blueye-ts

A TypeScript package for interacting with Blueye underwater drones and parsing binlog files.

Installation

npm install @blueyerobotics/blueye-ts

Usage

import { BlueyeClient } from "@blueyerobotics/blueye-ts";

const client = new BlueyeClient();

client.on("connected", async () => {
  // request battery information
  const batteryRep = await client.sendRequest("GetBatteryReq");
  console.log("batteryRep:", batteryRep);

  // get latest battery telemetry
  const batteryTel = await client.getTelemetry("BatteryTel");
  console.log("batteryTel:", batteryTel);

  // send a control message to change the light intensity to 1
  await client.sendControl("LightsCtrl", { lights: { value: 1 } });
});

// subscribe to battery telemetry updates
client.on("BatteryTel", data => {
  console.log("received BatteryTel:", data);
});

client.connect();

Connection states

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):

client.on("connected", () => {
  console.log("all required sockets ready");
});

client.on("sonar-connected", () => {
  console.log("sonar socket ready");
});

The 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.

• disconnected: connect() has not been called.
• connecting: one or more required sockets are not yet ready.
• connected: all required sockets are ready — safe to call sendRequest(), getTelemetry(), and sendControl().

client.sonarState reflects the sonar socket independently. If the client loses one or more sockets after being connected, the derived state moves back to connecting. sendRequest() and sendControl() reject unless the client is in the connected state.

Sonar support

BlueyeClient connects the sonar websocket endpoint at ws://192.168.1.101:9988 when a supported multibeam device is detected in a DroneInfoTel message.

• On connect(), the sonar socket subscribes but only connects when a known multibeam device ID is found in the guest-port device list.
• Once detected, the sonar socket connects and the global connected state requires it to be ready.
• Sonar telemetry such as MultibeamPingTel, MultibeamConfigTel, and MultibeamDiscoveryTel is emitted through the same typed event interface as other telemetry messages.