@robotical/ricjs/dist/RICConnector.d.ts

Javascript/TS library for Robotical RIC

import RICChannel from "./RICChannel";
import RICMsgHandler, { RICMsgResultCode } from "./RICMsgHandler";
import RICCommsStats from "./RICCommsStats";
import { RICEventFn, RICFileDownloadFn, RICLedLcdColours, RICOKFail, RICStateInfo } from "./RICTypes";
import RICAddOnManager from "./RICAddOnManager";
import RICSystem from "./RICSystem";
import { ROSSerialAddOnStatusList, ROSSerialIMU, ROSSerialMagneto, ROSSerialPowerStatus, ROSSerialRobotStatus, ROSSerialSmartServos } from "./RICROSSerial";
import { RICConnEvent } from "./RICConnEvents";
import RICUpdateManager from "./RICUpdateManager";
import { RICUpdateEvent } from "./RICUpdateEvents";
import RICServoFaultDetector from "./RICServoFaultDetector";
export default class RICConnector {
    private _ricChannel;
    private _channelConnMethod;
    private _channelConnLocator;
    private _commsStats;
    private _ricStateInfo;
    private _addOnManager;
    private _ricMsgHandler;
    private _ricSystem;
    private _ledPatternChecker;
    private _ledPatternTimeoutMs;
    private _ledPatternRefreshTimer;
    private _subscribeRateHz;
    private readonly _testConnPerfBlockSize;
    private readonly _testConnPerfNumBlocks;
    private readonly _connPerfRsltDelayMs;
    private _retryIfLostEnabled;
    private _retryIfLostForSecs;
    private _retryIfLostIsConnected;
    private _retryIfLostDisconnectTime;
    private readonly _retryIfLostRetryDelayMs;
    private _ricFileHandler;
    private _ricStreamHandler;
    private _ricUpdateManager;
    private _onEventFn;
    ricServoFaultDetector: RICServoFaultDetector;
    constructor();
    setupUpdateManager(appVersion: string, appUpdateURL: string, firmwareBaseURL: string, fileDownloader: RICFileDownloadFn): void;
    configureFileHandler(fileBlockSize: number, batchAckSize: number): void;
    setEventListener(onEventFn: RICEventFn): void;
    isConnected(): boolean;
    setRetryConnectionIfLost(enableRetry: boolean, retryForSecs: number): void;
    getConnMethod(): string;
    getAddOnManager(): RICAddOnManager;
    getRICSystem(): RICSystem;
    getRICState(): RICStateInfo;
    getCommsStats(): RICCommsStats;
    getRICMsgHandler(): RICMsgHandler;
    getRICChannel(): RICChannel | null;
    getRICUpdateManager(): RICUpdateManager | null;
    getConnLocator(): any | null;
    pauseConnection(pause?: boolean): void;
    /**
     * Connect to a RIC
     *
     * @param {string} method - can be "WebBLE" or "WebSocket"
     * @param {string | object} locator - either a string (WebSocket URL) or an object (WebBLE)
     * @returns Promise<boolean>
     *
     */
    connect(method: string, locator: string | object): Promise<boolean>;
    disconnect(): Promise<void>;
    /**
     *
     * sendRICRESTMsg
     * @param commandName command API string
     * @param params parameters (simple name value pairs only) to parameterize trajectory
     * @returns Promise<RICOKFail>
     *
     */
    sendRICRESTMsg(commandName: string, params: object): Promise<RICOKFail>;
    onRxReply(msgHandle: number, msgRsltCode: RICMsgResultCode, msgRsltJsonObj: object | null): void;
    onRxUnnumberedMsg(msgRsltJsonObj: {
        [key: string]: number | string;
    }): void;
    onRxOtherROSSerialMsg(topicID: number, payload: Uint8Array): void;
    onRxSmartServo(smartServos: ROSSerialSmartServos): void;
    onRxIMU(imuData: ROSSerialIMU): void;
    onRxMagneto(magnetoData: ROSSerialMagneto): void;
    onRxPowerStatus(powerStatus: ROSSerialPowerStatus): void;
    onRxAddOnPub(addOnInfo: ROSSerialAddOnStatusList): void;
    onRobotStatus(robotStatus: ROSSerialRobotStatus): void;
    getRICStateInfo(): RICStateInfo;
    /**
     * Start checking correct RIC using LED pattern
     *
     *  @param {string} ricToConnectTo - RIC to connect to
     *  @return boolean - true if started ok
     *
     */
    checkCorrectRICStart(ricLedLcdColours: RICLedLcdColours): Promise<boolean>;
    /**
     * Stop checking correct RIC
     *
     *  @return void
     *
     */
    checkCorrectRICStop(confirmCorrectRIC: boolean): Promise<boolean>;
    /**
     * Refresh LED pattern on RIC
     *
     *  @return boolean - true if checking still active
     *
     */
    _checkCorrectRICRefreshLEDs(): Promise<boolean>;
    _clearLedPatternRefreshTimer(): void;
    /**
     * Get information Marty system
     *
     *  @return void
     *
     */
    retrieveMartySystemInfo(): Promise<boolean>;
    /**
     *
     * subscribeForUpdates
     * @param enable - true to send command to enable subscription (false to remove sub)
     * @returns Promise<void>
     *
     */
    subscribeForUpdates(enable: boolean): Promise<void>;
    sendFile(fileName: string, fileContents: Uint8Array, progressCallback: ((sent: number, total: number, progress: number) => void) | undefined): Promise<boolean>;
    streamAudio(streamContents: Uint8Array, clearExisting: boolean, duration: number): void;
    isStreamStarting(): boolean;
    setLegacySoktoMode(legacyMode: boolean): void;
    parkmiller_next(seed: number): number;
    checkConnPerformance(): Promise<number | undefined>;
    onConnEvent(eventEnum: RICConnEvent, data?: object | string | null | undefined): void;
    _retryConnection(): void;
    _connectToChannel(): Promise<boolean>;
    _onUpdateEvent(eventEnum: RICUpdateEvent, data?: object | string | null | undefined): void;
    otaUpdateCheck(): Promise<RICUpdateEvent>;
    otaUpdateStart(): Promise<RICUpdateEvent>;
    otaUpdateCancel(): Promise<void>;
    /**
     *
     * setAddOnConfig - set a specified add-on's configuration
     * @param serialNo used to identify the add-on
     * @param newName name to refer to add-on by
     * @returns Promise<RICOKFail>
     *
     */
    setAddOnConfig(serialNo: string, newName: string): Promise<RICOKFail>;
    /**
     * deleteAddOn - remove an addon from the addonlist on RIC
     * @param serialNo used to identify the add-on
     * @returns Promise<RICOKFail>
     */
    deleteAddOn(serialNo: string): Promise<RICOKFail>;
    /**
     *
     * identifyAddOn - send the 'identify' command to a specified add-on
     * @param name used to identify the add-on
     * @returns Promise<RICOKFail>
     *
     */
    identifyAddOn(name: string): Promise<RICOKFail>;
}