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/**
* Base Teleoperator class for Node.js platform
* Uses serialport package for serial communication
* Mirrors Python lerobot/common/teleoperators/teleoperator.py
*/
import { SerialPort } from "serialport";
import { mkdir, writeFile } from "fs/promises";
import { join } from "path";
import type { TeleoperatorConfig } from "../types/teleoperator-config.js";
import { getCalibrationDir, TELEOPERATORS } from "../utils/constants.js";
export abstract class Teleoperator {
protected port: SerialPort | null = null;
protected config: TeleoperatorConfig;
protected calibrationDir: string;
protected calibrationPath: string;
protected name: string;
constructor(config: TeleoperatorConfig) {
this.config = config;
this.name = config.type;
// Determine calibration directory
// Mirrors Python: config.calibration_dir if config.calibration_dir else HF_LEROBOT_CALIBRATION / TELEOPERATORS / self.name
this.calibrationDir =
config.calibration_dir ||
join(getCalibrationDir(), TELEOPERATORS, this.name);
// Use teleoperator ID or type as filename
const teleopId = config.id || this.name;
this.calibrationPath = join(this.calibrationDir, `${teleopId}.json`);
}
/**
* Connect to the teleoperator
* Mirrors Python teleoperator.connect()
*/
async connect(_calibrate: boolean = false): Promise<void> {
try {
this.port = new SerialPort({
path: this.config.port,
baudRate: 1000000, // Correct baud rate for Feetech motors (SO-100) - matches Python lerobot
dataBits: 8, // 8 data bits - matches Python serial.EIGHTBITS
stopBits: 1, // 1 stop bit - matches Python default
parity: "none", // No parity - matches Python default
autoOpen: false,
});
// Open the port
await new Promise<void>((resolve, reject) => {
this.port!.open((error) => {
if (error) {
reject(
new Error(
`Failed to open port ${this.config.port}: ${error.message}`
)
);
} else {
resolve();
}
});
});
} catch (error) {
throw new Error(
`Could not connect to teleoperator on port ${this.config.port}`
);
}
}
/**
* Calibrate the teleoperator
* Must be implemented by subclasses
*/
abstract calibrate(): Promise<void>;
/**
* Disconnect from the teleoperator
* Mirrors Python teleoperator.disconnect()
*/
async disconnect(): Promise<void> {
if (this.port && this.port.isOpen) {
await new Promise<void>((resolve) => {
this.port!.close(() => {
resolve();
});
});
this.port = null;
}
}
/**
* Save calibration data to JSON file
* Mirrors Python's configuration saving
*/
protected async saveCalibration(calibrationData: any): Promise<void> {
// Ensure calibration directory exists
await mkdir(this.calibrationDir, { recursive: true });
// Save calibration data as JSON
await writeFile(
this.calibrationPath,
JSON.stringify(calibrationData, null, 2)
);
console.log(`Configuration saved to: ${this.calibrationPath}`);
}
/**
* Send command to teleoperator via serial port
*/
protected async sendCommand(command: string): Promise<void> {
if (!this.port || !this.port.isOpen) {
throw new Error("Teleoperator not connected");
}
return new Promise<void>((resolve, reject) => {
this.port!.write(command, (error) => {
if (error) {
reject(new Error(`Failed to send command: ${error.message}`));
} else {
resolve();
}
});
});
}
/**
* Read data from teleoperator
*/
protected async readData(timeout: number = 5000): Promise<Buffer> {
if (!this.port || !this.port.isOpen) {
throw new Error("Teleoperator not connected");
}
return new Promise<Buffer>((resolve, reject) => {
const timer = setTimeout(() => {
reject(new Error("Read timeout"));
}, timeout);
this.port!.once("data", (data: Buffer) => {
clearTimeout(timer);
resolve(data);
});
});
}
}
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