📐 Adds socket-service

2024-02-23 00:35:14 +01:00
parent 8a660a58ae
commit 1b2d583230
11 changed files with 130 additions and 111 deletions
@@ -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();