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🎨 Format and simplify controls

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This commit is contained in:
Rune Harlyk
2026-01-02 22:35:04 +01:00
committed by nikguin04
parent a6b5b0881a
commit 0ef55bcc7e
25 changed files with 6424 additions and 5981 deletions
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app/src/lib/stores/analytics.ts
+1 -2
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@@ -1,8 +1,7 @@
import { AnalyticsData } from '$lib/platform_shared/websocket_message'
import { writable } from 'svelte/store'
const analytics_data: AnalyticsData[] = [];
const analytics_data: AnalyticsData[] = []
const maxAnalyticsData = 100
app/src/lib/stores/imu.ts
+1 -2
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@@ -1,10 +1,9 @@
import { writable } from 'svelte/store'
import { IMUData } from '$lib/platform_shared/websocket_message'
const imu_data: IMUData[] = [];
const imu_data: IMUData[] = []
const maxIMUData = 100
export const imu = (() => {
const { subscribe, update } = writable(imu_data)
app/src/lib/stores/model-store.ts
+38 -27
View File
@@ -1,4 +1,12 @@
import { HumanInputData, KinematicData, ModeData, ModesEnum, WalkGaitData, WalkGaits } from '$lib/platform_shared/websocket_message'
import Kinematic from '$lib/kinematic'
import {
HumanInputData,
KinematicData,
ModeData,
ModesEnum,
WalkGaitData,
WalkGaits
} from '$lib/platform_shared/websocket_message'
import { persistentStore } from '$lib/utilities/svelte-utilities'
import { writable, type Writable } from 'svelte/store'
@@ -10,36 +18,39 @@ export const model = writable()
export const mode: Writable<ModeData> = writable(ModeData.create({ mode: ModesEnum.DEACTIVATED }))
export const walkGait: Writable<WalkGaitData> = writable( WalkGaitData.create({gait: WalkGaits.TROT }) )
export const outControllerData = writable( HumanInputData.create( {left: {x:0,y:0}, right: {x:0,y:0}, height:0, s1:0, speed:0} ) )
export const walkGait: Writable<WalkGaitData> = writable(
WalkGaitData.create({ gait: WalkGaits.TROT })
)
export const kinematicData = writable(KinematicData.create())
export const input: Writable<HumanInputData> = writable( HumanInputData.create( {left: {x:0,y:0}, right: {x:0,y:0}, height:0, s1:0, speed:0} ) )
export const input: Writable<HumanInputData> = writable(
HumanInputData.create({
left: { x: 0, y: 0 },
right: { x: 0, y: 0 },
height: 0.7,
s1: 0.5,
speed: 0.5
})
)
function enumToValuesAndLabels<T extends number>(enumObj: Record<string, T | string>) {
const entries = Object.entries(enumObj).filter(
([key, v]) => typeof v === 'number' && key !== 'UNRECOGNIZED'
) as [string, T][]
// Following code is generated from CLAUDE CODE
// Auto-generate modes array from ModesEnum (excluding UNRECOGNIZED)
export const modes = Object.values(ModesEnum)
.filter((v): v is ModesEnum => typeof v === 'number' && v !== ModesEnum.UNRECOGNIZED)
return {
values: entries.map(([, v]) => v),
labels: Object.fromEntries(
entries.map(([k, v]) => [v, k.charAt(0) + k.slice(1).toLowerCase()])
) as Record<T, string>
}
}
// Auto-generate mode labels from enum keys
export const modeLabels: Record<ModesEnum, string> = Object.entries(ModesEnum)
.filter(([_, v]) => typeof v === 'number' && v !== ModesEnum.UNRECOGNIZED)
.reduce((acc, [key, value]) => {
acc[value as ModesEnum] = key.charAt(0) + key.slice(1).toLowerCase()
return acc
}, {} as Record<ModesEnum, string>)
const modesData = enumToValuesAndLabels<ModesEnum>(ModesEnum)
export const modes = modesData.values
export const modeLabels = modesData.labels
// Auto-generate walk gaits array from WalkGaits enum (excluding UNRECOGNIZED)
export const walkGaits = Object.values(WalkGaits)
.filter((v): v is WalkGaits => typeof v === 'number' && v !== WalkGaits.UNRECOGNIZED)
// Auto-generate walk gait labels from enum keys
export const walkGaitLabels: Record<WalkGaits, string> = Object.entries(WalkGaits)
.filter(([_, v]) => typeof v === 'number' && v !== WalkGaits.UNRECOGNIZED)
.reduce((acc, [key, value]) => {
acc[value as WalkGaits] = key.charAt(0) + key.slice(1).toLowerCase()
return acc
}, {} as Record<WalkGaits, string>)
const walkGaitsData = enumToValuesAndLabels<WalkGaits>(WalkGaits)
export const walkGaits = walkGaitsData.values
export const walkGaitLabels = walkGaitsData.labels
app/src/lib/stores/socket-store.ts
+6 -2
View File
@@ -1,8 +1,12 @@
import { AnglesData } from '$lib/platform_shared/websocket_message'
import { writable, type Writable } from 'svelte/store'
export const servoAnglesOut: Writable<AnglesData> = writable(AnglesData.create({angles: [0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90]}))
export const servoAngles: Writable<AnglesData> = writable(AnglesData.create({angles: [0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90]}))
export const servoAnglesOut: Writable<AnglesData> = writable(
AnglesData.create({ angles: [0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90] })
)
export const servoAngles: Writable<AnglesData> = writable(
AnglesData.create({ angles: [0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90] })
)
export const logs = writable([] as string[])
export const mpu = writable({ heading: 0 })
app/src/lib/stores/socket.ts
+44 -43
View File
@@ -1,10 +1,13 @@
import { writable } from 'svelte/store'
import { encode, decode } from '@msgpack/msgpack'
import { WebsocketMessage, type MessageFns, protoMetadata as websocket_md } from '$lib/platform_shared/websocket_message'
import {
WebsocketMessage,
type MessageFns,
protoMetadata as websocket_md
} from '$lib/platform_shared/websocket_message'
import * as WebsocketMessages from '$lib/platform_shared/websocket_message'
import type { BinaryWriter } from '@bufbuild/protobuf/wire'
// -------- START PARSING PROTO DATA --------
// Auto-build reverse mapping from MessageFns to event key and tag
export const MESSAGE_TYPE_TO_KEY = new Map<MessageFns<any>, string>()
@@ -13,7 +16,7 @@ export const MESSAGE_KEY_TO_TAG = new Map<string, number>()
// Build the mapping using references from metadata
const websocketMessageType = websocket_md.fileDescriptor.messageType?.find(
( msg: { name: string } ) => msg.name === 'WebsocketMessage'
(msg: { name: string }) => msg.name === 'WebsocketMessage'
)
if (websocketMessageType?.field) {
@@ -33,7 +36,9 @@ if (websocketMessageType?.field) {
function get_name_from_messagetype(event_type: MessageFns<any>): string {
const event = MESSAGE_TYPE_TO_KEY.get(event_type)
if (!event) {
throw new Error("Event type not found in 'WebsocketMessage'. The MessageFns you passed doesn't correspond to any WebsocketMessage field.");
throw new Error(
"Event type not found in 'WebsocketMessage'. The MessageFns you passed doesn't correspond to any WebsocketMessage field."
)
}
return event
}
@@ -42,7 +47,9 @@ function get_name_from_messagetype(event_type: MessageFns<any>): string {
function get_tag_from_messagetype(event_type: MessageFns<any>): number {
const fieldNumber = MESSAGE_TYPE_TO_TAG.get(event_type)
if (fieldNumber === undefined) {
throw new Error("Tag not found in 'WebsocketMessage'. The MessageFns you passed doesn't correspond to any WebsocketMessage field.");
throw new Error(
"Tag not found in 'WebsocketMessage'. The MessageFns you passed doesn't correspond to any WebsocketMessage field."
)
}
return fieldNumber
}
@@ -52,29 +59,26 @@ function get_tag_from_messagetype(event_type: MessageFns<any>): number {
const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const
type SocketEvent = (typeof socketEvents)[number]
type TaggedSocketMessage = {"tag": number, "msg": WebsocketMessage}
type TaggedSocketMessage = { tag: number; msg: WebsocketMessage }
// Only exported for socket test
export const decodeMessage = (data: ArrayBuffer): TaggedSocketMessage => {
const decoded = WebsocketMessage.decode(new Uint8Array(data));
const decoded = WebsocketMessage.decode(new Uint8Array(data))
const values = Object.entries(decoded).filter(([, value]) => value !== undefined) // Filter all values which are not undefined
if (values.length != 1) {
throw new Error("Message included either 0 or more than 1 data point")
throw new Error('Message included either 0 or more than 1 data point')
}
const fieldName = values[0][0]
const tag = MESSAGE_KEY_TO_TAG.get(fieldName)
if (tag === undefined) {
throw new Error(`Tag not found for field: ${fieldName}`)
}
return {"tag": tag, "msg": decoded}
return { tag: tag, msg: decoded }
}
export const encodeMessage = (data: WebsocketMessage): Uint8Array<ArrayBuffer> => {
const encoded = WebsocketMessage.encode(data).finish();
return encoded;
const encoded = WebsocketMessage.encode(data).finish()
return encoded
}
function createWebSocket() {
@@ -92,22 +96,21 @@ function createWebSocket() {
connect()
}
function getMsgListeners<MT>(event_type: MessageFns<MT>): Set<(data?: unknown) => void> {
function getMsgListeners<MT>(event_type: MessageFns<MT>): Set<(data?: unknown) => void> {
const type_tag = get_tag_from_messagetype(event_type)
const type_listeners = message_listeners.get(type_tag);
const type_listeners = message_listeners.get(type_tag)
if (type_listeners == undefined) {
return new Set()
}
return type_listeners;
return type_listeners
}
function getListeners<MT>(event: string): Set<(data?: unknown) => void> {
const event_listeners_forevent = event_listeners.get(event);
function getListeners<MT>(event: string): Set<(data?: unknown) => void> {
const event_listeners_forevent = event_listeners.get(event)
if (event_listeners_forevent == undefined) {
return new Set()
}
return event_listeners_forevent;
return event_listeners_forevent
}
function disconnect(reason: SocketEvent, event?: Event) {
@@ -135,7 +138,7 @@ function createWebSocket() {
}
ws.onmessage = frame => {
resetUnresponsiveCheck()
const {tag, msg} = decodeMessage(frame.data)
const { tag, msg } = decodeMessage(frame.data)
if (tag) message_listeners.get(tag)?.forEach(listener => listener(msg))
}
ws.onerror = ev => disconnect('error', ev)
@@ -149,14 +152,13 @@ function createWebSocket() {
// TODO: This looks like it deletes an individual listener, but unsubscribe unsubscribes for everyone. Not sure what it is supposed to do right now
message_listeners_totag?.delete(listener as (data?: unknown) => void)
if (message_listeners_totag.size == 0) { // No more listeners, so we can unsubscribe
if (message_listeners_totag.size == 0) {
// No more listeners, so we can unsubscribe
unsubscribeToMessageFromServer(event_type)
}
}
function unsubscribe_event(event_type: SocketEvent, listener: (data: unknown) => void) {
const message_listeners_totag = event_listeners.get(event_type)
if (!message_listeners_totag) return
@@ -171,38 +173,38 @@ function createWebSocket() {
// T must extend a type of WebsocketMessages
function sendEvent<T>(event: MessageFns<T>, data: T) {
if (!ws || ws.readyState !== WebSocket.OPEN) return
const type = get_name_from_messagetype(event);
const wsm = WebsocketMessage.create();
(wsm as any)[type] = data
const type = get_name_from_messagetype(event)
const wsm = WebsocketMessage.create()
;(wsm as any)[type] = data
send(wsm)
}
function unsubscribeToMessageFromServer<T>(event_type: MessageFns<T>) {
if (!ws || ws.readyState !== WebSocket.OPEN) return
const event = get_name_from_messagetype(event_type);
const unsub_msg = WebsocketMessages.UnsubscribeNotification.create(
{tag: get_tag_from_messagetype(event_type)}
);
send(WebsocketMessage.create({unsubNotif: unsub_msg}));
const event = get_name_from_messagetype(event_type)
const unsub_msg = WebsocketMessages.UnsubscribeNotification.create({
tag: get_tag_from_messagetype(event_type)
})
send(WebsocketMessage.create({ unsubNotif: unsub_msg }))
}
function subscribeToEvent<T>(event_type: MessageFns<T>) {
if (!ws || ws.readyState !== WebSocket.OPEN) return
const event = get_name_from_messagetype(event_type);
const sub_msg = WebsocketMessages.SubscribeNotification.create(
{tag: get_tag_from_messagetype(event_type)}
);
send(WebsocketMessage.create({subNotif: sub_msg}));
const event = get_name_from_messagetype(event_type)
const sub_msg = WebsocketMessages.SubscribeNotification.create({
tag: get_tag_from_messagetype(event_type)
})
send(WebsocketMessage.create({ subNotif: sub_msg }))
}
function send(data: WebsocketMessage) {
if (!ws || ws.readyState !== WebSocket.OPEN) return
const encoded = encodeMessage(data);
ws.send(encoded);
const encoded = encodeMessage(data)
ws.send(encoded)
}
function ping() {
send(WebsocketMessage.create({pingmsg: {}}))
send(WebsocketMessage.create({ pingmsg: {} }))
}
return {
@@ -210,7 +212,7 @@ function createWebSocket() {
sendEvent,
init,
on: <MT>(event_type: MessageFns<MT>, listener: (data: MT) => void): (() => void) => {
const tag = get_tag_from_messagetype(event_type);
const tag = get_tag_from_messagetype(event_type)
let message_listeners_totag = message_listeners.get(tag)
if (!message_listeners_totag) {
@@ -225,7 +227,6 @@ function createWebSocket() {
}
},
onEvent: (event_type: SocketEvent, listener: (data: unknown) => void): (() => void) => {
return () => {
unsubscribe_event(event_type, listener)
}
app/src/lib/stores/telemetry.ts
+14 -5
View File
@@ -2,10 +2,13 @@ import { DownloadOTAData, RSSIData } from '$lib/platform_shared/websocket_messag
import { writable } from 'svelte/store'
type telemetry_data_type = {
rssi: RSSIData;
download_ota: DownloadOTAData;
rssi: RSSIData
download_ota: DownloadOTAData
}
const telemetry_data: telemetry_data_type = { rssi: RSSIData.create(), download_ota: DownloadOTAData.create() }; // Note: perhaps init these as null instead of an undefined create()
const telemetry_data: telemetry_data_type = {
rssi: RSSIData.create(),
download_ota: DownloadOTAData.create()
} // Note: perhaps init these as null instead of an undefined create()
function createTelemetry() {
const { subscribe, update } = writable(telemetry_data)
@@ -13,10 +16,16 @@ function createTelemetry() {
return {
subscribe,
setRSSI: (data: RSSIData) => {
update(telemetry_data => { telemetry_data.rssi = data; return telemetry_data })
update(telemetry_data => {
telemetry_data.rssi = data
return telemetry_data
})
},
setDownloadOTA: (data: DownloadOTAData) => {
update(telemetry_data => { telemetry_data.download_ota = data; return telemetry_data })
update(telemetry_data => {
telemetry_data.download_ota = data
return telemetry_data
})
}
}
}