Class LiveUniverseData

Hierarchy (view full)

BasicUniverseDataConnector
- LiveUniverseData

Implements

IUniverseData

Index

Constructors

Properties

lastQueriedHistoricTime mapRealtimeConnections queryStore subscriberDistributorsLoaders subscriberLoaders subscriberSources time timeChangeListeners

Methods

addInteraction addInteractionListener addInteractionsChangedListener addRemovableTelemetrySubscription createH264Drawer createRealtimeConnection fetchImage getDeviceContextName getDeviceContexts getHardwareStreams getInteractions getLatestLocations getLatestTransformTrees getRealtimeButtons getStatistics getTelemetryStreamType getTelemetryStreams getTeleopRosStreams getTime getTimeMs getUrdfs removeInteraction sendCommand sendRealtimeBitset sendRealtimeBoolean sendRealtimePose sendRtcMessage setTime subcribeToVideo subscribeDataSourceStateChange subscribeToBitset subscribeToGeometry subscribeToGridMap subscribeToImage subscribeToJointState subscribeToJson subscribeToLocation subscribeToNumeric subscribeToNumericSet subscribeToOdometry subscribeToPath subscribeToPointCloud subscribeToPose subscribeToRealtimeMessages subscribeToText subscribeToTransformTree subscribeToVideo unsubscribeToRealtimeMessages

Constructors

constructor

new LiveUniverseData(): LiveUniverseData
Returns LiveUniverseData
Overrides BasicUniverseDataConnector.constructor
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:37

Properties

lastQueriedHistoricTime

lastQueriedHistoricTime: undefined | Date

mapRealtimeConnections

mapRealtimeConnections: Map<string, "loading" | Device | PeerDevice> = ...

queryStore

queryStore: QueryStore = ...

subscriberDistributorsLoaders

subscriberDistributorsLoaders: Map<string, Map<string, ((data) => void)[]>> = ...

subscriberLoaders

subscriberLoaders: Map<string, Map<string, ((data) => Promise<DataResult<any>>)>> = ...

subscriberSources

subscriberSources: Map<string, Map<string, UniverseDataSource>> = ...

time

time: Date | "live"

timeChangeListeners

timeChangeListeners: ((time) => void)[] = []

Type declaration

- (time): void
- Parameters
  - time: Date | "live"
  Returns void

Methods

addInteraction

addInteraction(_interaction): void
Parameters
- _interaction: Interaction
Returns void
Implementation of IUniverseData.addInteraction
Inherited from BasicUniverseDataConnector.addInteraction
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:369

addInteractionListener

addInteractionListener(_callback): (() => void)
Parameters
- _callback: ((interaction) => void)
  - - (interaction): void
    - Parameters
      interaction: Interaction
      Returns void
Returns (() => void)
- - (): void
  - Returns void
Implementation of IUniverseData.addInteractionListener
Inherited from BasicUniverseDataConnector.addInteractionListener
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:387

addInteractionsChangedListener

addInteractionsChangedListener(_callback): (() => void)
Parameters
- _callback: ((interactions) => void)
  - - (interactions): void
    - Parameters
      interactions: Interaction[]
      Returns void
Returns (() => void)
- - (): void
  - Returns void
Implementation of IUniverseData.addInteractionsChangedListener
Inherited from BasicUniverseDataConnector.addInteractionsChangedListener
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:381

`Protected` addRemovableTelemetrySubscription

addRemovableTelemetrySubscription<T>(deviceId, source, loader, distribute): (() => void)
Type Parameters
- T
Parameters
- deviceId: string
- source: UniverseDataSource
- loader: ((data) => Promise<DataResult<T>>)
  - - (data): Promise<DataResult<T>>
    - Parameters
      data: IStreamData<keyof IStreamTypeMap>[]
      Returns Promise<DataResult<T>>
- distribute: ((data) => void)
  - - (data): void
    - Parameters
      data: T
      Returns void
Returns (() => void)
- - (): void
  - Returns void
Inherited from BasicUniverseDataConnector.addRemovableTelemetrySubscription
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:209

`Protected` createH264Drawer

createH264Drawer(): H264BytestreamCanvasDrawer
Returns H264BytestreamCanvasDrawer
Inherited from BasicUniverseDataConnector.createH264Drawer
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:266

`Protected` createRealtimeConnection

createRealtimeConnection(deviceId, sessionType?): Promise<void>
Parameters
- deviceId: string
- sessionType: number = SessionType.TELEOP
Returns Promise<void>
Inherited from BasicUniverseDataConnector.createRealtimeConnection
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:170

fetchImage

fetchImage(url): Promise<HTMLImageElement>
Parameters
- url: string
Returns Promise<HTMLImageElement>
Inherited from BasicUniverseDataConnector.fetchImage
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:453

getDeviceContextName

getDeviceContextName(_deviceId): Promise<undefined | string>
Parameters
- _deviceId: string
Returns Promise<undefined | string>
Implementation of IUniverseData.getDeviceContextName
Inherited from BasicUniverseDataConnector.getDeviceContextName
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:428

getDeviceContexts

getDeviceContexts(): Promise<{
deviceId: string;
deviceName: string;
}[]>
Returns Promise<{
deviceId: string;
deviceName: string;
}[]>
Implementation of IUniverseData.getDeviceContexts
Inherited from BasicUniverseDataConnector.getDeviceContexts
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:422

getHardwareStreams

getHardwareStreams(_deviceId): Promise<IRealtimeStream[]>
Parameters
- _deviceId: string
Returns Promise<IRealtimeStream[]>
Implementation of IUniverseData.getHardwareStreams
Inherited from BasicUniverseDataConnector.getHardwareStreams
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:365

getInteractions

getInteractions(): Interaction[]
Returns Interaction[]
Implementation of IUniverseData.getInteractions
Inherited from BasicUniverseDataConnector.getInteractions
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:377

getLatestLocations

getLatestLocations(): Promise<{
location: ILocation;
streamName: string;
}[]>
Returns Promise<{
location: ILocation;
streamName: string;
}[]>
Implementation of IUniverseData.getLatestLocations
Inherited from BasicUniverseDataConnector.getLatestLocations
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:405

getLatestTransformTrees

getLatestTransformTrees(_deviceId): Promise<{
streamName: string;
transformTree: ITransformNode;
}[]>
Parameters
- _deviceId: string
Returns Promise<{
streamName: string;
transformTree: ITransformNode;
}[]>
Implementation of IUniverseData.getLatestTransformTrees
Inherited from BasicUniverseDataConnector.getLatestTransformTrees
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:399

getRealtimeButtons

getRealtimeButtons(_deviceId): Promise<RealtimeButtonConfiguration[]>
Parameters
- _deviceId: string
Returns Promise<RealtimeButtonConfiguration[]>
Inherited from BasicUniverseDataConnector.getRealtimeButtons
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:393

getStatistics

getStatistics(): Promise<IUniverseStatistics>
Returns Promise<IUniverseStatistics>
Implementation of IUniverseData.getStatistics
Inherited from BasicUniverseDataConnector.getStatistics
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:439

getTelemetryStreamType

getTelemetryStreamType(_deviceId, _streamName): Promise<undefined | string>
Parameters
- _deviceId: string
- _streamName: string
Returns Promise<undefined | string>
Implementation of IUniverseData.getTelemetryStreamType
Inherited from BasicUniverseDataConnector.getTelemetryStreamType
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:432

getTelemetryStreams

getTelemetryStreams(_deviceId): Promise<ITelemetryStream[]>
Parameters
- _deviceId: string
Returns Promise<ITelemetryStream[]>
Implementation of IUniverseData.getTelemetryStreams
Inherited from BasicUniverseDataConnector.getTelemetryStreams
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:357

getTeleopRosStreams

getTeleopRosStreams(_deviceId): Promise<ITelemetryRosStream[]>
Parameters
- _deviceId: string
Returns Promise<ITelemetryRosStream[]>
Implementation of IUniverseData.getTeleopRosStreams
Inherited from BasicUniverseDataConnector.getTeleopRosStreams
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:361

getTime

getTime(): Date | "live"
Returns Date | "live"
Implementation of IUniverseData.getTime
Inherited from BasicUniverseDataConnector.getTime
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:79

getTimeMs

getTimeMs(): number
Returns number
Implementation of IUniverseData.getTimeMs
Inherited from BasicUniverseDataConnector.getTimeMs
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:83

getUrdfs

getUrdfs(deviceId): Promise<string[]>
Parameters
- deviceId: string
Returns Promise<string[]>
Implementation of IUniverseData.getUrdfs
Inherited from BasicUniverseDataConnector.getUrdfs
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:347

removeInteraction

removeInteraction(_id): void
Parameters
- _id: string
Returns void
Implementation of IUniverseData.removeInteraction
Inherited from BasicUniverseDataConnector.removeInteraction
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:373

sendCommand

sendCommand(deviceId, name, data?): Promise<void>
Parameters
- deviceId: string
- name: string
- Optional data: string
Returns Promise<void>
Implementation of IUniverseData.sendCommand
Inherited from BasicUniverseDataConnector.sendCommand
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:275

sendRealtimeBitset

sendRealtimeBitset(deviceId, streamName, bitset): Promise<void>
Parameters
- deviceId: string
- streamName: string
- bitset: IBitset
Returns Promise<void>
Implementation of IUniverseData.sendRealtimeBitset
Inherited from BasicUniverseDataConnector.sendRealtimeBitset
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:324

sendRealtimeBoolean

sendRealtimeBoolean(deviceId, streamName, value): Promise<void>
Parameters
- deviceId: string
- streamName: string
- value: boolean
Returns Promise<void>
Implementation of IUniverseData.sendRealtimeBoolean
Inherited from BasicUniverseDataConnector.sendRealtimeBoolean
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:306

sendRealtimePose

sendRealtimePose(deviceId, streamName, pose): Promise<void>
Parameters
- deviceId: string
- streamName: string
- pose: ITransform
Returns Promise<void>
Implementation of IUniverseData.sendRealtimePose
Inherited from BasicUniverseDataConnector.sendRealtimePose
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:287

`Protected` sendRtcMessage

sendRtcMessage(deviceId, msg): Promise<void>
Parameters
- deviceId: string
- msg: IRtcStreamMessage
Returns Promise<void>
Inherited from BasicUniverseDataConnector.sendRtcMessage
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:160

setTime

setTime(time): void
Parameters
- time: Date | "live"
Returns void
Implementation of IUniverseData.setTime
Inherited from BasicUniverseDataConnector.setTime
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:72

subcribeToVideo

subcribeToVideo(_deviceId, _source, _callback): CloseSubscription
Parameters
- _deviceId: string
- _source: UniverseDataSource
- _callback: ((frame) => void)
  - - (frame): void
    - Parameters
      frame: HTMLVideoElement
      Returns void
Returns CloseSubscription
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:57

subscribeDataSourceStateChange

subscribeDataSourceStateChange(_deviceId, _source, _onDataSourceStateChange?): CloseSubscription
Parameters
- _deviceId: string
- _source: UniverseDataSource
- Optional _onDataSourceStateChange: ((state) => void)
  - - (state): void
    - Parameters
      state: DataSourceState
      Returns void
Returns CloseSubscription
Implementation of IUniverseData.subscribeDataSourceStateChange
Inherited from BasicUniverseDataConnector.subscribeDataSourceStateChange
- Defined in data-sdk/src/connector/data/BaseUniverseDataConnector.ts:445

subscribeToBitset

subscribeToBitset(deviceId, source, callback): CloseSubscription
Parameters
- deviceId: string
- source: UniverseDataSource
- callback: ((data) => void)
  - - (data): void
    - Parameters
      data: Symbol | IBitset
      Returns void
Returns CloseSubscription
Implementation of IUniverseData.subscribeToBitset
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:65

subscribeToGeometry

subscribeToGeometry(_deviceId, _source, _callback): (() => void)
Parameters
- _deviceId: string
- _source: UniverseDataSource
- _callback: ((data) => void)
  - - (data): void
    - Parameters
      data: IMarker3DArray
      Returns void
Returns (() => void)
- - (): void
  - Returns void
Implementation of IUniverseData.subscribeToGeometry
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:540

subscribeToGridMap

subscribeToGridMap(deviceId, source, callback): (() => void)
Parameters
- deviceId: string
- source: UniverseDataSource
- callback: ((data) => void)
  - - (data): void
    - Parameters
      data: IUniverseGridMap
      Returns void
Returns (() => void)
- - (): void
  - Returns void
Implementation of IUniverseData.subscribeToGridMap
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:587

subscribeToImage

subscribeToImage(_deviceId, _source, _callback): CloseSubscription
Parameters
- _deviceId: string
- _source: UniverseDataSource
- _callback: ((image) => void)
  - - (image): void
    - Parameters
      image: HTMLCanvasElement
      Returns void
Returns CloseSubscription
Implementation of IUniverseData.subscribeToImage
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:49

subscribeToJointState

subscribeToJointState(deviceId, source, callback): (() => void)
Parameters
- deviceId: string
- source: UniverseDataSource
- callback: ((data) => void)
  - - (data): void
    - Parameters
      data: IJointState
      Returns void
Returns (() => void)
- - (): void
  - Returns void
Implementation of IUniverseData.subscribeToJointState
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:564

subscribeToJson

subscribeToJson<T>(deviceId, source, callback): CloseSubscription
Type Parameters
- T
Parameters
- deviceId: string
- source: UniverseDataSource
- callback: ((data) => void)
  - - (data): void
    - Parameters
      data: T
      Returns void
Returns CloseSubscription
Implementation of IUniverseData.subscribeToJson
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:294

subscribeToLocation

subscribeToLocation(_deviceId, _source, _callback): (() => void)
Parameters
- _deviceId: string
- _source: UniverseDataSource
- _callback: ((data) => void)
  - - (data): void
    - Parameters
      data: ILocation
      Returns void
Returns (() => void)
- - (): void
  - Returns void
Implementation of IUniverseData.subscribeToLocation
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:821

subscribeToNumeric

subscribeToNumeric(deviceId, source, callback): CloseSubscription
Parameters
- deviceId: string
- source: UniverseDataSource
- callback: ((num) => void)
  - - (num): void
    - Parameters
      num: [number, number][]
      Returns void
Returns CloseSubscription
Implementation of IUniverseData.subscribeToNumeric
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:208

subscribeToNumericSet

subscribeToNumericSet(deviceId, source, callback): CloseSubscription
Parameters
- deviceId: string
- source: UniverseDataSource
- callback: ((entry) => void)
  - - (entry): void
    - Parameters
      entry: [number, INumericSetEntry[]][]
      Returns void
Returns CloseSubscription
Implementation of IUniverseData.subscribeToNumericSet
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:231

subscribeToOdometry

subscribeToOdometry(deviceId, source, callback, _trail?): CloseSubscription
Parameters
- deviceId: string
- source: UniverseDataSource
- callback: ((data) => void)
  - - (data): void
    - Parameters
      data: IUniverseOdometry
      Returns void
- Optional _trail: number
Returns CloseSubscription
Implementation of IUniverseData.subscribeToOdometry
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:98

subscribeToPath

subscribeToPath(_deviceId, _source, _callback): CloseSubscription
Parameters
- _deviceId: string
- _source: UniverseDataSource
- _callback: ((data) => void)
  - - (data): void
    - Parameters
      data: Symbol | IUniversePath
      Returns void
Returns CloseSubscription
Implementation of IUniverseData.subscribeToPath
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:41

subscribeToPointCloud

subscribeToPointCloud(deviceId, source, callback): (() => void)
Parameters
- deviceId: string
- source: UniverseDataSource
- callback: ((data) => void)
  - - (data): void
    - Parameters
      data: IUniversePointCloud
      Returns void
Returns (() => void)
- - (): void
  - Returns void
Implementation of IUniverseData.subscribeToPointCloud
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:386

subscribeToPose

subscribeToPose(deviceId, source, callback): CloseSubscription
Parameters
- deviceId: string
- source: UniverseDataSource
- callback: ((data) => void)
  - - (data): void
    - Parameters
      data: IPose
      Returns void
Returns CloseSubscription
Implementation of IUniverseData.subscribeToPose
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:185

subscribeToRealtimeMessages

subscribeToRealtimeMessages(deviceId, streamName, callback): Promise<void>
Parameters
- deviceId: string
- streamName: string
- callback: RealtimeListener
Returns Promise<void>
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:261

subscribeToText

subscribeToText(deviceId, source, callback): CloseSubscription
Parameters
- deviceId: string
- source: UniverseDataSource
- callback: ((data) => void)
  - - (data): void
    - Parameters
      data: string
      Returns void
Returns CloseSubscription
Implementation of IUniverseData.subscribeToText
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:348

subscribeToTransformTree

subscribeToTransformTree(deviceId, source, callback): (() => void)
Parameters
- deviceId: string
- source: UniverseDataSource
- callback: ((data) => void)
  - - (data): void
    - Parameters
      data: ITransformNode
      Returns void
Returns (() => void)
- - (): void
  - Returns void
Implementation of IUniverseData.subscribeToTransformTree
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:785

subscribeToVideo

subscribeToVideo(deviceId, source, callback): (() => void)
Parameters
- deviceId: string
- source: UniverseDataSource
- callback: ((frame) => void)
  - - (frame): void
    - Parameters
      frame: HTMLCanvasElement
      Returns void
Returns (() => void)
- - (): void
  - Returns void
Implementation of IUniverseData.subscribeToVideo
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:691

unsubscribeToRealtimeMessages

unsubscribeToRealtimeMessages(deviceId, streamName, callback): Promise<void>
Parameters
- deviceId: string
- streamName: string
- callback: RealtimeListener
Returns Promise<void>
- Defined in data-sdk/src/connector/data/LiveUniverseData.ts:280

Class LiveUniverseData

Hierarchy (view full)

Implements

Index

Constructors

Properties

Methods

Constructors

constructor

Returns LiveUniverseData

Properties

lastQueriedHistoricTime

mapRealtimeConnections

queryStore

subscriberDistributorsLoaders

subscriberLoaders

subscriberSources

time

timeChangeListeners

Type declaration

Parameters

Returns void

Methods

addInteraction

Parameters

Returns void

addInteractionListener

Parameters

Parameters

Returns void

Returns (() => void)

Returns void

addInteractionsChangedListener

Parameters

Parameters

Returns void

Returns (() => void)

Returns void

Protected addRemovableTelemetrySubscription

Type Parameters

Parameters

Parameters

Returns Promise<DataResult<T>>

Parameters

Returns void

Returns (() => void)

Returns void

Protected createH264Drawer

Returns H264BytestreamCanvasDrawer

Protected createRealtimeConnection

Parameters

Returns Promise<void>

fetchImage

Parameters

Returns Promise<HTMLImageElement>

getDeviceContextName

Parameters

Returns Promise<undefined | string>

getDeviceContexts

Returns Promise<{ deviceId: string; deviceName: string; }[]>

getHardwareStreams

Parameters

Returns Promise<IRealtimeStream[]>

getInteractions

Returns Interaction[]

getLatestLocations

Returns Promise<{ location: ILocation; streamName: string; }[]>

getLatestTransformTrees

Parameters

Returns Promise<{ streamName: string; transformTree: ITransformNode; }[]>

getRealtimeButtons

Parameters

Returns Promise<RealtimeButtonConfiguration[]>

getStatistics

Returns Promise<IUniverseStatistics>

getTelemetryStreamType

Parameters

Returns Promise<undefined | string>

getTelemetryStreams

Parameters

`Protected` addRemovableTelemetrySubscription

`Protected` createH264Drawer

`Protected` createRealtimeConnection

Returns Promise<{
deviceId: string;
deviceName: string;
}[]>

Returns Promise<{
location: ILocation;
streamName: string;
}[]>

Returns Promise<{
streamName: string;
transformTree: ITransformNode;
}[]>

`Protected` sendRtcMessage