✨ Refactors and adds new mode concept

app/src/App.svelte

@@ -6,15 +6,16 @@
 	import Controller from './routes/Controller.svelte';
 	import { fileService } from '$lib/services';
 	import Settings from './routes/Settings.svelte';
-	import { jointNames, model, outControllerData } from '$lib/store';
-	import { loadModelAsync } from '$lib/utilities';
-	import { socketLocation } from '$lib/utilities';
+	import { jointNames, model, outControllerData, mode } from '$lib/stores';
+	import { loadModelAsync, socketLocation } from '$lib/utilities';
 	import type { Result } from '$lib/utilities/result';
 
 	export let url = window.location.pathname;
 	onMount(async () => {
 		socketService.connect(socketLocation);
 		socketService.addPublisher(outControllerData);
+		socketService.addPublisher(mode, 'mode');
+
 		registerFetchIntercept();
 		const modelRes = await loadModelAsync('/spot_micro.urdf.xacro');
 

app/src/components/Controls.svelte

@@ -1,18 +1,15 @@
 <script lang="ts">
 	import nipplejs from 'nipplejs';
 	import { onMount } from 'svelte';
-	import { throttler, toInt8 } from '$lib/utilities';
-	import socketService from '$lib/services/socket-service';
-	import { emulateModel, input, outControllerData } from '$lib/store';
+	import { capitalize, throttler, toInt8 } from '$lib/utilities';
+	import { input, outControllerData, mode, modes } from '$lib/stores';
+	import type { vector } from '$lib/models';
 
 	let throttle = new throttler();
 	let left: nipplejs.JoystickManager;
 	let right: nipplejs.JoystickManager;
 
 	let throttle_timing = 40;
-
-	let mode = 'rest'; // 'rest' | 'stand' | 'stand+' | 'walk'
-
 	let data = new Int8Array(6);
 
 	onMount(() => {
@@ -24,22 +21,6 @@
 			restOpacity: 0.3
 		});
 
-		left.on('move', (evt, data) => {
-			input.update((o) => {
-				o.left = data.vector;
-				return o;
-			});
-			throttle.throttle(updateData, throttle_timing);
-		});
-
-		left.on('end', (evt, data) => {
-			input.update((o) => {
-				o.left = { x: 0, y: 0 };
-				return o;
-			});
-			throttle.throttle(updateData, throttle_timing);
-		});
-
 		right = nipplejs.create({
 			zone: document.getElementById('right') as HTMLElement,
 			color: 'grey',
@@ -48,23 +29,20 @@
 			restOpacity: 0.3
 		});
 
-		right.on('move', (evt, data) => {
-			input.update((o) => {
-				o.right = data.vector;
-				return o;
-			});
-			throttle.throttle(updateData, throttle_timing);
-		});
-
-		right.on('end', (evt, data) => {
-			input.update((o) => {
-				o.right = { x: 0, y: 0 };
-				return o;
-			});
-			throttle.throttle(updateData, throttle_timing);
-		});
+		left.on('move', (_, data) => handleJoyMove('left', data.vector));
+		left.on('end', (_, __) => handleJoyMove('left', { x: 0, y: 0 }));
+		right.on('move', (_, data) => handleJoyMove('right', data.vector));
+		right.on('end', (_, __) => handleJoyMove('right', { x: 0, y: 0 }));
 	});
 
+	const handleJoyMove = (key: 'left' | 'right', data: vector) => {
+		input.update((inputData) => {
+			inputData[key] = data;
+			return inputData;
+		});
+		throttle.throttle(updateData, throttle_timing);
+	};
+
 	const updateData = () => {
 		data[0] = 0;
 		data[1] = toInt8($input.left.x, -1, 1);
@@ -75,8 +53,22 @@
 		data[6] = toInt8($input.speed, 0, 100);
 
 		outControllerData.set(data);
+	};
 
-        if (!$emulateModel) socketService.send(data);
+	const handleKeyup = (event: KeyboardEvent) => {
+		const down = event.type === 'keydown';
+		input.update((data) => {
+			if (event.key === 'w') data.left.y = down ? -1 : 0;
+			if (event.key === 'a') data.left.x = down ? -1 : 0;
+			if (event.key === 's') data.left.y = down ? 1 : 0;
+			if (event.key === 'd') data.left.x = down ? 1 : 0;
+			return data;
+		});
+		throttle.throttle(updateData, throttle_timing);
+	};
+
+	const changeMode = (modeValue: Modes) => {
+		mode.set(modeValue);
 	};
 </script>
 
@@ -86,4 +78,15 @@
 		<div class="flex-1" />
 		<div id="right" class="flex w-60 items-center" />
 	</div>
+	<div class="absolute bottom-0 z-10 p-4 gap-4 flex">
+		{#each modes as modeValue}
+			<button
+				on:click={() => changeMode(modeValue)}
+				class="rounded-md outline outline-2 text-zinc-200 outline-zinc-600 p-2">
+                {capitalize(modeValue)}
+            </button>
+		{/each}
+	</div>
 </div>
+
+<svelte:window on:keyup={handleKeyup} on:keydown={handleKeyup} />

app/src/components/Topbar.svelte

@@ -1,8 +1,9 @@
 <script lang="ts">
 	import socketService from '$lib/services/socket-service';
 	import { Icon, Bars3, XMark, Power, Battery100, Signal, SignalSlash } from 'svelte-hero-icons';
-	import { emulateModel } from '$lib/store';
+	import { emulateModel } from '$lib/stores';
 	import { Link, useLocation } from 'svelte-routing';
+	import { isConnected } from '$lib/stores';
 
 	const views = ['Virtual environment', 'Robot camera'];
 	const modes = ['Drive', 'Choreography'];
@@ -12,7 +13,6 @@
 	let selected_view = views[0];
 	let selected_modes = modes[0];
 	let settingOpen = window.location.pathname.includes('/settings');
-	let isConnected = socketService.isConnected;
 
 	$: emulateModel.set(selected_view === views[0]);
 	$: settingOpen = $location.pathname.includes('/settings');

app/src/components/Views/Model.svelte

@@ -3,11 +3,11 @@
 	import { CanvasTexture, CircleGeometry, Mesh, MeshBasicMaterial } from 'three';
 	import socketService from '$lib/services/socket-service';
 	import uzip from 'uzip';
-	import { model } from '$lib/store';
+	import { model } from '$lib/stores';
 	import { ForwardKinematics } from '$lib/kinematic';
 	import { location } from '$lib/utilities';
 	import { fileService } from '$lib/services';
-	import { servoAngles, mpu } from '$lib/stores';
+	import { servoAngles, mpu, jointNames } from '$lib/stores';
 	import SceneBuilder from '$lib/sceneBuilder';
 	import { lerp, degToRad } from 'three/src/math/MathUtils';
 
@@ -18,34 +18,9 @@
 	let modelAngles: number[] | Int16Array = new Array(12).fill(0);
 	let modelTargetAngles: number[] | Int16Array = new Array(12).fill(0);
 
-	let modelBodyAngles: EulerAngle = { omega: 0, phi: 0, psi: 0 };
-	let modelTargeBodyAngles: EulerAngle = { omega: 0, phi: 0, psi: 0 };
-
 	const videoStream = `//${location}/api/stream`;
 
-	let showModel = true,
-		showStream = false;
-
-	const servoNames = [
-		'front_left_shoulder',
-		'front_left_leg',
-		'front_left_foot',
-		'front_right_shoulder',
-		'front_right_leg',
-		'front_right_foot',
-		'rear_left_shoulder',
-		'rear_left_leg',
-		'rear_left_foot',
-		'rear_right_shoulder',
-		'rear_right_leg',
-		'rear_right_foot'
-	];
-
-	interface EulerAngle {
-		omega: number;
-		phi: number;
-		psi: number;
-	}
+	let showStream = false;
 
 	onMount(async () => {
 		await cacheModelFiles();
@@ -68,12 +43,12 @@
 	};
 
 	const updateAngles = (name: string, angle: number) => {
-		modelTargetAngles[servoNames.indexOf(name)] = angle * (180 / Math.PI);
+		modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI);
 		socketService.send(
 			JSON.stringify({
 				type: 'kinematic/angle',
 				angle: angle * (180 / Math.PI),
-				id: servoNames.indexOf(name)
+				id: $jointNames.indexOf(name)
 			})
 		);
 	};
@@ -100,7 +75,7 @@
 	};
 
 	const addVideoStream = () => {
-		context = streamCanvas.getContext('2d');
+		context = streamCanvas.getContext('2d')!;
 		texture = new CanvasTexture(stream);
 		const liveStream = new Mesh(
 			new CircleGeometry(35, 32),
@@ -132,26 +107,14 @@
 
 		handleVideoStream();
 
-		for (let i = 0; i < servoNames.length; i++) {
+		for (let i = 0; i < $jointNames.length; i++) {
 			modelAngles[i] = lerp(
-				robot.joints[servoNames[i]].angle * (180 / Math.PI),
+				(robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI),
 				modelTargetAngles[i],
 				0.1
 			);
-			robot.joints[servoNames[i]].setJointValue(degToRad(modelAngles[i]));
+			robot.joints[$jointNames[i]].setJointValue(degToRad(modelAngles[i]));
 		}
-
-		modelBodyAngles.omega = lerp(
-			robot.rotation.x * (180 / Math.PI),
-			modelTargeBodyAngles.omega - 90,
-			0.1
-		);
-		modelBodyAngles.phi = lerp(robot.rotation.y * (180 / Math.PI), modelTargeBodyAngles.phi, 0.1);
-		modelBodyAngles.psi = lerp(
-			robot.rotation.z * (180 / Math.PI),
-			modelTargeBodyAngles.psi + 90,
-			0.1
-		);
 	};
 </script>
 

app/src/components/settings/Calibration.svelte

@@ -1,6 +1,6 @@
 <script lang="ts">
 	import { onMount } from 'svelte';
-	import { jointNames } from '../../lib/store';
+	import { jointNames } from '../../lib/stores';
 
 	type Servo = {
 		id: number;
@@ -10,7 +10,7 @@
 		pwmFor180: number;
 	};
 
-	let servos: any[] = [];
+	let servos: Servo[] = [];
 
 	onMount(() => {
 		jointNames.subscribe((data) => {
@@ -58,7 +58,8 @@
 				id="minPWM"
 				class="bg-zinc-800"
 				value={servos[selectedServo].minPWM}
-				on:blur={(event) => updateServoValue(selectedServo, 'minPWM', Number(event.target.value))}
+				on:blur={(event) =>
+					updateServoValue(selectedServo ?? 0, 'minPWM', Number(event.target?.value))}
 			/>
 
 			<label for="maxPWM">Max PWM:</label>
@@ -67,7 +68,8 @@
 				id="maxPWM"
 				class="bg-zinc-800"
 				value={servos[selectedServo].maxPWM}
-				on:blur={(event) => updateServoValue(selectedServo, 'maxPWM', Number(event.target.value))}
+				on:blur={(event) =>
+					updateServoValue(selectedServo ?? 0, 'maxPWM', Number(event.target?.value))}
 			/>
 
 			<label for="pwmFor180">PWM for 180°:</label>
@@ -77,7 +79,7 @@
 				class="bg-zinc-800"
 				value={servos[selectedServo].pwmFor180}
 				on:blur={(event) =>
-					updateServoValue(selectedServo, 'pwmFor180', Number(event.target.value))}
+					updateServoValue(selectedServo ?? 0, 'pwmFor180', Number(event.target?.value))}
 			/>
 		</div>
 	{/if}

app/src/components/settings/Configuration.svelte

@@ -1,10 +1,8 @@
 <script lang="ts">
-	import socketService from '$lib/services/socket-service';
+	import { socketService } from '$lib/services';
+	import { isConnected, settings } from '$lib/stores';
 	import { onMount } from 'svelte';
 
-	let isConnected = socketService.isConnected;
-	let settings = socketService.settings;
-
 	onMount(() => {
 		if ($isConnected) {
 			const message = JSON.stringify({ type: 'system/settings' });

app/src/components/settings/Info.svelte

@@ -2,10 +2,7 @@
 	import { onMount } from 'svelte';
 	import { humanFileSize } from '$lib/utilities';
 	import socketService from '$lib/services/socket-service';
-
-	let isConnected = socketService.isConnected;
-	let settings = socketService.settings;
-	let systemInfo = socketService.systemInfo;
+	import { isConnected, systemInfo } from '$lib/stores';
 
 	onMount(() => {
 		if ($isConnected) {

app/src/components/settings/Log.svelte

@@ -1,10 +1,8 @@
 <script lang="ts">
 	import socketService from '$lib/services/socket-service';
+	import { isConnected, logs } from '$lib/stores';
 	import { onMount } from 'svelte';
 
-	let isConnected = socketService.isConnected;
-	let log = socketService.log;
-
 	onMount(() => {
 		if ($isConnected) {
 			const message = JSON.stringify({ type: 'system/logs' });
@@ -14,7 +12,7 @@
 </script>
 
 <div class="w-full h-full">
-	{#each $log as entry}
+	{#each $logs as entry}
 		<div>{entry}</div>
 	{/each}
 </div>

app/src/lib/models.ts

@@ -1,11 +1,20 @@
+export type vector = { x: number; y: number };
+
+export interface ControllerInput {
+	left: vector;
+	right: vector;
+	height: number;
+	speed: number;
+}
+
 export type angles = number[] | Int16Array;
 
-type AnglesData = {
+export type AnglesData = {
 	type: 'angles';
 	data: angles;
 };
 
-type LogData = {
+export type LogData = {
 	type: 'log';
 	data: string;
 };

app/src/lib/services/socket-service.ts

@@ -39,7 +39,9 @@ class SocketService {
 	}
 
 	public addPublisher(store: Writable<WebsocketOutData>, type?: string) {
-		store.subscribe((data) => this.send(type ? JSON.stringify({ type, data }) : data));
+		const publish = (data: WebsocketOutData) =>
+			this.send(type ? JSON.stringify({ type, data }) : data);
+		store.subscribe(publish);
 	}
 
 	private handleConnected(): void {

app/src/lib/stores/index.ts

@@ -1,2 +1,3 @@
 export * from './socket-store';
 export * from './logging-store';
+export * from './model-store';

app/src/lib/stores/model-store.ts

@@ -1,17 +1,24 @@
-import { writable } from 'svelte/store';
+import type { ControllerInput } from '$lib/models';
 import { persistentStore } from '$lib/utilities';
+import { writable, type Writable } from 'svelte/store';
 
 export const emulateModel = writable(true);
 
-export const input = writable({
+export const jointNames = persistentStore('joint_names', []);
+
+export const model = writable();
+
+export const modes = ['idle', 'stand', 'walk'] as const;
+
+export type Modes = (typeof modes)[number];
+
+export const mode: Writable<Modes> = writable('idle');
+
+export const outControllerData = writable(new Int8Array([0, 0, 0, 0, 0, 70, 0]));
+
+export const input: Writable<ControllerInput> = writable({
 	left: { x: 0, y: 0 },
 	right: { x: 0, y: 0 },
 	height: 70,
 	speed: 0
 });
-
-export const outControllerData = writable(new Int8Array([0, 0, 0, 0, 0, 70, 0]));
-
-export const jointNames = persistentStore('joint_names', []);
-
-export const model = writable();

app/src/lib/utilities/math-utilities.ts

@@ -5,7 +5,7 @@ export const toUint8 = (number: number, min: number, max: number) => {
 };
 
 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;
-};
+	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;
+};

app/src/lib/utilities/string-utilities.ts

@@ -3,3 +3,7 @@ export const humanFileSize = (size: number): string => {
 	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();
+};

app/src/main.ts

@@ -3,7 +3,7 @@ import './index.css';
 import App from './App.svelte';
 
 const app = new App({
-	target: document.getElementById('app')
+	target: document.getElementById('app') as HTMLElement
 });
 
 export default app;

app/src/routes/Controller.svelte

@@ -2,7 +2,7 @@
 	import Stream from '$components/Views/Stream.svelte';
 	import Model from '$components/Views/Model.svelte';
 	import Controls from '$components/Controls.svelte';
-	import { emulateModel } from '$lib/store';
+	import { emulateModel } from '$lib/stores';
 </script>
 
 <div class="flex justify-center items-center w-full h-full">

app/src/routes/Settings.svelte

@@ -5,13 +5,10 @@
 	import Configuration from '../components/settings/Configuration.svelte';
 	import {
 		Icon,
-		Wifi,
-		CommandLine,
 		InformationCircle,
 		BookOpen,
 		AdjustmentsVertical,
-		Cog6Tooth,
-		Newspaper
+		Cog6Tooth
 	} from 'svelte-hero-icons';
 	import Calibration from '../components/settings/Calibration.svelte';