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WebSocket Protocol

The default protocol for ARVOS - works everywhere, bidirectional, and easy to use.

Overview

WebSocket is the default protocol for ARVOS. It provides: - ✅ Bidirectional communication - ✅ Works on all networks - ✅ Good performance - ✅ Easy to debug

Default Port

9090

Quick Start

Python Server

import asyncio
from arvos import ArvosServer

async def main():
    server = ArvosServer(port=9090)
    server.print_qr_code()

    server.on_imu = lambda data: print(f"IMU: {data}")
    await server.start()

asyncio.run(main())

iOS App

  1. Open ARVOS app
  2. Select WebSocket protocol (default)
  3. Enter server IP and port 9090
  4. Connect!

Features

Bidirectional Communication

  • iPhone sends sensor data
  • Server can send control commands
  • Real-time feedback

Automatic Reconnection

  • Handles network interruptions
  • Automatic reconnection logic
  • Message queuing during disconnects

Message Format

JSON Messages (IMU, GPS, Pose): 

{
  "type": "imu",
  "timestampNs": 1700000000000,
  "angularVelocity": [0.01, -0.02, 0.005],
  "linearAcceleration": [0.1, 0.0, -0.01]
}

Binary Messages (Camera, Depth): 

[Header Size (4 bytes)][JSON Header][Binary Data]

Use Cases

  • General purpose streaming
  • First-time users
  • Most research applications
  • Development and testing

Advantages

  • ✅ Works everywhere
  • ✅ No special setup
  • ✅ Good performance
  • ✅ Easy debugging

Limitations

  • ⚠️ Not the fastest (use gRPC for maximum performance)
  • ⚠️ Single connection per client

Example

See Basic Server Example

Next Steps