

_onUpdateEvent(eventEnum: RICUpdateEvent, data?: undefined | null | string | object): void

- Defined in RICConnector.ts:691
Parameters
- eventEnum: RICUpdateEvent
- data: undefined | null | string | object = undefined
Returns void

_retryConnection

_retryConnection(): void

- Defined in RICConnector.ts:633
Returns void

checkConnPerformance

checkConnPerformance(): Promise<undefined | number>

- Defined in RICConnector.ts:565
Returns Promise<undefined | number>

checkCorrectRICStart

checkCorrectRICStart(ricLedLcdColours: RICLedLcdColours): Promise<boolean>

- Defined in RICConnector.ts:392
Start checking correct RIC using LED pattern

Parameters
- ricLedLcdColours: RICLedLcdColours
Returns Promise<boolean>
boolean - true if started ok

checkCorrectRICStop

checkCorrectRICStop(confirmCorrectRIC: boolean): Promise<boolean>

- Defined in RICConnector.ts:425
Stop checking correct RIC

Parameters
- confirmCorrectRIC: boolean
Returns Promise<boolean>
void

configureFileHandler

configureFileHandler(fileBlockSize: number, batchAckSize: number): void

- Defined in RICConnector.ts:122
Parameters
- fileBlockSize: number
- batchAckSize: number
Returns void

connect

connect(method: string, locator: string | object): Promise<boolean>

- Defined in RICConnector.ts:195
Connect to a RIC

Parameters
- method: string
  
  can be "WebBLE" or "WebSocket"
- locator: string | object
  
  either a string (WebSocket URL) or an object (WebBLE)
Returns Promise<boolean>
Promise

deleteAddOn

deleteAddOn(serialNo: string): Promise<RICOKFail>

- Defined in RICConnector.ts:742
deleteAddOn - remove an addon from the addonlist on RIC

Parameters
- serialNo: string
  
  used to identify the add-on
Returns Promise<RICOKFail>
Promise

disconnect

disconnect(): Promise<void>

- Defined in RICConnector.ts:279
Returns Promise<void>

getAddOnManager

getAddOnManager(): RICAddOnManager

- Defined in RICConnector.ts:151
Returns RICAddOnManager

getCommsStats

getCommsStats(): RICCommsStats

- Defined in RICConnector.ts:163
Returns RICCommsStats

getConnLocator

getConnLocator(): any

- Defined in RICConnector.ts:179
Returns any

getConnMethod

getConnMethod(): string

- Defined in RICConnector.ts:147
Returns string

getRICChannel

getRICChannel(): null | RICChannel

- Defined in RICConnector.ts:171
Returns null | RICChannel

getRICMsgHandler

getRICMsgHandler(): RICMsgHandler

- Defined in RICConnector.ts:167
Returns RICMsgHandler

getRICState

getRICState(): RICStateInfo

- Defined in RICConnector.ts:159
Returns RICStateInfo

getRICStateInfo

getRICStateInfo(): RICStateInfo

- Defined in RICConnector.ts:379
Returns RICStateInfo

getRICSystem

getRICSystem(): RICSystem

- Defined in RICConnector.ts:155
Returns RICSystem

getRICUpdateManager

getRICUpdateManager(): null | RICUpdateManager

- Defined in RICConnector.ts:175
Returns null | RICUpdateManager

identifyAddOn

identifyAddOn(name: string): Promise<RICOKFail>

- Defined in RICConnector.ts:762
identifyAddOn - send the 'identify' command to a specified add-on

Parameters
- name: string
  
  used to identify the add-on
Returns Promise<RICOKFail>
Promise

isConnected

isConnected(): boolean

- Defined in RICConnector.ts:131
Returns boolean

isStreamStarting

isStreamStarting(): boolean

- Defined in RICConnector.ts:545
Returns boolean

onConnEvent

onConnEvent(eventEnum: RICConnEvent, data?: undefined | null | string | object): void

- Defined in RICConnector.ts:597
Parameters
- eventEnum: RICConnEvent
- data: undefined | null | string | object = undefined
Returns void

onRobotStatus

onRobotStatus(robotStatus: ROSSerialRobotStatus): void

- Defined in RICConnector.ts:373
Parameters
- robotStatus: ROSSerialRobotStatus
Returns void

onRxAddOnPub

onRxAddOnPub(addOnInfo: ROSSerialAddOnStatusList): void

- Defined in RICConnector.ts:367
Parameters
- addOnInfo: ROSSerialAddOnStatusList
Returns void

onRxIMU

onRxIMU(imuData: ROSSerialIMU): void

- Defined in RICConnector.ts:355
Parameters
- imuData: ROSSerialIMU
Returns void

onRxOtherROSSerialMsg

onRxOtherROSSerialMsg(topicID: number, payload: Uint8Array): void

- Defined in RICConnector.ts:345
Parameters
- topicID: number
- payload: Uint8Array
Returns void

onRxPowerStatus

onRxPowerStatus(powerStatus: ROSSerialPowerStatus): void

- Defined in RICConnector.ts:361
Parameters
- powerStatus: ROSSerialPowerStatus
Returns void

onRxReply

onRxReply(msgHandle: number, msgRsltCode: RICMsgResultCode, msgRsltJsonObj: null | object): void

- Defined in RICConnector.ts:318
Parameters
- msgHandle: number
- msgRsltCode: RICMsgResultCode
- msgRsltJsonObj: null | object
Returns void

onRxSmartServo

onRxSmartServo(smartServos: ROSSerialSmartServos): void

- Defined in RICConnector.ts:349
Parameters
- smartServos: ROSSerialSmartServos
Returns void

onRxUnnumberedMsg

onRxUnnumberedMsg(msgRsltJsonObj: {}): void

- Defined in RICConnector.ts:330
Parameters
- msgRsltJsonObj: {}
  - [key: string]: number | string
Returns void

otaUpdateCancel

otaUpdateCancel(): Promise<void>

- Defined in RICConnector.ts:710
Returns Promise<void>

otaUpdateCheck

otaUpdateCheck(): Promise<RICUpdateEvent>

- Defined in RICConnector.ts:698
Returns Promise<RICUpdateEvent>

otaUpdateStart

otaUpdateStart(): Promise<RICUpdateEvent>

- Defined in RICConnector.ts:704
Returns Promise<RICUpdateEvent>

parkmiller_next

parkmiller_next(seed: number): number

- Defined in RICConnector.ts:555
Parameters
- seed: number
Returns number

pauseConnection

pauseConnection(pause?: boolean): void

- Defined in RICConnector.ts:183
Parameters
- pause: boolean = true
Returns void

retrieveMartySystemInfo

retrieveMartySystemInfo(): Promise<boolean>

- Defined in RICConnector.ts:486
Get information Marty system

Returns Promise<boolean>
void

sendFile

sendFile(fileName: string, fileContents: Uint8Array, progressCallback: undefined | ((sent: number, total: number, progress: number) => void)): Promise<boolean>

- Defined in RICConnector.ts:531
Parameters
- fileName: string
- fileContents: Uint8Array
- progressCallback: undefined | ((sent: number, total: number, progress: number) => void)
Returns Promise<boolean>

sendRICRESTMsg

sendRICRESTMsg(commandName: string, params: object): Promise<RICOKFail>

- Defined in RICConnector.ts:298
sendRICRESTMsg

Parameters
- commandName: string
  
  command API string
- params: object
  
  parameters (simple name value pairs only) to parameterize trajectory
Returns Promise<RICOKFail>
Promise

setAddOnConfig

setAddOnConfig(serialNo: string, newName: string): Promise<RICOKFail>

- Defined in RICConnector.ts:726
setAddOnConfig - set a specified add-on's configuration

Parameters
- serialNo: string
  
  used to identify the add-on
- newName: string
  
  name to refer to add-on by
Returns Promise<RICOKFail>
Promise

setEventListener

setEventListener(onEventFn: RICEventFn): void

- Defined in RICConnector.ts:127
Parameters
- onEventFn: RICEventFn
Returns void

setLegacySoktoMode

setLegacySoktoMode(legacyMode: boolean): void

- Defined in RICConnector.ts:549
Parameters
- legacyMode: boolean
Returns void

setRetryConnectionIfLost

setRetryConnectionIfLost(enableRetry: boolean, retryForSecs: number): void

- Defined in RICConnector.ts:138
Parameters
- enableRetry: boolean
- retryForSecs: number
Returns void

setupUpdateManager

setupUpdateManager(appVersion: string, appUpdateURL: string, firmwareBaseURL: string, fileDownloader: RICFileDownloadFn): void

- Defined in RICConnector.ts:105
Parameters
- appVersion: string
- appUpdateURL: string
- firmwareBaseURL: string
- fileDownloader: RICFileDownloadFn
Returns void

streamAudio

streamAudio(streamContents: Uint8Array, clearExisting: boolean, duration: number): void

- Defined in RICConnector.ts:539
Parameters
- streamContents: Uint8Array
- clearExisting: boolean
- duration: number
Returns void

subscribeForUpdates

subscribeForUpdates(enable: boolean): Promise<void>

- Defined in RICConnector.ts:507
subscribeForUpdates

Parameters
- enable: boolean
  
  true to send command to enable subscription (false to remove sub)
Returns Promise<void>
Promise

Hierarchy

Index

Constructors

Properties

Methods

Constructors

constructor

Returns RICConnector

Properties

Private _addOnManager

Private _channelConnLocator

Private _channelConnMethod

Private _commsStats

Private Readonly _connPerfRsltDelayMs

Private _ledPatternChecker

Private _ledPatternRefreshTimer

Private _ledPatternTimeoutMs

Private _onEventFn

Private _retryIfLostDisconnectTime

Private _retryIfLostEnabled

Private _retryIfLostForSecs

Private _retryIfLostIsConnected

Private Readonly _retryIfLostRetryDelayMs

Private _ricChannel

Private _ricFileHandler

Private _ricMsgHandler

Private _ricStateInfo

Private _ricStreamHandler

Private _ricSystem

Private _ricUpdateManager

Private _subscribeRateHz

Private Readonly _testConnPerfBlockSize

Private Readonly _testConnPerfNumBlocks

ricServoFaultDetector

Methods

_checkCorrectRICRefreshLEDs

Returns Promise<boolean>

_clearLedPatternRefreshTimer

Returns void

_connectToChannel

Returns Promise<boolean>

_onUpdateEvent

Parameters

eventEnum: RICUpdateEvent

data: undefined | null | string | object = undefined

Returns void

_retryConnection

Returns void

checkConnPerformance

Returns Promise<undefined | number>

checkCorrectRICStart

Parameters

ricLedLcdColours: RICLedLcdColours

Returns Promise<boolean>

checkCorrectRICStop

Parameters

confirmCorrectRIC: boolean

Returns Promise<boolean>

configureFileHandler

Parameters

fileBlockSize: number

batchAckSize: number

Returns void

connect

Parameters

method: string

locator: string | object

Returns Promise<boolean>

deleteAddOn

Parameters

serialNo: string

Returns Promise<RICOKFail>

disconnect

Returns Promise<void>

getAddOnManager

Returns RICAddOnManager

getCommsStats

Returns RICCommsStats

getConnLocator

Returns any