From 1b2d583230285eb700541128c15b41ef1ca9a429 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Fri, 23 Feb 2024 00:35:14 +0100
Subject: [PATCH] =?UTF-8?q?=F0=9F=93=90=20Adds=20socket-service?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 app/src/App.svelte                            |  8 +-
 app/src/components/Controls.svelte            |  4 +-
 app/src/components/Topbar.svelte              |  5 +-
 app/src/components/Views/Model.svelte         | 12 ++-
 .../components/settings/Configuration.svelte  |  7 +-
 app/src/components/settings/Info.svelte       |  8 +-
 app/src/components/settings/Log.svelte        |  7 +-
 app/src/lib/services/index.ts                 |  1 +
 app/src/lib/services/socket-service.ts        | 89 ++++++++++++++++++
 app/src/lib/socket.ts                         | 92 -------------------
 app/src/lib/utilities/result/ok.ts            |  8 ++
 11 files changed, 130 insertions(+), 111 deletions(-)
 create mode 100644 app/src/lib/services/socket-service.ts
 delete mode 100644 app/src/lib/socket.ts

diff --git a/app/src/App.svelte b/app/src/App.svelte
index 4d7d945..aac816c 100644
--- a/app/src/App.svelte
+++ b/app/src/App.svelte
@@ -2,9 +2,9 @@
 	import { Router, Route } from 'svelte-routing';
 	import { onMount } from 'svelte';
 	import TopBar from './components/TopBar.svelte';
-	import { connect } from '$lib/socket';
+	import socketService from '$lib/services/socket-service';
 	import Controller from './routes/Controller.svelte';
-    import FileService from '$lib/services/file-service';
+    import fileService from '$lib/services/file-service';
     import Settings from './routes/Settings.svelte';
 	import { jointNames, model } from '$lib/store';
 	import { loadModelAsync } from '$lib/utilities';
@@ -13,7 +13,7 @@
 
 	export let url = window.location.pathname 
 	onMount(async () => {
-		connect(socketLocation);
+		socketService.connect(socketLocation);
         registerFetchIntercept()
         const [urdf, JOINT_NAME] = await loadModelAsync('/spot_micro.urdf.xacro') 
         jointNames.set(JOINT_NAME)
@@ -25,7 +25,7 @@
         window.fetch = async (...args) => {
             const [resource, config] = args;
             let file: Result<Uint8Array | undefined, string>;
-            file = await FileService.getFile(resource.toString());
+            file = await fileService.getFile(resource.toString());
             return file.isOk() 
             ? new Response(file.inner)
             : originalFetch(resource, config) 
diff --git a/app/src/components/Controls.svelte b/app/src/components/Controls.svelte
index be0705c..ca8b75d 100644
--- a/app/src/components/Controls.svelte
+++ b/app/src/components/Controls.svelte
@@ -2,7 +2,7 @@
 	import nipplejs from 'nipplejs';
 	import { onMount } from 'svelte';
 	import { throttler } from '$lib/utilities';
-	import { socket } from '$lib/socket';
+	import socketService from '$lib/services/socket-service';
 	import { emulateModel, input, outControllerData } from '$lib/store';
 
 	let throttle = new throttler();
@@ -64,7 +64,7 @@
 
         outControllerData.set(data)
 
-        if(!$emulateModel) $socket.send(data);
+        if(!$emulateModel) socketService.send(data);
 	};
 
 </script>
diff --git a/app/src/components/Topbar.svelte b/app/src/components/Topbar.svelte
index 90c238e..b8951c4 100644
--- a/app/src/components/Topbar.svelte
+++ b/app/src/components/Topbar.svelte
@@ -1,5 +1,5 @@
 <script lang="ts">
-	import { isConnected, status, socket } from '$lib/socket';
+	import socketService from '$lib/services/socket-service';
 	import { Icon, Bars3, XMark, Power, Battery100, Signal, SignalSlash } from 'svelte-hero-icons';
 	import { emulateModel } from '$lib/store';
     import { Link, useLocation } from 'svelte-routing'
@@ -12,13 +12,14 @@
 	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')
 
     const stop = () => {
         if ($isConnected) {
-            $socket.send(JSON.stringify({type:"system/stop"}))
+            socketService.send(JSON.stringify({type:"system/stop"}))
         }
     }
 </script>
diff --git a/app/src/components/Views/Model.svelte b/app/src/components/Views/Model.svelte
index 930e88e..75c6479 100644
--- a/app/src/components/Views/Model.svelte
+++ b/app/src/components/Views/Model.svelte
@@ -1,7 +1,7 @@
 <script lang="ts">
 import { onDestroy, onMount } from 'svelte';
 import { CanvasTexture, CircleGeometry, Mesh, MeshBasicMaterial} from 'three';
-import {socket, angles, mpu } from '$lib/socket'
+import socketService from '$lib/services/socket-service';
 import { lerp } from '$lib/utilities';
 import uzip from 'uzip';
 import { model, outControllerData } from '$lib/store';
@@ -10,6 +10,9 @@ import { location } from '$lib/utilities';
 import FileService from '$lib/services/file-service';
 import SceneBuilder from '$lib/sceneBuilder';
 
+const angles = socketService.angles
+const mpu = socketService.mpu
+
 let sceneManager:SceneBuilder
 let canvas: HTMLCanvasElement, streamCanvas: HTMLCanvasElement, stream: HTMLImageElement
 let context: CanvasRenderingContext2D, texture: CanvasTexture
@@ -44,7 +47,7 @@ onMount(async () => {
     await createScene()
 
     outControllerData.subscribe(data => {        
-        $socket.send(JSON.stringify({
+        socketService.send(JSON.stringify({
             type: "kinematic/bodystate", 
             angles:[0, (data[1]-128)/3, (data[2]-128) / 4], 
             position:[(data[4]-128)/2, data[5], (data[3]-128)/2]}))
@@ -59,7 +62,6 @@ const cacheModelFiles = async () => {
     let data = await fetch("/stl.zip").then(data => data.arrayBuffer())
     
     var files = uzip.parse(data);
-    await FileService.openDatabase()
     
     for(const [path, data] of Object.entries(files) as [path:string, data:Uint8Array][]){
         const url = new URL(path, window.location.href)
@@ -69,7 +71,7 @@ const cacheModelFiles = async () => {
 
 const updateAngles = (name:string, angle:number) => {
     modelTargetAngles[servoNames.indexOf(name)] = angle * (180/Math.PI)
-    $socket.send(JSON.stringify({type:"kinematic/angle", angle:angle * (180/Math.PI), id:servoNames.indexOf(name)}))
+    socketService.send(JSON.stringify({type:"kinematic/angle", angle:angle * (180/Math.PI), id:servoNames.indexOf(name)}))
 }
 
 const createScene = async () => {
@@ -117,7 +119,7 @@ const render = () => {
     const points = forwardKinematics.calculateFootpoints(modelAngles.map(ang => degToRad(ang)) as number[])
     robot.position.y = Math.max(...points.map(coord => coord[0] / 100)) - 2.7
     robot.rotation.z = lerp(robot.rotation.z, degToRad($mpu.heading + 90), 0.1)
-    modelTargetAngles = $angles 
+    modelTargetAngles = $angles
    
     handleVideoStream()
 
diff --git a/app/src/components/settings/Configuration.svelte b/app/src/components/settings/Configuration.svelte
index 0aff776..00bab52 100644
--- a/app/src/components/settings/Configuration.svelte
+++ b/app/src/components/settings/Configuration.svelte
@@ -1,11 +1,14 @@
 <script lang="ts">
-    import { socket, isConnected, settings } from "../../lib/socket";
+    import socketService from "$lib/services/socket-service";
     import { onMount } from 'svelte'
     
+    let isConnected = socketService.isConnected
+    let settings = socketService.settings
+
     onMount(() => {
         if ($isConnected) {
             const message = JSON.stringify({type: 'system/settings'})
-            $socket.send(message)
+            socketService.send(message)
         }
     })
 
diff --git a/app/src/components/settings/Info.svelte b/app/src/components/settings/Info.svelte
index 4688dec..a333378 100644
--- a/app/src/components/settings/Info.svelte
+++ b/app/src/components/settings/Info.svelte
@@ -1,12 +1,16 @@
 <script lang="ts">
-    import { socket, isConnected, systemInfo } from "../../lib/socket";
     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
     
     onMount(() => {
         if ($isConnected) {
             const message = JSON.stringify({type: 'system/info'})
-            $socket.send(message)
+            socketService.send(message)
         }
     })
 
diff --git a/app/src/components/settings/Log.svelte b/app/src/components/settings/Log.svelte
index 75da7e0..41228e6 100644
--- a/app/src/components/settings/Log.svelte
+++ b/app/src/components/settings/Log.svelte
@@ -1,11 +1,14 @@
 <script lang="ts">
-    import { socket, isConnected, log } from "../../lib/socket";
+	import socketService from "$lib/services/socket-service";
     import { onMount } from 'svelte'
+
+    let isConnected = socketService.isConnected
+    let log = socketService.log
     
     onMount(() => {
         if ($isConnected) {
             const message = JSON.stringify({type: 'system/logs'})
-            $socket.send(message)
+            socketService.send(message)
         }
     })
 
diff --git a/app/src/lib/services/index.ts b/app/src/lib/services/index.ts
index 6bd4139..2b6f66c 100644
--- a/app/src/lib/services/index.ts
+++ b/app/src/lib/services/index.ts
@@ -1 +1,2 @@
 export * from './file-service'
+export * from './socket-service'
\ No newline at end of file
diff --git a/app/src/lib/services/socket-service.ts b/app/src/lib/services/socket-service.ts
new file mode 100644
index 0000000..8318327
--- /dev/null
+++ b/app/src/lib/services/socket-service.ts
@@ -0,0 +1,89 @@
+import { Result, Ok } from '$lib/utilities';
+import { writable, type Writable } from 'svelte/store';
+
+type WebsocketData = string | ArrayBufferLike | Blob | ArrayBufferView
+
+class SocketService {
+
+    public isConnected = writable(false);
+    public angles = writable(new Int16Array(12).fill(0));
+    public log = writable([] as string[]);
+    public battery = writable({});
+    public mpu = writable({ heading: 0 });
+    public distances = writable({});
+    public settings = writable({});
+    public systemInfo = writable({} as number);
+    public dataBuffer = writable(new Float32Array(13));
+    public servoBuffer: Writable<Int16Array | number[]> = writable(new Int16Array(12));
+    public data = writable();
+    private socket!: WebSocket;
+
+    constructor() {}
+
+    public connect(url: string): void {
+        this.socket = new WebSocket(url);
+        this.socket.binaryType = "arraybuffer";
+        this.socket.onopen = () => this.handleConnected();
+        this.socket.onclose = () => this.handleDisconnected();
+        this.socket.onmessage = (event: unknown) => this.handleMessage(event);
+    }
+
+    public send(data: WebsocketData): Result<void, string> {
+        if (this.socket.readyState === WebSocket.OPEN){
+            this.socket.send(data)
+            return Ok.void()
+        }
+        return Result.err("The connection is not open")
+    }
+
+    private handleConnected(): void {
+        this.isConnected.set(true);
+    }
+
+    private handleDisconnected(): void {
+        this.isConnected.set(false);
+    }
+
+    private handleMessage(event: any): void {
+        if (event.data instanceof ArrayBuffer) {
+            let buffer = new Int8Array(event.data);
+            if (buffer.length === 44) {
+                this.dataBuffer.set(new Float32Array(buffer.buffer));
+            }
+        } else {
+            let data = event.data;
+            try {
+                data = JSON.parse(event.data);
+            } catch (error) {
+                console.warn(error);
+            }
+            switch (data.type) {
+                case "angles":
+                    this.angles.set(data.angles);
+                    break;
+                case "logs":
+                    this.log.set(data.logs);
+                    break;
+                case "log":
+                    this.log.update(entries => { entries.push(data.log); return entries; });
+                    break;
+                case "settings":
+                    this.settings.set(data.settings);
+                case "info":
+                    this.systemInfo.set(data.info);
+                    break;
+                case "mpu":
+                    this.mpu.set(data.mpu);
+                    break;
+                case "distances":
+                    this.distances.set(data.distances);
+                    break;
+                case "battery":
+                    this.battery.set(data.battery);
+                    break;
+            }
+        }
+    }
+}
+
+export default new SocketService();
\ No newline at end of file
diff --git a/app/src/lib/socket.ts b/app/src/lib/socket.ts
deleted file mode 100644
index 2fcfddb..0000000
--- a/app/src/lib/socket.ts
+++ /dev/null
@@ -1,92 +0,0 @@
-import { writable, type Writable } from 'svelte/store';
-
-export type WebSocketStatus = 'OPEN' | 'CONNECTING' | 'CLOSED'
-
-export const isConnected = writable(false)
-
-export const angles = writable(new Int16Array(12).fill(0))
-export const log = writable([])
-export const battery = writable({})
-export const mpu = writable({heading:0})
-export const distances = writable({})
-export const settings = writable({})
-export const systemInfo = writable({} as number)
-
-export const dataBuffer = writable(new Float32Array(13))
-
-export const servoBuffer:Writable<Int16Array|number[]> = writable(new Int16Array(12))
-
-export const data = writable();
-
-export const status:Writable<WebSocketStatus> = writable('CLOSED')
-
-export const socket:Writable<WebSocket> = writable()
-
-export const connect = (url:string) => {
-    status.set('CONNECTING')
-    let _socket = new WebSocket(url);
-    _socket.binaryType = "arraybuffer";
-    _socket.onopen = _connected;
-    _socket.onclose = _disconnected;
-    _socket.onmessage = _message;
-    socket.set(_socket)
-
-    servoBuffer.subscribe(data => {
-        if(_socket.readyState !== 1) return
-        const buffer = []
-        buffer[0] = 1
-        buffer.push(...data)
-        _socket.send(new Int16Array(buffer))
-    })
-}
-
-const _connected = () => {
-    status.set('OPEN')
-    isConnected.set(true)
-}
-
-const _disconnected = () => {
-    status.set('CLOSED')
-    isConnected.set(false)
-}
-
-const _message = (event:any) => {    
-    if (event.data instanceof ArrayBuffer) {
-        let buffer = new Int8Array(event.data);
-        if(buffer.length === 44) {
-            dataBuffer.set(new Float32Array(buffer.buffer) )
-        }
-    } else {
-        let data = event.data
-        try {
-            data = JSON.parse(event.data)
-        } catch (error) {
-            console.warn(error)
-        }
-        switch (data.type) {
-            case "angles":
-                angles.set(data.angles)
-                break
-            case "logs":
-                log.set(data.logs)
-                break
-            case "log":
-                log.update(entries => {entries.push(data.log); return entries})
-                break
-            case "settings":
-                settings.set(data.settings)
-            case "info":
-                systemInfo.set(data.info)
-                break
-            case "mpu":
-                mpu.set(data.mpu)
-                break
-            case "distances":
-                distances.set(data.distances)
-                break
-             case "battery":
-                battery.set(data.battery)
-                break    
-        }
-    }
-}
\ No newline at end of file
diff --git a/app/src/lib/utilities/result/ok.ts b/app/src/lib/utilities/result/ok.ts
index a219811..ccfb0cb 100644
--- a/app/src/lib/utilities/result/ok.ts
+++ b/app/src/lib/utilities/result/ok.ts
@@ -33,4 +33,12 @@ export class Ok<T> {
   static new<T>(inner: T): Ok<T> {
     return new Ok<T>(inner)
   }
+
+  /**
+   * Create an empty `Ok`
+   * @returns `Ok(void)` 
+   */
+  static void(): Ok<void> {
+    return new Ok(undefined)
+  }
 }