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Redoing input data and modes,

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This commit is contained in:
Niklas Jensen
2026-01-01 22:39:06 +01:00
committed by nikguin04
parent a8abaaaf61
commit 19ebceb959
5 changed files with 352 additions and 42 deletions
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app/src/lib/platform_shared/websocket_message.ts
+320 -9
View File
@@ -10,6 +10,63 @@ import type { FileDescriptorProto } from "ts-proto-descriptors";
export const protobufPackage = "";
export enum ModesEnum {
DEACTIVATED = 0,
IDLE = 1,
CALIBRATION = 2,
REST = 3,
STAND = 4,
WALK = 5,
UNRECOGNIZED = -1,
}
export function modesEnumFromJSON(object: any): ModesEnum {
switch (object) {
case 0:
case "DEACTIVATED":
return ModesEnum.DEACTIVATED;
case 1:
case "IDLE":
return ModesEnum.IDLE;
case 2:
case "CALIBRATION":
return ModesEnum.CALIBRATION;
case 3:
case "REST":
return ModesEnum.REST;
case 4:
case "STAND":
return ModesEnum.STAND;
case 5:
case "WALK":
return ModesEnum.WALK;
case -1:
case "UNRECOGNIZED":
default:
return ModesEnum.UNRECOGNIZED;
}
}
export function modesEnumToJSON(object: ModesEnum): string {
switch (object) {
case ModesEnum.DEACTIVATED:
return "DEACTIVATED";
case ModesEnum.IDLE:
return "IDLE";
case ModesEnum.CALIBRATION:
return "CALIBRATION";
case ModesEnum.REST:
return "REST";
case ModesEnum.STAND:
return "STAND";
case ModesEnum.WALK:
return "WALK";
case ModesEnum.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
export interface Vector {
x: number;
y: number;
@@ -52,7 +109,7 @@ export interface IMUCalibrateData {
}
export interface ModeData {
mode: number;
mode: ModesEnum;
}
export interface ControllerInputData {
@@ -114,6 +171,14 @@ export interface SonarData {
dummyField: string;
}
export interface HumanInputData {
left: Vector | undefined;
right: Vector | undefined;
height: number;
speed: number;
s1: number;
}
export interface SubscribeNotification {
tag: number;
}
@@ -146,6 +211,7 @@ export interface WebsocketMessage {
i2cScan?: I2CScanData | undefined;
peripheralSettings?: PeripheralSettingsData | undefined;
wifiSettings?: WifiSettingsData | undefined;
humanInputData?: HumanInputData | undefined;
rssi?: RSSIData | undefined;
}
@@ -796,7 +862,7 @@ export const ModeData: MessageFns<ModeData> = {
break;
}
message.mode = reader.int32();
message.mode = reader.int32() as any;
continue;
}
}
@@ -809,13 +875,13 @@ export const ModeData: MessageFns<ModeData> = {
},
fromJSON(object: any): ModeData {
return { mode: isSet(object.mode) ? globalThis.Number(object.mode) : 0 };
return { mode: isSet(object.mode) ? modesEnumFromJSON(object.mode) : 0 };
},
toJSON(message: ModeData): unknown {
const obj: any = {};
if (message.mode !== 0) {
obj.mode = Math.round(message.mode);
obj.mode = modesEnumToJSON(message.mode);
}
return obj;
},
@@ -1764,6 +1830,132 @@ export const SonarData: MessageFns<SonarData> = {
},
};
function createBaseHumanInputData(): HumanInputData {
return { left: undefined, right: undefined, height: 0, speed: 0, s1: 0 };
}
export const HumanInputData: MessageFns<HumanInputData> = {
encode(message: HumanInputData, writer: BinaryWriter = new BinaryWriter()): BinaryWriter {
if (message.left !== undefined) {
Vector.encode(message.left, writer.uint32(82).fork()).join();
}
if (message.right !== undefined) {
Vector.encode(message.right, writer.uint32(90).fork()).join();
}
if (message.height !== 0) {
writer.uint32(165).float(message.height);
}
if (message.speed !== 0) {
writer.uint32(173).float(message.speed);
}
if (message.s1 !== 0) {
writer.uint32(181).float(message.s1);
}
return writer;
},
decode(input: BinaryReader | Uint8Array, length?: number): HumanInputData {
const reader = input instanceof BinaryReader ? input : new BinaryReader(input);
const end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseHumanInputData();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 10: {
if (tag !== 82) {
break;
}
message.left = Vector.decode(reader, reader.uint32());
continue;
}
case 11: {
if (tag !== 90) {
break;
}
message.right = Vector.decode(reader, reader.uint32());
continue;
}
case 20: {
if (tag !== 165) {
break;
}
message.height = reader.float();
continue;
}
case 21: {
if (tag !== 173) {
break;
}
message.speed = reader.float();
continue;
}
case 22: {
if (tag !== 181) {
break;
}
message.s1 = reader.float();
continue;
}
}
if ((tag & 7) === 4 || tag === 0) {
break;
}
reader.skip(tag & 7);
}
return message;
},
fromJSON(object: any): HumanInputData {
return {
left: isSet(object.left) ? Vector.fromJSON(object.left) : undefined,
right: isSet(object.right) ? Vector.fromJSON(object.right) : undefined,
height: isSet(object.height) ? globalThis.Number(object.height) : 0,
speed: isSet(object.speed) ? globalThis.Number(object.speed) : 0,
s1: isSet(object.s1) ? globalThis.Number(object.s1) : 0,
};
},
toJSON(message: HumanInputData): unknown {
const obj: any = {};
if (message.left !== undefined) {
obj.left = Vector.toJSON(message.left);
}
if (message.right !== undefined) {
obj.right = Vector.toJSON(message.right);
}
if (message.height !== 0) {
obj.height = message.height;
}
if (message.speed !== 0) {
obj.speed = message.speed;
}
if (message.s1 !== 0) {
obj.s1 = message.s1;
}
return obj;
},
create<I extends Exact<DeepPartial<HumanInputData>, I>>(base?: I): HumanInputData {
return HumanInputData.fromPartial(base ?? ({} as any));
},
fromPartial<I extends Exact<DeepPartial<HumanInputData>, I>>(object: I): HumanInputData {
const message = createBaseHumanInputData();
message.left = (object.left !== undefined && object.left !== null) ? Vector.fromPartial(object.left) : undefined;
message.right = (object.right !== undefined && object.right !== null)
? Vector.fromPartial(object.right)
: undefined;
message.height = object.height ?? 0;
message.speed = object.speed ?? 0;
message.s1 = object.s1 ?? 0;
return message;
},
};
function createBaseSubscribeNotification(): SubscribeNotification {
return { tag: 0 };
}
@@ -1981,6 +2173,7 @@ function createBaseWebsocketMessage(): WebsocketMessage {
i2cScan: undefined,
peripheralSettings: undefined,
wifiSettings: undefined,
humanInputData: undefined,
rssi: undefined,
};
}
@@ -2026,6 +2219,9 @@ export const WebsocketMessage: MessageFns<WebsocketMessage> = {
if (message.wifiSettings !== undefined) {
WifiSettingsData.encode(message.wifiSettings, writer.uint32(1922).fork()).join();
}
if (message.humanInputData !== undefined) {
HumanInputData.encode(message.humanInputData, writer.uint32(2002).fork()).join();
}
if (message.rssi !== undefined) {
RSSIData.encode(message.rssi, writer.uint32(2082).fork()).join();
}
@@ -2143,6 +2339,14 @@ export const WebsocketMessage: MessageFns<WebsocketMessage> = {
message.wifiSettings = WifiSettingsData.decode(reader, reader.uint32());
continue;
}
case 250: {
if (tag !== 2002) {
break;
}
message.humanInputData = HumanInputData.decode(reader, reader.uint32());
continue;
}
case 260: {
if (tag !== 2082) {
break;
@@ -2177,6 +2381,7 @@ export const WebsocketMessage: MessageFns<WebsocketMessage> = {
? PeripheralSettingsData.fromJSON(object.peripheralSettings)
: undefined,
wifiSettings: isSet(object.wifiSettings) ? WifiSettingsData.fromJSON(object.wifiSettings) : undefined,
humanInputData: isSet(object.humanInputData) ? HumanInputData.fromJSON(object.humanInputData) : undefined,
rssi: isSet(object.rssi) ? RSSIData.fromJSON(object.rssi) : undefined,
};
},
@@ -2222,6 +2427,9 @@ export const WebsocketMessage: MessageFns<WebsocketMessage> = {
if (message.wifiSettings !== undefined) {
obj.wifiSettings = WifiSettingsData.toJSON(message.wifiSettings);
}
if (message.humanInputData !== undefined) {
obj.humanInputData = HumanInputData.toJSON(message.humanInputData);
}
if (message.rssi !== undefined) {
obj.rssi = RSSIData.toJSON(message.rssi);
}
@@ -2268,6 +2476,9 @@ export const WebsocketMessage: MessageFns<WebsocketMessage> = {
message.wifiSettings = (object.wifiSettings !== undefined && object.wifiSettings !== null)
? WifiSettingsData.fromPartial(object.wifiSettings)
: undefined;
message.humanInputData = (object.humanInputData !== undefined && object.humanInputData !== null)
? HumanInputData.fromPartial(object.humanInputData)
: undefined;
message.rssi = (object.rssi !== undefined && object.rssi !== null) ? RSSIData.fromPartial(object.rssi) : undefined;
return message;
},
@@ -2650,8 +2861,8 @@ export const protoMetadata: ProtoMetadata = {
"name": "mode",
"number": 1,
"label": 1,
"type": 5,
"typeName": "",
"type": 14,
"typeName": ".ModesEnum",
"extendee": "",
"defaultValue": "",
"oneofIndex": 0,
@@ -3160,6 +3371,78 @@ export const protoMetadata: ProtoMetadata = {
"reservedRange": [],
"reservedName": [],
"visibility": 0,
}, {
"name": "HumanInputData",
"field": [{
"name": "left",
"number": 10,
"label": 1,
"type": 11,
"typeName": ".Vector",
"extendee": "",
"defaultValue": "",
"oneofIndex": 0,
"jsonName": "left",
"options": undefined,
"proto3Optional": false,
}, {
"name": "right",
"number": 11,
"label": 1,
"type": 11,
"typeName": ".Vector",
"extendee": "",
"defaultValue": "",
"oneofIndex": 0,
"jsonName": "right",
"options": undefined,
"proto3Optional": false,
}, {
"name": "height",
"number": 20,
"label": 1,
"type": 2,
"typeName": "",
"extendee": "",
"defaultValue": "",
"oneofIndex": 0,
"jsonName": "height",
"options": undefined,
"proto3Optional": false,
}, {
"name": "speed",
"number": 21,
"label": 1,
"type": 2,
"typeName": "",
"extendee": "",
"defaultValue": "",
"oneofIndex": 0,
"jsonName": "speed",
"options": undefined,
"proto3Optional": false,
}, {
"name": "s1",
"number": 22,
"label": 1,
"type": 2,
"typeName": "",
"extendee": "",
"defaultValue": "",
"oneofIndex": 0,
"jsonName": "s1",
"options": undefined,
"proto3Optional": false,
}],
"extension": [],
"nestedType": [],
"enumType": [],
"extensionRange": [],
"oneofDecl": [],
"options": undefined,
"reservedRange": [],
"reservedName": [],
"visibility": 0,
}, {
"name": "SubscribeNotification",
"field": [{
@@ -3390,6 +3673,18 @@ export const protoMetadata: ProtoMetadata = {
"jsonName": "wifiSettings",
"options": undefined,
"proto3Optional": false,
}, {
"name": "human_input_data",
"number": 250,
"label": 1,
"type": 11,
"typeName": ".HumanInputData",
"extendee": "",
"defaultValue": "",
"oneofIndex": 0,
"jsonName": "humanInputData",
"options": undefined,
"proto3Optional": false,
}, {
"name": "rssi",
"number": 260,
@@ -3413,7 +3708,21 @@ export const protoMetadata: ProtoMetadata = {
"reservedName": [],
"visibility": 0,
}],
"enumType": [],
"enumType": [{
"name": "ModesEnum",
"value": [
{ "name": "DEACTIVATED", "number": 0, "options": undefined },
{ "name": "IDLE", "number": 1, "options": undefined },
{ "name": "CALIBRATION", "number": 2, "options": undefined },
{ "name": "REST", "number": 3, "options": undefined },
{ "name": "STAND", "number": 4, "options": undefined },
{ "name": "WALK", "number": 5, "options": undefined },
],
"options": undefined,
"reservedRange": [],
"reservedName": [],
"visibility": 0,
}],
"service": [],
"extension": [],
"options": undefined,
@@ -3425,8 +3734,8 @@ export const protoMetadata: ProtoMetadata = {
"trailingComments": "",
"leadingDetachedComments": [],
}, {
"path": [4, 20],
"span": [56, 0, 73, 1],
"path": [4, 21],
"span": [69, 0, 87, 1],
"leadingComments": " WebSocket message wrapper\n Only ONE field will be set at a time (oneof ensures this)\n",
"trailingComments": "",
"leadingDetachedComments": [],
@@ -3436,6 +3745,7 @@ export const protoMetadata: ProtoMetadata = {
"edition": 0,
},
references: {
".ModesEnum": ModesEnum,
".Vector": Vector,
".I2CDevice": I2CDevice,
".PinConfig": PinConfig,
@@ -3452,6 +3762,7 @@ export const protoMetadata: ProtoMetadata = {
".RSSIData": RSSIData,
".DownloadOTAData": DownloadOTAData,
".SonarData": SonarData,
".HumanInputData": HumanInputData,
".SubscribeNotification": SubscribeNotification,
".UnsubscribeNotification": UnsubscribeNotification,
".PingMsg": PingMsg,
app/src/lib/stores/model-store.ts
+4 -16
View File
@@ -1,3 +1,4 @@
import { HumanInputData, ModeData, ModesEnum } from '$lib/platform_shared/websocket_message'
import type { ControllerInput } from '$lib/types/models'
import { persistentStore } from '$lib/utilities/svelte-utilities'
import { writable, type Writable } from 'svelte/store'
@@ -12,14 +13,7 @@ export const modes = ['deactivated', 'idle', 'calibration', 'rest', 'stand', 'wa
export type Modes = (typeof modes)[number]
export enum ModesEnum {
Deactivated = 0,
Idle = 1,
Calibration = 2,
Rest = 3,
Stand = 4,
Walk = 5
}
export enum WalkGaits {
Trot = 0,
@@ -37,7 +31,7 @@ export const walkGaitToMode = (gait: WalkGaits): 'trot' | 'crawl' => {
return gait === WalkGaits.Trot ? 'trot' : 'crawl'
}
export const mode: Writable<ModesEnum> = writable(ModesEnum.Deactivated)
export const mode: Writable<ModeData> = writable(ModeData.create({ mode: ModesEnum.DEACTIVATED }))
export const walkGait: Writable<WalkGaits> = writable(WalkGaits.Trot)
@@ -45,10 +39,4 @@ export const outControllerData = writable([0, 0, 0, 0, 0, 1, 0])
export const kinematicData = writable([0, 0, 0, 0, 1, 0])
export const input: Writable<ControllerInput> = writable({
left: { x: 0, y: 0 },
right: { x: 0, y: 0 },
height: 0.5,
speed: 0.5,
s1: 0.5
})
export const input: Writable<HumanInputData> = writable( HumanInputData.create( {left: {x:0,y:0}, right: {x:0,y:0}, height:0, s1:0, speed:0} ) )
app/src/routes/+layout.svelte
+3 -4
View File
@@ -11,7 +11,6 @@
import {
telemetry,
analytics,
ModesEnum,
kinematicData,
mode,
input,
@@ -22,7 +21,7 @@
useFeatureFlags,
walkGait
} from '$lib/stores'
import { AnalyticsData, AnglesData, DownloadOTAData, ModeData, RSSIData, SonarData } from '$lib/platform_shared/websocket_message'
import { AnalyticsData, AnglesData, DownloadOTAData, ModesEnum, RSSIData, SonarData } from '$lib/platform_shared/websocket_message'
import { Throttler } from '$lib/utilities'
interface Props {
@@ -41,7 +40,7 @@
addEventListeners()
input.subscribe(data => socket.sendEvent(InputData, InputData.create()))
mode.subscribe(data => socket.sendEvent(ModeData, data))
mode.subscribe(data => socket.sendEvent(ModesD, data))
walkGait.subscribe(data => socket.sendEvent(GaitData, data))
servoAnglesOut.subscribe(data => socket.sendEvent(AnglesData, data))
kinematicData.subscribe(data => socket.sendEvent(PositionData, data))
@@ -58,7 +57,7 @@
socket.onEvent('close', handleClose),
socket.onEvent('error', handleError),
socket.on(RSSIData, (data) => telemetry.setRSSI(data)),
socket.on(ModeData, (data) => mode.set(data.mode)),
socket.on(ModesEnum, (data) => mode.set(data)),
socket.on(AnalyticsData, (data) => {analytics.addData(data)}),
socket.on(AnglesData, (data) => {servoAngles.set(data.angles)})
])
app/src/routes/controller/Controls.svelte
+10 -12
View File
@@ -86,19 +86,17 @@
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
if (event.key === 'ArrowLeft') data.right.x = down ? 1 : 0
if (event.key === 'ArrowRight') data.right.x = down ? -1 : 0
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
if (event.key === 'ArrowLeft') data.right!.x = down ? 1 : 0
if (event.key === 'ArrowRight') data.right!.x = down ? -1 : 0
return data
})
}
const handleRange = (event: Event, key: 'speed' | 'height' | 's1') => {
const value: number = Number((event.target as HTMLInputElement).value)
const handleRange = (value: number, key: 'speed' | 'height' | 's1') => {
input.update(inputData => {
inputData[key] = value
return inputData
@@ -140,7 +138,7 @@
min={0}
max={1}
step={0.01}
oninput={(e: Event) => handleRange(e, 'height')}
oninput={(v: number) => handleRange(v, 'height')}
/>
<label for="height" class="text-xs font-medium opacity-70">Ht</label>
</div>
@@ -183,7 +181,7 @@
min="0"
step="0.01"
max="1"
oninput={e => handleRange(e, 's1')}
oninput={e => handleRange(Number((e.target as HTMLInputElement).value), 's1')}
class="range range-xs range-primary"
/>
</div>
@@ -195,7 +193,7 @@
min="0"
step="0.01"
max="1"
oninput={e => handleRange(e, 'speed')}
oninput={e => handleRange(Number((e.target as HTMLInputElement).value), 'speed')}
class="range range-xs range-primary"
/>
</div>
platform_shared/websocket_message.proto
+15 -1
View File
@@ -13,8 +13,17 @@ message IMUData {
float temp = 4;
}
enum ModesEnum {
DEACTIVATED = 0;
IDLE = 1;
CALIBRATION = 2;
REST = 3;
STAND = 4;
WALK = 5;
}
message IMUCalibrateData { bool success = 1; }
message ModeData { int32 mode = 1; }
message ModeData { ModesEnum mode = 1; }
message ControllerInputData {
Vector left = 1;
Vector right = 2;
@@ -44,6 +53,10 @@ message WifiSettingsData { string hostname = 1; bool priority_rssi = 2; repeated
message RSSIData { int32 rssi = 1; }
message DownloadOTAData { string status = 1; int32 progress = 2; string error = 3; }
message SonarData { string dummy_field = 1; }
message HumanInputData {
Vector left = 10; Vector right = 11; float height = 20; float speed = 21; float s1 = 22;
}
message SubscribeNotification { int32 tag = 1; }
message UnsubscribeNotification {int32 tag = 1; }
@@ -69,6 +82,7 @@ message WebsocketMessage {
I2CScanData i2c_scan = 180;
PeripheralSettingsData peripheral_settings = 190;
WifiSettingsData wifi_settings = 240;
HumanInputData human_input_data = 250;
RSSIData rssi = 260;
}
}