+ English | + 简体中文 | + Deutsch | + Français | + Español +
+ +## Nomenclature + +Here are some terms we will be using in this document: + +* ```Robot, bot``` - this is the Android software running on the phone on the [OpenBot](https://www.openbot.org/) +vehicle. +* ```Server``` - the web server, the server part of this project. +* ```Client, UI``` - this is the client part of this project. It runs in the browser. + +## Introduction + +This project operates remotely on a cloud server, functioning as a controller for +the [OpenBot](https://www.openbot.org/) vehicle. The software comprises two components: a server and a client. The +server is a cloud application deployed in a remote environment. The client component runs directly in the web browser. +Here is a screenshot of the browser: + +
+
+## Getting Started
+
+You can run this software on a PC, RaspberryPi-type device or
+even [Pi Zero](https://www.raspberrypi.com/products/raspberry-pi-zero/) devices which support ```Node.js``` environment.
+First make sure you have installed [Node.js](https://nodejs.org/), version 10 or newer. Check the version:
+
+ node --version
+
+The software is located in the ```/controller/web-server``` directory of the OpenBot project. After checking out the
+code from [github](https://github.com/isl-org/OpenBot), change into this directory and run the following commands:
+
+ npm install
+ npm start
+
+The last command will start the server. If you like to run the server without a terminal in the background,
+on ```Linux/MacOS``` you can run:
+
+ npm run start-nohup
+
+or just:
+
+ nohup npm start
+
+## Features of web controller
+
+- The OpenBot controller operates on a cloud server accessible remotely via the internet. Clients can seamlessly access
+ the controller directly, allowing for a convenient ``sign-in`` process using their Google accounts. Moreover, on the
+ robot app, clients utilize the ``same email ID`` as their web controller login for authentication. This implementation ensures that there are no cross-connections between servers and clients.
+
+- The server is hosted at ``ws://verdant-imported-peanut.glitch.me`` using a secure WebSocket connection, ensuring swift
+ and reliable communication. This setup empowers clients with the ability to connect and control the robot from any
+ location without the dependency on a local server.
+
+- The web controller is designed to facilitate video streaming through WebRTC, a real-time communication protocol. The
+ latency experienced by users is contingent upon their individual internet connection speeds and the geographical
+ location of the server. This means that users with faster internet connections and servers located in closer proximity
+ will generally experience lower latency during video streaming session.
+
+- On the Robot Android app, go to the ```General``` panel and select ```Web``` as the controller. This will connect the
+Android app to the cloud server, and a video will appear on the UI.
+
+## How it Works
+
+1. The WebSocket creates a connection with cloud server. The server initiates a request for an identification, typically
+ in the form of an email address, from the user's browser. Simultaneously, the robot application undergoes
+ authentication using Google Sign-In. When the controller mode is set to ``Web``, server prompts the user for their
+ email address.
+
+ 
+
+2. When a user signs in via Google on the browser, the email associated with the account is transmitted to the server.
+ Subsequently, a dedicated ``room`` is dynamically generated, with the user's email serving as
+ the ``unique identifier``. Within this room, two candidates are established. The initial candidate is configured for
+ the browser client, which then enters a waiting state, poised to establish a connection with the robot application.
+
+ 
+
+3. After the controller is set to ```web```, the room reaches full capacity, with the second candidate being designated
+ as the robot application. Concurrently, the robot application sends a request for an offer for WebRTC (Web Real-Time
+ Communication). The first candidate, which is assigned to the browser client, responds with an answer to this
+ request. This successful exchange results in the establishment of a robust and functional connection. And displays
+ video stream on browser's UI.
+
+ 
+
+
+4. The user enters keyboard commands from the browser. These key presses are sent to the Server via the WebSocket or
+ webrtc. The server converts these to commands that the Robot can understand, like ```{driveCmd: {l:0.4, r:0.34}}``` (
+ a list of all commands can be found in the documentation for the Android
+ controller [here](https://github.com/isl-org/OpenBot/blob/master/docs/technical/OpenBotController.pdf)). These
+ commands are sent to the Robot via the Socket connection.
+5. The WebSocket serves as a crucial data channel for WebRTC signaling proxy. WebRTC efficiently leverages the existing
+ open socket connections for this purpose, eliminating the need for any additional connections or configurations. This
+ streamlined approach enhances efficiency and minimizes setup requirements for seamless real-time communication
+
+### Create your own server
+
+- ``Server setup``: The code initiates a WebSocket server that listens on port 8080. Upon the server's readiness, it logs a confirmation message about its active state on the specified port. Subsequently, a Map named "rooms" is initialized, serving as a repository to manage and store details about individual rooms. Each room is uniquely identified by an ID.
+
+- ``Client Connection Handling`` : The client and the robot app act as two candidates in the room generation process for establishing a server remotely. The system logs the connection of a client, providing information about the total number of connected clients. The askIdOfClient function engages with clients, prompting them to share their respective room IDs. Additionally, the system listens for incoming messages from clients. The browser client, functioning as the initial candidate, is configured and transitions into a waiting state, prepared to initiate a connection with the robot application.
+
+- `` Room Management``: The createOrJoinRoom function assesses the existence of a room identified by the specified roomId. If the room is not present, it initiates the creation of a new room. In cases where the room already exists, the function facilitates the joining of the existing room, taking into consideration its availability.
+
+- `` Client Disconnection Handling and interaction``: Upon a client's disconnection, the system generates logs that include information about the total number of connected clients. If there are associated rooms, these rooms are closed, and the entry of the disconnected client is expunged from the rooms Map. Additionally, the server prompts clients to provide their respective room IDs during the connection process.
+
+- ``Broadcast Functions``:
+ - wss.broadcast: Broadcasts a message to all connected clients.
+ - broadcastToRoom: Broadcasts a message to all clients within a specific room.
+ - sendToBot: Sends a message to a bot (broadcasts to all clients except the sender).
+
+
+- Once the browser client responds with an answer to the offer request, it will finally lead to the display of a video stream on the browser's user interface.
+
+## Implementation of custom server:
+
+For testing purposes, we have opened new remote server on ``glitch`` but you can use any cloud environment for your web-server communication with openBot application.
+- First of all create a new account on [Glitch](https://glitch.com/). After, create your new project as shown in below image.
+
+ 
+
+- After that you have to insert the code from [server.js](server/server.js) file to server.js file of your project(remote server) as shown in the following image.
+
+ 
+
+- In next step, you have to add ``webSocket`` dependency in your project as you can see in the below image
+
+ 
+
+- To establish your own server, you need to specify the project name in the authentication.js file, as demonstrated, to initiate the WebSocket connection.
+
+ ``new WebSocket(`ws://gossamer-southern-hygienic`);``
+
+
+
+
+## Development
+
+This code uses [snowpack](https://www.snowpack.dev/) for a fast, lightweight building tool.
+
+We use [eslint](https://eslint.org/) for linting and automatically formatting your code. It is recommended that you run
+lint and fix any errors before committing new code. If you are using Visual Code, you can get a
+plugin [here](https://marketplace.visualstudio.com/items?itemName=dbaeumer.vscode-eslint). Run the linter like this:
+
+ npm run lint
+
+## Production
+
+To build a production version of the ```client```, run:
+
+ npm run build
+
+This will optimize the client code into a ```build``` directory, which can be deplyed on a server. In addition we need
+to setup a process manager to restart the server, and possibly a reverse proxy
+like [nginx](https://docs.nginx.com/nginx/admin-guide/web-server/reverse-proxy/), which is not yet done.
+
+## Troubleshooting
+
+* Sometimes the browser will not show the commands menu, just the title. This means the WebSocket connection could not
+ be established. This usually happens right after starting the server. If you examine the browser console, you can find
+ a message about not being able to connect, something
+ like ```WebSocket connection to 'ws://localhost:8081/ws' failed```, Kill all node processes (pkill -9 node) and
+ restart it. Reload the page and connection should be established.
+* If you cannot connect the phone to the app, make sure another instance of this application is not running on this
+ machine or another machine on the same email.
+
+## Known Bugs
+
+None.
+
+## Things to do/try
+
+* This software has not been tested on Windows. It would be useful if somebody can test and update this documentation.
+* We need to investigate if we can connect to the server remotely, and if WebRTC will still work. We should document
+ firewall configuration to make this possible.
+* We need to create a ```production``` configuration, possibly
+ using [pm2 process manager](https://www.npmjs.com/package/pm2)
+ and [nginx](https://docs.nginx.com/nginx/admin-guide/web-server/reverse-proxy/).
diff --git a/controller/web-server/client/.eslintrc.json b/controller/web-server/client/.eslintrc.json
new file mode 100644
index 000000000..d8f0ecbdf
--- /dev/null
+++ b/controller/web-server/client/.eslintrc.json
@@ -0,0 +1,18 @@
+{
+ "root": true,
+ "env": {
+ "browser": true,
+ "es2021": true
+ },
+ "extends": [
+ "standard"
+ ],
+ "parserOptions": {
+ "ecmaVersion": 12,
+ "sourceType": "module"
+ },
+ "rules": {
+ "indent": "off",
+ "object-curly-spacing": "off"
+ }
+}
diff --git a/controller/web-server/client/firebase/APIs.js b/controller/web-server/client/firebase/APIs.js
new file mode 100644
index 000000000..d67f2d7e5
--- /dev/null
+++ b/controller/web-server/client/firebase/APIs.js
@@ -0,0 +1,74 @@
+import {addDoc, and, collection, doc, getDoc, getDocs, query, where} from '@firebase/firestore'
+import {auth, db} from './authentication'
+import {localStorageKeys, Month, tables} from '../utils/constants'
+
+/**
+ * function to upload user usage on monthly basis on firebase firestore
+ * @returns {Promise+ English | + 简体中文 | + Deutsch | + Français | + Español +
+ +- #### Usage + In our web application, we use Firebase for Google sign-in authentication to identify each unique client and prevent cross-connections between the robot app and the web server. If you clone this project and run on your device, you must set up your own Firebase project because the + firebase configuration is required for sign-in authentication. +- #### About Google Sign-In + Firebase Google Sign-In Authentication is a feature of the Firebase platform that allows users to sign in to mobile or + web apps using their Google credentials. This service provides a secure and convenient way for users to access apps + without having to remember and manage separate login credentials. Firebase manages the entire authentication process, + from verifying the user's identity with Google to providing a unique user ID that can be used to personalize the user' + s experience within the app. This feature also includes additional security measures, such as two-factor + authentication, to help protect user accounts from unauthorized access. + +**Note** - Please follow the OpenBot playground [documentation](../../../../open-code/src/services/README.md) to set up your Firebase project and enabling google authentication. No need to enable Google Drive API for now. + +### Setting up Environment Variables + +Using Environment Variables When using Firebase Authentication, you may need to store sensitive information such as API keys, database credentials, and other secrets. To do this securely, you can use environment variables to store this information outside your code. by doing following steps. + +1. Create a new file in web-server called .env. + +
+
+2. Add following environment variables to the .env file that will be used in authentication.js file.
+ ```bash REACT_APP_FIREBASE_API_KEY=
+
+
+
+
+ 
+
+
+
+
+
+
+ OpenBot
+Controller
+
+
+
+
+
+
+
+
+
+
diff --git a/controller/web-server/client/index.js b/controller/web-server/client/index.js
new file mode 100644
index 000000000..844a3e626
--- /dev/null
+++ b/controller/web-server/client/index.js
@@ -0,0 +1,305 @@
+/*
+ * Developed for the OpenBot project (https://openbot.org) by:
+ *
+ * Ivo Zivkov
+ * izivkov@gmail.com
+ *
+ * Date: Mon Nov 29 2021
+ */
+
+import {Connection} from './websocket/connection.js'
+import {Keyboard} from './keyboardHandlers/keyboard.js'
+import {BotMessageHandler} from './keyboardHandlers/bot-message-handler'
+import {Commands} from './keyboardHandlers/commands'
+import {RemoteKeyboard} from './keyboardHandlers/remote_keyboard'
+import {WebRTC} from './webRTC/webrtc.js'
+import {signInWithCustomToken} from 'firebase/auth'
+import {auth, googleSigIn, googleSignOut} from './firebase/authentication'
+import {localStorageKeys} from './utils/constants'
+
+const connection = new Connection();
+(async () => {
+ const keyboard = new Keyboard()
+ const botMessageHandler = new BotMessageHandler(connection)
+
+ const onData = data => {
+ const msg = JSON.parse(data)
+ botMessageHandler.handle(JSON.parse(data).status, connection)
+ }
+
+ const onQuit = () => {
+ connection.stop()
+ }
+
+ await connection.start(onData)
+ const webRtc = new WebRTC(connection)
+ const sendToBot = (key) => {
+ const msg = JSON.parse(key)
+ let commands = {}
+ if (msg.driveCmd !== undefined) {
+ commands = {
+ driveCmd: msg.driveCmd,
+ roomId: signedInUser.email
+ }
+ } else {
+ commands = {
+ command: msg.command,
+ roomId: signedInUser.email
+ }
+ }
+ // connection.send(JSON.stringify(commands)) //This is for sending via socket)
+ botMessageHandler.handle(commands, connection) // This is for sending via webRtc
+ }
+ const onKeyPress = (key) => {
+ const command = new Commands(sendToBot)
+ const remoteKeyboard = new RemoteKeyboard(command.getCommandHandler())
+ // Send keypress to server
+ const keyPressObj = {KEYPRESS: key}
+ console.log(keyPressObj.KEYPRESS.key)
+ if (keyPressObj.KEYPRESS.key === 'Escape') {
+ if (webRtc != null) {
+ webRtc.stop()
+ }
+ }
+ remoteKeyboard.processKey(keyPressObj.KEYPRESS)
+ }
+
+ keyboard.start(onKeyPress, onQuit)
+})()
+
+export let signedInUser = JSON.parse(localStorage.getItem(localStorageKeys.user))
+
+const signInButton = document.getElementsByClassName('google-sign-in-button')[0]
+signInButton.addEventListener('click', handleSignInButtonClick)
+const cancelButton = document.getElementById('logout-cancel-button')
+const okButton = document.getElementById('logout-ok-button')
+cancelButton.addEventListener('click', handleCancelButtonClick)
+okButton.addEventListener('click', handleOkButtonClick)
+const subscribeButton = document.getElementById('subscribe-button')
+subscribeButton.addEventListener('click', handleSubscription)
+
+
+/**
+ * function to handle signIn on home page
+ */
+function handleSignInButtonClick() {
+ if (localStorage.getItem(localStorageKeys.isSignIn) === 'false') {
+ googleSigIn()
+ .then((user) => {
+ // Use the user data or store it in a variable for later use
+ signedInUser = user
+ const signInBtn = document.getElementsByClassName('google-sign-in-button')[0]
+ signInBtn.innerText = user.displayName
+ localStorage.setItem(localStorageKeys.user, JSON.stringify(user))
+ localStorage.setItem(localStorageKeys.isSignIn, true.toString())
+ sendId()
+ })
+ .catch((error) => {
+ // Handle any errors that might occur during sign-in
+ console.error('Error signing in:', error)
+ })
+ } else {
+ showLogoutWrapper()
+ hideExpirationWrapper()
+ }
+}
+
+/**
+ * function to sendId to remote server
+ */
+function sendId() {
+ const response = {
+ roomId: signedInUser.email
+ }
+ connection.send(JSON.stringify(response))
+}
+
+/**
+ * function to handle signOut from google account
+ */
+function signOut() {
+ signedInUser = null
+ localStorage.setItem(localStorageKeys.user, null)
+ localStorage.setItem(localStorageKeys.isSignIn, false.toString())
+ const signInBtn = document.getElementsByClassName('google-sign-in-button')[0]
+ signInBtn.innerText = 'Sign in with Google'
+ googleSignOut()
+}
+
+/**
+ * function to handle cancel button on logout popup
+ */
+function handleCancelButtonClick() {
+ hideLogoutWrapper()
+}
+
+/**
+ * function to hide logout popup
+ */
+function hideLogoutWrapper() {
+ const logout = document.getElementsByClassName('logout-wrapper')[0]
+ logout.style.display = 'none'
+}
+
+/**
+ * function to display logout popup
+ */
+function showLogoutWrapper() {
+ const logout = document.getElementsByClassName('logout-wrapper')[0]
+ logout.style.display = 'block'
+}
+
+/**
+ * function to display expiration popup
+ */
+function showExpirationWrapper() {
+ const expire = document.getElementsByClassName('plan-expiration-model')[0]
+ expire.style.display = 'block'
+}
+
+/**
+ * function to hide logout popup
+ */
+function hideExpirationWrapper() {
+ const expire = document.getElementsByClassName('plan-expiration-model')[0]
+ expire.style.display = 'none'
+}
+
+/**
+ * function to handle "ok" button for logout popup
+ */
+function handleOkButtonClick() {
+ hideLogoutWrapper()
+ signOut()
+}
+
+/**
+ * function to handle subscribe now button
+ */
+function handleSubscription() {
+ console.log('Navigate to subscription page')
+}
+
+/**
+ * function to get cookie from browser storage
+ * @param cname
+ * @returns {string}
+ */
+export function getCookie(cname) {
+ const name = cname + '='
+ const decodedCookie = decodeURIComponent(document.cookie)
+ const ca = decodedCookie.split(';')
+ for (let i = 0; i < ca.length; i++) {
+ let c = ca[i]
+ while (c.charAt(0) === ' ') {
+ c = c.substring(1)
+ }
+ if (c.indexOf(name) === 0) {
+ return c.substring(name.length, c.length)
+ }
+ }
+ return ''
+}
+
+/**
+ * function to delete cookie from browser storage
+ * @param name
+ */
+export const deleteCookie = (name) => {
+ document.cookie = name + '=;expires=Thu, 01 Jan 1970 00:00:01 GMT;'
+}
+
+
+handleServerDetailsOnSSO()
+handleAuthChangedOnRefresh()
+
+/**
+ * function to handle single sign on from openbot dashboard
+ */
+function handleSingleSignOn() {
+ const cookie = getCookie(localStorageKeys.user)
+ if (cookie) {
+ const result = cookie
+ localStorage.setItem(localStorageKeys.isSignIn, 'true')
+ signInWithCustomToken(auth, result).then((res) => {
+ // Use the user data or store it in a variable for later use
+ signedInUser = res.user
+ const signInBtn = document.getElementsByClassName('google-sign-in-button')[0]
+ signInBtn.innerText = res.user.displayName
+ localStorage.setItem(localStorageKeys.user, JSON.stringify(res.user))
+ localStorage.setItem(localStorageKeys.isSignIn, true.toString())
+ deleteCookie(localStorageKeys.user)
+ })
+ .catch((error) => {
+ console.log('error::', error)
+ })
+ }
+}
+
+
+function handleServerDetailsOnSSO() {
+ const cookie = getCookie(localStorageKeys.user)
+ if (cookie) {
+ handleSingleSignOn()
+ }
+}
+
+/**
+ * function to handle access token
+ */
+function handleAccessToken() {
+ const tokenCookie = getCookie('accessToken')
+ if (tokenCookie) {
+ deleteCookie('accessToken')
+ }
+}
+
+/**
+ * function to handle auth status on refreshing page
+ */
+function handleAuthChangedOnRefresh() {
+ if (localStorage.getItem(localStorageKeys.isSignIn) === 'true') {
+ setTimeout(() => {
+ auth.onAuthStateChanged((res) => {
+ if (res != null) {
+ signedInUser = res
+ const signInBtn = document.getElementsByClassName('google-sign-in-button')[0]
+ signInBtn.innerText = res.displayName
+ localStorage.setItem(localStorageKeys.user, JSON.stringify(res))
+ localStorage.setItem(localStorageKeys.isSignIn, 'true')
+ sendId()
+ }
+ })
+ }, 1000)
+ }
+}
+
+/**
+ * function to check whether user subscription expires or not
+ */
+export function checkPlanExpiration() {
+ if (localStorage.getItem(localStorageKeys.isSignIn) === 'true') {
+ if (getCookie(localStorageKeys.subscriptionEndTime)) {
+ const endTimeCheckInterval = setInterval(() => {
+ const currentTime = new Date()
+ // Check if the end time has been reached
+ if (currentTime >= new Date(decodeURIComponent(getCookie(localStorageKeys.subscriptionEndTime)))) {
+ clearInterval(endTimeCheckInterval)
+ showExpirationWrapper()
+ }
+ }, 100) // 1 minute in milliseconds
+ }
+ }
+}
+
+/**
+ * function to restrict user for sending room key to remote server
+ */
+export function restrictUserOnExpiration() {
+ if (getCookie(localStorageKeys.subscriptionEndTime)) {
+ const currentTime = new Date()
+ if (currentTime < new Date(decodeURIComponent(getCookie(localStorageKeys.subscriptionEndTime)))) {
+ sendId()
+ }
+ }
+}
diff --git a/controller/web-server/client/keyboardHandlers/bot-message-handler.js b/controller/web-server/client/keyboardHandlers/bot-message-handler.js
new file mode 100644
index 000000000..9e0a355ad
--- /dev/null
+++ b/controller/web-server/client/keyboardHandlers/bot-message-handler.js
@@ -0,0 +1,71 @@
+/*
+ * Developed for the OpenBot project (https://openbot.org) by:
+ *
+ * Ivo Zivkov
+ * izivkov@gmail.com
+ *
+ * Date: Mon Nov 29 2021
+ */
+
+import {WebRTC} from '../webRTC/webrtc.js'
+import {ErrorDisplay} from '../utils/error-display.js'
+import {Buttons} from './buttons.js'
+
+export function BotMessageHandler (connection) {
+ const webRtc = new WebRTC(connection)
+ const buttons = new Buttons(connection)
+ const errDisplay = new ErrorDisplay()
+
+ webRtc.onDataMessageReceived((message) => {
+ // Do something on data received;
+ })
+
+ this.handle = (msg, connection) => {
+ if (msg === undefined || msg === null) {
+ return
+ }
+
+ const msgType = Object.keys(msg)[0]
+ switch (msgType) {
+ case 'VIDEO_PROTOCOL':
+ if (msg.VIDEO_PROTOCOL !== 'WEBRTC') {
+ errDisplay.set('Only WebRTC video supported. Please set your andoid app for WebRTC')
+ } else {
+ errDisplay.reset()
+ }
+ break
+
+ case 'VIDEO_COMMAND':
+ switch (msg.VIDEO_COMMAND) {
+ case 'START':
+ webRtc.start()
+ buttons.setMirrored(false)
+ break
+
+ case 'STOP':
+ webRtc.stop()
+ break
+ }
+ break
+
+ case 'WEB_RTC_EVENT':
+ webRtc.handle(msg.WEB_RTC_EVENT, connection)
+ break
+ case 'driveCmd' :
+ connection.send(JSON.stringify(msg))
+ // webRtc.send(JSON.stringify(msg))
+ break
+
+ case 'command' :
+ connection.send(JSON.stringify(msg))
+ // webRtc.send(JSON.stringify(msg))
+ break
+
+ default:
+ // Process other status information here
+ // This can be used to enhance the UI, for example
+ // to display a blinking signal indicator, etc.
+ break
+ }
+ }
+}
diff --git a/controller/web-server/client/keyboardHandlers/buttons.js b/controller/web-server/client/keyboardHandlers/buttons.js
new file mode 100644
index 000000000..e7cfea133
--- /dev/null
+++ b/controller/web-server/client/keyboardHandlers/buttons.js
@@ -0,0 +1,65 @@
+/*
+ * Developed for the OpenBot project (https://openbot.org) by:
+ *
+ * Ivo Zivkov
+ * izivkov@gmail.com
+ *
+ * Date: Mon Nov 29 2021
+ */
+
+export function Buttons (connection) {
+ const toggleMirror = () => {
+ const video = document.getElementById('video')
+
+ const isMirrored = video.style.cssText !== ''
+ this.setMirrored(!isMirrored)
+ }
+
+ const mirrorButton = document.getElementById('mirror_button')
+ mirrorButton.onclick = toggleMirror
+
+ // sound button. toggle 'muted' flag on the video control
+ const toggleSound = () => {
+ const video = document.getElementById('video')
+ video.muted = !video.muted
+
+ document.getElementById('sound_button').src = video.muted ? 'icons/volume_off_black_24dp.svg' : 'icons/volume_up_black_24dp.svg'
+ }
+
+ const soundButton = document.getElementById('sound_button')
+ soundButton.onclick = toggleSound
+
+ this.setMirrored = mirrored => {
+ const video = document.getElementById('video')
+
+ // 'translateX' changes between -50% and +50% to keep video centered
+ video.style.cssText = mirrored
+ ? '-moz-transform: scale(-1, 1) translateX(50%); -webkit-transform: scale(-1, 1) translateX(50%); -o-transform: scale(-1, 1) translateX(50%); transform: scale(-1, 1) translateX(50%); filter: FlipH;'
+ : 'translateX(-50%)'
+
+ document.getElementById('mirror_button').src = mirrored ? 'icons/flip_black_24dp-mirrored.svg' : 'icons/flip_black_24dp.svg'
+
+ // camera switch
+ const switchCamera = () => {
+ connection.send(JSON.stringify({ command: 'SWITCH_CAMERA' }));
+ }
+
+ const cameraSwitchButton = document.getElementById('camera_switch_button')
+ cameraSwitchButton.onclick = switchCamera
+ }
+
+ // fullscreen
+ const goFullscreen = () => {
+ const video = document.getElementById('video')
+ if (video.requestFullscreen) {
+ video.requestFullscreen()
+ } else if (video.webkitRequestFullscreen) { /* Safari */
+ video.webkitRequestFullscreen()
+ } else if (video.msRequestFullscreen) { /* IE11 */
+ video.msRequestFullscreen()
+ }
+ }
+
+ const fullscreenButton = document.getElementById('fullscreen')
+ fullscreenButton.onclick = goFullscreen
+}
diff --git a/controller/web-server/client/keyboardHandlers/commands.js b/controller/web-server/client/keyboardHandlers/commands.js
new file mode 100644
index 000000000..ab0b9c8d2
--- /dev/null
+++ b/controller/web-server/client/keyboardHandlers/commands.js
@@ -0,0 +1,124 @@
+/*
+ * Developed for the OpenBot project (https://openbot.org) by:
+ *
+ * Ivo Zivkov
+ * izivkov@gmail.com
+ *
+ * Date: Mon Nov 29 2021
+ */
+
+export function Commands (sendToBot) {
+ const commandHandler = new CommandHandler(sendToBot)
+
+ this.getCommandHandler = () => {
+ return commandHandler
+ }
+}
+
+function DriveValue () {
+ const MAX = 1.0
+ const MIN = -1.0
+
+ let value = 0.0
+
+ this.reset = () => {
+ value = 0
+ return value
+ }
+
+ this.max = () => {
+ value = MAX
+ return value
+ }
+
+ this.min = () => {
+ value = MIN
+ return value
+ }
+
+ this.write = _value => {
+ value = _value
+ return value
+ }
+
+ this.read = () => {
+ return Math.round(value, 3)
+ }
+}
+
+export function CommandHandler (sendToBot) {
+ const left = new DriveValue()
+ const right = new DriveValue()
+ const commandReducer = new DriveCommandReducer()
+
+ this.sendCommand = (command) => {
+ const commandObj = { command: command }
+ const jsonString = JSON.stringify(commandObj)
+ sendToBot(jsonString)
+ }
+
+ const sendDriveCommand = (left, right) => {
+ commandReducer.send({ driveCmd: { l: left, r: right } }, sendToBot)
+ }
+
+ this.reset = () => {
+ left.reset()
+ right.reset()
+ sendDriveCommand(0, 0)
+ }
+
+ this.forwardLeft = () => {
+ sendDriveCommand(left.min() / 2, right.max())
+ }
+
+ this.forwardRight = () => {
+ sendDriveCommand(left.max(), right.min() / 2)
+ }
+
+ this.backwardLeft = () => {
+ sendDriveCommand(left.max() / 2, right.min())
+ }
+
+ this.backwardRight = () => {
+ sendDriveCommand(left.min(), right.max() / 2)
+ }
+
+ this.rotateLeft = () => {
+ sendDriveCommand(left.min(), right.max())
+ }
+
+ this.rotateRight = () => {
+ sendDriveCommand(left.max(), right.min())
+ }
+
+ this.goForward = () => {
+ sendDriveCommand(left.max(), right.max())
+ }
+
+ this.goBackward = () => {
+ sendDriveCommand(left.min(), right.min())
+ }
+}
+
+// Utility function to reduce number of commands being sent to the robot
+// by not sending duplicate consecutive commands.
+function DriveCommandReducer () {
+ let lastCommand = null
+
+ this.send = (commandAsJson, sendToBot) => {
+ if (isEqual(commandAsJson, lastCommand)) {
+ return
+ }
+ lastCommand = commandAsJson
+
+ const strCommand = JSON.stringify(commandAsJson)
+ sendToBot(strCommand)
+ }
+
+ const isEqual = (current, last) => {
+ if (!last || !current) {
+ return false
+ }
+ return last.driveCmd.l === current.driveCmd.l && last.driveCmd.r === current.driveCmd.r
+ }
+}
diff --git a/controller/web-server/client/keyboardHandlers/keyboard.js b/controller/web-server/client/keyboardHandlers/keyboard.js
new file mode 100644
index 000000000..1836555b3
--- /dev/null
+++ b/controller/web-server/client/keyboardHandlers/keyboard.js
@@ -0,0 +1,114 @@
+/*
+ * Developed for the OpenBot project (https://openbot.org) by:
+ *
+ * Ivo Zivkov
+ * izivkov@gmail.com
+ *
+ * Date: Mon Nov 29 2021
+ */
+
+export function Keyboard () {
+ // 'key' is added as innerHTML
+ const menuTable = [
+ { keypressCode: 'w', key: 'W', description: 'Go forward' },
+ { keypressCode: 's', key: 'S', description: 'Go backward' },
+ { keypressCode: 'a', key: 'A', description: 'Turn left' },
+ { keypressCode: 'd', key: 'D', description: 'Turn right' },
+ { keypressCode: 'q', key: 'Q', description: 'Speed down' },
+ { keypressCode: 'e', key: 'E', description: 'Speed up' },
+ { keypressCode: 'm', key: 'M', description: 'Drive mode' },
+ { keypressCode: 'n', key: 'N', description: 'Toggle noise' },
+ { keypressCode: 'ArrowLeft', key: '
+
+
+
+
+
+
+
+ 
+ 
+ 
+ 
+
+
+
+
+
+ -
+
Controls
+
+
+
+
+
+
+
+
+
+
+
+ 
+
+
+ Your trial has just ended!
+To continue using OpenBot Controller, you will
+need to upgrade your plan.
+ +
', description: 'Left indicator' },
+ { keypressCode: 'ArrowRight', key: '', description: 'Right indicator' },
+ { keypressCode: 'ArrowUp', key: '', description: 'Cancel indicators' },
+ { keypressCode: 'ArrowDown', key: '', description: 'Network mode' },
+ { keypressCode: ' ', key: '', description: 'Toggle logging' },
+ { keypressCode: 'Escape', key: 'Esc', description: 'Quit' }
+ ]
+
+ // build a set of the keypress codes for a quick lookup
+ const keypressSet = new Set(menuTable.map(item => item.keypressCode))
+
+ // currently pressed keys
+ const pressedKeys = new Set()
+
+ this.start = (onKeyPress, onQuit) => {
+ const listItems = createMenuList()
+
+ // append all 'li' elements to the root element
+ const rootElement = document.getElementById('command-list')
+ listItems.forEach(liItem => rootElement.appendChild(liItem))
+
+ processKeys(onKeyPress, listItems, onQuit)
+ }
+
+ // create HTML "li" elements from 'menuTable'
+ const createMenuList = () => {
+ const listItems = menuTable.map(item => {
+ const liItem = document.createElement('li')
+
+ const keySymbol = document.createElement('div')
+ keySymbol.innerHTML = item.key
+ keySymbol.classList.add('key-display')
+
+ const keyDescription = document.createElement('p')
+ keyDescription.innerText = item.description
+ keyDescription.classList.add('key-desc')
+
+ liItem.appendChild(keySymbol)
+ liItem.appendChild(keyDescription)
+ liItem.setAttribute('key', item.key)
+ liItem.setAttribute('keypressCode', item.keypressCode)
+
+ return liItem
+ })
+ return listItems
+ }
+
+ const highlightPressedKeys = list => {
+ list.forEach(liItem => {
+ const keypressName = liItem.getAttribute('keypressCode')
+
+ // set class according to press state
+ if (pressedKeys.has(keypressName)) {
+ liItem.classList.add('key-pressed')
+ } else {
+ liItem.classList.remove('key-pressed')
+ }
+ })
+ }
+
+ const isValid = key => keypressSet.has(key)
+
+ const processKeys = (onKeypress, keyList, onQuit) => {
+ document.addEventListener('keydown', (event) => {
+ if (!isValid(event.key)) {
+ return
+ }
+
+ // keep track of pressed key
+ pressedKeys.add(event.key)
+ highlightPressedKeys(keyList)
+
+ const { key, type } = event
+ onKeypress({ key: key, type: type })
+
+ // handle special cases
+ if (event.key === 'Escape') {
+ onQuit()
+ }
+ }, false)
+
+ document.addEventListener('keyup', (event) => {
+ if (!isValid(event.key)) {
+ return
+ }
+
+ pressedKeys.delete(event.key)
+ highlightPressedKeys(keyList)
+
+ const { key, type } = event
+ onKeypress({ key: key, type: type })
+ }, false)
+ }
+}
diff --git a/controller/web-server/client/keyboardHandlers/remote_keyboard.js b/controller/web-server/client/keyboardHandlers/remote_keyboard.js
new file mode 100644
index 000000000..5da404893
--- /dev/null
+++ b/controller/web-server/client/keyboardHandlers/remote_keyboard.js
@@ -0,0 +1,112 @@
+// remote_keyboard.js
+/*
+ * Developed for the OpenBot project (https://openbot.org) by:
+ *
+ * Ivo Zivkov
+ * izivkov@gmail.com
+ *
+ * Date: Mon Nov 29 2021
+ */
+
+export function RemoteKeyboard (commandHandler) {
+ const pressedKeys = new Set()
+ this.processKey = keyPress => {
+ switch (keyPress?.type) {
+ case 'keyup':
+ // keep track of what keys are currently pressed
+ pressedKeys.delete(keyPress.key)
+ if (['w', 's'].includes(keyPress.key)) {
+ commandHandler.reset()
+ break
+ }
+
+ if (['a', 'd'].includes(keyPress.key)) {
+ if (pressedKeys.has('w')) {
+ commandHandler.goForward()
+ break
+ }
+ if (pressedKeys.has('s')) {
+ commandHandler.goBackward()
+ break
+ }
+ commandHandler.reset()
+ }
+ break
+
+ case 'keydown':
+ pressedKeys.add(keyPress.key)
+ switch (keyPress.key) {
+ case 'w':
+ if (pressedKeys.has('a')) {
+ commandHandler.forwardLeft()
+ break
+ }
+ if (pressedKeys.has('d')) {
+ commandHandler.forwardRight()
+ break
+ }
+ commandHandler.goForward()
+ break
+ case 's':
+ if (pressedKeys.has('a')) {
+ commandHandler.backwardLeft()
+ break
+ }
+ if (pressedKeys.has('d')) {
+ commandHandler.backwardRight()
+ break
+ }
+ commandHandler.goBackward()
+ break
+ case 'a':
+ if (pressedKeys.has('w')) {
+ commandHandler.forwardLeft()
+ } else if (pressedKeys.has('s')) {
+ commandHandler.backwardLeft()
+ } else {
+ commandHandler.rotateLeft()
+ }
+ break
+ case 'd':
+ if (pressedKeys.has('w')) {
+ commandHandler.forwardRight()
+ } else if (pressedKeys.has('s')) {
+ commandHandler.backwardRight()
+ } else {
+ commandHandler.rotateRight()
+ }
+ break
+ case 'n':
+ commandHandler.sendCommand('NOISE')
+ break
+ case ' ':
+ commandHandler.sendCommand('LOGS')
+ break
+ case 'ArrowRight':
+ commandHandler.sendCommand('INDICATOR_RIGHT')
+ break
+ case 'ArrowLeft':
+ commandHandler.sendCommand('INDICATOR_LEFT')
+ break
+ case 'ArrowUp':
+ commandHandler.sendCommand('INDICATOR_STOP')
+ break
+ case 'ArrowDown':
+ commandHandler.sendCommand('NETWORK')
+ break
+ case 'm':
+ commandHandler.sendCommand('DRIVE_MODE')
+ break
+ case 'q':
+ commandHandler.sendCommand('SPEED_DOWN')
+ break
+ case 'e':
+ commandHandler.sendCommand('SPEED_UP')
+ break
+ case 'Escape':
+ commandHandler.reset()
+ break
+ }
+ }
+ }
+}
diff --git a/controller/web-server/client/style.css b/controller/web-server/client/style.css
new file mode 100644
index 000000000..32209b85d
--- /dev/null
+++ b/controller/web-server/client/style.css
@@ -0,0 +1,259 @@
+body {
+ background-color: #f0f8ff;
+ font-family: Gilroy-Regular, sans-serif;
+ background-color: #f8f9fb;
+ margin: 0;
+}
+
+p {
+ margin: 0;
+ padding: 0;
+}
+
+/* Font */
+@font-face {
+ font-family: 'Gilroy';
+ src: url('utils/font/Gilroy/Gilroy-Black.ttf') format('truetype');
+}
+
+@font-face {
+ font-family: 'Gilroy-Regular';
+ /*400*/
+ src: url('utils/font/Gilroy/Gilroy-Regular.ttf') format('truetype');
+}
+
+@font-face {
+ font-family: 'Gilroy-Medium';
+ /*500*/
+ src: url('utils/font/Gilroy/Gilroy-Medium.ttf') format('truetype');
+}
+
+@font-face {
+ font-family: 'Gilroy-SemiBold';
+ /*600*/
+ src: url('utils/font/Gilroy/Gilroy-SemiBold.ttf') format('truetype');
+}
+
+@font-face {
+ font-family: 'Gilroy-Bold';
+ /*700*/
+ src: url('utils/font/Gilroy/Gilroy-Bold.ttf') format('truetype');
+}
+
+/* Used to suppress error:
+ResizeObserver - loop limit exceeded */
+video::-webkit-media-controls-timeline {
+ align-self: center;
+ width: calc(100% - 64px);
+}
+
+.video-container {
+ height: calc(100% - 4rem);
+ width: calc(100% - 4rem);
+ overflow: hidden;
+ border: 2px dashed #0071C5;
+ background-color: #0070c50d;
+ display: flex;
+ align-items: center;
+ justify-content: end;
+}
+
+.video-container video {
+ height: 100%;
+ max-width: 100%;
+ overflow-x: hidden;
+ position: absolute;
+ left: 50%;
+ transform: translateX(-50%);
+}
+
+.button {
+ padding: 5px;
+ border-radius: 5px;
+ cursor: pointer;
+}
+
+.button:hover {
+ background: rgba(0, 0, 0, 0.1);
+}
+
+.button:active {
+ background: rgba(0, 0, 0, 0.2);
+}
+
+
+/* Styles for controlls */
+#command-list li {
+ display: flex;
+ align-items: center;
+ gap: 15px;
+ margin: 12px 0;
+}
+
+.key-display {
+ min-height: 1.5rem;
+ min-width: 1.5rem;
+ font-size: 1.1rem;
+ display: flex;
+ align-items: start;
+ justify-content: center;
+ text-align: start;
+ border-radius: 0.2rem;
+ padding: 0.5rem;
+ padding-left: 0.25rem;
+ background: linear-gradient(135deg, rgba(0, 0, 0, 0.825) 0%, rgba(0, 0, 0, 0.65) 100%);
+ transition: all .1s ease;
+ color: white;
+ box-shadow: 2px 3px 0 4px rgba(0, 0, 0, 0.8);
+ user-select: none;
+}
+
+.key-pressed p {
+ font-weight: bold;
+}
+
+.key-pressed .key-display {
+ transform: translate(3px, 3px);
+ box-shadow: 0px 0px 0 3px rgba(0, 0, 0, 0.795);
+}
+
+.space-symbol {
+ min-width: 25px;
+ height: 1px;
+ background: white;
+ border-radius: 1rem;
+ margin: 0 5rem;
+ margin-top: 0.2rem;
+}
+
+
+.google-sign-in-button {
+ cursor: pointer;
+ transition: background-color .3s, box-shadow .3s;
+
+ padding: 12px 16px 12px 42px;
+ border: none;
+ border-radius: 3px;
+ box-shadow: 0 -1px 0 rgba(0, 0, 0, .04), 0 1px 1px rgba(0, 0, 0, .25);
+
+ color: #757575;
+ font-size: 14px;
+ font-weight: 500;
+ font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, Oxygen, Ubuntu, Cantarell, "Fira Sans", "Droid Sans", "Helvetica Neue", sans-serif;
+
+ background-image: url(data:image/svg+xml;base64,PHN2ZyB3aWR0aD0iMTgiIGhlaWdodD0iMTgiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyI+PGcgZmlsbD0ibm9uZSIgZmlsbC1ydWxlPSJldmVub2RkIj48cGF0aCBkPSJNMTcuNiA5LjJsLS4xLTEuOEg5djMuNGg0LjhDMTMuNiAxMiAxMyAxMyAxMiAxMy42djIuMmgzYTguOCA4LjggMCAwIDAgMi42LTYuNnoiIGZpbGw9IiM0Mjg1RjQiIGZpbGwtcnVsZT0ibm9uemVybyIvPjxwYXRoIGQ9Ik05IDE4YzIuNCAwIDQuNS0uOCA2LTIuMmwtMy0yLjJhNS40IDUuNCAwIDAgMS04LTIuOUgxVjEzYTkgOSAwIDAgMCA4IDV6IiBmaWxsPSIjMzRBODUzIiBmaWxsLXJ1bGU9Im5vbnplcm8iLz48cGF0aCBkPSJNNCAxMC43YTUuNCA1LjQgMCAwIDEgMC0zLjRWNUgxYTkgOSAwIDAgMCAwIDhsMy0yLjN6IiBmaWxsPSIjRkJCQzA1IiBmaWxsLXJ1bGU9Im5vbnplcm8iLz48cGF0aCBkPSJNOSAzLjZjMS4zIDAgMi41LjQgMy40IDEuM0wxNSAyLjNBOSA5IDAgMCAwIDEgNWwzIDIuNGE1LjQgNS40IDAgMCAxIDUtMy43eiIgZmlsbD0iI0VBNDMzNSIgZmlsbC1ydWxlPSJub256ZXJvIi8+PHBhdGggZD0iTTAgMGgxOHYxOEgweiIvPjwvZz48L3N2Zz4=);
+ background-color: white;
+ background-repeat: no-repeat;
+ background-position: 12px 11px;
+}
+
+.google-sign-in-button:hover {
+ box-shadow: 0 -1px 0 rgba(0, 0, 0, .04), 0 2px 4px rgba(0, 0, 0, .25);
+}
+
+.google-sign-in-button:active {
+ background-color: #eeeeee;
+}
+
+.google-sign-in-button:active {
+ outline: none;
+ box-shadow: 0 -1px 0 rgba(0, 0, 0, .04),
+ 0 2px 4px rgba(0, 0, 0, .25),
+ 0 0 0 3px #c8dafc;
+}
+
+.logout {
+ margin-left: 15px;
+ margin-top: 15px;
+}
+
+.video-container {
+ position: relative;
+}
+
+.logout-wrapper {
+ position: absolute;
+ top: 50%;
+ left: 40%;
+ transform: translate(-50%, -50%);
+ background-color: #f8f9fb;
+ border: solid 1px black;
+ border-radius: 10px;
+ display: none;
+}
+
+.logout-message {
+ margin-top: 20px; /* Adjust the margin value as needed */
+}
+
+.logout-message p {
+ margin-bottom: 15px;
+}
+
+.logout-buttons {
+ margin: 3.5rem 15px 15px 8rem;
+ gap: 2rem;
+}
+
+.logout-buttons button {
+ width: 100px;
+ height: 40px;
+ border: 1px solid #0071C5;
+ border-radius: 5px;
+}
+
+.logout-buttons :hover {
+ background-color: #0071C5;
+}
+
+.plan-expiration-model {
+ position: absolute;
+ top: 50%;
+ left: 40%;
+ width: 400px;
+ height: 250px;
+ background-color: #FFFFFF;
+ transform: translate(-50%, -50%);
+ border: solid 1px #0071C5;
+ border-radius: 10px;
+ display: none;
+}
+
+.expire {
+ width: 70%;
+ display: flex;
+ align-items: center;
+ justify-content: center;
+ flex-direction: column;
+ gap: 12px;
+ margin-top: 15px;
+}
+
+.expire-main{
+ display: flex;
+ align-items: center;
+ justify-content: center;
+ width: 100%;
+}
+
+.expire-text {
+ color: black;
+ font-size: 15px;
+ font-weight: 600;
+ font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, Oxygen, Ubuntu, Cantarell, "Fira Sans", "Droid Sans", "Helvetica Neue", sans-serif;
+}
+
+.expiration-description{
+ font-size: 13px;
+}
+
+.subscribe-button{
+ cursor: pointer;
+ width: 90%;
+ height: 30px;
+ border: none;
+ color: #FFFFFF;
+ border-radius: 15px;
+ background-color: #0071C5;
+}
+
diff --git a/controller/web-server/client/utils/constants.js b/controller/web-server/client/utils/constants.js
new file mode 100644
index 000000000..4890d6df4
--- /dev/null
+++ b/controller/web-server/client/utils/constants.js
@@ -0,0 +1,18 @@
+export const localStorageKeys = {
+ subscriptionEndTime: 'subscriptionEndTime',
+ serverDuration: 'serverDuration',
+ isSignIn: 'isSignIn',
+ user: 'user',
+ serverId: 'serverId',
+ serverEndTime: 'serverEndTime',
+ serverStartTime: 'serverStartTime'
+}
+
+export const tables = {
+ users: 'users',
+ projects: 'projects',
+ models: 'models',
+ server: 'server'
+}
+
+export const Month = ["January", "February", "March", "April", "May", "June", "July", "August", "September", "October", "November", "December"];
diff --git a/controller/web-server/client/utils/error-display.js b/controller/web-server/client/utils/error-display.js
new file mode 100644
index 000000000..9dd3b79bb
--- /dev/null
+++ b/controller/web-server/client/utils/error-display.js
@@ -0,0 +1,19 @@
+/*
+ * Developed for the OpenBot project (https://openbot.org) by:
+ *
+ * Ivo Zivkov
+ * izivkov@gmail.com
+ *
+ * Date: Mon Nov 29 2021
+ */
+
+export function ErrorDisplay () {
+ this.set = (text) => {
+ const error = document.getElementById('error-message')
+ error.textContent = text
+ }
+
+ this.reset = () => this.set('')
+
+ this.reset()
+}
diff --git a/controller/web-server/client/utils/font/Gilroy/Gilroy-Black.ttf b/controller/web-server/client/utils/font/Gilroy/Gilroy-Black.ttf
new file mode 100644
index 000000000..505bb6bf5
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diff --git a/controller/web-server/client/utils/font/Gilroy/Gilroy-Bold.ttf b/controller/web-server/client/utils/font/Gilroy/Gilroy-Bold.ttf
new file mode 100644
index 000000000..10bc23bea
Binary files /dev/null and b/controller/web-server/client/utils/font/Gilroy/Gilroy-Bold.ttf differ
diff --git a/controller/web-server/client/utils/font/Gilroy/Gilroy-Medium.ttf b/controller/web-server/client/utils/font/Gilroy/Gilroy-Medium.ttf
new file mode 100644
index 000000000..bdbe5de14
Binary files /dev/null and b/controller/web-server/client/utils/font/Gilroy/Gilroy-Medium.ttf differ
diff --git a/controller/web-server/client/utils/font/Gilroy/Gilroy-Regular.ttf b/controller/web-server/client/utils/font/Gilroy/Gilroy-Regular.ttf
new file mode 100644
index 000000000..6cb332c1a
Binary files /dev/null and b/controller/web-server/client/utils/font/Gilroy/Gilroy-Regular.ttf differ
diff --git a/controller/web-server/client/utils/font/Gilroy/Gilroy-SemiBold.ttf b/controller/web-server/client/utils/font/Gilroy/Gilroy-SemiBold.ttf
new file mode 100644
index 000000000..30b5d25e6
Binary files /dev/null and b/controller/web-server/client/utils/font/Gilroy/Gilroy-SemiBold.ttf differ
diff --git a/controller/web-server/client/webRTC/webrtc.js b/controller/web-server/client/webRTC/webrtc.js
new file mode 100644
index 000000000..fb0623a24
--- /dev/null
+++ b/controller/web-server/client/webRTC/webrtc.js
@@ -0,0 +1,120 @@
+/**
+ * function to enable webRTC connection
+ * @param connection
+ * @constructor
+ */
+export function WebRTC (connection) {
+ const {RTCPeerConnection} = window
+
+ let peerConnection = null
+ let onDataMessageReceivedCallback = null
+
+ this.onDataMessageReceived = (callback) => {
+ onDataMessageReceivedCallback = callback
+ }
+
+ this.handle = (data) => {
+ if (!peerConnection) {
+ return
+ }
+
+ const {RTCSessionDescription, RTCIceCandidate} = window
+ let webRtcEvent
+ console.log(typeof data)
+ if (typeof data === 'string') {
+ webRtcEvent = JSON.parse(data)
+ } else {
+ webRtcEvent = data
+ }
+ // WebRTC type
+ switch (webRtcEvent.type) {
+ case 'offer':
+ peerConnection.setRemoteDescription(
+ new RTCSessionDescription({sdp: webRtcEvent.sdp, type: 'offer'})
+ )
+ doAnswer()
+ break
+
+ case 'candidate': {
+ const candidate = new RTCIceCandidate({
+ candidate: webRtcEvent.candidate,
+ sdpMid: webRtcEvent.id,
+ sdpMLineIndex: webRtcEvent.label
+ })
+ peerConnection.addIceCandidate(candidate)
+ break
+ }
+
+ case 'bye':
+ this.stop()
+ break
+ }
+ }
+
+ const doAnswer = async () => {
+ const answer = await peerConnection.createAnswer()
+ await peerConnection.setLocalDescription(answer)
+ connection.send(JSON.stringify({webrtc_event: answer}))
+ }
+
+ // starting webrtc connection
+ this.start = () => {
+ console.log('WebRTC: start...')
+
+ peerConnection = new RTCPeerConnection()
+ peerConnection.onconnectionstatechange = () => {
+ if (peerConnection?.connectionState === 'connected') {
+ }
+ }
+
+ this.dataChannel = peerConnection.createDataChannel('dataChannel') // Use this.dataChannel to set it as a property
+ console.log("readyState::", this.dataChannel.readyState)
+ console.log('DataChannel Open:::', this.dataChannel.onopen)
+ console.log('DataChannel On Message:::', this.dataChannel.onmessage)
+
+ peerConnection.ondatachannel = (event) => {
+ const dataChannel = event.channel
+ dataChannel.onopen = () => {
+ // eventHandlers.onDataChannelOpened(dataChannel);
+ }
+ }
+
+ this.dataChannel.onopen = () => {
+ console.log('DataChannel is open Ready to send the message:')
+ }
+ this.dataChannel.onmessage = (event) => {
+ // Handle incoming messages here
+ const message = event.data
+ if (onDataMessageReceivedCallback) {
+ onDataMessageReceivedCallback(message)
+ }
+ }
+ const video = document.getElementById('video')
+
+ video.srcObject = new MediaStream()
+ video.srcObject.getTracks().forEach((track) => peerConnection.addTrack(track))
+
+ peerConnection.ontrack = (event) => {
+ video.srcObject = event.streams[0]
+ }
+ }
+
+ this.stop = () => {
+ console.log('WebRTC: stop...')
+
+ if (peerConnection) {
+ peerConnection.close()
+ }
+ peerConnection = null
+ }
+
+ this.send = (message) => {
+ console.log(this.dataChannel)
+ if (this.dataChannel && this.dataChannel.readyState === 'open') {
+ this.dataChannel.send(message)
+ // console.log(`Message is send ::: ${message}`)
+ } else {
+ console.log('WebRTC: Data channel is not open. Cannot send message.')
+ }
+ }
+}
diff --git a/controller/web-server/client/websocket/connection.js b/controller/web-server/client/websocket/connection.js
new file mode 100644
index 000000000..6292916ce
--- /dev/null
+++ b/controller/web-server/client/websocket/connection.js
@@ -0,0 +1,73 @@
+/*
+ * Developed for the OpenBot project (https://openbot.org) by:
+ *
+ * Ivo Zivkov
+ * izivkov@gmail.com
+ *
+ * Date: Mon Nov 29 2021
+ */
+
+import {ErrorDisplay} from '../utils/error-display.js'
+
+/**
+ * function to connect websocket to remote server
+ * @constructor
+ */
+export function Connection () {
+ const connectToServer = async () => {
+ const ws = new WebSocket(`ws://${window.location.hostname}:8080/ws`)
+ // const ws = new WebSocket(`ws://verdant-imported-peanut.glitch.me`);
+ return new Promise((resolve, reject) => {
+ const timer = setInterval(() => {
+ if (ws.readyState === 1) {
+ clearInterval(timer)
+ resolve(ws)
+ }
+ }, 10)
+ })
+ }
+
+ const sendToBot = (message) => {
+ this.send(message)
+ }
+
+ this.start = async (onData) => {
+ let ws = await connectToServer()
+ this.send = (data) => {
+ if (ws) {
+ console.log(('sending to server' + data))
+ ws.send(data)
+ }
+ }
+ const errDisplay = new ErrorDisplay()
+ let idSent = false
+
+ ws.onmessage = (webSocketMessage) => {
+ const msg = JSON.parse(webSocketMessage.data)
+ if (Object.keys(msg)[0] === 'roomId' && !idSent) {
+ idSent = true
+ } else {
+ console.log(webSocketMessage.data)
+ console.log('Data Displayed')
+ onData(webSocketMessage.data)
+ }
+ }
+
+ ws.onclose = () => {
+ errDisplay.set('Disconnected from the server. To reconnect, reload this page.')
+ idSent = false
+ }
+
+ ws.onopen = () => {
+ errDisplay.reset()
+ idSent = false
+ }
+
+ this.stop = () => {
+ if (ws != null) {
+ ws.close()
+ ws = null
+ }
+ }
+ }
+}
diff --git a/controller/web-server/images/HowItWorks.png b/controller/web-server/images/HowItWorks.png
new file mode 100644
index 000000000..4680fd980
Binary files /dev/null and b/controller/web-server/images/HowItWorks.png differ
diff --git a/controller/web-server/images/OpenBot.png b/controller/web-server/images/OpenBot.png
new file mode 100644
index 000000000..aec2e3c57
Binary files /dev/null and b/controller/web-server/images/OpenBot.png differ
diff --git a/controller/web-server/images/dependency.jpg b/controller/web-server/images/dependency.jpg
new file mode 100644
index 000000000..c4628e1b3
Binary files /dev/null and b/controller/web-server/images/dependency.jpg differ
diff --git a/controller/web-server/images/firebase_web_server_env_variable.png b/controller/web-server/images/firebase_web_server_env_variable.png
new file mode 100644
index 000000000..b2239d243
Binary files /dev/null and b/controller/web-server/images/firebase_web_server_env_variable.png differ
diff --git a/controller/web-server/images/glitch.jpg b/controller/web-server/images/glitch.jpg
new file mode 100644
index 000000000..bc020ff62
Binary files /dev/null and b/controller/web-server/images/glitch.jpg differ
diff --git a/controller/web-server/images/openbot_controller.jpg b/controller/web-server/images/openbot_controller.jpg
new file mode 100644
index 000000000..1659e4411
Binary files /dev/null and b/controller/web-server/images/openbot_controller.jpg differ
diff --git a/controller/web-server/images/server_code.jpg b/controller/web-server/images/server_code.jpg
new file mode 100644
index 000000000..7a0067c7d
Binary files /dev/null and b/controller/web-server/images/server_code.jpg differ
diff --git a/controller/web-server/images/set_controller.gif b/controller/web-server/images/set_controller.gif
new file mode 100644
index 000000000..17f587ad1
Binary files /dev/null and b/controller/web-server/images/set_controller.gif differ
diff --git a/controller/web-server/images/web_server_signIn.gif b/controller/web-server/images/web_server_signIn.gif
new file mode 100644
index 000000000..1bedac769
Binary files /dev/null and b/controller/web-server/images/web_server_signIn.gif differ
diff --git a/controller/web-server/images/web_server_video_streaming.gif b/controller/web-server/images/web_server_video_streaming.gif
new file mode 100644
index 000000000..919737966
Binary files /dev/null and b/controller/web-server/images/web_server_video_streaming.gif differ
diff --git a/controller/web-server/package-lock.json b/controller/web-server/package-lock.json
new file mode 100644
index 000000000..014f6b1b6
--- /dev/null
+++ b/controller/web-server/package-lock.json
@@ -0,0 +1,13859 @@
+{
+ "name": "web-server",
+ "version": "1.0.0",
+ "lockfileVersion": 3,
+ "requires": true,
+ "packages": {
+ "": {
+ "name": "web-server",
+ "version": "1.0.0",
+ "license": "ISC",
+ "dependencies": {
+ "@firebase/firestore": "^4.4.0",
+ "firebase": "^10.1.0",
+ "js-cookie": "^3.0.5",
+ "ws": "^8.13.0"
+ },
+ "devDependencies": {
+ "eslint": "^7.32.0",
+ "eslint-config-standard": "^16.0.3",
+ "eslint-plugin-import": "^2.25.3",
+ "eslint-plugin-node": "^11.1.0",
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+ "http2-proxy": "^5.0.53",
+ "npm-run-all": "^4.1.5",
+ "snowpack": "^3.8.8"
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+ },
+ "node_modules/@aashutoshrathi/word-wrap": {
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diff --git a/controller/web-server/package.json b/controller/web-server/package.json
new file mode 100644
index 000000000..077beee5a
--- /dev/null
+++ b/controller/web-server/package.json
@@ -0,0 +1,38 @@
+{
+ "name": "web-server",
+ "version": "1.0.0",
+ "description": "web server with ios and android app connection",
+ "main": "index.js",
+ "scripts": {
+ "prestart": "cd server && npm install",
+ "start": "run-p dev:server dev:start-server",
+ "start-nohup": "nohup npm run start",
+ "dev:server": "npm run start --prefix server",
+ "dev:start-server-headless": "NODE_ENV=development snowpack build --watch",
+ "dev:start-server": "npx snowpack dev --port 8081",
+ "build": "snowpack build"
+ },
+ "keywords": [
+ "webrtc",
+ "websocket"
+ ],
+ "author": "Nitish Pratap",
+ "devDependencies": {
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+ "license": "ISC",
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diff --git a/controller/web-server/server/.gitignore b/controller/web-server/server/.gitignore
new file mode 100644
index 000000000..3c3629e64
--- /dev/null
+++ b/controller/web-server/server/.gitignore
@@ -0,0 +1 @@
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diff --git a/controller/web-server/server/package-lock.json b/controller/web-server/server/package-lock.json
new file mode 100644
index 000000000..358a81786
--- /dev/null
+++ b/controller/web-server/server/package-lock.json
@@ -0,0 +1,4060 @@
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+ "dev": true
+ },
+ "node_modules/validate-npm-package-license": {
+ "version": "3.0.4",
+ "resolved": "https://registry.npmjs.org/validate-npm-package-license/-/validate-npm-package-license-3.0.4.tgz",
+ "integrity": "sha512-DpKm2Ui/xN7/HQKCtpZxoRWBhZ9Z0kqtygG8XCgNQ8ZlDnxuQmWhj566j8fN4Cu3/JmbhsDo7fcAJq4s9h27Ew==",
+ "dev": true,
+ "dependencies": {
+ "spdx-correct": "^3.0.0",
+ "spdx-expression-parse": "^3.0.0"
+ }
+ },
+ "node_modules/vary": {
+ "version": "1.1.2",
+ "resolved": "https://registry.npmjs.org/vary/-/vary-1.1.2.tgz",
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+ "engines": {
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+ }
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+ "node_modules/which": {
+ "version": "2.0.2",
+ "resolved": "https://registry.npmjs.org/which/-/which-2.0.2.tgz",
+ "integrity": "sha512-BLI3Tl1TW3Pvl70l3yq3Y64i+awpwXqsGBYWkkqMtnbXgrMD+yj7rhW0kuEDxzJaYXGjEW5ogapKNMEKNMjibA==",
+ "dev": true,
+ "dependencies": {
+ "isexe": "^2.0.0"
+ },
+ "bin": {
+ "node-which": "bin/node-which"
+ },
+ "engines": {
+ "node": ">= 8"
+ }
+ },
+ "node_modules/which-boxed-primitive": {
+ "version": "1.0.2",
+ "resolved": "https://registry.npmjs.org/which-boxed-primitive/-/which-boxed-primitive-1.0.2.tgz",
+ "integrity": "sha512-bwZdv0AKLpplFY2KZRX6TvyuN7ojjr7lwkg6ml0roIy9YeuSr7JS372qlNW18UQYzgYK9ziGcerWqZOmEn9VNg==",
+ "dev": true,
+ "dependencies": {
+ "is-bigint": "^1.0.1",
+ "is-boolean-object": "^1.1.0",
+ "is-number-object": "^1.0.4",
+ "is-string": "^1.0.5",
+ "is-symbol": "^1.0.3"
+ },
+ "funding": {
+ "url": "https://github.com/sponsors/ljharb"
+ }
+ },
+ "node_modules/which-typed-array": {
+ "version": "1.1.11",
+ "resolved": "https://registry.npmjs.org/which-typed-array/-/which-typed-array-1.1.11.tgz",
+ "integrity": "sha512-qe9UWWpkeG5yzZ0tNYxDmd7vo58HDBc39mZ0xWWpolAGADdFOzkfamWLDxkOWcvHQKVmdTyQdLD4NOfjLWTKew==",
+ "dev": true,
+ "dependencies": {
+ "available-typed-arrays": "^1.0.5",
+ "call-bind": "^1.0.2",
+ "for-each": "^0.3.3",
+ "gopd": "^1.0.1",
+ "has-tostringtag": "^1.0.0"
+ },
+ "engines": {
+ "node": ">= 0.4"
+ },
+ "funding": {
+ "url": "https://github.com/sponsors/ljharb"
+ }
+ },
+ "node_modules/wrappy": {
+ "version": "1.0.2",
+ "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
+ "integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ==",
+ "dev": true
+ },
+ "node_modules/ws": {
+ "version": "7.5.9",
+ "resolved": "https://registry.npmjs.org/ws/-/ws-7.5.9.tgz",
+ "integrity": "sha512-F+P9Jil7UiSKSkppIiD94dN07AwvFixvLIj1Og1Rl9GGMuNipJnV9JzjD6XuqmAeiswGvUmNLjr5cFuXwNS77Q==",
+ "engines": {
+ "node": ">=8.3.0"
+ },
+ "peerDependencies": {
+ "bufferutil": "^4.0.1",
+ "utf-8-validate": "^5.0.2"
+ },
+ "peerDependenciesMeta": {
+ "bufferutil": {
+ "optional": true
+ },
+ "utf-8-validate": {
+ "optional": true
+ }
+ }
+ },
+ "node_modules/yallist": {
+ "version": "4.0.0",
+ "resolved": "https://registry.npmjs.org/yallist/-/yallist-4.0.0.tgz",
+ "integrity": "sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==",
+ "dev": true
+ }
+ }
+}
diff --git a/controller/web-server/server/package.json b/controller/web-server/server/package.json
new file mode 100644
index 000000000..7bf9478d7
--- /dev/null
+++ b/controller/web-server/server/package.json
@@ -0,0 +1,33 @@
+{
+ "name": "server",
+ "version": "1.0.0",
+ "description": "",
+ "main": "index.js",
+ "scripts": {
+ "start": "nodemon server.js 8000 --watch",
+ "start-headless": "node server.js",
+ "lint": "npx eslint server.js/*.js --fix"
+ },
+ "author": "Nitish Pratap",
+ "dependencies": {
+ "cookie-parser": "~1.4.4",
+ "debug": "~2.6.9",
+ "dnssd2": "^1.0.0",
+ "ejs": "^3.1.6",
+ "express": "^4.17.1",
+ "http-errors": "~1.6.3",
+ "morgan": "~1.9.1",
+ "net": "^1.0.2",
+ "ws": "^7.5.0"
+ },
+ "devDependencies": {
+ "@types/express": "^4.17.11",
+ "eslint": "^7.32.0",
+ "eslint-config-standard": "^16.0.3",
+ "eslint-plugin-import": "^2.25.3",
+ "eslint-plugin-node": "^11.1.0",
+ "eslint-plugin-promise": "^5.2.0",
+ "nodemon": "^2.0.7",
+ "npm-run-all": "^4.1.5"
+ }
+}
diff --git a/controller/web-server/server/server.js b/controller/web-server/server/server.js
new file mode 100644
index 000000000..d34b85265
--- /dev/null
+++ b/controller/web-server/server/server.js
@@ -0,0 +1,118 @@
+const WebSocket = require('ws');
+
+const wss = new WebSocket.Server({ port: 8080 }, () => {
+ console.log("Signaling server is now listening on port 8080");
+});
+let rooms = new Map();
+wss.on('connection', (ws) => {
+ console.log(`Client connected. Total connected clients: ${wss.clients.size}`);
+ askIdOfClient(ws);
+ ws.on("message", function message(data, isBinary) {
+
+ const message = isBinary ? data : data.toString();
+ // console.log(JSON.parse(message));
+ let msg = JSON.parse(message);
+
+ if (Object.keys(msg)[0] === 'roomId') {
+ createOrJoinRoom(msg.roomId, ws);
+ ws.id = msg.roomId;
+ return;
+ }
+ else if (Object.keys(msg)[0] === 'driveCmd') {
+ let driveCmd = msg.driveCmd;
+ console.log(driveCmd);
+ }
+ else if ('command') {
+ // You may add additional checks for different message types.
+ }
+
+ if (msg.roomId === undefined) {
+ sendToBot(ws, message);
+ return;
+ }
+
+ // Broadcast the message to clients within the same room based on the roomId.
+ sendToRoom(msg.roomId, message);
+ });
+
+
+ const sendToRoom = (roomId, message) => {
+ console.log("roomId: ", roomId);
+ let room = rooms.get(roomId);
+
+ if (room) {
+ // Broadcast the message to all non-null clients in the room.
+ broadcastToRoom(room, message);
+ } else {
+ console.log("Room not found for roomId:", roomId);
+ }
+ }
+
+
+ ws.onclose = (socket) => {
+ console.log(`Client disconnected. Total connected clients: ${wss.clients.size}`);
+ let room = rooms.get(ws.id);
+ if (room === undefined){
+ return
+ }
+ room[0]?.close()
+ rooms[1]?.close();
+ rooms.delete(ws.id);
+ console.log(rooms)
+ };
+
+});
+
+// Function to ask for client's roomId
+const askIdOfClient = (ws) => {
+ let request = {
+ roomId: "request-roomId"
+ };
+ ws.send(JSON.stringify(request));
+};
+
+const createOrJoinRoom = (roomId, ws) => {
+ // Check if the room with the given roomId exists
+ if (!rooms.has(roomId) || rooms.get(roomId).clients[1] !== null) {
+ // Room does not exist or is full (has two clients already)
+ let room = {
+ clients: [ws, null]
+ };
+ rooms.set(roomId, room);
+ } else {
+ // Room exists and has space for the new client
+ console.log("joining to the room",rooms);
+ let room = rooms.get(roomId);
+ room.clients[1] = ws;
+ rooms.set(roomId, room);
+ }
+};
+
+// Broadcast to all.
+wss.broadcast = (ws, data) => {
+ let obj = JSON.parse(data);
+ let key = Object.keys(obj)[0];
+ wss.clients.forEach((client) => {
+ if (client !== ws && client.readyState === WebSocket.OPEN) {
+ client.send(data);
+ }
+ });
+};
+
+// Broadcast to all clients in a specific room.
+const broadcastToRoom = (room, message) => {
+ room.clients.forEach((client) => {
+ if (client && client.readyState === WebSocket.OPEN) {
+ client.send(message);
+
+ }
+ });
+};
+
+const sendToBot = (ws, message) => {
+ wss.clients.forEach((client) => {
+ if (client !== ws && client.readyState === WebSocket.OPEN) {
+ client.send(message);
+ }
+ });
+}
diff --git a/controller/web-server/snowpack.config.js b/controller/web-server/snowpack.config.js
new file mode 100644
index 000000000..460e13515
--- /dev/null
+++ b/controller/web-server/snowpack.config.js
@@ -0,0 +1,42 @@
+const proxy = import('http2-proxy')
+const dotenv = require('dotenv');
+
+dotenv.config();
+
+/** @type {import("snowpack").SnowpackUserConfig } */
+module.exports = {
+ mount: {
+ "client": "/"
+ },
+ optimize: {
+ bundle: true,
+ minify: true,
+ target: 'es2018',
+ treeshake: true,
+ },
+ routes: [
+ {
+ src: '/ws',
+ upgrade: (req, socket, head) => {
+
+ const defaultWSHandler = (err, req, socket, head) => {
+ if (err) {
+ console.error('proxy error', err);
+ socket.destroy();
+ }
+ };
+
+ proxy.ws(
+ req,
+ socket,
+ head,
+ {
+ hostname: 'localhost',
+ port: 7071,
+ },
+ defaultWSHandler,
+ );
+ },
+ },
+ ],
+};
diff --git a/docs/images/ios_project_screen.jpeg b/docs/images/ios_project_screen.jpeg
deleted file mode 100644
index 27075425f..000000000
Binary files a/docs/images/ios_project_screen.jpeg and /dev/null differ
diff --git a/ios/OpenBot/OpenBot.xcodeproj/project.pbxproj b/ios/OpenBot/OpenBot.xcodeproj/project.pbxproj
index 3e19011ad..29abc2558 100644
--- a/ios/OpenBot/OpenBot.xcodeproj/project.pbxproj
+++ b/ios/OpenBot/OpenBot.xcodeproj/project.pbxproj
@@ -11,8 +11,11 @@
06B219AD2ABD4D6100E65CEF /* SharedPreferences.swift in Sources */ = {isa = PBXBuildFile; fileRef = 06B219AC2ABD4D6100E65CEF /* SharedPreferences.swift */; };
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113A1E4E0F1483D107D53843 /* BlockyTasksStorage.swift in Sources */ = {isa = PBXBuildFile; fileRef = 113A10896533873FE2926AF5 /* BlockyTasksStorage.swift */; };
+ 202ADFEAAAEDF465B47E680C /* Pods_OpenBot_OpenBotUITests.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 33E6B08B2CB917BF3DADC757 /* Pods_OpenBot_OpenBotUITests.framework */; };
3A3C9E0D29E803AC008758C9 /* projectCollectionViewCell.xib in Resources */ = {isa = PBXBuildFile; fileRef = 3A3C9E0C29E803AC008758C9 /* projectCollectionViewCell.xib */; };
3A70CA1229C98E5800E4192B /* GoogleService-Info.plist in Resources */ = {isa = PBXBuildFile; fileRef = 3A70CA1129C98E5800E4192B /* GoogleService-Info.plist */; };
+ 3A8EF46C2A6FD0FD00F60B3D /* Starscream in Frameworks */ = {isa = PBXBuildFile; productRef = 3A8EF46B2A6FD0FD00F60B3D /* Starscream */; };
+ 3A8EF46F2A6FE22F00F60B3D /* SocketIO in Frameworks */ = {isa = PBXBuildFile; productRef = 3A8EF46E2A6FE22F00F60B3D /* SocketIO */; };
3AA7193929DD42CF00DE8336 /* openCode.storyboard in Resources */ = {isa = PBXBuildFile; fileRef = 3AA7193829DD42CF00DE8336 /* openCode.storyboard */; };
4FEF40039118AB286DD8CB0C /* DetectorDefault.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4FEF47209A4C03D66945462E /* DetectorDefault.swift */; };
4FEF403935216C3C68714E27 /* UIViewExtension.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4FEF47C56474B6324A408225 /* UIViewExtension.swift */; };
@@ -46,7 +49,6 @@
4FEF4DC031698B6DEEB01AEB /* AppDelegate.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4FEF4620693FBFF8ABFC0350 /* AppDelegate.swift */; };
4FEF4E9F41A93B4F6CD1AEEC /* DetectorFloatYoloV4.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4FEF4633FC7402D71728D03F /* DetectorFloatYoloV4.swift */; };
4FEF4F78919CCCC28C418C5B /* SceneDelegate.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4FEF4D63E4FA9FB585EF1733 /* SceneDelegate.swift */; };
- 525632FAD7D5CA948A20F6B9 /* Pods_OpenBot.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = CADB8D624A9E1D1494E9F87D /* Pods_OpenBot.framework */; };
660FACB729BFEDE000223373 /* MTLDevice+.swift in Sources */ = {isa = PBXBuildFile; fileRef = 660FACAF29BFEDE000223373 /* MTLDevice+.swift */; };
660FACB829BFEDE000223373 /* CVReturnError.swift in Sources */ = {isa = PBXBuildFile; fileRef = 660FACB029BFEDE000223373 /* CVReturnError.swift */; };
660FACB929BFEDE000223373 /* CVPixelBuffer+.swift in Sources */ = {isa = PBXBuildFile; fileRef = 660FACB129BFEDE000223373 /* CVPixelBuffer+.swift */; };
@@ -78,6 +80,8 @@
66AC721929B885C70022108A /* Navigation.swift in Sources */ = {isa = PBXBuildFile; fileRef = 66AC721829B885C70022108A /* Navigation.swift */; };
66B3C59C2A1D673D0079BC16 /* UIButton.swift in Sources */ = {isa = PBXBuildFile; fileRef = 66B3C59B2A1D673D0079BC16 /* UIButton.swift */; };
66E7A02C297697BE00283ED6 /* DetectorFloatYoloV5.swift in Sources */ = {isa = PBXBuildFile; fileRef = 66E7A02B297697BE00283ED6 /* DetectorFloatYoloV5.swift */; };
+ 67165015F4D1203C2A1A0A89 /* Pods_OpenBotTests.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 6D8F8740E0AB9219D371A47C /* Pods_OpenBotTests.framework */; };
+ 727D30039B9108BC587A820E /* ServerWebrtcDelegates.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D37C7F3414E19F505AB0C /* ServerWebrtcDelegates.swift */; };
727D301B0DA9C7F9CC3203D6 /* BluetoothDataController.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D3A55B16EF3CEDA3901BF /* BluetoothDataController.swift */; };
727D303C061B9CA823E99905 /* Projects.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D33AFAD7EDEC111578DE8 /* Projects.swift */; };
727D30A012E8F58F2DD21369 /* ServerCommunication.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D384E16A0157F2B8C7084 /* ServerCommunication.swift */; };
@@ -92,6 +96,7 @@
727D34C317885120CF1DBC27 /* AudioPlayer.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D36143ED88C8E210BCEB1 /* AudioPlayer.swift */; };
727D34E3CC491BD7758C572F /* WebRTCClient.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D3E0255E9EFCEBD190510 /* WebRTCClient.swift */; };
727D354EAA4CA78176DD1064 /* Toast.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D383824EABABFDE0806CE /* Toast.swift */; };
+ 727D3595B21D2EC9BDAEDF5C /* ServerSignalingMessage.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D38A3775D7B740BFEAE65 /* ServerSignalingMessage.swift */; };
727D35D8CB673649BF1AD948 /* Endpoint.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D3AB3E741A78099D79575 /* Endpoint.swift */; };
727D36856575D19091290CFF /* WebViewFragment.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D35EAA13908B142BC4773 /* WebViewFragment.swift */; };
727D36915DB88577316D9C46 /* Connection.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D3A8D7ACD08EF11740FC2 /* Connection.swift */; };
@@ -105,10 +110,12 @@
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727D3A13757F3F2493E61977 /* ProjectCollectionViewCell.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D30F6A969E2122927A95D /* ProjectCollectionViewCell.swift */; };
+ 727D3A6C79B27AE7C7AF4FB3 /* WebSocketConnection.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D3B926BD1220C4BD68EEA /* WebSocketConnection.swift */; };
727D3A8537018C4279532AAC /* RTCCustomFrameCapture.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D35A4DFA72830811B2D07 /* RTCCustomFrameCapture.swift */; };
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727D3B9525E721AC05B0AD3B /* AdaptedConstraint.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D30493151AEA8D4DA58C9 /* AdaptedConstraint.swift */; };
+ 727D3C40C6A407C68234FEE8 /* WebSocketProvider.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D3D00B90949673E13A46F /* WebSocketProvider.swift */; };
727D3CCBA2ED9D056786AAC1 /* ProjectFragement.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D326C57B2AFC7F2AEEDB1 /* ProjectFragement.swift */; };
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@@ -118,14 +125,16 @@
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727D3E6881E8758C94FF74F4 /* GifLoader.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D3A51A7A6155C22E62412 /* GifLoader.swift */; };
+ 727D3E6B3D9FD6E167F939B0 /* NativeWebSocket.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D372D5B218FDC793841D6 /* NativeWebSocket.swift */; };
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727D3EFB9016C8224990ACE8 /* ProfileFragment.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D3A89E5445B66EEB3177C /* ProfileFragment.swift */; };
+ 727D3F551E6CB92280B819E2 /* WebSocketMessageHandler.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D3504130197C59EB15178 /* WebSocketMessageHandler.swift */; };
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727D3FA70675D0042BFBB89A /* ScannerFragment.swift in Sources */ = {isa = PBXBuildFile; fileRef = 727D3E372C09E1BADA2A03FA /* ScannerFragment.swift */; };
+ 7AAD390ED6FC7AE7006497C2 /* Pods_OpenBot.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 7061589D8480D4960FF75E85 /* Pods_OpenBot.framework */; };
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@@ -147,13 +156,16 @@
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