BrowserClient

Declared in browser-client.js

This class is responsible for establishing WebRTC connection to the Robot, Socket.io connection to the Bridge Server, subscribing to topics, handling message calls, and so on.

Instance Attributes

discovered_nodes	{ ‘id_node’: { NodeInfo } }	Discovered nodes, publishers, subscribers and services
discovered_services	{ ‘id_service’: { ServiceInfo } }	Discovered services and their message types
discovered_topics	{ ‘id_topic’: { TopicInfo } }	Discovered topics and their message types
id_robot	String	Robot ID
media_streams	{ ‘id_stream’: MediaStream }	Open inbound media streams
name	String	Robot name
pc	PeerConnection	WebRTC peer connection object
session	String	Session ID
socket	Socket.io	Socket.io connection object
supported_msg_types	InterfaceDefinition[]	All received message type definitions
topic_streams	{ ‘id_topic’: id_stream }	Open inbound data channels
ui	PanelUI	Reference to Panel UI

Events

defs_updated		Discovered interface definitons changed
docker	{ ‘host’: DockerInfo }	Discovered Docker containers changed
error	Number error, String message	Received error from the robot
media_stream	String id_topic, MediaStream stream	Media stream opened for topic
nodes	{ ‘id_node’: NodeInfo }	Detected nodes changed
peer_connected		WebRTC connection established
peer_connection_changed		WebRTC connection changed
peer_disconnected		WebRTC connection closed
peer_service_call_broadcast	{ service: String, msg: MsgType }	Some other peer called a service, this is the reply (used for UI syncing)
peer_stats	WebRTCStats stats	Peer connection stats generated
robot_peers	{ num_connected: Number, num_waiting: Number }	Received robot peer info
services	{ ‘id_service’: ServiceInfo }	Discovered services changed
socket_connect		Socket.io connected to the Bridge Server
socket_disconnect		Socket.io Bridge Server connection lost
topics	{ ‘id_topic’: TopicInfo }	Discovered topics changed
update		Received robot’s state data or conneciton state changed (UI should update)

Methods

constructor( BridgeClientOptions opts )
connect()	Connect to the Bridge Server
disconnect()	Disconnect from the Bridge Server
getBridgeFileUrl( String url ) : String	Get file URL for file extraction from the robot
getConfigParam( String key ) : Any	Returns config param from the YAML file
getPeerConnectionInfo() : String[]	Returns WebRTC connection type and IP of the robot used
getServiceConfig( String service ) : Object	Returns config params for the service (from the YAML file)
getTopicConfig( String topic ) : Object	Returns config params for the topic (from the YAML file)
off( String event, Callback cb )	Unregister callback from an event (see the list above)
offServiceConfig( String service, Callback cb )	Unregisters callback from being called when service config updates
offTopicConfig( String topic, Callback cb )	Unregisters callback from being called when topic config updates
offTopicData( String topic, Callback cb )	Unsubscribe from topic messages
offUIConfig( Callback cb )	Unregisters callback from being called when UI config updates
on( String event, Callback cb )	Register a callback to be called on event (see the list above)
once( String event, Callback cb )	Register a callback to be called once on event (see the list above)
onServiceConfig( String service, Callback cb )	Registers a callback to be called when service config updates
onTopicConfig( String topic, Callback cb )	Registers a callback to be called when topic config updates
onTopicData( String topic, Callback cb )	Subscribe to topic messages
onUIConfig( Callback cb )	Registers a callback to be called when UI config updates
openWriteChannel( String topic, String msg_type, Object err_out = null ) : Bool	Opens write data channel for a topic, returns false on error and message err_out.message
serviceCall( String service, MsgType data, Bool silent_req, Number timeout_sec, Callback cb )	Performs a ROS service call, reply received via callback
writeTopicData( String topic, MsgType data ) : Bool	Writes message into it a data channel opened with openWriteChannel(). Returns false on failure.