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Fixed up IMU properly this time

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This commit is contained in:
Niklas Jensen
2026-01-02 19:00:33 +01:00
committed by nikguin04
parent 58bf8a88a6
commit 13546d600c
5 changed files with 135 additions and 38 deletions
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app/src/lib/platform_shared/websocket_message.ts
+95 -2
View File
@@ -160,6 +160,9 @@ export interface IMUCalibrateData {
success: boolean;
}
export interface IMUCalibrateExecute {
}
export interface ModeData {
mode: ModesEnum;
}
@@ -274,6 +277,7 @@ export interface WebsocketMessage {
pongmsg?: PongMsg | undefined;
imu?: IMUData | undefined;
imuCalibrate?: IMUCalibrateData | undefined;
imuCalibrateExecute?: IMUCalibrateExecute | undefined;
mode?: ModeData | undefined;
input?: ControllerInputData | undefined;
analytics?: AnalyticsData | undefined;
@@ -1223,6 +1227,49 @@ export const IMUCalibrateData: MessageFns<IMUCalibrateData> = {
},
};
function createBaseIMUCalibrateExecute(): IMUCalibrateExecute {
return {};
}
export const IMUCalibrateExecute: MessageFns<IMUCalibrateExecute> = {
encode(_: IMUCalibrateExecute, writer: BinaryWriter = new BinaryWriter()): BinaryWriter {
return writer;
},
decode(input: BinaryReader | Uint8Array, length?: number): IMUCalibrateExecute {
const reader = input instanceof BinaryReader ? input : new BinaryReader(input);
const end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseIMUCalibrateExecute();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
}
if ((tag & 7) === 4 || tag === 0) {
break;
}
reader.skip(tag & 7);
}
return message;
},
fromJSON(_: any): IMUCalibrateExecute {
return {};
},
toJSON(_: IMUCalibrateExecute): unknown {
const obj: any = {};
return obj;
},
create<I extends Exact<DeepPartial<IMUCalibrateExecute>, I>>(base?: I): IMUCalibrateExecute {
return IMUCalibrateExecute.fromPartial(base ?? ({} as any));
},
fromPartial<I extends Exact<DeepPartial<IMUCalibrateExecute>, I>>(_: I): IMUCalibrateExecute {
const message = createBaseIMUCalibrateExecute();
return message;
},
};
function createBaseModeData(): ModeData {
return { mode: 0 };
}
@@ -2832,6 +2879,7 @@ function createBaseWebsocketMessage(): WebsocketMessage {
pongmsg: undefined,
imu: undefined,
imuCalibrate: undefined,
imuCalibrateExecute: undefined,
mode: undefined,
input: undefined,
analytics: undefined,
@@ -2865,6 +2913,9 @@ export const WebsocketMessage: MessageFns<WebsocketMessage> = {
if (message.imuCalibrate !== undefined) {
IMUCalibrateData.encode(message.imuCalibrate, writer.uint32(962).fork()).join();
}
if (message.imuCalibrateExecute !== undefined) {
IMUCalibrateExecute.encode(message.imuCalibrateExecute, writer.uint32(970).fork()).join();
}
if (message.mode !== undefined) {
ModeData.encode(message.mode, writer.uint32(1042).fork()).join();
}
@@ -2953,6 +3004,14 @@ export const WebsocketMessage: MessageFns<WebsocketMessage> = {
message.imuCalibrate = IMUCalibrateData.decode(reader, reader.uint32());
continue;
}
case 121: {
if (tag !== 970) {
break;
}
message.imuCalibrateExecute = IMUCalibrateExecute.decode(reader, reader.uint32());
continue;
}
case 130: {
if (tag !== 1042) {
break;
@@ -3050,6 +3109,9 @@ export const WebsocketMessage: MessageFns<WebsocketMessage> = {
pongmsg: isSet(object.pongmsg) ? PongMsg.fromJSON(object.pongmsg) : undefined,
imu: isSet(object.imu) ? IMUData.fromJSON(object.imu) : undefined,
imuCalibrate: isSet(object.imuCalibrate) ? IMUCalibrateData.fromJSON(object.imuCalibrate) : undefined,
imuCalibrateExecute: isSet(object.imuCalibrateExecute)
? IMUCalibrateExecute.fromJSON(object.imuCalibrateExecute)
: undefined,
mode: isSet(object.mode) ? ModeData.fromJSON(object.mode) : undefined,
input: isSet(object.input) ? ControllerInputData.fromJSON(object.input) : undefined,
analytics: isSet(object.analytics) ? AnalyticsData.fromJSON(object.analytics) : undefined,
@@ -3085,6 +3147,9 @@ export const WebsocketMessage: MessageFns<WebsocketMessage> = {
if (message.imuCalibrate !== undefined) {
obj.imuCalibrate = IMUCalibrateData.toJSON(message.imuCalibrate);
}
if (message.imuCalibrateExecute !== undefined) {
obj.imuCalibrateExecute = IMUCalibrateExecute.toJSON(message.imuCalibrateExecute);
}
if (message.mode !== undefined) {
obj.mode = ModeData.toJSON(message.mode);
}
@@ -3139,6 +3204,9 @@ export const WebsocketMessage: MessageFns<WebsocketMessage> = {
message.imuCalibrate = (object.imuCalibrate !== undefined && object.imuCalibrate !== null)
? IMUCalibrateData.fromPartial(object.imuCalibrate)
: undefined;
message.imuCalibrateExecute = (object.imuCalibrateExecute !== undefined && object.imuCalibrateExecute !== null)
? IMUCalibrateExecute.fromPartial(object.imuCalibrateExecute)
: undefined;
message.mode = (object.mode !== undefined && object.mode !== null) ? ModeData.fromPartial(object.mode) : undefined;
message.input = (object.input !== undefined && object.input !== null)
? ControllerInputData.fromPartial(object.input)
@@ -3744,6 +3812,18 @@ export const protoMetadata: ProtoMetadata = {
"reservedRange": [],
"reservedName": [],
"visibility": 0,
}, {
"name": "IMUCalibrateExecute",
"field": [],
"extension": [],
"nestedType": [],
"enumType": [],
"extensionRange": [],
"oneofDecl": [],
"options": undefined,
"reservedRange": [],
"reservedName": [],
"visibility": 0,
}, {
"name": "ModeData",
"field": [{
@@ -4622,6 +4702,18 @@ export const protoMetadata: ProtoMetadata = {
"jsonName": "imuCalibrate",
"options": undefined,
"proto3Optional": false,
}, {
"name": "imu_calibrate_execute",
"number": 121,
"label": 1,
"type": 11,
"typeName": ".socket_message.IMUCalibrateExecute",
"extendee": "",
"defaultValue": "",
"oneofIndex": 0,
"jsonName": "imuCalibrateExecute",
"options": undefined,
"proto3Optional": false,
}, {
"name": "mode",
"number": 130,
@@ -4790,8 +4882,8 @@ export const protoMetadata: ProtoMetadata = {
"trailingComments": "",
"leadingDetachedComments": [],
}, {
"path": [4, 25],
"span": [109, 0, 128, 1],
"path": [4, 26],
"span": [110, 0, 130, 1],
"leadingComments": " WebSocket message wrapper\n Only ONE field will be set at a time (oneof ensures this)\n",
"trailingComments": "",
"leadingDetachedComments": [],
@@ -4810,6 +4902,7 @@ export const protoMetadata: ProtoMetadata = {
".socket_message.IMUData": IMUData,
".socket_message.StaticSystemInformation": StaticSystemInformation,
".socket_message.IMUCalibrateData": IMUCalibrateData,
".socket_message.IMUCalibrateExecute": IMUCalibrateExecute,
".socket_message.ModeData": ModeData,
".socket_message.ControllerInputData": ControllerInputData,
".socket_message.AnalyticsData": AnalyticsData,
app/src/routes/peripherals/imu/imu.svelte
+36 -31
View File
@@ -6,23 +6,23 @@
import { slide } from 'svelte/transition'
import { onDestroy, onMount } from 'svelte'
import { socket } from '$lib/stores'
import { MessageTopic, type IMUMsg, type IMUCalibrationResult } from '$lib/types/models'
import { useFeatureFlags } from '$lib/stores/featureFlags'
import { Rotate3d } from '$lib/components/icons'
import { IMUReport } from '$lib/platform_shared/imu_report';
import { BinaryReader, BinaryWriter } from "@bufbuild/protobuf/wire";
import { IMUCalibrateData, IMUCalibrateExecute, IMUData } from '$lib/platform_shared/websocket_message'
Chart.register(...registerables)
const features = useFeatureFlags()
let intervalId: ReturnType<typeof setInterval> | number
let isCalibrating = $state(false)
let calibrationResult = $state<IMUCalibrationResult | null>(null)
let calibrationResult = $state<IMUCalibrateData | null>(null)
let angleChartElement: HTMLCanvasElement
let tempChartElement: HTMLCanvasElement
let altitudeChartElement: HTMLCanvasElement
let angleChartElement: HTMLCanvasElement = $state()!
let tempChartElement: HTMLCanvasElement = $state()!
let altitudeChartElement: HTMLCanvasElement = $state()!
let angleChart: Chart
let tempChart: Chart
@@ -77,7 +77,7 @@
borderColor: colors.primary,
backgroundColor: colors.primary,
borderWidth: 2,
data: $imu.x,
data: $imu.map(datapoint => datapoint.x),
yAxisID: 'y'
},
{
@@ -85,7 +85,7 @@
borderColor: colors.secondary,
backgroundColor: colors.secondary,
borderWidth: 2,
data: $imu.y,
data: $imu.map(datapoint => datapoint.y),
yAxisID: 'y'
},
{
@@ -93,7 +93,7 @@
borderColor: colors.accent,
backgroundColor: colors.accent,
borderWidth: 2,
data: $imu.z,
data: $imu.map(datapoint => datapoint.z),
yAxisID: 'y'
}
]
@@ -124,7 +124,7 @@
borderColor: colors.secondary,
backgroundColor: colors.secondary,
borderWidth: 2,
data: $imu.bmp_temp,
data: $imu.map(datapoint => datapoint.bmpTemp),
yAxisID: 'y'
}
]
@@ -155,7 +155,7 @@
borderColor: colors.primary,
backgroundColor: colors.primary,
borderWidth: 2,
data: $imu.altitude,
data: $imu.map(datapoint => datapoint.altitude),
yAxisID: 'y'
}
]
@@ -188,50 +188,55 @@
const updateData = () => {
if ($features.imu) {
angleChart.data.labels = $imu.x
angleChart.data.datasets[0].data = $imu.x
angleChart.data.datasets[1].data = $imu.y
angleChart.data.datasets[2].data = $imu.z
const x = $imu.map(datapoint => datapoint.x)
const y= $imu.map(datapoint => datapoint.y)
const z = $imu.map(datapoint => datapoint.z)
angleChart.data.labels = Array.from({ length: $imu.length }, (_, i) => i + 1)
angleChart.data.datasets[0].data = x
angleChart.data.datasets[1].data = y
angleChart.data.datasets[2].data = z
const allValues = [...$imu.x, ...$imu.y, ...$imu.z]
const allValues = [...x, ...y, ...z]
angleChart.options.scales!.y!.min = Math.min(...allValues) - 1
angleChart.options.scales!.y!.max = Math.max(...allValues) + 1
angleChart.update('none')
}
if ($features.bmp) {
updateChartData(tempChart, $imu.bmp_temp)
updateChartData(altitudeChart, $imu.altitude)
updateChartData(tempChart, $imu.map(datapoint => datapoint.bmpTemp))
updateChartData(altitudeChart, $imu.map(datapoint => datapoint.altitude))
}
}
const eventListeners: (() => void)[] = [];
onMount(() => {
socket.on(MessageTopic.imu, (buffer: ArrayBuffer) => {
// Temporary conversions here
let data = IMUReport.decode(new BinaryReader(new Uint8Array(buffer)))
console.log(data)
imu.addData(data)
})
eventListeners.push(...[
socket.on(IMUData, (data) => {
console.log(data)
imu.addData(data)
}),
socket.on(MessageTopic.imuCalibrate, (data: IMUCalibrationResult) => {
isCalibrating = false
calibrationResult = data
})
socket.on(IMUCalibrateData, (data) => {
isCalibrating = false
calibrationResult = data
})
])
initializeCharts()
intervalId = setInterval(updateData, 200)
})
onDestroy(() => {
socket.off(MessageTopic.imu)
socket.off(MessageTopic.imuCalibrate)
for (let offFunction of eventListeners) {
offFunction();
}
clearInterval(intervalId)
})
function startCalibration() {
isCalibrating = true
calibrationResult = null
socket.sendEvent(MessageTopic.imuCalibrate, {})
socket.sendEvent(IMUCalibrateExecute, {})
}
</script>
app/src/routes/prototest/+page.svelte
+1 -4
View File
@@ -50,10 +50,7 @@
console.log(data);
}
onMount(() => {
socket.on(IMUData, handleData)
return () => socket.off(IMUData, handleData)
return socket.on(IMUData, handleData)
})
</script>
app/src/routes/wifi/sta/Wifi.svelte
+1 -1
View File
@@ -34,7 +34,7 @@
} from '$lib/components/icons'
import StatusItem from '$lib/components/StatusItem.svelte'
import { KnownNetworkItem } from '$lib/platform_shared/websocket_message'
import { WifiSettings, type WifiStatus } from '$lib/rest_message'
import { WifiSettings, type WifiStatus } from '$lib/platform_shared/rest_message'
let networkEditable: KnownNetworkItem = $state( KnownNetworkItem.create() )
platform_shared/websocket_message.proto
+2
View File
@@ -46,6 +46,7 @@ message StaticSystemInformation {
message IMUCalibrateData { bool success = 1; }
message IMUCalibrateExecute {}
message ModeData { ModesEnum mode = 1; }
message ControllerInputData {
Vector left = 1;
@@ -115,6 +116,7 @@ message WebsocketMessage {
PongMsg pongmsg = 31;
IMUData imu = 110;
IMUCalibrateData imu_calibrate = 120;
IMUCalibrateExecute imu_calibrate_execute = 121;
ModeData mode = 130;
ControllerInputData input = 140;
AnalyticsData analytics = 150;