✨ Refactors and adds new mode concept

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();
+};