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import type { Producer, ConnectionStatus, RobotCommand, RemoteDriverConfig } from '../models.js';
import { robotics } from "@robothub/transport-server-client";
import type { JointData } from "@robothub/transport-server-client/robotics";
export class RemoteProducer implements Producer {
readonly id: string;
readonly name: string;
readonly config: RemoteDriverConfig;
private _status: ConnectionStatus = { isConnected: false };
private statusCallbacks: ((status: ConnectionStatus) => void)[] = [];
private producer: robotics.RoboticsProducer | null = null;
private client: robotics.RoboticsClientCore | null = null;
private workspaceId: string | null = null;
// State update interval for producer mode
private stateUpdateInterval?: ReturnType<typeof setInterval>;
private lastKnownState: Record<string, number> = {};
constructor(config: RemoteDriverConfig) {
this.config = config;
this.id = `remote-producer-${config.robotId}-${Date.now()}`;
this.name = `Remote Producer (${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(`[RemoteProducer] Connecting to ${serverUrl} for robot ${this.config.robotId} (join mode: ${joinExistingRoom})`);
// Create core client for room management
this.client = new robotics.RoboticsClientCore(serverUrl);
// Create producer to send commands
this.producer = new robotics.RoboticsProducer(serverUrl);
// Set up event handlers
this.producer.onConnected(() => {
console.log(`[RemoteProducer] Connected to room ${this.config.robotId}`);
this.startStateUpdates();
});
this.producer.onDisconnected(() => {
console.log(`[RemoteProducer] Disconnected from room ${this.config.robotId}`);
this.stopStateUpdates();
});
this.producer.onError((error: string) => {
console.error(`[RemoteProducer] Error:`, error);
this._status = { isConnected: false, error: `Producer error: ${error}` };
this.notifyStatusChange();
this.stopStateUpdates();
});
// 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(`[RemoteProducer] 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(`[RemoteProducer] Created new room ${roomData.roomId} in workspace ${roomData.workspaceId}`);
}
const success = await this.producer.connect(roomData.workspaceId, roomData.roomId, this.id);
if (!success) {
throw new Error("Failed to connect producer to room");
}
this._status = { isConnected: true, lastConnected: new Date() };
this.notifyStatusChange();
console.log(`[RemoteProducer] Connected successfully to workspace ${roomData.workspaceId}, room ${roomData.roomId}`);
} catch (error) {
console.error(`[RemoteProducer] Connection failed:`, error);
this._status = { isConnected: false, error: `Connection failed: ${error}` };
this.notifyStatusChange();
throw error;
}
}
async disconnect(): Promise<void> {
console.log(`[RemoteProducer] Disconnecting...`);
this.stopStateUpdates();
if (this.producer) {
await this.producer.disconnect();
this.producer = null;
}
if (this.client) {
// Client doesn't need explicit disconnect
this.client = null;
}
this.workspaceId = null;
this._status = { isConnected: false };
this.notifyStatusChange();
console.log(`[RemoteProducer] Disconnected`);
}
async sendCommand(command: RobotCommand): Promise<void> {
if (!this._status.isConnected || !this.producer) {
throw new Error('Cannot send command: Remote producer not connected');
}
try {
console.debug(`[RemoteProducer] Sending command:`, command);
// Update last known state for periodic updates
command.joints.forEach(joint => {
this.lastKnownState[joint.name] = joint.value;
});
// Send joint update with normalized values
const joints = command.joints.map(joint => ({
name: joint.name,
value: joint.value // Already normalized
}));
await this.producer.sendJointUpdate(joints);
console.debug(`[RemoteProducer] Sent joint update with ${joints.length} joints`);
} catch (error) {
console.error('[RemoteProducer] Failed to send command:', error);
throw error;
}
}
// 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);
}
};
}
// Private methods
private startStateUpdates(): void {
// Send periodic state updates to keep remote server informed
this.stateUpdateInterval = setInterval(async () => {
if (this.producer && this._status.isConnected && Object.keys(this.lastKnownState).length > 0) {
try {
await this.producer.sendStateSync(this.lastKnownState);
} catch (error) {
console.error('[RemoteProducer] Failed to send state update:', error);
}
}
}, 100); // 10 Hz updates
}
private stopStateUpdates(): void {
if (this.stateUpdateInterval) {
clearInterval(this.stateUpdateInterval);
this.stateUpdateInterval = undefined;
}
}
private notifyStatusChange(): void {
this.statusCallbacks.forEach(callback => {
try {
callback(this._status);
} catch (error) {
console.error('[RemoteProducer] Error in status callback:', error);
}
});
}
} |