GR Device Init

version 1.1.2

Server is deployed on https://grobotics-socket-server.herokuapp.com - you can use this to create connections for user and robot.

Of course, for first time user 'testtoken' to connect to socket

I did this to control linux-based robots with Raspberry Pi or Banana pi.

Also, It can work on Windows-based devices.

Updates

added 'this.robotObject.updateState' to update state for robotObject more useful

Main idea:

We have deployed socket server

Should just create connections for main and robot (or client/user and robot).

Don't need to think about logic on server

RobotController has several controllers and update his state by time.

Getting started

This library provides simple controller and connection to connect to the GRobotics server - this server has some methods to controll devices using socket.

It is a device and user's part.

You can see examples in 'example' folder.

At first, install npm package:

run npm i gr-device-init

Create user connection

const { User, newGroboticsClientConnection } = require("gr-device-init");

Create new user that should be pass into connection

const user = new User({
  id: 'USER_ID',
  setUserStatus(st) {
    console.log('user accepted', st);
  },
  robotMessageHandler(state) {
    console.log('state', state);
  },
  deviceMessageHandler(userId, msg) {
    console.log('received from device', msg);
  }
});

Now we can create connection with our user on this robot. Also, robot should get access to this user.

const connection = newGroboticsClientConnection(user, 'https://grobotics-socket-server.herokuapp.com/', 'testtoken');

Before send commands to robot, we should init user

connection.initUser('MY_ROBOT_ID');

Also, user can has a few robots

So, now we are possible to send command!

connection.send('MY_ROBOT_ID', 'ROBOT_DEVICE_ID', 'my message')

Create robot connection

At first, let's create robot controller

const {
  createRobotController,
  DeviceController,
  newGroboticsConnection,
} = require("gr-device-init");

const robotController = createRobotController(robotObject, "MY_ROBOT_ID");

Where robotObject is something to work with inner state as middleware, for example:

const robotObject = {
  init() {
    console.log("init robots");
  },
  validate() {
    // This method needs to validate command to robot. Just return true if does not need.
    return true;
  },

  initUser() {
    console.log("initUser");
  },

  serverConnected() {
    console.log("serverConnected");
  },

  serverDisconnected() {
    console.log("serverDisconnected");
  },
};

Now create some controller with device

const testDevice = {
  id: "TEST_DEVICE",
  messagesIdsMap: {
    serverConnected: "serverConnected",
    serverDisconnected: "serverDisconnected",
    initUser: "initUser",
  },
  initDevice(args) {
    console.log("init in testDevice");
  },
  attachMsgFromDevice(cb) {
    let count = 0;
    setInterval(() => {
      cb(count++)
    }, 100);
  },
  sendMessage(msg) {
    console.log("send testDevice", msg);
    // here should be validation for message 'initUser'
    // just return true or false.
    // At this moment, each device should return true to create access for user
  },
};

const testController = new DeviceController({
  id: "TEST",
  device: testDevice,
});

Important!!

Add controllers before create connections

robotController.addController(testController);
robotController.addController(testController1);
robotController.addController(testController2);
....

After adding controllers, we should connect robotController to server, like this:

const connection = newGroboticsConnection(
  "https://grobotics-socket-server.herokuapp.com/",
  "MY_ROBOT_ID",
  "testtoken"
);

connection(robotController);

Package detail

gr-device-init

readme