diff --git a/app2/.eslintignore b/app2/.eslintignore new file mode 100644 index 0000000..3897265 --- /dev/null +++ b/app2/.eslintignore @@ -0,0 +1,13 @@ +.DS_Store +node_modules +/build +/.svelte-kit +/package +.env +.env.* +!.env.example + +# Ignore files for PNPM, NPM and YARN +pnpm-lock.yaml +package-lock.json +yarn.lock diff --git a/app2/.eslintrc.cjs b/app2/.eslintrc.cjs new file mode 100644 index 0000000..0b75758 --- /dev/null +++ b/app2/.eslintrc.cjs @@ -0,0 +1,31 @@ +/** @type { import("eslint").Linter.Config } */ +module.exports = { + root: true, + extends: [ + 'eslint:recommended', + 'plugin:@typescript-eslint/recommended', + 'plugin:svelte/recommended', + 'prettier' + ], + parser: '@typescript-eslint/parser', + plugins: ['@typescript-eslint'], + parserOptions: { + sourceType: 'module', + ecmaVersion: 2020, + extraFileExtensions: ['.svelte'] + }, + env: { + browser: true, + es2017: true, + node: true + }, + overrides: [ + { + files: ['*.svelte'], + parser: 'svelte-eslint-parser', + parserOptions: { + parser: '@typescript-eslint/parser' + } + } + ] +}; diff --git a/app2/.gitignore b/app2/.gitignore new file mode 100644 index 0000000..6635cf5 --- /dev/null +++ b/app2/.gitignore @@ -0,0 +1,10 @@ +.DS_Store +node_modules +/build +/.svelte-kit +/package +.env +.env.* +!.env.example +vite.config.js.timestamp-* +vite.config.ts.timestamp-* diff --git a/app2/.npmrc b/app2/.npmrc new file mode 100644 index 0000000..b6f27f1 --- /dev/null +++ b/app2/.npmrc @@ -0,0 +1 @@ +engine-strict=true diff --git a/app2/.prettierignore b/app2/.prettierignore new file mode 100644 index 0000000..cc41cea --- /dev/null +++ b/app2/.prettierignore @@ -0,0 +1,4 @@ +# Ignore files for PNPM, NPM and YARN +pnpm-lock.yaml +package-lock.json +yarn.lock diff --git a/app2/.prettierrc b/app2/.prettierrc new file mode 100644 index 0000000..9573023 --- /dev/null +++ b/app2/.prettierrc @@ -0,0 +1,8 @@ +{ + "useTabs": true, + "singleQuote": true, + "trailingComma": "none", + "printWidth": 100, + "plugins": ["prettier-plugin-svelte"], + "overrides": [{ "files": "*.svelte", "options": { "parser": "svelte" } }] +} diff --git a/app2/README.md b/app2/README.md new file mode 100644 index 0000000..5ce6766 --- /dev/null +++ b/app2/README.md @@ -0,0 +1,38 @@ +# create-svelte + +Everything you need to build a Svelte project, powered by [`create-svelte`](https://github.com/sveltejs/kit/tree/main/packages/create-svelte). + +## Creating a project + +If you're seeing this, you've probably already done this step. Congrats! + +```bash +# create a new project in the current directory +npm create svelte@latest + +# create a new project in my-app +npm create svelte@latest my-app +``` + +## Developing + +Once you've created a project and installed dependencies with `npm install` (or `pnpm install` or `yarn`), start a development server: + +```bash +npm run dev + +# or start the server and open the app in a new browser tab +npm run dev -- --open +``` + +## Building + +To create a production version of your app: + +```bash +npm run build +``` + +You can preview the production build with `npm run preview`. + +> To deploy your app, you may need to install an [adapter](https://kit.svelte.dev/docs/adapters) for your target environment. diff --git a/app2/package.json b/app2/package.json new file mode 100644 index 0000000..a87da38 --- /dev/null +++ b/app2/package.json @@ -0,0 +1,55 @@ +{ + "name": "app2", + "version": "0.0.1", + "private": true, + "scripts": { + "dev": "vite dev", + "build": "vite build", + "preview": "vite preview", + "test": "npm run test:integration && npm run test:unit", + "check": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json", + "check:watch": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json --watch", + "lint": "prettier --check . && eslint .", + "format": "prettier --write .", + "test:integration": "playwright test", + "test:unit": "vitest" + }, + "devDependencies": { + "@iconify-json/mdi": "^1.1.64", + "@iconify-json/tabler": "^1.1.109", + "@iconify/json": "^2.2.196", + "@playwright/test": "^1.28.1", + "@sveltejs/adapter-auto": "^3.0.0", + "@sveltejs/kit": "^2.0.0", + "@sveltejs/vite-plugin-svelte": "^3.0.0", + "@types/eslint": "^8.56.0", + "@typescript-eslint/eslint-plugin": "^7.0.0", + "@typescript-eslint/parser": "^7.0.0", + "autoprefixer": "^10.4.19", + "daisyui": "^4.9.0", + "eslint": "^8.56.0", + "eslint-config-prettier": "^9.1.0", + "eslint-plugin-svelte": "^2.35.1", + "postcss": "^8.4.38", + "prettier": "^3.1.1", + "prettier-plugin-svelte": "^3.1.2", + "svelte": "^4.2.7", + "svelte-check": "^3.6.0", + "tailwindcss": "^3.4.3", + "tslib": "^2.4.1", + "typescript": "^5.0.0", + "unplugin-icons": "^0.18.5", + "vite": "^5.0.3", + "vitest": "^1.2.0" + }, + "type": "module", + "dependencies": { + "@sveltejs/adapter-static": "^3.0.1", + "@types/three": "^0.162.0", + "nipplejs": "^0.10.1", + "three": "^0.162.0", + "urdf-loader": "^0.12.1", + "uzip": "^0.20201231.0", + "xacro-parser": "^0.3.9" + } +} diff --git a/app2/playwright.config.ts b/app2/playwright.config.ts new file mode 100644 index 0000000..3cf8326 --- /dev/null +++ b/app2/playwright.config.ts @@ -0,0 +1,12 @@ +import type { PlaywrightTestConfig } from '@playwright/test'; + +const config: PlaywrightTestConfig = { + webServer: { + command: 'pnpm run build && pnpm run preview', + port: 4173 + }, + testDir: 'tests', + testMatch: /(.+\.)?(test|spec)\.[jt]s/ +}; + +export default config; diff --git a/app2/pnpm-lock.yaml b/app2/pnpm-lock.yaml new file 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-0,0 +1,6 @@ +export default { + plugins: { + tailwindcss: {}, + autoprefixer: {}, + }, +} diff --git a/app2/src/app.css b/app2/src/app.css new file mode 100644 index 0000000..bd6213e --- /dev/null +++ b/app2/src/app.css @@ -0,0 +1,3 @@ +@tailwind base; +@tailwind components; +@tailwind utilities; \ No newline at end of file diff --git a/app2/src/app.d.ts b/app2/src/app.d.ts new file mode 100644 index 0000000..743f07b --- /dev/null +++ b/app2/src/app.d.ts @@ -0,0 +1,13 @@ +// See https://kit.svelte.dev/docs/types#app +// for information about these interfaces +declare global { + namespace App { + // interface Error {} + // interface Locals {} + // interface PageData {} + // interface PageState {} + // interface Platform {} + } +} + +export {}; diff --git a/app2/src/app.html b/app2/src/app.html new file mode 100644 index 0000000..77a5ff5 --- /dev/null +++ b/app2/src/app.html @@ -0,0 +1,12 @@ + + + + + + + %sveltekit.head% + + +
%sveltekit.body%
+ + diff --git a/app2/src/index.test.ts b/app2/src/index.test.ts new file mode 100644 index 0000000..e07cbbd --- /dev/null +++ b/app2/src/index.test.ts @@ -0,0 +1,7 @@ +import { describe, it, expect } from 'vitest'; + +describe('sum test', () => { + it('adds 1 + 2 to equal 3', () => { + expect(1 + 2).toBe(3); + }); +}); diff --git a/app2/src/lib/components/Controls.svelte b/app2/src/lib/components/Controls.svelte new file mode 100644 index 0000000..954c86b --- /dev/null +++ b/app2/src/lib/components/Controls.svelte @@ -0,0 +1,112 @@ + + +
+
+
+
+ +
+ {#each modes as modeValue} +
+ +
+ {/each} +
+ {#if $mode === 'walk'} + handleRange(e, 'speed')}> + {/if} + handleRange(e, 'height')}> +
+
+
+ + diff --git a/app2/src/lib/components/TopBar.svelte b/app2/src/lib/components/TopBar.svelte new file mode 100644 index 0000000..016a20a --- /dev/null +++ b/app2/src/lib/components/TopBar.svelte @@ -0,0 +1,17 @@ + + +
+
+ + + +
+
+ + diff --git a/app2/src/lib/components/Views/Model.svelte b/app2/src/lib/components/Views/Model.svelte new file mode 100644 index 0000000..7755ae5 --- /dev/null +++ b/app2/src/lib/components/Views/Model.svelte @@ -0,0 +1,175 @@ + + + + +{#if showStream} + +{/if} + + diff --git a/app2/src/lib/components/Views/Stream.svelte b/app2/src/lib/components/Views/Stream.svelte new file mode 100644 index 0000000..760e754 --- /dev/null +++ b/app2/src/lib/components/Views/Stream.svelte @@ -0,0 +1,19 @@ + + +
+ Live stream is down + Live stream is down +
diff --git a/app2/src/lib/components/Views/Visualization.svelte b/app2/src/lib/components/Views/Visualization.svelte new file mode 100644 index 0000000..37883c7 --- /dev/null +++ b/app2/src/lib/components/Views/Visualization.svelte @@ -0,0 +1,175 @@ + + + + +{#if showStream} + +{/if} + + diff --git a/app2/src/lib/components/input/Button.svelte b/app2/src/lib/components/input/Button.svelte new file mode 100644 index 0000000..8f47822 --- /dev/null +++ b/app2/src/lib/components/input/Button.svelte @@ -0,0 +1,11 @@ + + + \ No newline at end of file diff --git a/app2/src/lib/components/input/Range.svelte b/app2/src/lib/components/input/Range.svelte new file mode 100644 index 0000000..bd95b04 --- /dev/null +++ b/app2/src/lib/components/input/Range.svelte @@ -0,0 +1,29 @@ + + +
+ +
+ + diff --git a/app2/src/lib/index.ts b/app2/src/lib/index.ts new file mode 100644 index 0000000..856f2b6 --- /dev/null +++ b/app2/src/lib/index.ts @@ -0,0 +1 @@ +// place files you want to import through the `$lib` alias in this folder. diff --git a/app2/src/lib/kinematic.ts b/app2/src/lib/kinematic.ts new file mode 100644 index 0000000..f239f9a --- /dev/null +++ b/app2/src/lib/kinematic.ts @@ -0,0 +1,393 @@ +export default class Kinematic { + private l1: number; + private l2: number; + private l3: number; + private l4: number; + + private L: number; + private W: number; + + constructor() { + this.l1 = 50; + this.l2 = 20; + this.l3 = 120; + this.l4 = 155; + + this.L = 140; + this.W = 75; + } + + bodyIK( + omega: number, + phi: number, + psi: number, + xm: number, + ym: number, + zm: number + ): number[][][] { + const { cos, sin } = Math; + + const Rx: number[][] = [ + [1, 0, 0, 0], + [0, cos(omega), -sin(omega), 0], + [0, sin(omega), cos(omega), 0], + [0, 0, 0, 1] + ]; + const Ry: number[][] = [ + [cos(phi), 0, sin(phi), 0], + [0, 1, 0, 0], + [-sin(phi), 0, cos(phi), 0], + [0, 0, 0, 1] + ]; + const Rz: number[][] = [ + [cos(psi), -sin(psi), 0, 0], + [sin(psi), cos(psi), 0, 0], + [0, 0, 1, 0], + [0, 0, 0, 1] + ]; + const Rxyz: number[][] = this.matrixMultiply(this.matrixMultiply(Rx, Ry), Rz); + + const T: number[][] = [ + [0, 0, 0, xm], + [0, 0, 0, ym], + [0, 0, 0, zm], + [0, 0, 0, 0] + ]; + const Tm: number[][] = this.matrixAdd(T, Rxyz); + + const sHp = sin(Math.PI / 2); + const cHp = cos(Math.PI / 2); + const L = this.L; + const W = this.W; + + return [ + this.matrixMultiply(Tm, [ + [cHp, 0, sHp, L / 2], + [0, 1, 0, 0], + [-sHp, 0, cHp, W / 2], + [0, 0, 0, 1] + ]), + this.matrixMultiply(Tm, [ + [cHp, 0, sHp, L / 2], + [0, 1, 0, 0], + [-sHp, 0, cHp, -W / 2], + [0, 0, 0, 1] + ]), + this.matrixMultiply(Tm, [ + [cHp, 0, sHp, -L / 2], + [0, 1, 0, 0], + [-sHp, 0, cHp, W / 2], + [0, 0, 0, 1] + ]), + this.matrixMultiply(Tm, [ + [cHp, 0, sHp, -L / 2], + [0, 1, 0, 0], + [-sHp, 0, cHp, -W / 2], + [0, 0, 0, 1] + ]) + ]; + } + + private legIK(point: number[]): number[] { + const [x, y, z] = point; + const { atan2, cos, sin, sqrt, acos } = Math; + const { l1, l2, l3, l4 } = this; + + let F; + + try { + F = sqrt(x ** 2 + y ** 2 - l1 ** 2); + if (isNaN(F)) throw new Error('F is NaN'); + } catch (error) { + //console.log(error) + F = l1; + } + const G = F - l2; + const H = sqrt(G ** 2 + z ** 2); + + const theta1 = -atan2(y, x) - atan2(F, -l1); + const D = (H ** 2 - l3 ** 2 - l4 ** 2) / (2 * l3 * l4); + let theta3: number; + try { + theta3 = acos(D); + if (isNaN(theta3)) throw new Error('theta3 is NaN'); + } catch (error) { + theta3 = 0; + } + const theta2 = atan2(z, G) - atan2(l4 * sin(theta3), l3 + l4 * cos(theta3)); + + return [theta1, theta2, theta3]; + } + + matrixMultiply(a: number[][], b: number[][]): number[][] { + const result: number[][] = []; + + for (let i = 0; i < a.length; i++) { + const row: number[] = []; + + for (let j = 0; j < b[0].length; j++) { + let sum = 0; + + for (let k = 0; k < a[i].length; k++) { + sum += a[i][k] * b[k][j]; + } + + row.push(sum); + } + + result.push(row); + } + + return result; + } + + multiplyVector(matrix: number[][], vector: number[]): number[] { + const rows = matrix.length; + const cols = matrix[0].length; + const vectorLength = vector.length; + + if (cols !== vectorLength) { + throw new Error('Matrix and vector dimensions do not match for multiplication.'); + } + + const result = []; + + for (let i = 0; i < rows; i++) { + let sum = 0; + + for (let j = 0; j < cols; j++) { + sum += matrix[i][j] * vector[j]; + } + + result.push(sum); + } + + return result; + } + + private matrixAdd(a: number[][], b: number[][]): number[][] { + const result: number[][] = []; + + for (let i = 0; i < a.length; i++) { + const row: number[] = []; + + for (let j = 0; j < a[i].length; j++) { + row.push(a[i][j] + b[i][j]); + } + + result.push(row); + } + + return result; + } + + public calcLegPoints(angles: number[]): number[][] { + const [theta1, theta2, theta3] = angles; + const theta23 = theta2 + theta3; + + const T0: number[] = [0, 0, 0, 1]; + const T1: number[] = this.vectorAdd(T0, [ + -this.l1 * Math.cos(theta1), + this.l1 * Math.sin(theta1), + 0, + 0 + ]); + const T2: number[] = this.vectorAdd(T1, [ + -this.l2 * Math.sin(theta1), + -this.l2 * Math.cos(theta1), + 0, + 0 + ]); + const T3: number[] = this.vectorAdd(T2, [ + -this.l3 * Math.sin(theta1) * Math.cos(theta2), + -this.l3 * Math.cos(theta1) * Math.cos(theta2), + this.l3 * Math.sin(theta2), + 0 + ]); + const T4: number[] = this.vectorAdd(T3, [ + -this.l4 * Math.sin(theta1) * Math.cos(theta23), + -this.l4 * Math.cos(theta1) * Math.cos(theta23), + this.l4 * Math.sin(theta23), + 0 + ]); + + return [T0, T1, T2, T3, T4]; + } + + public calcIK(Lp: number[][], angles: number[], center: number[]): number[][] { + const [omega, phi, psi] = angles; + const [xm, ym, zm] = center; + + const [Tlf, Trf, Tlb, Trb] = this.bodyIK(omega, phi, psi, xm, ym, zm); + + const Ix: number[][] = [ + [-1, 0, 0, 0], + [0, 1, 0, 0], + [0, 0, 1, 0], + [0, 0, 0, 1] + ]; + + return [ + this.legIK(this.multiplyVector(this.matrixInverse(Tlf), Lp[0])), + this.legIK(this.multiplyVector(Ix, this.multiplyVector(this.matrixInverse(Trf), Lp[1]))), + this.legIK(this.multiplyVector(this.matrixInverse(Tlb), Lp[2])), + this.legIK(this.multiplyVector(Ix, this.multiplyVector(this.matrixInverse(Trb), Lp[3]))) + ]; + } + + private vectorAdd(a: number[], b: number[]): number[] { + return a.map((val, index) => val + b[index]); + } + + private matrixInverse(matrix: number[][]): number[][] { + const det = this.determinant(matrix); + const adjugate = this.adjugate(matrix); + const scalar = 1 / det; + const inverse: number[][] = []; + + for (let i = 0; i < matrix.length; i++) { + const row: number[] = []; + + for (let j = 0; j < matrix[i].length; j++) { + row.push(adjugate[i][j] * scalar); + } + + inverse.push(row); + } + + return inverse; + } + + private determinant(matrix: number[][]): number { + if (matrix.length !== matrix[0].length) { + throw new Error('The matrix is not square.'); + } + + if (matrix.length === 2) { + return matrix[0][0] * matrix[1][1] - matrix[0][1] * matrix[1][0]; + } + + let det = 0; + + for (let i = 0; i < matrix.length; i++) { + const sign = i % 2 === 0 ? 1 : -1; + const subMatrix: number[][] = []; + + for (let j = 1; j < matrix.length; j++) { + const row: number[] = []; + + for (let k = 0; k < matrix.length; k++) { + if (k !== i) { + row.push(matrix[j][k]); + } + } + + subMatrix.push(row); + } + + det += sign * matrix[0][i] * this.determinant(subMatrix); + } + + return det; + } + + private adjugate(matrix: number[][]): number[][] { + if (matrix.length !== matrix[0].length) { + throw new Error('The matrix is not square.'); + } + + const adjugate: number[][] = []; + + for (let i = 0; i < matrix.length; i++) { + const row: number[] = []; + + for (let j = 0; j < matrix[i].length; j++) { + const sign = (i + j) % 2 === 0 ? 1 : -1; + const subMatrix: number[][] = []; + + for (let k = 0; k < matrix.length; k++) { + if (k !== i) { + const subRow: number[] = []; + + for (let l = 0; l < matrix.length; l++) { + if (l !== j) { + subRow.push(matrix[k][l]); + } + } + + subMatrix.push(subRow); + } + } + + const cofactor = sign * this.determinant(subMatrix); + row.push(cofactor); + } + + adjugate.push(row); + } + + return this.transpose(adjugate); + } + + private transpose(matrix: number[][]): number[][] { + const transposed: number[][] = []; + + for (let i = 0; i < matrix.length; i++) { + const row: number[] = []; + + for (let j = 0; j < matrix[i].length; j++) { + row.push(matrix[j][i]); + } + + transposed.push(row); + } + + return transposed; + } +} + +export class ForwardKinematics { + private l1: number; + private l2: number; + private l3: number; + private l4: number; + + constructor() { + this.l1 = 50; + this.l2 = 20; + this.l3 = 120; + this.l4 = 155; + } + + public calculateFootpoint(theta1: number, theta2: number, theta3: number): number[] { + const { cos, sin } = Math; + + const x = + this.l1 * cos(theta1) + + this.l2 * cos(theta1) + + this.l3 * cos(theta1 + theta2) + + this.l4 * cos(theta1 + theta2 + theta3); + const y = + this.l1 * sin(theta1) + + this.l2 * sin(theta1) + + this.l3 * sin(theta1 + theta2) + + this.l4 * sin(theta1 + theta2 + theta3); + const z = 0; + + return [x, y, z]; + } + + public calculateFootpoints(angles: number[]): number[][] { + const footpoints: number[][] = []; + + for (let i = 0; i < angles.length; i += 3) { + const theta1 = angles[i]; + const theta2 = angles[i + 1]; + const theta3 = angles[i + 2]; + const footpoint = this.calculateFootpoint(theta1, theta2, theta3); + footpoints.push(footpoint); + } + + return footpoints; + } +} diff --git a/app2/src/lib/models.ts b/app2/src/lib/models.ts new file mode 100644 index 0000000..7531342 --- /dev/null +++ b/app2/src/lib/models.ts @@ -0,0 +1,22 @@ +export type vector = { x: number; y: number }; + +export interface ControllerInput { + left: vector; + right: vector; + height: number; + speed: number; +} + +export type angles = number[] | Int16Array; + +export type AnglesData = { + type: 'angles'; + data: angles; +}; + +export type LogData = { + type: 'log'; + data: string; +}; + +export type WebSocketJsonMsg = AnglesData | LogData; diff --git a/app2/src/lib/sceneBuilder.ts b/app2/src/lib/sceneBuilder.ts new file mode 100644 index 0000000..8e1ee51 --- /dev/null +++ b/app2/src/lib/sceneBuilder.ts @@ -0,0 +1,318 @@ +import { + Mesh, + PerspectiveCamera, + PlaneGeometry, + Scene, + ShadowMaterial, + WebGLRenderer, + AmbientLight, + DirectionalLight, + PCFSoftShadowMap, + GridHelper, + ArrowHelper, + Vector3, + LoaderUtils, + Object3D, + FogExp2, + CanvasTexture, + type ColorRepresentation, + type WebGLRendererParameters, + MeshPhongMaterial, + EquirectangularReflectionMapping, + ACESFilmicToneMapping, + MathUtils +} from 'three'; +import { Sky } from 'three/addons/objects/Sky.js'; +import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'; +import { type URDFJoint, type URDFMimicJoint, type URDFRobot } from 'urdf-loader'; +import { PointerURDFDragControls } from 'urdf-loader/src/URDFDragControls'; + +export const addScene = () => new Scene(); + +interface position { + x?: number; + y?: number; + z?: number; +} + +interface light { + color?: ColorRepresentation; + intensity?: number; +} + +interface gridOptions { + divisions?: number; + size?: number; +} + +interface arrowOptions { + origin: position; + direction: position; + length?: number; + color?: ColorRepresentation; +} + +type directionalLight = position & light; + +type gridHelperOptions = gridOptions & position; + +function calculateCurrentSunElevation() { + let now = new Date(); + let decimalTime = now.getHours() + now.getMinutes() / 60; + let normalizedTime = (decimalTime % 12) / 6 - 1; + return 10 * Math.sin(normalizedTime * Math.PI); +} + +export default class SceneBuilder { + public scene: Scene; + public camera: PerspectiveCamera; + public ground: Mesh; + public renderer: WebGLRenderer; + public controls: OrbitControls; + public callback: Function; + public gridHelper: GridHelper; + public model: URDFRobot; + public liveStreamTexture: CanvasTexture; + private fog: FogExp2; + private isLoaded: boolean = false; + highlightMaterial: any; + + constructor() { + this.scene = new Scene(); + if (this.scene.environment?.mapping) { + this.scene.environment.mapping = EquirectangularReflectionMapping; + } + return this; + } + + public addRenderer = (parameters?: WebGLRendererParameters) => { + this.renderer = new WebGLRenderer(parameters); + this.renderer.outputColorSpace = 'srgb'; + this.renderer.shadowMap.enabled = true; + this.renderer.shadowMap.type = PCFSoftShadowMap; + this.renderer.toneMapping = ACESFilmicToneMapping; + this.renderer.toneMappingExposure = 0.85; + document.body.appendChild(this.renderer.domElement); + return this; + }; + + public addSky = () => { + const sky = new Sky(); + sky.scale.setScalar(450000); + this.scene.add(sky); + const effectController = { + turbidity: 10, + rayleigh: 3, + mieCoefficient: 0.005, + mieDirectionalG: 0.7, + elevation: calculateCurrentSunElevation(), + azimuth: 180, + exposure: this.renderer.toneMappingExposure + }; + const uniforms = sky.material.uniforms; + uniforms['turbidity'].value = effectController.turbidity; + uniforms['rayleigh'].value = effectController.rayleigh; + uniforms['mieCoefficient'].value = effectController.mieCoefficient; + uniforms['mieDirectionalG'].value = effectController.mieDirectionalG; + this.renderer.toneMappingExposure = 0.5; + const phi = MathUtils.degToRad(90 - effectController.elevation); + const theta = MathUtils.degToRad(effectController.azimuth); + const sun = new Vector3(); + + sun.setFromSphericalCoords(1, phi, theta); + uniforms['sunPosition'].value.copy(sun); + return this; + }; + + public addPerspectiveCamera = (options: position) => { + this.camera = new PerspectiveCamera(); + this.camera.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0); + this.scene.add(this.camera); + return this; + }; + + public addGroundPlane = (options?: position) => { + this.ground = new Mesh(new PlaneGeometry(), new ShadowMaterial({ side: 2 })); + this.ground.rotation.x = -Math.PI / 2; + this.ground.scale.setScalar(30); + this.ground.position.set(options?.x ?? 0, options?.y ?? 0, options?.z ?? 0); + this.ground.receiveShadow = true; + this.scene.add(this.ground); + return this; + }; + + public addOrbitControls = (minDistance: number, maxDistance: number) => { + this.controls = new OrbitControls(this.camera, this.renderer.domElement); + this.controls.minDistance = minDistance; + this.controls.maxDistance = maxDistance; + this.controls.update(); + return this; + }; + + public addAmbientLight = (options: light) => { + const ambientLight = new AmbientLight(options.color, options.intensity); + this.scene.add(ambientLight); + return this; + }; + + public addDirectionalLight = (options: directionalLight) => { + const directionalLight = new DirectionalLight(options.color, options.intensity); + directionalLight.castShadow = true; + directionalLight.shadow.mapSize.setScalar(2048); + directionalLight.shadow.mapSize.width = 1024; + directionalLight.shadow.mapSize.height = 1024; + directionalLight.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0); + directionalLight.shadow.radius = 5; + this.scene.add(directionalLight); + return this; + }; + + public addGridHelper = (options: gridHelperOptions) => { + this.gridHelper = new GridHelper(options.size, options.divisions); + this.gridHelper.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0); + this.gridHelper.material.opacity = 0.2; + this.gridHelper.material.depthWrite = false; + this.gridHelper.material.transparent = true; + this.scene.add(this.gridHelper); + return this; + }; + + public addFogExp2 = (color: ColorRepresentation, density?: number) => { + this.scene.fog = new FogExp2(color, density); + return this; + }; + + public handleResize = () => { + this.renderer.setSize(window.innerWidth, window.innerHeight); + this.renderer.setPixelRatio(window.devicePixelRatio); + this.camera.aspect = window.innerWidth / window.innerHeight; + this.camera.updateProjectionMatrix(); + return this; + }; + + public addRenderCb = (callback: Function) => { + this.callback = callback; + return this; + }; + + public startRenderLoop = () => { + this.renderer.setAnimationLoop(() => { + this.renderer.render(this.scene, this.camera); + this.handleRobotShadow(); + if (this.callback) this.callback(); + if (!this.liveStreamTexture) return; + }); + return this; + }; + + public addArrowHelper = (options?: arrowOptions) => { + const dir = new Vector3( + options?.direction.x ?? 0, + options?.direction.y ?? 0, + options?.direction.z ?? 0 + ); + const origin = new Vector3( + options?.origin.x ?? 0, + options?.origin.y ?? 0, + options?.origin.z ?? 0 + ); + const arrowHelper = new ArrowHelper( + dir, + origin, + options?.length ?? 1.5, + options?.color ?? 0xff0000 + ); + this.scene.add(arrowHelper); + return this; + }; + + private setJointValue(jointName: string, angle: number) { + if (!this.model) return; + if (!this.model.joints[jointName]) return; + this.model.joints[jointName].setJointValue(angle); + } + + isJoint = (j: URDFJoint) => j.isURDFJoint && j.jointType !== 'fixed'; + + highlightLinkGeometry = (m: URDFMimicJoint, revert: boolean, material: MeshPhongMaterial) => { + const traverse = (c: any) => { + if (c.type === 'Mesh') { + if (revert) { + c.material = c.__origMaterial; + delete c.__origMaterial; + } else { + c.__origMaterial = c.material; + c.material = material; + } + } + + if (c === m || !this.isJoint(c)) { + for (let i = 0; i < c.children.length; i++) { + const child = c.children[i]; + if (!child.isURDFCollider) { + traverse(c.children[i]); + } + } + } + }; + traverse(m); + }; + + public addModel = (model: any) => { + this.model = model; + this.scene.add(model); + return this; + }; + + public addDragControl = (updateAngle: any) => { + const highlightColor = '#FFFFFF'; + const highlightMaterial = new MeshPhongMaterial({ + shininess: 10, + color: highlightColor, + emissive: highlightColor, + emissiveIntensity: 0.25 + }); + + const dragControls = new PointerURDFDragControls( + this.scene, + this.camera, + this.renderer.domElement + ); + dragControls.updateJoint = (joint: URDFMimicJoint, angle: number) => { + this.setJointValue(joint.name, angle); + updateAngle(joint.name, angle); + }; + dragControls.onDragStart = () => (this.controls.enabled = false); + dragControls.onDragEnd = () => (this.controls.enabled = true); + dragControls.onHover = (joint: URDFMimicJoint) => + this.highlightLinkGeometry(joint, false, highlightMaterial); + dragControls.onUnhover = (joint: URDFMimicJoint) => + this.highlightLinkGeometry(joint, true, highlightMaterial); + + this.renderer.domElement.addEventListener('touchstart', (data) => + dragControls._mouseDown(data.touches[0]) + ); + this.renderer.domElement.addEventListener('touchmove', (data) => + dragControls._mouseMove(data.touches[0]) + ); + this.renderer.domElement.addEventListener('touchend', (data) => + dragControls._mouseUp(data.touches[0]) + ); + return this; + }; + + public toggleFog = () => { + this.scene.fog = this.scene.fog ? null : this.fog; + }; + + private handleRobotShadow = () => { + if (this.isLoaded) return; + const intervalId = setInterval(() => { + this.model?.traverse((c) => (c.castShadow = true)); + }, 10); + setTimeout(() => { + clearInterval(intervalId); + }, 1000); + this.isLoaded = true; + }; +} diff --git a/app2/src/lib/services/file-service.ts b/app2/src/lib/services/file-service.ts new file mode 100644 index 0000000..2a529db --- /dev/null +++ b/app2/src/lib/services/file-service.ts @@ -0,0 +1,71 @@ +import { Result } from '$lib/utilities/result'; + +class FileService { + private dbName = 'fileStorageDB'; + private dbVersion = 1; + private storeName = 'files'; + private dbPromise: Promise>; + + constructor() { + this.dbPromise = this.openDatabase(); + } + + private async openDatabase(): Promise> { + return new Promise((resolve) => { + const request = indexedDB.open(this.dbName, this.dbVersion); + + request.onerror = () => resolve(Result.err('Error opening database')); + + request.onsuccess = () => resolve(Result.ok(request.result)); + + request.onupgradeneeded = (event) => { + const db = request.result; + if (!db.objectStoreNames.contains(this.storeName)) { + db.createObjectStore(this.storeName); + } + }; + }); + } + + private async getStore(mode: IDBTransactionMode): Promise> { + const dbResult = await this.dbPromise; + if (dbResult.isErr()) { + return Result.err('Database not initialized properly'); + } + const db = dbResult.inner; + const transaction = db.transaction(this.storeName, mode); + return Result.ok(transaction.objectStore(this.storeName)); + } + + public async saveFile(key: string, file: Uint8Array): Promise> { + const storeResult = await this.getStore('readwrite'); + if (storeResult.isErr()) { + return Result.err('Failed to access object store for writing'); + } + const store = storeResult.inner; + + return new Promise((resolve) => { + const request = store.put(file, key); + request.onsuccess = () => resolve(Result.ok(request.result)); + request.onerror = () => resolve(Result.err('Failed to save file')); + }); + } + + public async getFile(key: string): Promise> { + const storeResult = await this.getStore('readonly'); + if (storeResult.isErr()) { + return Result.err('Failed to access object store for reading'); + } + const store = storeResult.inner; + + return new Promise((resolve) => { + const request = store.get(key); + + request.onsuccess = () => + resolve(request.result ? Result.ok(request.result) : Result.err('File content not found')); + request.onerror = () => resolve(Result.err('Failed to retrieve file')); + }); + } +} + +export default new FileService(); diff --git a/app2/src/lib/services/index.ts b/app2/src/lib/services/index.ts new file mode 100644 index 0000000..5b10489 --- /dev/null +++ b/app2/src/lib/services/index.ts @@ -0,0 +1,3 @@ +export { default as fileService } from './file-service'; +export { default as socketService } from './socket-service'; +export { default as resultService } from './result-service'; diff --git a/app2/src/lib/services/result-service.ts b/app2/src/lib/services/result-service.ts new file mode 100644 index 0000000..ceb4900 --- /dev/null +++ b/app2/src/lib/services/result-service.ts @@ -0,0 +1,19 @@ +import { errorLogs, latestErrorLog } from '$lib/stores'; +import type { Result } from '$lib/utilities'; + +class ResultService { + public handleResult(result: Result, tag?: string) { + if (result.isErr()) { + const errorLogEntry = { tag, message: result.inner, exception: result.exception }; + latestErrorLog.set(errorLogEntry); + errorLogs.update((entries) => { + entries.push(errorLogEntry); + return entries; + }); + } + + return result; + } +} + +export default new ResultService(); diff --git a/app2/src/lib/services/socket-service.ts b/app2/src/lib/services/socket-service.ts new file mode 100644 index 0000000..b9078f5 --- /dev/null +++ b/app2/src/lib/services/socket-service.ts @@ -0,0 +1,95 @@ +import { isConnected, socketData } from '$lib/stores'; +import { Result, Ok } from '$lib/utilities'; +import { resultService } from '$lib/services'; +import { type WebSocketJsonMsg } from '$lib/models'; +import type { Writable } from 'svelte/store'; + +type WebsocketOutData = string | ArrayBufferLike | Blob | ArrayBufferView; + +// TODO +/** + * MOVE THE store to a store.ts file + * + * Make an object on the class that encapsulate all the stores + * + * Make the handle message function look up the type and set the value, to simplify the code + */ + +class SocketService { + private socket!: WebSocket; + + constructor() {} + + public connect(url: string): void { + if (typeof WebSocket === 'undefined') return; + this.socket = new WebSocket(url); + this.socket.binaryType = 'arraybuffer'; + this.socket.onopen = () => this.handleConnected(); + this.socket.onclose = () => this.handleDisconnected(); + this.socket.onmessage = (event: MessageEvent) => + resultService.handleResult(this.handleMessage(event), 'SocketService'); + this.socket.onerror = (error: Event) => console.log(error); + } + + public send(data: WebsocketOutData): Result { + if (typeof WebSocket === 'undefined') return Result.err('The connection is not open'); + if (this.socket?.readyState === WebSocket.OPEN) { + this.socket.send(data); + return Ok.void(); + } + return Result.err('The connection is not open'); + } + + public addPublisher(store: Writable, type?: string) { + const publish = (data: WebsocketOutData) => + this.send(type ? JSON.stringify({ type, data }) : data); + store.subscribe(publish); + } + + private handleConnected(): void { + isConnected.set(true); + } + + private handleDisconnected(): void { + isConnected.set(false); + } + + private getJsonFromMessage(msg: string): Result { + try { + return Result.ok(JSON.parse(msg) as WebSocketJsonMsg); + } catch (error) { + return Result.err('Failed to parse socket message', error); + } + } + + private handleBufferMessage(buffer: ArrayBuffer): Result { + console.log(buffer); + return Ok.void(); + } + + private handleMessage(event: MessageEvent): Result { + if (event.data instanceof ArrayBuffer) { + return this.handleBufferMessage(event.data); + } + let msgRes = this.getJsonFromMessage(event.data); + if (msgRes.isErr()) { + return msgRes; + } + const msg = msgRes.inner; + + if (msg.type === 'log') { + socketData.logs.update((entries) => { + entries.push(msg.data); + return entries; + }); + return Ok.void(); + } else if (msg.data && msg.type in socketData) { + socketData[msg.type].set(msg.data); + return Ok.void(); + } + + return Result.err(`Got invalid msg: ${JSON.stringify(msg)}`); + } +} + +export default new SocketService(); diff --git a/app2/src/lib/stores/index.ts b/app2/src/lib/stores/index.ts new file mode 100644 index 0000000..cd14a59 --- /dev/null +++ b/app2/src/lib/stores/index.ts @@ -0,0 +1,3 @@ +export * from './socket-store'; +export * from './logging-store'; +export * from './model-store'; diff --git a/app2/src/lib/stores/logging-store.ts b/app2/src/lib/stores/logging-store.ts new file mode 100644 index 0000000..ef01666 --- /dev/null +++ b/app2/src/lib/stores/logging-store.ts @@ -0,0 +1,11 @@ +import { writable, type Writable } from 'svelte/store'; + +export interface errorLog { + message: unknown; + tag?: string; + exception?: unknown; +} + +export const latestErrorLog: Writable = writable(); + +export const errorLogs: Writable = writable([]); diff --git a/app2/src/lib/stores/model-store.ts b/app2/src/lib/stores/model-store.ts new file mode 100644 index 0000000..3129e36 --- /dev/null +++ b/app2/src/lib/stores/model-store.ts @@ -0,0 +1,24 @@ +import type { ControllerInput } from '$lib/models'; +import { persistentStore } from '$lib/utilities/svelte-utilities'; +import { writable, type Writable } from 'svelte/store'; + +export const emulateModel = writable(true); + +export const jointNames = persistentStore('joint_names', []); + +export const model = writable(); + +export const modes = ['idle', 'rest', 'stand', 'walk'] as const; + +export type Modes = (typeof modes)[number]; + +export const mode: Writable = writable('idle'); + +export const outControllerData = writable(new Int8Array([0, 0, 0, 0, 0, 70, 0])); + +export const input: Writable = writable({ + left: { x: 0, y: 0 }, + right: { x: 0, y: 0 }, + height: 70, + speed: 0 +}); diff --git a/app2/src/lib/stores/socket-store.ts b/app2/src/lib/stores/socket-store.ts new file mode 100644 index 0000000..b915c22 --- /dev/null +++ b/app2/src/lib/stores/socket-store.ts @@ -0,0 +1,31 @@ +import { writable, type Writable } from 'svelte/store'; +import { type angles } from '$lib/models'; + +export const isConnected = writable(false); +export const servoAngles: Writable = writable(new Int16Array(12).fill(0)); +export const logs = writable([] as string[]); +export const battery = writable({}); +export const mpu = writable({ heading: 0 }); +export const distances = writable({}); +export const settings = writable({}); +export const systemInfo = writable({} as number); + +export interface socketDataCollection { + angles: Writable; + logs: Writable; + battery: Writable; + mpu: Writable; + distances: Writable; + settings: Writable; + systemInfo: Writable; +} + +export const socketData = { + angles: servoAngles, + logs, + battery, + mpu, + distances, + settings, + systemInfo +}; diff --git a/app2/src/lib/utilities/buffer-utilities.ts b/app2/src/lib/utilities/buffer-utilities.ts new file mode 100644 index 0000000..a5f5182 --- /dev/null +++ b/app2/src/lib/utilities/buffer-utilities.ts @@ -0,0 +1,15 @@ +export class throttler { + private _throttlePause: boolean; + constructor() { + this._throttlePause = false; + } + throttle = (callback: Function, time: number) => { + if (this._throttlePause) return; + + this._throttlePause = true; + setTimeout(() => { + callback(); + this._throttlePause = false; + }, time); + }; +} diff --git a/app2/src/lib/utilities/index.ts b/app2/src/lib/utilities/index.ts new file mode 100644 index 0000000..90b8760 --- /dev/null +++ b/app2/src/lib/utilities/index.ts @@ -0,0 +1,7 @@ +export * from './result'; +export * from './string-utilities'; +export * from './svelte-utilities'; +export * from './math-utilities'; +export * from './buffer-utilities'; +export * from './model-utilities'; +export * from './location-utilities'; diff --git a/app2/src/lib/utilities/location-utilities.ts b/app2/src/lib/utilities/location-utilities.ts new file mode 100644 index 0000000..0ba138a --- /dev/null +++ b/app2/src/lib/utilities/location-utilities.ts @@ -0,0 +1,9 @@ +export const hostname = 'localhost'; //window.location.hostname; + +export const isSecure = true; // window.location.protocol === 'https:'; + +export const location = 'localhost:5173'; //window.location; //import.meta.env.VITE_API_URL.replace('hostname', hostname); + +const socketScheme = isSecure ? 'wss://' : 'ws://'; + +export const socketLocation = socketScheme + location; // import.meta.env.VITE_SOCKET_URL.replace('hostname', hostname); diff --git a/app2/src/lib/utilities/math-utilities.ts b/app2/src/lib/utilities/math-utilities.ts new file mode 100644 index 0000000..95c70e7 --- /dev/null +++ b/app2/src/lib/utilities/math-utilities.ts @@ -0,0 +1,11 @@ +export const toUint8 = (number: number, min: number, max: number) => { + number = Math.max(min, Math.min(max, number)); + let scaled = ((number - min) / (max - min)) * 255; + return Math.round(scaled) & 0xff; +}; + +export const toInt8 = (number: number, min: number, max: number) => { + number = Math.max(min, Math.min(max, number)); + let scaled = ((number - min) / (max - min)) * 255 - 128; + return Math.max(-128, Math.min(127, Math.round(scaled))) | 0; +}; diff --git a/app2/src/lib/utilities/model-utilities.ts b/app2/src/lib/utilities/model-utilities.ts new file mode 100644 index 0000000..a5dd4e3 --- /dev/null +++ b/app2/src/lib/utilities/model-utilities.ts @@ -0,0 +1,63 @@ +import { Color, LoaderUtils, Vector3 } from 'three'; +import URDFLoader, { type URDFRobot } from 'urdf-loader'; +import { XacroLoader } from 'xacro-parser'; +import { Result } from '$lib/utilities'; + +let model_xml: XMLDocument; + +export const loadModelAsync = async ( + url: string +): Promise> => { + return new Promise((resolve, reject) => { + const xacroLoader = new XacroLoader(); + const urdfLoader = new URDFLoader(); + urdfLoader.workingPath = LoaderUtils.extractUrlBase(url); + + xacroLoader.load( + url, + async (xml) => { + model_xml = xml; + try { + const model = urdfLoader.parse(xml); + model.rotation.x = -Math.PI / 2; + model.rotation.z = Math.PI / 2; + model.traverse((c) => (c.castShadow = true)); + model.updateMatrixWorld(true); + model.scale.setScalar(10); + const joints = Object.entries(model.joints) + .filter((joint) => joint[1].jointType !== 'fixed') + .map((joint) => joint[0]); + + resolve(Result.ok([model, joints])); + } catch (error) { + resolve(Result.err('Failed to load model', error)); + } + }, + (error) => reject(error) + ); + }); +}; + +export const toeWorldPositions = (robot: URDFRobot) => { + const toe_positions: Vector3[] = []; + robot.traverse((child) => { + if (child.name.includes('toe') && !child.name.includes('_link')) { + const worldPosition = new Vector3(); + child.getWorldPosition(worldPosition); + toe_positions.push(worldPosition); + } + }); + return toe_positions; +}; + +export const footColor = () => { + const colorElem = model_xml.querySelector('material[name=foot_color] > color') as Element; + const colorAttrStr = colorElem.getAttribute('rgba') as string; + const colorStr = colorAttrStr + .split(' ') + .slice(0, 3) + .map((val) => Math.floor(+val * 255)) + .join(', '); + + return new Color(`rgb(${colorStr})`); +}; diff --git a/app2/src/lib/utilities/result/err.ts b/app2/src/lib/utilities/result/err.ts new file mode 100644 index 0000000..8c879be --- /dev/null +++ b/app2/src/lib/utilities/result/err.ts @@ -0,0 +1,42 @@ +export class Err { + #inner: T; + #exception?: U; + + constructor(inner: T, exception?: U) { + this.#inner = inner; + this.#exception = exception; + } + + get inner(): T { + return this.#inner; + } + + get exception(): U | undefined { + return this.#exception; + } + + /** + * Type guard for `Ok` + * @returns `true` if `Ok`; `false` if `Err` + */ + isOk(): false { + return false; + } + + /** + * Type guard for `Err` + * @returns `true` if `Err`; `false` if `Ok` + */ + isErr(): this is Err { + return true; + } + + /** + * Create an `Err` + * @param inner + * @returns `Err(inner)` + */ + static new(inner: E, exception: F): Err { + return new Err(inner, exception); + } +} diff --git a/app2/src/lib/utilities/result/index.ts b/app2/src/lib/utilities/result/index.ts new file mode 100644 index 0000000..55e069b --- /dev/null +++ b/app2/src/lib/utilities/result/index.ts @@ -0,0 +1,3 @@ +export * from './err'; +export * from './ok'; +export * from './result'; diff --git a/app2/src/lib/utilities/result/ok.ts b/app2/src/lib/utilities/result/ok.ts new file mode 100644 index 0000000..868b3c8 --- /dev/null +++ b/app2/src/lib/utilities/result/ok.ts @@ -0,0 +1,44 @@ +export class Ok { + #inner: T; + + constructor(inner: T) { + this.#inner = inner; + } + + get inner(): T { + return this.#inner; + } + + /** + * Type guard for `Ok` + * @returns `true` if `Ok`; `false` if `Err` + */ + isOk(): this is Ok { + return true; + } + + /** + * Type guard for `Err` + * @returns `true` if `Err`; `false` if `Ok` + */ + isErr(): false { + return false; + } + + /** + * Create an `Ok` + * @param inner + * @returns `Ok(inner)` + */ + static new(inner: T): Ok { + return new Ok(inner); + } + + /** + * Create an empty `Ok` + * @returns `Ok(void)` + */ + static void(): Ok { + return new Ok(undefined); + } +} diff --git a/app2/src/lib/utilities/result/result.ts b/app2/src/lib/utilities/result/result.ts new file mode 100644 index 0000000..4e86e00 --- /dev/null +++ b/app2/src/lib/utilities/result/result.ts @@ -0,0 +1,20 @@ +import { Err } from './err'; +import { Ok } from './ok'; + +export type Result = Ok | Err; + +export namespace Result { + /** + * @returns `Ok` + */ + export function ok(value: T) { + return Ok.new(value); + } + + /** + * @returns `Err` + */ + export function err(error: E, exception?: F) { + return Err.new(error, exception); + } +} diff --git a/app2/src/lib/utilities/string-utilities.ts b/app2/src/lib/utilities/string-utilities.ts new file mode 100644 index 0000000..0ffc397 --- /dev/null +++ b/app2/src/lib/utilities/string-utilities.ts @@ -0,0 +1,9 @@ +export const humanFileSize = (size: number): string => { + const units = ['B', 'kB', 'MB', 'GB', 'TB']; + var i = size == 0 ? 0 : Math.floor(Math.log(size) / Math.log(1024)); + return Number((size / Math.pow(1024, i)).toFixed(2)) * 1 + units[i]; +}; + +export const capitalize = (str: string): string => { + return str.charAt(0).toUpperCase() + str.slice(1).toLowerCase(); +}; diff --git a/app2/src/lib/utilities/svelte-utilities.ts b/app2/src/lib/utilities/svelte-utilities.ts new file mode 100644 index 0000000..4f223c0 --- /dev/null +++ b/app2/src/lib/utilities/svelte-utilities.ts @@ -0,0 +1,16 @@ +import { writable } from 'svelte/store'; +import { browser } from '$app/environment'; + +export const isEmbeddedApp = import.meta.env.VITE_EMBEDDED_BUILD === 'true'; + +export const persistentStore = (key: string, initialValue: any) => { + const savedValue = browser ? JSON.parse(localStorage.getItem(key) as string) : null; + const data = savedValue !== null ? savedValue : initialValue; + const store = writable(data); + + store.subscribe((value) => { + browser && localStorage.setItem(key, JSON.stringify(value)); + }); + + return store; +}; diff --git a/app2/src/routes/+error.svelte b/app2/src/routes/+error.svelte new file mode 100644 index 0000000..c5c3b05 --- /dev/null +++ b/app2/src/routes/+error.svelte @@ -0,0 +1,15 @@ + + +
+

404 - Page not found

+

You will be redirected to the home page in 3 seconds

+
\ No newline at end of file diff --git a/app2/src/routes/+layout.svelte b/app2/src/routes/+layout.svelte new file mode 100644 index 0000000..6ede782 --- /dev/null +++ b/app2/src/routes/+layout.svelte @@ -0,0 +1,34 @@ + + + + + + {$page.data.title} + + +
+ +
+ + + + + +
+ +
+
+
diff --git a/app2/src/routes/+layout.ts b/app2/src/routes/+layout.ts new file mode 100644 index 0000000..db1d0e5 --- /dev/null +++ b/app2/src/routes/+layout.ts @@ -0,0 +1,50 @@ +import { jointNames, model } from '$lib/stores'; +import { loadModelAsync } from '$lib/utilities/model-utilities'; +import type { Result } from '$lib/utilities/result'; + +export const prerender = true; +export const ssr = false; + +const registerFetchIntercept = async () => { + if (typeof WebSocket === 'undefined') return; + const { fetch: originalFetch } = window; + const fileService = (await import('$lib/services/file-service')).default; + window.fetch = async (...args) => { + const [resource, config] = args; + let file: Result; + file = await fileService.getFile(resource.toString()); + return file.isOk() ? new Response(file.inner) : originalFetch(resource, config); + }; +}; + +const setup = async () => { + if (typeof WebSocket === 'undefined') return; + const outControllerData = (await import('$lib/stores/model-store')).outControllerData; + const mode = (await import('$lib/stores/model-store')).mode; + const socketLocation = (await import('$lib/utilities/location-utilities')).socketLocation; + const socketService = (await import('$lib/services/socket-service')).default; + socketService.connect(socketLocation); + socketService.addPublisher(outControllerData); + socketService.addPublisher(mode, 'mode'); + await registerFetchIntercept(); + const modelRes = await loadModelAsync('/spot_micro.urdf.xacro'); + + if (modelRes.isOk()) { + const [urdf, JOINT_NAME] = modelRes.inner; + jointNames.set(JOINT_NAME); + model.set(urdf); + } else { + console.error(modelRes.inner, { exception: modelRes.exception }); + } +}; + +export const load = async () => { + await setup(); + // const result = await fetch('/rest/features'); + const item = {}; //await result.json(); + return { + features: item, + title: 'spot-micro-controller', + github: 'runeharlyk/spotmicro' + }; +}; diff --git a/app2/src/routes/+page.svelte b/app2/src/routes/+page.svelte new file mode 100644 index 0000000..5982b0a --- /dev/null +++ b/app2/src/routes/+page.svelte @@ -0,0 +1,2 @@ +

Welcome to SvelteKit

+

Visit kit.svelte.dev to read the documentation

diff --git a/app2/src/routes/controller/+layout.svelte b/app2/src/routes/controller/+layout.svelte new file mode 100644 index 0000000..53c597e --- /dev/null +++ b/app2/src/routes/controller/+layout.svelte @@ -0,0 +1,8 @@ + + +
+ + +
diff --git a/app2/src/routes/controller/+page.svelte b/app2/src/routes/controller/+page.svelte new file mode 100644 index 0000000..ab0ef29 --- /dev/null +++ b/app2/src/routes/controller/+page.svelte @@ -0,0 +1,5 @@ + + + \ No newline at end of file diff --git a/app2/src/routes/controller/+page.ts b/app2/src/routes/controller/+page.ts new file mode 100644 index 0000000..386eea6 --- /dev/null +++ b/app2/src/routes/controller/+page.ts @@ -0,0 +1,3 @@ +export const load = async () => { + return { title: 'Spot Micro' }; +}; diff --git a/app2/src/routes/controller/stream/+page.svelte b/app2/src/routes/controller/stream/+page.svelte new file mode 100644 index 0000000..760e754 --- /dev/null +++ b/app2/src/routes/controller/stream/+page.svelte @@ -0,0 +1,19 @@ + + +
+ Live stream is down + Live stream is down +
diff --git a/app2/src/routes/menu.svelte b/app2/src/routes/menu.svelte new file mode 100644 index 0000000..9e57560 --- /dev/null +++ b/app2/src/routes/menu.svelte @@ -0,0 +1,266 @@ + + +
+ + setActiveMenuItem(menuItems, '')} + > + +

{appName}

+ + + +
+
+ + {#if $page.data.features.security} +
+ + $user.username + +
{ + // user.invalidate(); + }} + > + +
+
+ {/if} + +
+
+ {#if github.active} + + {/if} + {#if discord.active} + + {/if} +
+ {copyright} +
+
+
diff --git a/app2/src/routes/settings/+page.svelte b/app2/src/routes/settings/+page.svelte new file mode 100644 index 0000000..08f26f2 --- /dev/null +++ b/app2/src/routes/settings/+page.svelte @@ -0,0 +1,56 @@ + + +

Settings

+ +
+ +
+ + + + + +
+
diff --git a/app2/src/routes/system/+page.svelte b/app2/src/routes/system/+page.svelte new file mode 100644 index 0000000..e69de29 diff --git a/app2/src/routes/system/log/+page.svelte b/app2/src/routes/system/log/+page.svelte new file mode 100644 index 0000000..32e7002 --- /dev/null +++ b/app2/src/routes/system/log/+page.svelte @@ -0,0 +1 @@ +
LOGS
\ No newline at end of file diff --git a/app2/src/routes/system/metrics/+page.svelte b/app2/src/routes/system/metrics/+page.svelte new file mode 100644 index 0000000..3ac6aa4 --- /dev/null +++ b/app2/src/routes/system/metrics/+page.svelte @@ -0,0 +1 @@ +
metrics
\ No newline at end of file diff --git a/app2/static/favicon.ico b/app2/static/favicon.ico new file mode 100644 index 0000000..8900c00 Binary files /dev/null and b/app2/static/favicon.ico differ diff --git a/app2/static/favicon.png b/app2/static/favicon.png new file mode 100644 index 0000000..825b9e6 Binary files /dev/null and b/app2/static/favicon.png differ diff --git a/app2/static/logo512.png b/app2/static/logo512.png new file mode 100644 index 0000000..484acab Binary files /dev/null and b/app2/static/logo512.png differ diff --git a/app2/static/manifest.json b/app2/static/manifest.json new file mode 100644 index 0000000..98d7cc4 --- /dev/null +++ b/app2/static/manifest.json @@ -0,0 +1,15 @@ +{ + "short_name": "Quadruped Controller", + "name": "Quadruped Controller", + "icons": [ + { + "src": "logo512.png", + "type": "image/png", + "sizes": "512x512" + } + ], + "start_url": ".", + "display": "standalone", + "theme_color": "#000000", + "background_color": "#ffffff" +} diff --git a/app2/static/snowy_forest_4k.exr b/app2/static/snowy_forest_4k.exr new file mode 100644 index 0000000..5500c30 Binary files /dev/null and b/app2/static/snowy_forest_4k.exr differ diff --git a/app2/static/snowy_park_01_4k.exr b/app2/static/snowy_park_01_4k.exr new file mode 100644 index 0000000..1e54ad4 Binary files /dev/null and b/app2/static/snowy_park_01_4k.exr differ diff --git a/app2/static/spot_micro.urdf.xacro b/app2/static/spot_micro.urdf.xacro new file mode 100644 index 0000000..e6b2dae --- /dev/null +++ b/app2/static/spot_micro.urdf.xacro @@ -0,0 +1,310 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/app2/static/stl.zip b/app2/static/stl.zip new file mode 100644 index 0000000..fee7639 Binary files /dev/null and b/app2/static/stl.zip differ diff --git a/app2/static/stl/backpart.stl b/app2/static/stl/backpart.stl new file mode 100644 index 0000000..8e06a4c Binary files /dev/null and b/app2/static/stl/backpart.stl differ diff --git a/app2/static/stl/foot.stl b/app2/static/stl/foot.stl new file mode 100644 index 0000000..4196e90 Binary files /dev/null and b/app2/static/stl/foot.stl differ diff --git a/app2/static/stl/frontpart.stl b/app2/static/stl/frontpart.stl new file mode 100644 index 0000000..8e9dff7 Binary files /dev/null and b/app2/static/stl/frontpart.stl differ diff --git a/app2/static/stl/larm.stl b/app2/static/stl/larm.stl new file mode 100644 index 0000000..969b2e5 Binary files /dev/null and b/app2/static/stl/larm.stl differ diff --git a/app2/static/stl/larm_cover.stl b/app2/static/stl/larm_cover.stl new file mode 100644 index 0000000..006a919 Binary files /dev/null and b/app2/static/stl/larm_cover.stl differ diff --git a/app2/static/stl/lfoot.stl b/app2/static/stl/lfoot.stl new file mode 100644 index 0000000..75aa50a Binary files /dev/null and b/app2/static/stl/lfoot.stl differ diff --git a/app2/static/stl/lshoulder.stl b/app2/static/stl/lshoulder.stl new file mode 100644 index 0000000..00ea7a8 Binary files /dev/null and b/app2/static/stl/lshoulder.stl differ diff --git a/app2/static/stl/mainbody.stl b/app2/static/stl/mainbody.stl new file mode 100644 index 0000000..6779423 Binary files /dev/null and b/app2/static/stl/mainbody.stl differ diff --git a/app2/static/stl/rarm.stl b/app2/static/stl/rarm.stl new file mode 100644 index 0000000..67626a2 Binary files /dev/null and b/app2/static/stl/rarm.stl differ diff --git a/app2/static/stl/rarm_cover.stl b/app2/static/stl/rarm_cover.stl new file mode 100644 index 0000000..94da81c Binary files /dev/null and b/app2/static/stl/rarm_cover.stl differ diff --git a/app2/static/stl/rfoot.stl b/app2/static/stl/rfoot.stl new file mode 100644 index 0000000..93497cc Binary files /dev/null and b/app2/static/stl/rfoot.stl differ diff --git a/app2/static/stl/rshoulder.stl b/app2/static/stl/rshoulder.stl new file mode 100644 index 0000000..b11f06c Binary files /dev/null and b/app2/static/stl/rshoulder.stl differ diff --git a/app2/static/sw.js b/app2/static/sw.js new file mode 100644 index 0000000..3171814 --- /dev/null +++ b/app2/static/sw.js @@ -0,0 +1,45 @@ +const CACHE_NAME = 'v1'; +const urlsToCache = ['/', '/index.html', '/stl.zip']; + +self.addEventListener('install', (event) => { + event.waitUntil( + caches.open(CACHE_NAME).then((cache) => { + return cache.addAll(urlsToCache); + }) + ); +}); + +// self.addEventListener('fetch', (event) => { +// event.respondWith( +// caches.match(event.request).then((response) => { +// if (response) { +// return response; +// } +// return fetch(event.request).then((response) => { +// if (!response || response.status !== 200 || response.type !== 'basic') { +// return response; +// } +// var responseToCache = response.clone(); +// caches.open(CACHE_NAME).then((cache) => { +// cache.put(event.request, responseToCache); +// }); +// return response; +// }); +// }) +// ); +// }); + +self.addEventListener('activate', (event) => { + var cacheWhitelist = ['v1']; + event.waitUntil( + caches.keys().then((cacheNames) => { + return Promise.all( + cacheNames.map((cacheName) => { + if (cacheWhitelist.indexOf(cacheName) === -1) { + return caches.delete(cacheName); + } + }) + ); + }) + ); +}); diff --git a/app2/svelte.config.js b/app2/svelte.config.js new file mode 100644 index 0000000..ec82263 --- /dev/null +++ b/app2/svelte.config.js @@ -0,0 +1,21 @@ +import adapter from '@sveltejs/adapter-static'; +import { vitePreprocess } from '@sveltejs/vite-plugin-svelte'; + +/** @type {import('@sveltejs/kit').Config} */ +const config = { + // Consult https://kit.svelte.dev/docs/integrations#preprocessors + // for more information about preprocessors + preprocess: vitePreprocess(), + + kit: { + adapter: adapter({ + pages: '../esp32/data', + assets: '../esp32/data', + fallback: 'index.html', + precompress: false, + strict: true + }) + } +}; + +export default config; diff --git a/app2/tailwind.config.js b/app2/tailwind.config.js new file mode 100644 index 0000000..ba34658 --- /dev/null +++ b/app2/tailwind.config.js @@ -0,0 +1,8 @@ +/** @type {import('tailwindcss').Config} */ +export default { + content: ['./src/**/*.{html,js,ts,svelte}'], + theme: { + extend: {} + }, + plugins: [require('daisyui')] +}; diff --git a/app2/tests/test.ts b/app2/tests/test.ts new file mode 100644 index 0000000..5816be4 --- /dev/null +++ b/app2/tests/test.ts @@ -0,0 +1,6 @@ +import { expect, test } from '@playwright/test'; + +test('index page has expected h1', async ({ page }) => { + await page.goto('/'); + await expect(page.getByRole('heading', { name: 'Welcome to SvelteKit' })).toBeVisible(); +}); diff --git a/app2/tsconfig.json b/app2/tsconfig.json new file mode 100644 index 0000000..fc93cbd --- /dev/null +++ b/app2/tsconfig.json @@ -0,0 +1,19 @@ +{ + "extends": "./.svelte-kit/tsconfig.json", + "compilerOptions": { + "allowJs": true, + "checkJs": true, + "esModuleInterop": true, + "forceConsistentCasingInFileNames": true, + "resolveJsonModule": true, + "skipLibCheck": true, + "sourceMap": true, + "strict": true, + "moduleResolution": "bundler" + } + // Path aliases are handled by https://kit.svelte.dev/docs/configuration#alias + // except $lib which is handled by https://kit.svelte.dev/docs/configuration#files + // + // If you want to overwrite includes/excludes, make sure to copy over the relevant includes/excludes + // from the referenced tsconfig.json - TypeScript does not merge them in +} diff --git a/app2/vite-plugin-littlefs.ts b/app2/vite-plugin-littlefs.ts new file mode 100644 index 0000000..bd4bb50 --- /dev/null +++ b/app2/vite-plugin-littlefs.ts @@ -0,0 +1,31 @@ +import type { UserConfig, Plugin } from 'vite'; + +export default function viteLittleFS(): Plugin[] { + return [ + { + name: 'vite-plugin-littlefs', + enforce: 'post', + apply: 'build', + + async config(config, _configEnv) { + const { assetFileNames, chunkFileNames, entryFileNames } = + config.build?.rollupOptions?.output; + + // Handle Server-build + Client Assets + config.build.rollupOptions.output = { + ...config.build?.rollupOptions?.output, + assetFileNames: assetFileNames.replace('.[hash]', '') + }; + + // Handle Client-build + if (config.build?.rollupOptions?.output.chunkFileNames.includes('hash')) { + config.build.rollupOptions.output = { + ...config.build?.rollupOptions?.output, + chunkFileNames: chunkFileNames.replace('.[hash]', ''), + entryFileNames: entryFileNames.replace('.[hash]', '') + }; + } + } + } + ]; +} diff --git a/app2/vite.config.ts b/app2/vite.config.ts new file mode 100644 index 0000000..b96e1e0 --- /dev/null +++ b/app2/vite.config.ts @@ -0,0 +1,17 @@ +import { sveltekit } from '@sveltejs/kit/vite'; +import { defineConfig } from 'vitest/config'; +import Icons from 'unplugin-icons/vite'; +import viteLittleFS from './vite-plugin-littlefs'; + +export default defineConfig({ + plugins: [ + sveltekit(), + Icons({ + compiler: 'svelte' + }), + viteLittleFS() + ], + test: { + include: ['src/**/*.{test,spec}.{js,ts}'] + } +});