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| // Core models with clean typing | |
| export interface JointState { | |
| name: string; | |
| value: number; // Normalized value (-100 to +100 for regular joints, 0-100 for grippers) | |
| limits?: { lower: number; upper: number }; // URDF limits in radians | |
| servoId?: number; // For hardware mapping | |
| } | |
| export interface JointCalibration { | |
| isCalibrated: boolean; | |
| minServoValue?: number; | |
| maxServoValue?: number; | |
| } | |
| export interface RobotCommand { | |
| joints: { name: string; value: number }[]; | |
| timestamp?: number; | |
| } | |
| export interface ConnectionStatus { | |
| isConnected: boolean; | |
| error?: string; | |
| lastConnected?: Date; | |
| } | |
| export interface Position3D { | |
| x: number; | |
| y: number; | |
| z: number; | |
| } | |
| // Driver configurations | |
| export interface USBDriverConfig { | |
| type: "usb"; | |
| baudRate?: number; | |
| } | |
| export interface RemoteDriverConfig { | |
| type: "remote"; | |
| url: string; | |
| robotId: string; | |
| workspaceId?: string; // Optional workspace ID for remote connections | |
| } | |
| // Driver base interface | |
| export interface Driver { | |
| readonly id: string; | |
| readonly name: string; | |
| readonly status: ConnectionStatus; | |
| connect(): Promise<void>; | |
| disconnect(): Promise<void>; | |
| onStatusChange(callback: (status: ConnectionStatus) => void): () => void; | |
| } | |
| // Consumer interface (receives commands) - Robot can only have ONE | |
| export interface Consumer extends Driver { | |
| onCommand(callback: (command: RobotCommand) => void): () => void; | |
| startListening?(): Promise<void>; | |
| stopListening?(): Promise<void>; | |
| } | |
| // Producer interface (sends commands) - Robot can have MULTIPLE | |
| export interface Producer extends Driver { | |
| sendCommand(command: RobotCommand): Promise<void>; | |
| } | |
| // Calibration state for UI components | |
| export interface CalibrationState { | |
| isCalibrating: boolean; | |
| progress: number; | |
| } | |