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    Handle teleoperation disconnections safely

    In mission critical teleop applications, it is necessary to detect and react to session disconnections within milliseconds. This can be achieved by listening to a high frequency streaming heartbeat that is continually sent from the operator to device during teleop. This heartbeat is communicated over SCTP and requires less than 0.004Mbps. The robot application can listen to the teleop’s heartbeat and handle disconnects immediately, or time out when the teleop heartbeat stalls.

    Prerequisite

    Formant development environment has to be setup by following documentation here.

    See example usage with the Python SDK below or checkout our github page for the latest example.

    import time
    from formant.sdk.agent.v1 import Client as FormantAgentClient
    
    
    def f(heartbeat):
       print("Received heartbeat callback at", time.time())
       print(heartbeat.is_disconnect)
    
    
    if __name__ == "__main__":
       fclient = FormantAgentClient(ignore_unavailable=True)
       fclient.register_teleop_heartbeat_callback(f)
       try:
           while True:
               time.sleep(0.1)
       except KeyboardInterrupt:
           exit()
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