@robotical/webapp-types 3.18.9 → 3.18.11

package/dist-types/src/application/RAFTs/Marty/Marty.d.ts

@@ -9,6 +9,7 @@ import MartyAddonsManager from "./MartyAddonsManager";
 import CalibrationManager from "./CalibrationManager";
 import { RICNotificationsManager } from "./notifications-manager/RICNotificationsManager";
 import PublishedDataAnalyser from "./PublishedDataAnalyser";
+import MartySoundStreamingStats, { MartySoundStreamingProfile } from "./MartySoundStreamingStats";
 export declare class Marty extends RAFT implements RICInterface {
     id: string;
     type: RaftTypeE;
@@ -19,11 +20,13 @@ export declare class Marty extends RAFT implements RICInterface {
     calibrationManager: CalibrationManager;
     ricNotificationManager: RICNotificationsManager;
     publishedDataAnalyser: PublishedDataAnalyser;
+    soundStreamingStats: MartySoundStreamingStats;
     _ledLcdColours: RICLedLcdColours;
     private rssiValues;
     private MAX_RSSI_VALUES_N;
     constructor(id: string);
     get ledLcdColours(): RICLedLcdColours;
+    getSoundStreamingProfile(): MartySoundStreamingProfile;
     /**
     * Gets the RSSI of the RAFT
     */

package/dist-types/src/application/RAFTs/Marty/Marty.js

@@ -52,6 +52,7 @@ var __generator = (this && this.__generator) || function (thisArg, body) {
 import { RaftTypeE } from "../../../types/raft";
 import RAFT from "../RAFT";
 import { RaftConnEvent, RaftPublishEvent } from "@robdobsn/raftjs";
+import { RaftInfoEvents } from "../../../types/events/raft-info";
 import { MartyWifiManager } from "./MartyWifiManager";
 import MartyAddonsManager from "./MartyAddonsManager";
 import CalibrationManager from "./CalibrationManager";
@@ -59,6 +60,7 @@ import Logger from "../../../services/logger/Logger";
 import { AppSentMessage } from "../../../types/communication-between-apps/wrapper-communication";
 import { RICNotificationsManager } from "./notifications-manager/RICNotificationsManager";
 import PublishedDataAnalyser from "./PublishedDataAnalyser";
+import MartySoundStreamingStats from "./MartySoundStreamingStats";
 var SHOW_LOGS = true;
 var TAG = "Marty";
 var Marty = /** @class */ (function (_super) {
@@ -80,6 +82,7 @@ var Marty = /** @class */ (function (_super) {
         _this.ricNotificationManager = new RICNotificationsManager(_this);
         // Published data analyser  
         _this.publishedDataAnalyser = new PublishedDataAnalyser(_this);
+        _this.soundStreamingStats = new MartySoundStreamingStats();
         // Colours to use for LED patterns
         _this._ledLcdColours = [
             { led: "#202000", lcd: "#FFFF00" },
@@ -109,6 +112,9 @@ var Marty = /** @class */ (function (_super) {
         enumerable: false,
         configurable: true
     });
+    Marty.prototype.getSoundStreamingProfile = function () {
+        return this.soundStreamingStats.getCurrentProfile();
+    };
     /**
     * Gets the RSSI of the RAFT
     */
@@ -220,8 +226,9 @@ var Marty = /** @class */ (function (_super) {
                         _a = eventEnum;
                         switch (_a) {
                             case RaftConnEvent.CONN_VERIFIED_CORRECT: return [3 /*break*/, 1];
+                            case RaftConnEvent.CONN_STREAMING_ISSUE: return [3 /*break*/, 3];
                         }
-                        return [3 /*break*/, 3];
+                        return [3 /*break*/, 4];
                     case 1: return [4 /*yield*/, this.sendAtomicReadOperation()];
                     case 2:
                         wasSent = _b.sent();
@@ -231,9 +238,12 @@ var Marty = /** @class */ (function (_super) {
                         else {
                             Logger.warn(SHOW_LOGS, TAG, "Warn! sending atomic read operation to Marty");
                         }
-                        return [3 /*break*/, 4];
-                    case 3: return [3 /*break*/, 4];
-                    case 4: return [2 /*return*/];
+                        return [3 /*break*/, 5];
+                    case 3:
+                        this.soundStreamingStats.increaseWarning();
+                        return [3 /*break*/, 5];
+                    case 4: return [3 /*break*/, 5];
+                    case 5: return [2 /*return*/];
                 }
             });
         });
@@ -261,6 +271,9 @@ var Marty = /** @class */ (function (_super) {
         return __awaiter(this, void 0, void 0, function () {
             return __generator(this, function (_a) {
                 switch (eventEnum) {
+                    case RaftInfoEvents.SYSTEM_INFO:
+                        this.soundStreamingStats.configureSoundStreamingForRobot(data.systemInfo);
+                        break;
                     default:
                         break;
                 }

package/dist-types/src/application/RAFTs/Marty/MartySoundStreamingStats.d.ts

@@ -0,0 +1,16 @@
+import { RaftSystemInfo } from "@robdobsn/raftjs";
+export type MartySoundStreamingProfile = {
+    bitRate: number;
+    sampleRate: number;
+    avgFlag: boolean;
+};
+export default class MartySoundStreamingStats {
+    private readonly MAX_WARNINGS_PER_PROFILE;
+    private readonly RIC_VERSION_NEW_SOKTO_MODE;
+    private readonly soundStreamingProfiles;
+    private currentSoundStreamingProfileIndex;
+    getCurrentProfile(): MartySoundStreamingProfile;
+    increaseWarning(): void;
+    setBitRate(bitRate: number): boolean;
+    configureSoundStreamingForRobot(systemInfo: Pick<RaftSystemInfo, "SystemVersion"> | null): void;
+}

package/dist-types/src/application/RAFTs/Marty/MartySoundStreamingStats.js

@@ -0,0 +1,57 @@
+import isVersionGreater from "../../../utils/helpers/compare-version";
+var SoundStreamingProfile = /** @class */ (function () {
+    function SoundStreamingProfile(bitRate, sampleRate, avgFlag) {
+        this.bitRate = bitRate;
+        this.sampleRate = sampleRate;
+        this.avgFlag = avgFlag;
+        this.numWarnings = 0;
+    }
+    return SoundStreamingProfile;
+}());
+var MartySoundStreamingStats = /** @class */ (function () {
+    function MartySoundStreamingStats() {
+        this.MAX_WARNINGS_PER_PROFILE = 2;
+        this.RIC_VERSION_NEW_SOKTO_MODE = "1.2.52";
+        // Profiles must be listed in decreasing order by bitrate.
+        this.soundStreamingProfiles = [
+            new SoundStreamingProfile(64, 44100, true),
+            new SoundStreamingProfile(48, 32000, true),
+            new SoundStreamingProfile(32, 22050, true),
+            new SoundStreamingProfile(24, 16000, true),
+            new SoundStreamingProfile(16, 11025, true),
+        ];
+        this.currentSoundStreamingProfileIndex = 0;
+    }
+    MartySoundStreamingStats.prototype.getCurrentProfile = function () {
+        var profile = this.soundStreamingProfiles[this.currentSoundStreamingProfileIndex];
+        return {
+            bitRate: profile.bitRate,
+            sampleRate: profile.sampleRate,
+            avgFlag: profile.avgFlag,
+        };
+    };
+    MartySoundStreamingStats.prototype.increaseWarning = function () {
+        var profile = this.soundStreamingProfiles[this.currentSoundStreamingProfileIndex];
+        profile.numWarnings++;
+        if (profile.numWarnings > this.MAX_WARNINGS_PER_PROFILE &&
+            this.currentSoundStreamingProfileIndex < this.soundStreamingProfiles.length - 1) {
+            this.currentSoundStreamingProfileIndex++;
+        }
+    };
+    MartySoundStreamingStats.prototype.setBitRate = function (bitRate) {
+        var profileIndex = this.soundStreamingProfiles.findIndex(function (profile) { return profile.bitRate <= bitRate; });
+        if (profileIndex === -1) {
+            return false;
+        }
+        this.currentSoundStreamingProfileIndex = profileIndex;
+        return true;
+    };
+    MartySoundStreamingStats.prototype.configureSoundStreamingForRobot = function (systemInfo) {
+        if ((systemInfo === null || systemInfo === void 0 ? void 0 : systemInfo.SystemVersion) &&
+            isVersionGreater(this.RIC_VERSION_NEW_SOKTO_MODE, systemInfo.SystemVersion)) {
+            this.setBitRate(16);
+        }
+    };
+    return MartySoundStreamingStats;
+}());
+export default MartySoundStreamingStats;

package/dist-types/src/wrapper-app/connectors/ConnectorFactory.d.ts

@@ -11,5 +11,5 @@ export default class ConnectorFactory {
      *
      */
     static connectToRaftHelper(method: RaftConnectionMethod, uuids: string[], onConnManagerCreated?: (connManager: ConnManager) => void): Promise<Connector | null>;
-    static createConnector(raftType: string | undefined, connManager: ConnManager): Connector;
+    static createConnector(raftType: string | undefined, connManager: ConnManager, connectionMethod: RaftConnectionMethod): Connector;
 }

package/dist-types/src/wrapper-app/connectors/ConnectorFactory.js

@@ -76,7 +76,7 @@ var ConnectorFactory = /** @class */ (function () {
                         }
                         systemInfo = connManager.getConnector().getRaftSystemUtils().getCachedSystemInfo();
                         raftType = systemInfo === null || systemInfo === void 0 ? void 0 : systemInfo.SystemName;
-                        connector = this.createConnector(raftType, connManager);
+                        connector = this.createConnector(raftType, connManager, method);
                         connectorWasCreated = true;
                         return [2 /*return*/, connector];
                     case 3:
@@ -106,14 +106,14 @@ var ConnectorFactory = /** @class */ (function () {
             });
         });
     };
-    ConnectorFactory.createConnector = function (raftType, connManager) {
+    ConnectorFactory.createConnector = function (raftType, connManager, connectionMethod) {
         var systemInfo = connManager.getConnector().getRaftSystemUtils().getCachedSystemInfo();
         var serialNo = (systemInfo === null || systemInfo === void 0 ? void 0 : systemInfo.MAC) || (systemInfo === null || systemInfo === void 0 ? void 0 : systemInfo.SerialNo);
         var connector;
         var randomId = serialNo || randomHashGenerator();
         switch (raftType) {
             case "RIC":
-                connector = new MartyConnector(randomId, connManager);
+                connector = new MartyConnector(randomId, connManager, connectionMethod);
                 break;
             case "Cog":
                 connector = new CogConnector(randomId, connManager);

package/dist-types/src/wrapper-app/connectors/MartyConnector/MartyConnector.d.ts

@@ -1,12 +1,12 @@
 import { RaftInfoEvents } from "../../../types/events/raft-info";
-import { ConnectionAttemptResults, RaftTypeE } from "../../../types/raft";
+import { ConnectionAttemptResults, RaftConnectionMethod, RaftTypeE } from "../../../types/raft";
 import Connector from "../Connector";
 import ConnectorInterface from "../ConnectorInterface";
 import { RaftConnEvent, RaftUpdateEvent, RaftPublishEvent } from "@robdobsn/raftjs";
 import { ConnManager } from "@robotical/roboticaljs";
 declare class MartyConnector extends Connector implements ConnectorInterface {
     type: RaftTypeE;
-    constructor(raftId: string, connManager: ConnManager);
+    constructor(raftId: string, connManager: ConnManager, connectionMethod: RaftConnectionMethod);
     /**
      * Publish an event to all observers
      * Set in RICConnector as an event listener callback

package/dist-types/src/wrapper-app/connectors/MartyConnector/MartyConnector.js

@@ -52,7 +52,7 @@ var __generator = (this && this.__generator) || function (thisArg, body) {
 import { RICRoboticalAddOns } from "@robotical/ricjs-robotical-addons";
 import { RaftInfoEvents } from "../../../types/events/raft-info";
 import Logger from "../../../services/logger/Logger";
-import { RaftTypeE } from "../../../types/raft";
+import { RaftConnectionMethod, RaftTypeE } from "../../../types/raft";
 import Connector from "../Connector";
 import { RaftConnEvent, RaftUpdateEvent, RaftPublishEvent, } from "@robdobsn/raftjs";
 import { RICServoParamUpdater, RICSystemUtils, } from "@robotical/roboticaljs";
@@ -60,6 +60,7 @@ import { WrapperSentMessage } from "../../../types/communication-between-apps/wr
 var SHOW_LOGS = true;
 var TAG = "MartyConnector";
 var UNPLUGGED_MODE_CHECK_TIMEOUT_MS = 750;
+var WEB_BLE_AUDIO_BLOCKS_WITHOUT_PAUSE = 0;
 var timeout = function (promise, timeoutMs) {
     var timeoutId;
     var timeoutPromise = new Promise(function (resolve) {
@@ -73,9 +74,14 @@ var timeout = function (promise, timeoutMs) {
 };
 var MartyConnector = /** @class */ (function (_super) {
     __extends(MartyConnector, _super);
-    function MartyConnector(raftId, connManager) {
+    function MartyConnector(raftId, connManager, connectionMethod) {
         var _this = _super.call(this, raftId, connManager) || this;
         _this.type = RaftTypeE.MARTY;
+        if (connectionMethod === RaftConnectionMethod.WEB_BLE) {
+            var streamHandler = _this.connManager.getConnector().getStreamHandler();
+            // RaftJS chunks logical stream blocks to the safe Web Bluetooth write size.
+            streamHandler.setNumBlocksWithoutPause(WEB_BLE_AUDIO_BLOCKS_WITHOUT_PAUSE);
+        }
         return _this;
     }
     /**

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@robotical/webapp-types",
-  "version": "3.18.9",
+  "version": "3.18.11",
   "description": "Type definitions for the Application Manager",
   "main": "dist/application-manager.d.ts",
   "types": "dist/application-manager.d.ts",