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<contact@blueye.no> (https://blueye.no/)","license":"LGPL-3.0-only","keywords":[],"repository":{"url":"https://github.com/BluEye-Robotics/blueye-ts.git","type":"git"},"description":"A TypeScript client for interacting with Blueye underwater drones.","maintainers":[{"name":"juanpi96","email":"juanpi.96.b@gmail.com"},{"name":"arechi","email":"aglimbenli@gmail.com"},{"name":"follesoe","email":"jonas@follesoe.no"}],"readme":"# blueye-ts\n\nA TypeScript package for interacting with Blueye underwater drones and parsing binlog files.\n\n## Installation\n\n```bash\nnpm install @blueyerobotics/blueye-ts\n```\n\n## Usage\n\n```ts\nimport { BlueyeClient } from \"@blueyerobotics/blueye-ts\";\n\nconst client = new BlueyeClient();\n\nclient.on(\"connected\", async () => {\n  // request battery information\n  const batteryRep = await client.sendRequest(\"GetBatteryReq\");\n  console.log(\"batteryRep:\", batteryRep);\n\n  // get latest battery telemetry\n  const batteryTel = await client.getTelemetry(\"BatteryTel\");\n  console.log(\"batteryTel:\", batteryTel);\n\n  // send a control message to change the light intensity to 1\n  await client.sendControl(\"LightsCtrl\", { lights: { value: 1 } });\n});\n\n// subscribe to battery telemetry updates\nclient.on(\"BatteryTel\", data => {\n  console.log(\"received BatteryTel:\", data);\n});\n\nclient.connect();\n```\n\n## Connection states\n\n`BlueyeClient` manages four sockets: `sub`, `rpc`, `pub`, and `sonar`. Global state events (`connecting`, `connected`, `disconnected`) are emitted when the derived state changes. Per-socket events use the `${socket}-${state}` format (e.g. `sonar-connected`, `rpc-connecting`):\n\n```ts\nclient.on(\"connected\", () => {\n  console.log(\"all required sockets ready\");\n});\n\nclient.on(\"sonar-connected\", () => {\n  console.log(\"sonar socket ready\");\n});\n```\n\nThe derived `client.state` reflects the aggregate of the core sockets (`sub`, `rpc`, `pub`). If a multibeam sonar is detected via `DroneInfoTel`, the sonar socket is also required for `connected`.\n\n- `disconnected`: `connect()` has not been called.\n- `connecting`: one or more required sockets are not yet ready.\n- `connected`: all required sockets are ready — safe to call `sendRequest()`, `getTelemetry()`, and `sendControl()`.\n\nAll state events — global and per-socket — are edge-triggered: they fire exactly once per actual change. If the client loses one or more sockets after being connected, the derived state moves back to `connecting` (with a `connecting` event). `sendRequest()` and `sendControl()` reject unless the client is in the `connected` state.\n\n### Telemetry staleness watchdog\n\nA dead link does not always produce a close event — a tether or radio drop can leave the sockets looking connected while telemetry silently freezes, until TCP retransmission gives up minutes later. Because the drone publishes telemetry continuously (e.g. `DroneTimeTel` at 1 Hz), the client watches for it: if no message arrives on the telemetry socket for `stalenessTimeout` milliseconds (default `5000`) while `connected`, the client force-drops its connections. This converts the silent failure into the normal loss path — consumers see the usual `connecting` event, and the built-in reconnect loop restores the session when the link returns.\n\nThe watchdog only arms after the first telemetry message of a connection (a connection that never produced telemetry is not judged stale), watches the main telemetry socket only (sonar can be legitimately quiet), and disarms on `disconnect()`. Set `stalenessTimeout: 0` to disable it:\n\n```ts\nconst client = new BlueyeClient({ stalenessTimeout: 0 }); // no watchdog\n```\n\n## Transports\n\n`BlueyeClient` talks to its sockets through a small transport interface. The default adapter uses [jszmq](https://github.com/BluEye-Robotics/jszmq) over WebSockets; an in-memory adapter ships alongside it for tests, so application code using `BlueyeClient` can be exercised without a drone or any network:\n\n```ts\nimport { BlueyeClient, InMemoryTransport } from \"@blueyerobotics/blueye-ts\";\n\nconst transport = new InMemoryTransport();\nconst rpc = transport.listen(\"mem://rpc\");\nrpc.onMessage(([topic, payload], reply) => {\n  // inspect the request, reply([topic, encoded]) as the drone would\n});\ntransport.listen(\"mem://sub\");\ntransport.listen(\"mem://pub\");\ntransport.listen(\"mem://sonar\");\n\nconst client = new BlueyeClient({\n  subUrl: \"mem://sub\",\n  rpcUrl: \"mem://rpc\",\n  pubUrl: \"mem://pub\",\n  sonarUrl: \"mem://sonar\",\n  transport,\n});\n```\n\nWhen you are done with a client, call `client.close()` to release the underlying sockets permanently; a closed client cannot be reused.\n\n## Sonar support\n\n`BlueyeClient` connects the sonar websocket endpoint at `ws://192.168.1.101:9988` when a supported multibeam device is detected in a `DroneInfoTel` message.\n\n- On `connect()`, the sonar socket subscribes but only connects when a known multibeam device ID is found in the guest-port device list. Detection inspects every `DroneInfoTel` — one is requested over RPC when the connection comes up, and any later `DroneInfoTel` arriving over SUB is also considered.\n- Once detected, the sonar socket connects and the global `connected` state requires it to be ready. Detection resets on `disconnect()`; the next connection starts without requiring sonar until it is detected again.\n- Sonar telemetry such as `MultibeamPingTel`, `MultibeamConfigTel`, and `MultibeamDiscoveryTel` is emitted through the same typed event interface as other telemetry messages.\n","readmeFilename":""}