Add ROS2 bridge

This commit is contained in:
2025-10-16 16:08:49 -04:00
parent 9431bb549b
commit 816b2b9e31
27 changed files with 6360 additions and 507 deletions

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"use client";
import { useParams } from "next/navigation";
import { Suspense, useEffect } from "react";
import Link from "next/link";
import { Play, Zap, ArrowLeft, User, FlaskConical } from "lucide-react";
import { PageHeader } from "~/components/ui/page-header";
import { Button } from "~/components/ui/button";
import { Badge } from "~/components/ui/badge";
import {
Card,
CardContent,
CardDescription,
CardHeader,
CardTitle,
} from "~/components/ui/card";
import { useBreadcrumbsEffect } from "~/components/ui/breadcrumb-provider";
import { useStudyContext } from "~/lib/study-context";
import { useSelectedStudyDetails } from "~/hooks/useSelectedStudyDetails";
import { api } from "~/trpc/react";
import { formatDistanceToNow } from "date-fns";
function TrialDetailContent() {
const params = useParams();
const studyId: string = typeof params.id === "string" ? params.id : "";
const trialId: string =
typeof params.trialId === "string" ? params.trialId : "";
const { setSelectedStudyId, selectedStudyId } = useStudyContext();
const { study } = useSelectedStudyDetails();
// Get trial data
const {
data: trial,
isLoading,
error,
} = api.trials.get.useQuery({ id: trialId }, { enabled: !!trialId });
// Set breadcrumbs
useBreadcrumbsEffect([
{ label: "Dashboard", href: "/dashboard" },
{ label: "Studies", href: "/studies" },
{ label: study?.name ?? "Study", href: `/studies/${studyId}` },
{ label: "Trials", href: `/studies/${studyId}/trials` },
{ label: trial?.participant.participantCode ?? "Trial" },
]);
// Sync selected study (unified study-context)
useEffect(() => {
if (studyId && selectedStudyId !== studyId) {
setSelectedStudyId(studyId);
}
}, [studyId, selectedStudyId, setSelectedStudyId]);
const getStatusBadgeVariant = (status: string) => {
switch (status) {
case "completed":
return "default";
case "in_progress":
return "secondary";
case "scheduled":
return "outline";
case "failed":
case "aborted":
return "destructive";
default:
return "outline";
}
};
if (isLoading) {
return (
<div className="flex h-96 items-center justify-center">
<div className="text-muted-foreground">Loading trial...</div>
</div>
);
}
if (error) {
return (
<div className="space-y-6">
<PageHeader
title="Trial Details"
description="View trial information and execution data"
icon={Play}
actions={
<Button asChild variant="outline">
<a href={`/studies/${studyId}/trials`}>
<ArrowLeft className="mr-2 h-4 w-4" />
Back to Trials
</a>
</Button>
}
/>
<div className="flex h-96 items-center justify-center">
<div className="text-center">
<h3 className="text-destructive mb-2 text-lg font-semibold">
Error Loading Trial
</h3>
<p className="text-muted-foreground">
{error.message || "Failed to load trial data"}
</p>
</div>
</div>
</div>
);
}
if (!trial) {
return (
<div className="space-y-6">
<PageHeader
title="Trial Details"
description="View trial information and execution data"
icon={Play}
actions={
<Button asChild variant="outline">
<a href={`/studies/${studyId}/trials`}>
<ArrowLeft className="mr-2 h-4 w-4" />
Back to Trials
</a>
</Button>
}
/>
<div className="flex h-96 items-center justify-center">
<div className="text-center">
<h3 className="mb-2 text-lg font-semibold">Trial Not Found</h3>
<p className="text-muted-foreground">
The requested trial could not be found.
</p>
</div>
</div>
</div>
);
}
return (
<div className="space-y-6">
<PageHeader
title={`Trial: ${trial.participant.participantCode}`}
description={`${trial.experiment.name} - Session ${trial.sessionNumber}`}
icon={Play}
actions={
<div className="flex gap-2">
{trial.status === "scheduled" && (
<Button>
<Play className="mr-2 h-4 w-4" />
Start Trial
</Button>
)}
{(trial.status === "in_progress" ||
trial.status === "scheduled") && (
<Button asChild>
<Link href={`/studies/${studyId}/trials/${trialId}/wizard`}>
<Zap className="mr-2 h-4 w-4" />
Wizard Interface
</Link>
</Button>
)}
<Button asChild variant="outline">
<Link href={`/studies/${studyId}/trials`}>
<ArrowLeft className="mr-2 h-4 w-4" />
Back to Trials
</Link>
</Button>
</div>
}
/>
<div className="grid grid-cols-1 gap-6 lg:grid-cols-3">
{/* Trial Overview */}
<Card className="lg:col-span-2">
<CardHeader>
<CardTitle className="flex items-center gap-2">
<Play className="h-5 w-5" />
Trial Overview
</CardTitle>
<CardDescription>
Basic information about this trial execution
</CardDescription>
</CardHeader>
<CardContent className="space-y-4">
<div className="grid grid-cols-2 gap-4">
<div>
<label className="text-muted-foreground text-sm font-medium">
Status
</label>
<div className="mt-1">
<Badge variant={getStatusBadgeVariant(trial.status)}>
{trial.status.replace("_", " ")}
</Badge>
</div>
</div>
<div>
<label className="text-muted-foreground text-sm font-medium">
Session Number
</label>
<div className="mt-1 text-sm">{trial.sessionNumber}</div>
</div>
{trial.scheduledAt && (
<div>
<label className="text-muted-foreground text-sm font-medium">
Scheduled
</label>
<div className="mt-1 text-sm">
{formatDistanceToNow(new Date(trial.scheduledAt), {
addSuffix: true,
})}
</div>
</div>
)}
{trial.startedAt && (
<div>
<label className="text-muted-foreground text-sm font-medium">
Started
</label>
<div className="mt-1 text-sm">
{formatDistanceToNow(new Date(trial.startedAt), {
addSuffix: true,
})}
</div>
</div>
)}
{trial.completedAt && (
<div>
<label className="text-muted-foreground text-sm font-medium">
Completed
</label>
<div className="mt-1 text-sm">
{formatDistanceToNow(new Date(trial.completedAt), {
addSuffix: true,
})}
</div>
</div>
)}
{trial.duration && (
<div>
<label className="text-muted-foreground text-sm font-medium">
Duration
</label>
<div className="mt-1 text-sm">
{Math.round(trial.duration / 1000)}s
</div>
</div>
)}
</div>
{trial.notes && (
<div>
<label className="text-muted-foreground text-sm font-medium">
Notes
</label>
<div className="text-muted-foreground mt-1 text-sm">
{trial.notes}
</div>
</div>
)}
</CardContent>
</Card>
{/* Quick Actions */}
<div className="space-y-6">
{/* Experiment Info */}
<Card>
<CardHeader>
<CardTitle className="flex items-center gap-2">
<FlaskConical className="h-5 w-5" />
Experiment
</CardTitle>
</CardHeader>
<CardContent className="space-y-2">
<div>
<label className="text-muted-foreground text-sm font-medium">
Name
</label>
<div className="mt-1 text-sm">{trial.experiment.name}</div>
</div>
{trial.experiment.description && (
<div>
<label className="text-muted-foreground text-sm font-medium">
Description
</label>
<div className="text-muted-foreground mt-1 text-sm">
{trial.experiment.description}
</div>
</div>
)}
</CardContent>
</Card>
{/* Participant Info */}
<Card>
<CardHeader>
<CardTitle className="flex items-center gap-2">
<User className="h-5 w-5" />
Participant
</CardTitle>
</CardHeader>
<CardContent className="space-y-2">
<div>
<label className="text-muted-foreground text-sm font-medium">
Code
</label>
<div className="mt-1 text-sm">
{trial.participant.participantCode}
</div>
</div>
{(() => {
const demographics = trial.participant.demographics as Record<
string,
unknown
> | null;
return (
demographics &&
typeof demographics === "object" && (
<div>
<label className="text-muted-foreground text-sm font-medium">
Demographics
</label>
<div className="text-muted-foreground mt-1 text-sm">
{Object.keys(demographics).length} fields recorded
</div>
</div>
)
);
})()}
</CardContent>
</Card>
</div>
</div>
</div>
);
}
export default function TrialDetailPage() {
return (
<Suspense
fallback={
<div className="flex h-96 items-center justify-center">
<div className="text-muted-foreground">Loading...</div>
</div>
}
>
<TrialDetailContent />
</Suspense>
);
}

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"use client";
import { useParams } from "next/navigation";
import { Suspense, useEffect } from "react";
import Link from "next/link";
import { Zap, ArrowLeft, Eye, User } from "lucide-react";
import { PageHeader } from "~/components/ui/page-header";
import { Button } from "~/components/ui/button";
import { useBreadcrumbsEffect } from "~/components/ui/breadcrumb-provider";
import { useStudyContext } from "~/lib/study-context";
import { useSelectedStudyDetails } from "~/hooks/useSelectedStudyDetails";
import { WizardView } from "~/components/trials/views/WizardView";
import { ObserverView } from "~/components/trials/views/ObserverView";
import { ParticipantView } from "~/components/trials/views/ParticipantView";
import { api } from "~/trpc/react";
import { useSession } from "next-auth/react";
function WizardPageContent() {
const params = useParams();
const studyId: string = typeof params.id === "string" ? params.id : "";
const trialId: string =
typeof params.trialId === "string" ? params.trialId : "";
const { setSelectedStudyId, selectedStudyId } = useStudyContext();
const { study } = useSelectedStudyDetails();
const { data: session } = useSession();
// Get trial data
const {
data: trial,
isLoading,
error,
} = api.trials.get.useQuery({ id: trialId }, { enabled: !!trialId });
// Set breadcrumbs
useBreadcrumbsEffect([
{ label: "Dashboard", href: "/dashboard" },
{ label: "Studies", href: "/studies" },
{ label: study?.name ?? "Study", href: `/studies/${studyId}` },
{ label: "Trials", href: `/studies/${studyId}/trials` },
{
label: trial?.experiment.name ?? "Trial",
href: `/studies/${studyId}/trials`,
},
{ label: "Wizard Interface" },
]);
// Sync selected study (unified study-context)
useEffect(() => {
if (studyId && selectedStudyId !== studyId) {
setSelectedStudyId(studyId);
}
}, [studyId, selectedStudyId, setSelectedStudyId]);
// Determine user role and view type
const getUserRole = () => {
if (!session?.user) return "observer";
// Check URL parameters for role override (for testing)
const urlParams = new URLSearchParams(window.location.search);
const roleParam = urlParams.get("view");
if (
roleParam &&
["wizard", "observer", "participant"].includes(roleParam)
) {
return roleParam;
}
// Default role logic based on user
const userRole = session.user.roles?.[0]?.role ?? "observer";
if (userRole === "administrator" || userRole === "researcher") {
return "wizard";
}
return "observer";
};
const currentRole = getUserRole();
if (isLoading) {
return (
<div className="flex h-96 items-center justify-center">
<div className="text-muted-foreground">Loading trial...</div>
</div>
);
}
if (error) {
return (
<div className="space-y-6">
<PageHeader
title="Wizard Interface"
description="Trial execution interface for wizards"
icon={Zap}
actions={
<Button asChild variant="outline">
<a href={`/studies/${studyId}/trials`}>
<ArrowLeft className="mr-2 h-4 w-4" />
Back to Trials
</a>
</Button>
}
/>
<div className="flex h-96 items-center justify-center">
<div className="text-center">
<h3 className="text-destructive mb-2 text-lg font-semibold">
Error Loading Trial
</h3>
<p className="text-muted-foreground">
{error.message || "Failed to load trial data"}
</p>
</div>
</div>
</div>
);
}
if (!trial) {
return (
<div className="space-y-6">
<PageHeader
title="Wizard Interface"
description="Trial execution interface for wizards"
icon={Zap}
actions={
<Button asChild variant="outline">
<a href={`/studies/${studyId}/trials`}>
<ArrowLeft className="mr-2 h-4 w-4" />
Back to Trials
</a>
</Button>
}
/>
<div className="flex h-96 items-center justify-center">
<div className="text-center">
<h3 className="mb-2 text-lg font-semibold">Trial Not Found</h3>
<p className="text-muted-foreground">
The requested trial could not be found.
</p>
</div>
</div>
</div>
);
}
const getViewTitle = (role: string) => {
switch (role) {
case "wizard":
return `${trial.experiment.name} - Wizard Control`;
case "observer":
return `${trial.experiment.name} - Observer View`;
case "participant":
return `Research Session - ${trial.participant.participantCode}`;
default:
return `${trial.experiment.name} - Trial View`;
}
};
const getViewIcon = (role: string) => {
switch (role) {
case "wizard":
return Zap;
case "observer":
return Eye;
case "participant":
return User;
default:
return Zap;
}
};
const renderView = () => {
const trialData = {
...trial,
metadata: trial.metadata as Record<string, unknown> | null,
participant: {
...trial.participant,
demographics: trial.participant.demographics as Record<
string,
unknown
> | null,
},
};
switch (currentRole) {
case "wizard":
return <WizardView trial={trialData} />;
case "observer":
return <ObserverView trial={trialData} />;
case "participant":
return <ParticipantView trial={trialData} />;
default:
return <ObserverView trial={trialData} />;
}
};
return (
<div className="flex h-full flex-col">
<PageHeader
title={getViewTitle(currentRole)}
description={`Session ${trial.sessionNumber} • Participant ${trial.participant.participantCode}`}
icon={getViewIcon(currentRole)}
actions={
currentRole !== "participant" ? (
<Button asChild variant="outline">
<Link href={`/studies/${studyId}/trials/${trialId}`}>
<ArrowLeft className="mr-2 h-4 w-4" />
Back to Trial
</Link>
</Button>
) : null
}
/>
<div className="min-h-0 flex-1">{renderView()}</div>
</div>
);
}
export default function TrialWizardPage() {
return (
<Suspense
fallback={
<div className="flex h-96 items-center justify-center">
<div className="text-muted-foreground">Loading...</div>
</div>
}
>
<WizardPageContent />
</Suspense>
);
}

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import { NextResponse } from "next/server";
import { db } from "~/server/db";
import { trials, experiments, participants } from "~/server/db/schema";
import { eq } from "drizzle-orm";
export async function GET(request: Request) {
try {
const { searchParams } = new URL(request.url);
const trialId = searchParams.get("id");
if (!trialId) {
// Get all trials for debugging
const allTrials = await db
.select({
id: trials.id,
status: trials.status,
experimentId: trials.experimentId,
participantId: trials.participantId,
sessionNumber: trials.sessionNumber,
scheduledAt: trials.scheduledAt,
startedAt: trials.startedAt,
})
.from(trials)
.limit(10);
return NextResponse.json({
success: true,
message: "Database connection working",
trials: allTrials,
count: allTrials.length,
});
}
// Get specific trial
const trial = await db
.select({
id: trials.id,
status: trials.status,
experimentId: trials.experimentId,
participantId: trials.participantId,
sessionNumber: trials.sessionNumber,
scheduledAt: trials.scheduledAt,
startedAt: trials.startedAt,
experiment: {
id: experiments.id,
name: experiments.name,
},
participant: {
id: participants.id,
participantCode: participants.participantCode,
},
})
.from(trials)
.leftJoin(experiments, eq(trials.experimentId, experiments.id))
.leftJoin(participants, eq(trials.participantId, participants.id))
.where(eq(trials.id, trialId))
.limit(1);
if (!trial[0]) {
return NextResponse.json({
success: false,
error: "Trial not found",
trialId,
});
}
return NextResponse.json({
success: true,
trial: trial[0],
});
} catch (error) {
console.error("Test trial API error:", error);
return NextResponse.json({
success: false,
error: error instanceof Error ? error.message : "Unknown error",
stack: error instanceof Error ? error.stack : undefined,
});
}
}

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export const runtime = "edge";
declare global {
var WebSocketPair: new () => { 0: WebSocket; 1: WebSocket };
interface WebSocket {
accept(): void;
}
interface ResponseInit {
webSocket?: WebSocket;
}
}
type Json = Record<string, unknown>;
interface ClientInfo {
userId: string | null;
role: "wizard" | "researcher" | "administrator" | "observer" | "unknown";
connectedAt: number;
}
interface TrialState {
trial: {
id: string;
status: "scheduled" | "in_progress" | "completed" | "aborted" | "failed";
startedAt: string | null;
completedAt: string | null;
};
currentStepIndex: number;
updatedAt: number;
}
declare global {
// Per-trial subscriber sets
// Using globalThis for ephemeral in-memory broadcast in the current Edge isolate
// (not shared globally across regions/instances)
var __trialRooms: Map<string, Set<WebSocket>> | undefined;
var __trialState: Map<string, TrialState> | undefined;
}
const rooms = (globalThis.__trialRooms ??= new Map<string, Set<WebSocket>>());
const states = (globalThis.__trialState ??= new Map<string, TrialState>());
function safeJSON<T>(v: T): string {
try {
return JSON.stringify(v);
} catch {
return '{"type":"error","data":{"message":"serialization_error"}}';
}
}
function send(ws: WebSocket, message: { type: string; data?: Json }) {
try {
ws.send(safeJSON(message));
} catch {
// swallow send errors
}
}
function broadcast(trialId: string, message: { type: string; data?: Json }) {
const room = rooms.get(trialId);
if (!room) return;
const payload = safeJSON(message);
for (const client of room) {
try {
client.send(payload);
} catch {
// ignore individual client send failure
}
}
}
function ensureTrialState(trialId: string): TrialState {
let state = states.get(trialId);
if (!state) {
state = {
trial: {
id: trialId,
status: "scheduled",
startedAt: null,
completedAt: null,
},
currentStepIndex: 0,
updatedAt: Date.now(),
};
states.set(trialId, state);
}
return state;
}
function updateTrialStatus(
trialId: string,
patch: Partial<TrialState["trial"]> &
Partial<Pick<TrialState, "currentStepIndex">>,
) {
const state = ensureTrialState(trialId);
if (typeof patch.currentStepIndex === "number") {
state.currentStepIndex = patch.currentStepIndex;
}
state.trial = {
...state.trial,
...(patch.status !== undefined ? { status: patch.status } : {}),
...(patch.startedAt !== undefined
? { startedAt: patch.startedAt ?? null }
: {}),
...(patch.completedAt !== undefined
? { completedAt: patch.completedAt ?? null }
: {}),
};
state.updatedAt = Date.now();
states.set(trialId, state);
return state;
}
// Very lightweight token parse (base64-encoded JSON per client hook)
// In production, replace with properly signed JWT verification.
function parseToken(token: string | null): ClientInfo {
if (!token) {
return { userId: null, role: "unknown", connectedAt: Date.now() };
}
try {
const decodedUnknown = JSON.parse(atob(token)) as unknown;
const userId =
typeof decodedUnknown === "object" &&
decodedUnknown !== null &&
"userId" in decodedUnknown &&
typeof (decodedUnknown as Record<string, unknown>).userId === "string"
? ((decodedUnknown as Record<string, unknown>).userId as string)
: null;
const connectedAt = Date.now();
const role: ClientInfo["role"] = "wizard"; // default role for live trial control context
return { userId, role, connectedAt };
} catch {
return { userId: null, role: "unknown", connectedAt: Date.now() };
}
}
export async function GET(req: Request): Promise<Response> {
const { searchParams } = new URL(req.url);
const trialId = searchParams.get("trialId");
const token = searchParams.get("token");
if (!trialId) {
return new Response("Missing trialId parameter", { status: 400 });
}
// If this isn't a WebSocket upgrade, return a small JSON descriptor
const upgrade = req.headers.get("upgrade") ?? "";
if (upgrade.toLowerCase() !== "websocket") {
return new Response(
safeJSON({
message: "WebSocket endpoint",
trialId,
info: "Open a WebSocket connection to this URL to receive live trial updates.",
}),
{ status: 200, headers: { "content-type": "application/json" } },
);
}
// Create WebSocket pair (typed) and destructure endpoints
const pair = new WebSocketPair();
const client = pair[0];
const server = pair[1];
// Register server-side handlers
server.accept();
const clientInfo = parseToken(token);
// Join room
const room = rooms.get(trialId) ?? new Set<WebSocket>();
room.add(server);
rooms.set(trialId, room);
// Immediately acknowledge connection and provide current trial status snapshot
const state = ensureTrialState(trialId);
send(server, {
type: "connection_established",
data: {
trialId,
userId: clientInfo.userId,
role: clientInfo.role,
connectedAt: clientInfo.connectedAt,
},
});
send(server, {
type: "trial_status",
data: {
trial: state.trial,
current_step_index: state.currentStepIndex,
timestamp: Date.now(),
},
});
server.addEventListener("message", (ev: MessageEvent<string>) => {
let parsed: unknown;
try {
parsed = JSON.parse(typeof ev.data === "string" ? ev.data : "{}");
} catch {
send(server, {
type: "error",
data: { message: "invalid_json" },
});
return;
}
const maybeObj =
typeof parsed === "object" && parsed !== null
? (parsed as Record<string, unknown>)
: {};
const type = typeof maybeObj.type === "string" ? maybeObj.type : "";
const data: Json =
maybeObj.data &&
typeof maybeObj.data === "object" &&
maybeObj.data !== null
? (maybeObj.data as Record<string, unknown>)
: {};
const now = Date.now();
const getString = (key: string, fallback = ""): string => {
const v = (data as Record<string, unknown>)[key];
return typeof v === "string" ? v : fallback;
};
const getNumber = (key: string): number | undefined => {
const v = (data as Record<string, unknown>)[key];
return typeof v === "number" ? v : undefined;
};
switch (type) {
case "heartbeat": {
send(server, { type: "heartbeat_response", data: { timestamp: now } });
break;
}
case "request_trial_status": {
const s = ensureTrialState(trialId);
send(server, {
type: "trial_status",
data: {
trial: s.trial,
current_step_index: s.currentStepIndex,
timestamp: now,
},
});
break;
}
case "trial_action": {
// Supports: start_trial, complete_trial, abort_trial, and generic actions
const actionType = getString("actionType", "unknown");
let updated: TrialState | null = null;
if (actionType === "start_trial") {
const stepIdx = getNumber("step_index") ?? 0;
updated = updateTrialStatus(trialId, {
status: "in_progress",
startedAt: new Date().toISOString(),
currentStepIndex: stepIdx,
});
} else if (actionType === "complete_trial") {
updated = updateTrialStatus(trialId, {
status: "completed",
completedAt: new Date().toISOString(),
});
} else if (actionType === "abort_trial") {
updated = updateTrialStatus(trialId, {
status: "aborted",
completedAt: new Date().toISOString(),
});
}
// Broadcast the action execution event
broadcast(trialId, {
type: "trial_action_executed",
data: {
action_type: actionType,
timestamp: now,
userId: clientInfo.userId,
...data,
},
});
// If trial state changed, broadcast status
if (updated) {
broadcast(trialId, {
type: "trial_status",
data: {
trial: updated.trial,
current_step_index: updated.currentStepIndex,
timestamp: now,
},
});
}
break;
}
case "wizard_intervention": {
// Log/broadcast a wizard intervention (note, correction, manual control)
broadcast(trialId, {
type: "intervention_logged",
data: {
timestamp: now,
userId: clientInfo.userId,
...data,
},
});
break;
}
case "step_transition": {
// Update step index and broadcast
const from = getNumber("from_step");
const to = getNumber("to_step");
if (typeof to !== "number" || !Number.isFinite(to)) {
send(server, {
type: "error",
data: { message: "invalid_step_transition" },
});
return;
}
const updated = updateTrialStatus(trialId, {
currentStepIndex: to,
});
broadcast(trialId, {
type: "step_changed",
data: {
timestamp: now,
userId: clientInfo.userId,
from_step:
typeof from === "number" ? from : updated.currentStepIndex,
to_step: updated.currentStepIndex,
...data,
},
});
break;
}
default: {
// Relay unknown/custom messages to participants in the same trial room
broadcast(trialId, {
type: type !== "" ? type : "message",
data: {
timestamp: now,
userId: clientInfo.userId,
...data,
},
});
break;
}
}
});
server.addEventListener("close", () => {
const room = rooms.get(trialId);
if (room) {
room.delete(server);
if (room.size === 0) {
rooms.delete(trialId);
}
}
});
server.addEventListener("error", () => {
try {
server.close();
} catch {
// ignore
}
const room = rooms.get(trialId);
if (room) {
room.delete(server);
if (room.size === 0) {
rooms.delete(trialId);
}
}
});
// Hand over the client end of the socket to the response
return new Response(null, {
status: 101,
webSocket: client,
});
}