📏 Formats app code
This commit is contained in:
Rune Harlyk
+383
-371
@@ -1,381 +1,393 @@
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export default class Kinematic {
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private l1: number;
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private l2: number;
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private l3: number;
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private l4: number;
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private L: number;
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private W: number;
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constructor() {
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this.l1 = 50;
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this.l2 = 20;
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this.l3 = 120;
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this.l4 = 155;
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this.L = 140;
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this.W = 75;
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}
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bodyIK(omega: number, phi: number, psi: number, xm: number, ym: number, zm: number): number[][][] {
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const { cos, sin } = Math;
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const Rx: number[][] = [
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[1, 0, 0, 0],
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[0, cos(omega), -sin(omega), 0],
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[0, sin(omega), cos(omega), 0],
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[0, 0, 0, 1],
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];
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const Ry: number[][] = [
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[cos(phi), 0, sin(phi), 0],
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[0, 1, 0, 0],
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[-sin(phi), 0, cos(phi), 0],
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[0, 0, 0, 1],
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];
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const Rz: number[][] = [
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[cos(psi), -sin(psi), 0, 0],
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[sin(psi), cos(psi), 0, 0],
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[0, 0, 1, 0],
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[0, 0, 0, 1],
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];
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const Rxyz: number[][] = this.matrixMultiply(this.matrixMultiply(Rx, Ry), Rz);
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const T: number[][] = [
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[0, 0, 0, xm],
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[0, 0, 0, ym],
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[0, 0, 0, zm],
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[0, 0, 0, 0],
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];
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const Tm: number[][] = this.matrixAdd(T, Rxyz);
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const sHp = sin(Math.PI / 2);
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const cHp = cos(Math.PI / 2);
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const L = this.L;
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const W = this.W;
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return [
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this.matrixMultiply(Tm, [
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[cHp, 0, sHp, L / 2],
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[0, 1, 0, 0],
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[-sHp, 0, cHp, W / 2],
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[0, 0, 0, 1],
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]),
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this.matrixMultiply(Tm, [
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[cHp, 0, sHp, L / 2],
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[0, 1, 0, 0],
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[-sHp, 0, cHp, -W / 2],
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[0, 0, 0, 1],
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]),
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this.matrixMultiply(Tm, [
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[cHp, 0, sHp, -L / 2],
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[0, 1, 0, 0],
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[-sHp, 0, cHp, W / 2],
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[0, 0, 0, 1],
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]),
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this.matrixMultiply(Tm, [
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[cHp, 0, sHp, -L / 2],
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[0, 1, 0, 0],
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[-sHp, 0, cHp, -W / 2],
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[0, 0, 0, 1],
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]),
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];
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}
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private legIK(point: number[]): number[] {
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const [x, y, z] = point;
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const { atan2, cos, sin, sqrt, acos } = Math;
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const { l1, l2, l3, l4 } = this;
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let F;
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private l1: number;
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private l2: number;
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private l3: number;
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private l4: number;
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try {
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F = sqrt(x ** 2 + y ** 2 - l1 ** 2);
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if(isNaN(F)) throw new Error("F is NaN")
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} catch (error) {
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//console.log(error)
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F = l1
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}
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const G = F - l2;
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const H = sqrt(G ** 2 + z ** 2);
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private L: number;
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private W: number;
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const theta1 = -atan2(y, x) - atan2(F, -l1);
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const D = (H ** 2 - l3 ** 2 - l4 ** 2) / (2 * l3 * l4);
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let theta3: number
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try {
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theta3 = acos(D);
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if(isNaN(theta3)) throw new Error("theta3 is NaN")
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} catch (error) {
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theta3 = 0
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}
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const theta2 = atan2(z, G) - atan2(l4 * sin(theta3), l3 + l4 * cos(theta3));
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constructor() {
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this.l1 = 50;
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this.l2 = 20;
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this.l3 = 120;
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this.l4 = 155;
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return [theta1, theta2, theta3];
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}
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matrixMultiply(a: number[][], b: number[][]): number[][] {
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const result: number[][] = [];
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for (let i = 0; i < a.length; i++) {
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const row: number[] = [];
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for (let j = 0; j < b[0].length; j++) {
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let sum = 0;
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for (let k = 0; k < a[i].length; k++) {
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sum += a[i][k] * b[k][j];
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}
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row.push(sum);
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}
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result.push(row);
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}
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return result;
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}
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this.L = 140;
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this.W = 75;
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}
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multiplyVector(matrix: number[][], vector: number[]): number[] {
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const rows = matrix.length;
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const cols = matrix[0].length;
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const vectorLength = vector.length;
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if (cols !== vectorLength) {
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throw new Error("Matrix and vector dimensions do not match for multiplication.");
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}
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const result = [];
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for (let i = 0; i < rows; i++) {
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let sum = 0;
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for (let j = 0; j < cols; j++) {
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sum += matrix[i][j] * vector[j];
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}
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result.push(sum);
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}
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return result;
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}
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private matrixAdd(a: number[][], b: number[][]): number[][] {
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const result: number[][] = [];
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for (let i = 0; i < a.length; i++) {
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const row: number[] = [];
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for (let j = 0; j < a[i].length; j++) {
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row.push(a[i][j] + b[i][j]);
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}
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result.push(row);
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}
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return result;
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}
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public calcLegPoints(angles: number[]): number[][] {
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const [theta1, theta2, theta3] = angles;
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const theta23 = theta2 + theta3;
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const T0: number[] = [0, 0, 0, 1];
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const T1: number[] = this.vectorAdd(
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T0,
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[-this.l1 * Math.cos(theta1), this.l1 * Math.sin(theta1), 0, 0]
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);
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const T2: number[] = this.vectorAdd(
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T1,
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[-this.l2 * Math.sin(theta1), -this.l2 * Math.cos(theta1), 0, 0]
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);
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const T3: number[] = this.vectorAdd(
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T2,
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[
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-this.l3 * Math.sin(theta1) * Math.cos(theta2),
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-this.l3 * Math.cos(theta1) * Math.cos(theta2),
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this.l3 * Math.sin(theta2),
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0,
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]
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);
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const T4: number[] = this.vectorAdd(
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T3,
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[
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-this.l4 * Math.sin(theta1) * Math.cos(theta23),
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-this.l4 * Math.cos(theta1) * Math.cos(theta23),
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this.l4 * Math.sin(theta23),
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0,
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]
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);
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return [T0, T1, T2, T3, T4];
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}
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public calcIK(Lp: number[][], angles: number[], center: number[]): number[][] {
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const [omega, phi, psi] = angles;
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const [xm, ym, zm] = center;
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const [Tlf, Trf, Tlb, Trb] = this.bodyIK(omega, phi, psi, xm, ym, zm);
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const Ix: number[][] = [
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[-1, 0, 0, 0],
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[0, 1, 0, 0],
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[0, 0, 1, 0],
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[0, 0, 0, 1],
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];
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bodyIK(
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omega: number,
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phi: number,
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psi: number,
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xm: number,
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ym: number,
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zm: number
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): number[][][] {
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const { cos, sin } = Math;
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return [
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this.legIK(this.multiplyVector(this.matrixInverse(Tlf), Lp[0])),
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this.legIK(this.multiplyVector(Ix, this.multiplyVector(this.matrixInverse(Trf), Lp[1]))),
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this.legIK(this.multiplyVector(this.matrixInverse(Tlb), Lp[2])),
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this.legIK(this.multiplyVector(Ix, this.multiplyVector(this.matrixInverse(Trb), Lp[3]))),
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];
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}
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private vectorAdd(a: number[], b: number[]): number[] {
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return a.map((val, index) => val + b[index]);
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}
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private matrixInverse(matrix: number[][]): number[][] {
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const det = this.determinant(matrix);
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const adjugate = this.adjugate(matrix);
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const scalar = 1 / det;
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const inverse: number[][] = [];
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for (let i = 0; i < matrix.length; i++) {
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const row: number[] = [];
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for (let j = 0; j < matrix[i].length; j++) {
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row.push(adjugate[i][j] * scalar);
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}
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inverse.push(row);
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}
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return inverse;
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}
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private determinant(matrix: number[][]): number {
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if (matrix.length !== matrix[0].length) {
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throw new Error("The matrix is not square.");
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}
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if (matrix.length === 2) {
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return matrix[0][0] * matrix[1][1] - matrix[0][1] * matrix[1][0];
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}
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let det = 0;
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for (let i = 0; i < matrix.length; i++) {
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const sign = i % 2 === 0 ? 1 : -1;
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const subMatrix: number[][] = [];
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for (let j = 1; j < matrix.length; j++) {
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const row: number[] = [];
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for (let k = 0; k < matrix.length; k++) {
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if (k !== i) {
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row.push(matrix[j][k]);
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}
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}
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subMatrix.push(row);
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}
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det += sign * matrix[0][i] * this.determinant(subMatrix);
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}
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return det;
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}
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private adjugate(matrix: number[][]): number[][] {
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if (matrix.length !== matrix[0].length) {
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throw new Error("The matrix is not square.");
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}
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const adjugate: number[][] = [];
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for (let i = 0; i < matrix.length; i++) {
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const row: number[] = [];
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for (let j = 0; j < matrix[i].length; j++) {
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const sign = (i + j) % 2 === 0 ? 1 : -1;
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const subMatrix: number[][] = [];
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for (let k = 0; k < matrix.length; k++) {
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if (k !== i) {
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const subRow: number[] = [];
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for (let l = 0; l < matrix.length; l++) {
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if (l !== j) {
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subRow.push(matrix[k][l]);
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}
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}
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subMatrix.push(subRow);
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}
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}
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const cofactor = sign * this.determinant(subMatrix);
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row.push(cofactor);
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}
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adjugate.push(row);
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}
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return this.transpose(adjugate);
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}
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private transpose(matrix: number[][]): number[][] {
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const transposed: number[][] = [];
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for (let i = 0; i < matrix.length; i++) {
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const row: number[] = [];
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for (let j = 0; j < matrix[i].length; j++) {
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row.push(matrix[j][i]);
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}
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transposed.push(row);
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}
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return transposed;
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}
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}
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const Rx: number[][] = [
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[1, 0, 0, 0],
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[0, cos(omega), -sin(omega), 0],
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[0, sin(omega), cos(omega), 0],
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[0, 0, 0, 1]
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];
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const Ry: number[][] = [
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[cos(phi), 0, sin(phi), 0],
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[0, 1, 0, 0],
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[-sin(phi), 0, cos(phi), 0],
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[0, 0, 0, 1]
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];
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const Rz: number[][] = [
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[cos(psi), -sin(psi), 0, 0],
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[sin(psi), cos(psi), 0, 0],
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[0, 0, 1, 0],
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[0, 0, 0, 1]
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];
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const Rxyz: number[][] = this.matrixMultiply(this.matrixMultiply(Rx, Ry), Rz);
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const T: number[][] = [
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[0, 0, 0, xm],
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[0, 0, 0, ym],
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[0, 0, 0, zm],
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[0, 0, 0, 0]
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];
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const Tm: number[][] = this.matrixAdd(T, Rxyz);
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const sHp = sin(Math.PI / 2);
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const cHp = cos(Math.PI / 2);
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const L = this.L;
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const W = this.W;
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return [
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this.matrixMultiply(Tm, [
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[cHp, 0, sHp, L / 2],
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[0, 1, 0, 0],
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[-sHp, 0, cHp, W / 2],
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[0, 0, 0, 1]
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]),
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this.matrixMultiply(Tm, [
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[cHp, 0, sHp, L / 2],
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[0, 1, 0, 0],
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[-sHp, 0, cHp, -W / 2],
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[0, 0, 0, 1]
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]),
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this.matrixMultiply(Tm, [
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[cHp, 0, sHp, -L / 2],
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[0, 1, 0, 0],
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[-sHp, 0, cHp, W / 2],
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[0, 0, 0, 1]
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]),
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this.matrixMultiply(Tm, [
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[cHp, 0, sHp, -L / 2],
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[0, 1, 0, 0],
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[-sHp, 0, cHp, -W / 2],
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[0, 0, 0, 1]
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])
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];
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}
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private legIK(point: number[]): number[] {
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const [x, y, z] = point;
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const { atan2, cos, sin, sqrt, acos } = Math;
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const { l1, l2, l3, l4 } = this;
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let F;
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try {
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F = sqrt(x ** 2 + y ** 2 - l1 ** 2);
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if (isNaN(F)) throw new Error('F is NaN');
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} catch (error) {
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//console.log(error)
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F = l1;
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}
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const G = F - l2;
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const H = sqrt(G ** 2 + z ** 2);
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const theta1 = -atan2(y, x) - atan2(F, -l1);
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const D = (H ** 2 - l3 ** 2 - l4 ** 2) / (2 * l3 * l4);
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let theta3: number;
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try {
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theta3 = acos(D);
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if (isNaN(theta3)) throw new Error('theta3 is NaN');
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} catch (error) {
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theta3 = 0;
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}
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const theta2 = atan2(z, G) - atan2(l4 * sin(theta3), l3 + l4 * cos(theta3));
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return [theta1, theta2, theta3];
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}
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matrixMultiply(a: number[][], b: number[][]): number[][] {
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const result: number[][] = [];
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for (let i = 0; i < a.length; i++) {
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const row: number[] = [];
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for (let j = 0; j < b[0].length; j++) {
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let sum = 0;
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for (let k = 0; k < a[i].length; k++) {
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sum += a[i][k] * b[k][j];
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}
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row.push(sum);
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}
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result.push(row);
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}
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return result;
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}
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multiplyVector(matrix: number[][], vector: number[]): number[] {
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const rows = matrix.length;
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const cols = matrix[0].length;
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const vectorLength = vector.length;
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if (cols !== vectorLength) {
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throw new Error('Matrix and vector dimensions do not match for multiplication.');
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}
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const result = [];
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for (let i = 0; i < rows; i++) {
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let sum = 0;
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for (let j = 0; j < cols; j++) {
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sum += matrix[i][j] * vector[j];
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}
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result.push(sum);
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}
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return result;
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}
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private matrixAdd(a: number[][], b: number[][]): number[][] {
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const result: number[][] = [];
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|
||||
for (let i = 0; i < a.length; i++) {
|
||||
const row: number[] = [];
|
||||
|
||||
for (let j = 0; j < a[i].length; j++) {
|
||||
row.push(a[i][j] + b[i][j]);
|
||||
}
|
||||
|
||||
result.push(row);
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
public calcLegPoints(angles: number[]): number[][] {
|
||||
const [theta1, theta2, theta3] = angles;
|
||||
const theta23 = theta2 + theta3;
|
||||
|
||||
const T0: number[] = [0, 0, 0, 1];
|
||||
const T1: number[] = this.vectorAdd(T0, [
|
||||
-this.l1 * Math.cos(theta1),
|
||||
this.l1 * Math.sin(theta1),
|
||||
0,
|
||||
0
|
||||
]);
|
||||
const T2: number[] = this.vectorAdd(T1, [
|
||||
-this.l2 * Math.sin(theta1),
|
||||
-this.l2 * Math.cos(theta1),
|
||||
0,
|
||||
0
|
||||
]);
|
||||
const T3: number[] = this.vectorAdd(T2, [
|
||||
-this.l3 * Math.sin(theta1) * Math.cos(theta2),
|
||||
-this.l3 * Math.cos(theta1) * Math.cos(theta2),
|
||||
this.l3 * Math.sin(theta2),
|
||||
0
|
||||
]);
|
||||
const T4: number[] = this.vectorAdd(T3, [
|
||||
-this.l4 * Math.sin(theta1) * Math.cos(theta23),
|
||||
-this.l4 * Math.cos(theta1) * Math.cos(theta23),
|
||||
this.l4 * Math.sin(theta23),
|
||||
0
|
||||
]);
|
||||
|
||||
return [T0, T1, T2, T3, T4];
|
||||
}
|
||||
|
||||
public calcIK(Lp: number[][], angles: number[], center: number[]): number[][] {
|
||||
const [omega, phi, psi] = angles;
|
||||
const [xm, ym, zm] = center;
|
||||
|
||||
const [Tlf, Trf, Tlb, Trb] = this.bodyIK(omega, phi, psi, xm, ym, zm);
|
||||
|
||||
const Ix: number[][] = [
|
||||
[-1, 0, 0, 0],
|
||||
[0, 1, 0, 0],
|
||||
[0, 0, 1, 0],
|
||||
[0, 0, 0, 1]
|
||||
];
|
||||
|
||||
return [
|
||||
this.legIK(this.multiplyVector(this.matrixInverse(Tlf), Lp[0])),
|
||||
this.legIK(this.multiplyVector(Ix, this.multiplyVector(this.matrixInverse(Trf), Lp[1]))),
|
||||
this.legIK(this.multiplyVector(this.matrixInverse(Tlb), Lp[2])),
|
||||
this.legIK(this.multiplyVector(Ix, this.multiplyVector(this.matrixInverse(Trb), Lp[3])))
|
||||
];
|
||||
}
|
||||
|
||||
private vectorAdd(a: number[], b: number[]): number[] {
|
||||
return a.map((val, index) => val + b[index]);
|
||||
}
|
||||
|
||||
private matrixInverse(matrix: number[][]): number[][] {
|
||||
const det = this.determinant(matrix);
|
||||
const adjugate = this.adjugate(matrix);
|
||||
const scalar = 1 / det;
|
||||
const inverse: number[][] = [];
|
||||
|
||||
for (let i = 0; i < matrix.length; i++) {
|
||||
const row: number[] = [];
|
||||
|
||||
for (let j = 0; j < matrix[i].length; j++) {
|
||||
row.push(adjugate[i][j] * scalar);
|
||||
}
|
||||
|
||||
inverse.push(row);
|
||||
}
|
||||
|
||||
return inverse;
|
||||
}
|
||||
|
||||
private determinant(matrix: number[][]): number {
|
||||
if (matrix.length !== matrix[0].length) {
|
||||
throw new Error('The matrix is not square.');
|
||||
}
|
||||
|
||||
if (matrix.length === 2) {
|
||||
return matrix[0][0] * matrix[1][1] - matrix[0][1] * matrix[1][0];
|
||||
}
|
||||
|
||||
let det = 0;
|
||||
|
||||
for (let i = 0; i < matrix.length; i++) {
|
||||
const sign = i % 2 === 0 ? 1 : -1;
|
||||
const subMatrix: number[][] = [];
|
||||
|
||||
for (let j = 1; j < matrix.length; j++) {
|
||||
const row: number[] = [];
|
||||
|
||||
for (let k = 0; k < matrix.length; k++) {
|
||||
if (k !== i) {
|
||||
row.push(matrix[j][k]);
|
||||
}
|
||||
}
|
||||
|
||||
subMatrix.push(row);
|
||||
}
|
||||
|
||||
det += sign * matrix[0][i] * this.determinant(subMatrix);
|
||||
}
|
||||
|
||||
return det;
|
||||
}
|
||||
|
||||
private adjugate(matrix: number[][]): number[][] {
|
||||
if (matrix.length !== matrix[0].length) {
|
||||
throw new Error('The matrix is not square.');
|
||||
}
|
||||
|
||||
const adjugate: number[][] = [];
|
||||
|
||||
for (let i = 0; i < matrix.length; i++) {
|
||||
const row: number[] = [];
|
||||
|
||||
for (let j = 0; j < matrix[i].length; j++) {
|
||||
const sign = (i + j) % 2 === 0 ? 1 : -1;
|
||||
const subMatrix: number[][] = [];
|
||||
|
||||
for (let k = 0; k < matrix.length; k++) {
|
||||
if (k !== i) {
|
||||
const subRow: number[] = [];
|
||||
|
||||
for (let l = 0; l < matrix.length; l++) {
|
||||
if (l !== j) {
|
||||
subRow.push(matrix[k][l]);
|
||||
}
|
||||
}
|
||||
|
||||
subMatrix.push(subRow);
|
||||
}
|
||||
}
|
||||
|
||||
const cofactor = sign * this.determinant(subMatrix);
|
||||
row.push(cofactor);
|
||||
}
|
||||
|
||||
adjugate.push(row);
|
||||
}
|
||||
|
||||
return this.transpose(adjugate);
|
||||
}
|
||||
|
||||
private transpose(matrix: number[][]): number[][] {
|
||||
const transposed: number[][] = [];
|
||||
|
||||
for (let i = 0; i < matrix.length; i++) {
|
||||
const row: number[] = [];
|
||||
|
||||
for (let j = 0; j < matrix[i].length; j++) {
|
||||
row.push(matrix[j][i]);
|
||||
}
|
||||
|
||||
transposed.push(row);
|
||||
}
|
||||
|
||||
return transposed;
|
||||
}
|
||||
}
|
||||
|
||||
export class ForwardKinematics {
|
||||
private l1: number;
|
||||
private l2: number;
|
||||
private l3: number;
|
||||
private l4: number;
|
||||
|
||||
constructor() {
|
||||
this.l1 = 50;
|
||||
this.l2 = 20;
|
||||
this.l3 = 120;
|
||||
this.l4 = 155;
|
||||
}
|
||||
|
||||
public calculateFootpoint(theta1: number, theta2: number, theta3: number): number[] {
|
||||
const { cos, sin } = Math;
|
||||
|
||||
const x = this.l1 * cos(theta1) + this.l2 * cos(theta1) + this.l3 * cos(theta1 + theta2) + this.l4 * cos(theta1 + theta2 + theta3);
|
||||
const y = this.l1 * sin(theta1) + this.l2 * sin(theta1) + this.l3 * sin(theta1 + theta2) + this.l4 * sin(theta1 + theta2 + theta3);
|
||||
const z = 0;
|
||||
|
||||
return [x, y, z];
|
||||
}
|
||||
private l1: number;
|
||||
private l2: number;
|
||||
private l3: number;
|
||||
private l4: number;
|
||||
|
||||
public calculateFootpoints(angles: number[]): number[][] {
|
||||
const footpoints: number[][] = [];
|
||||
|
||||
for (let i = 0; i < angles.length; i += 3) {
|
||||
const theta1 = angles[i];
|
||||
const theta2 = angles[i + 1];
|
||||
const theta3 = angles[i + 2];
|
||||
const footpoint = this.calculateFootpoint(theta1, theta2, theta3);
|
||||
footpoints.push(footpoint);
|
||||
}
|
||||
|
||||
return footpoints;
|
||||
}
|
||||
}
|
||||
constructor() {
|
||||
this.l1 = 50;
|
||||
this.l2 = 20;
|
||||
this.l3 = 120;
|
||||
this.l4 = 155;
|
||||
}
|
||||
|
||||
public calculateFootpoint(theta1: number, theta2: number, theta3: number): number[] {
|
||||
const { cos, sin } = Math;
|
||||
|
||||
const x =
|
||||
this.l1 * cos(theta1) +
|
||||
this.l2 * cos(theta1) +
|
||||
this.l3 * cos(theta1 + theta2) +
|
||||
this.l4 * cos(theta1 + theta2 + theta3);
|
||||
const y =
|
||||
this.l1 * sin(theta1) +
|
||||
this.l2 * sin(theta1) +
|
||||
this.l3 * sin(theta1 + theta2) +
|
||||
this.l4 * sin(theta1 + theta2 + theta3);
|
||||
const z = 0;
|
||||
|
||||
return [x, y, z];
|
||||
}
|
||||
|
||||
public calculateFootpoints(angles: number[]): number[][] {
|
||||
const footpoints: number[][] = [];
|
||||
|
||||
for (let i = 0; i < angles.length; i += 3) {
|
||||
const theta1 = angles[i];
|
||||
const theta2 = angles[i + 1];
|
||||
const theta3 = angles[i + 2];
|
||||
const footpoint = this.calculateFootpoint(theta1, theta2, theta3);
|
||||
footpoints.push(footpoint);
|
||||
}
|
||||
|
||||
return footpoints;
|
||||
}
|
||||
}
|
||||
|
||||
+273
-248
@@ -1,293 +1,318 @@
|
||||
import { Mesh,
|
||||
PerspectiveCamera,
|
||||
PlaneGeometry,
|
||||
Scene,
|
||||
ShadowMaterial,
|
||||
WebGLRenderer,
|
||||
AmbientLight,
|
||||
DirectionalLight,
|
||||
PCFSoftShadowMap,
|
||||
GridHelper,
|
||||
ArrowHelper,
|
||||
Vector3,
|
||||
LoaderUtils,
|
||||
Object3D,
|
||||
FogExp2,
|
||||
CanvasTexture,
|
||||
type ColorRepresentation,
|
||||
type WebGLRendererParameters,
|
||||
MeshPhongMaterial,
|
||||
EquirectangularReflectionMapping,
|
||||
ACESFilmicToneMapping,
|
||||
MathUtils,
|
||||
} from "three";
|
||||
import {
|
||||
Mesh,
|
||||
PerspectiveCamera,
|
||||
PlaneGeometry,
|
||||
Scene,
|
||||
ShadowMaterial,
|
||||
WebGLRenderer,
|
||||
AmbientLight,
|
||||
DirectionalLight,
|
||||
PCFSoftShadowMap,
|
||||
GridHelper,
|
||||
ArrowHelper,
|
||||
Vector3,
|
||||
LoaderUtils,
|
||||
Object3D,
|
||||
FogExp2,
|
||||
CanvasTexture,
|
||||
type ColorRepresentation,
|
||||
type WebGLRendererParameters,
|
||||
MeshPhongMaterial,
|
||||
EquirectangularReflectionMapping,
|
||||
ACESFilmicToneMapping,
|
||||
MathUtils
|
||||
} from 'three';
|
||||
import { Sky } from 'three/addons/objects/Sky.js';
|
||||
import { OrbitControls } from "three/examples/jsm/controls/OrbitControls";
|
||||
import { type URDFMimicJoint } from "urdf-loader";
|
||||
import { PointerURDFDragControls } from 'urdf-loader/src/URDFDragControls'
|
||||
import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls';
|
||||
import { type URDFMimicJoint } from 'urdf-loader';
|
||||
import { PointerURDFDragControls } from 'urdf-loader/src/URDFDragControls';
|
||||
|
||||
export const addScene = () => new Scene()
|
||||
export const addScene = () => new Scene();
|
||||
|
||||
interface position {
|
||||
x?: number,
|
||||
y?: number,
|
||||
z?: number
|
||||
x?: number;
|
||||
y?: number;
|
||||
z?: number;
|
||||
}
|
||||
|
||||
interface light {
|
||||
color?: ColorRepresentation,
|
||||
intensity?: number
|
||||
color?: ColorRepresentation;
|
||||
intensity?: number;
|
||||
}
|
||||
|
||||
interface gridOptions {
|
||||
divisions?: number,
|
||||
size?: number,
|
||||
divisions?: number;
|
||||
size?: number;
|
||||
}
|
||||
|
||||
interface arrowOptions {
|
||||
origin:position,
|
||||
direction:position,
|
||||
length?:number,
|
||||
color?:ColorRepresentation
|
||||
origin: position;
|
||||
direction: position;
|
||||
length?: number;
|
||||
color?: ColorRepresentation;
|
||||
}
|
||||
|
||||
type directionalLight = position & light
|
||||
type directionalLight = position & light;
|
||||
|
||||
type gridHelperOptions = gridOptions & position
|
||||
type gridHelperOptions = gridOptions & position;
|
||||
|
||||
function calculateCurrentSunElevation() {
|
||||
let now = new Date();
|
||||
let decimalTime = now.getHours() + now.getMinutes() / 60;
|
||||
let normalizedTime = ((decimalTime - 6) % 12) / 6 - 1;
|
||||
return 10 * Math.sin(normalizedTime * Math.PI);
|
||||
let now = new Date();
|
||||
let decimalTime = now.getHours() + now.getMinutes() / 60;
|
||||
let normalizedTime = (decimalTime % 12) / 6 - 1;
|
||||
return 10 * Math.sin(normalizedTime * Math.PI);
|
||||
}
|
||||
|
||||
export default class SceneBuilder {
|
||||
public scene: Scene
|
||||
public camera: PerspectiveCamera
|
||||
public ground: Mesh
|
||||
public renderer:WebGLRenderer
|
||||
public controls:OrbitControls
|
||||
public callback:Function
|
||||
public gridHelper: GridHelper;
|
||||
public model: Object3D<Event>
|
||||
public liveStreamTexture: CanvasTexture
|
||||
private fog:FogExp2
|
||||
private isLoaded:boolean = false
|
||||
highlightMaterial: any;
|
||||
public scene: Scene;
|
||||
public camera: PerspectiveCamera;
|
||||
public ground: Mesh;
|
||||
public renderer: WebGLRenderer;
|
||||
public controls: OrbitControls;
|
||||
public callback: Function;
|
||||
public gridHelper: GridHelper;
|
||||
public model: Object3D<Event>;
|
||||
public liveStreamTexture: CanvasTexture;
|
||||
private fog: FogExp2;
|
||||
private isLoaded: boolean = false;
|
||||
highlightMaterial: any;
|
||||
|
||||
constructor() {
|
||||
this.scene = new Scene()
|
||||
if (this.scene.environment?.mapping) {
|
||||
this.scene.environment.mapping = EquirectangularReflectionMapping;
|
||||
}
|
||||
return this
|
||||
}
|
||||
constructor() {
|
||||
this.scene = new Scene();
|
||||
if (this.scene.environment?.mapping) {
|
||||
this.scene.environment.mapping = EquirectangularReflectionMapping;
|
||||
}
|
||||
return this;
|
||||
}
|
||||
|
||||
public addRenderer = (parameters?: WebGLRendererParameters) => {
|
||||
this.renderer = new WebGLRenderer(parameters);
|
||||
this.renderer.outputColorSpace = "srgb";
|
||||
this.renderer.shadowMap.enabled = true;
|
||||
this.renderer.shadowMap.type = PCFSoftShadowMap;
|
||||
this.renderer.toneMapping = ACESFilmicToneMapping;
|
||||
this.renderer.toneMappingExposure = 0.85;
|
||||
document.body.appendChild(this.renderer.domElement);
|
||||
return this
|
||||
}
|
||||
public addRenderer = (parameters?: WebGLRendererParameters) => {
|
||||
this.renderer = new WebGLRenderer(parameters);
|
||||
this.renderer.outputColorSpace = 'srgb';
|
||||
this.renderer.shadowMap.enabled = true;
|
||||
this.renderer.shadowMap.type = PCFSoftShadowMap;
|
||||
this.renderer.toneMapping = ACESFilmicToneMapping;
|
||||
this.renderer.toneMappingExposure = 0.85;
|
||||
document.body.appendChild(this.renderer.domElement);
|
||||
return this;
|
||||
};
|
||||
|
||||
public addSky = () => {
|
||||
const sky = new Sky();
|
||||
sky.scale.setScalar(450000);
|
||||
this.scene.add(sky);
|
||||
const effectController = {
|
||||
turbidity: 10,
|
||||
rayleigh: 3,
|
||||
mieCoefficient: 0.005,
|
||||
mieDirectionalG: 0.7,
|
||||
elevation: calculateCurrentSunElevation(),
|
||||
azimuth: 180,
|
||||
exposure: this.renderer.toneMappingExposure
|
||||
};
|
||||
const uniforms = sky.material.uniforms;
|
||||
uniforms['turbidity'].value = effectController.turbidity;
|
||||
uniforms['rayleigh'].value = effectController.rayleigh;
|
||||
uniforms['mieCoefficient'].value = effectController.mieCoefficient;
|
||||
uniforms['mieDirectionalG'].value = effectController.mieDirectionalG;
|
||||
this.renderer.toneMappingExposure = 0.5;
|
||||
const phi = MathUtils.degToRad( 90 - effectController.elevation );
|
||||
const theta = MathUtils.degToRad( effectController.azimuth );
|
||||
const sun = new Vector3();
|
||||
public addSky = () => {
|
||||
const sky = new Sky();
|
||||
sky.scale.setScalar(450000);
|
||||
this.scene.add(sky);
|
||||
const effectController = {
|
||||
turbidity: 10,
|
||||
rayleigh: 3,
|
||||
mieCoefficient: 0.005,
|
||||
mieDirectionalG: 0.7,
|
||||
elevation: calculateCurrentSunElevation(),
|
||||
azimuth: 180,
|
||||
exposure: this.renderer.toneMappingExposure
|
||||
};
|
||||
const uniforms = sky.material.uniforms;
|
||||
uniforms['turbidity'].value = effectController.turbidity;
|
||||
uniforms['rayleigh'].value = effectController.rayleigh;
|
||||
uniforms['mieCoefficient'].value = effectController.mieCoefficient;
|
||||
uniforms['mieDirectionalG'].value = effectController.mieDirectionalG;
|
||||
this.renderer.toneMappingExposure = 0.5;
|
||||
const phi = MathUtils.degToRad(90 - effectController.elevation);
|
||||
const theta = MathUtils.degToRad(effectController.azimuth);
|
||||
const sun = new Vector3();
|
||||
|
||||
sun.setFromSphericalCoords( 1, phi, theta );
|
||||
uniforms[ 'sunPosition' ].value.copy( sun );
|
||||
return this
|
||||
}
|
||||
sun.setFromSphericalCoords(1, phi, theta);
|
||||
uniforms['sunPosition'].value.copy(sun);
|
||||
return this;
|
||||
};
|
||||
|
||||
public addPerspectiveCamera = (options:position) => {
|
||||
this.camera = new PerspectiveCamera();
|
||||
this.camera.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
|
||||
this.scene.add(this.camera);
|
||||
return this
|
||||
}
|
||||
public addPerspectiveCamera = (options: position) => {
|
||||
this.camera = new PerspectiveCamera();
|
||||
this.camera.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
|
||||
this.scene.add(this.camera);
|
||||
return this;
|
||||
};
|
||||
|
||||
public addGroundPlane = (options:position) => {
|
||||
this.ground = new Mesh( new PlaneGeometry(), new ShadowMaterial({side: 2}));
|
||||
this.ground.rotation.x = -Math.PI / 2;
|
||||
this.ground.scale.setScalar(30);
|
||||
this.ground.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
|
||||
this.ground.receiveShadow = true;
|
||||
this.scene.add(this.ground);
|
||||
return this
|
||||
}
|
||||
public addGroundPlane = (options: position) => {
|
||||
this.ground = new Mesh(new PlaneGeometry(), new ShadowMaterial({ side: 2 }));
|
||||
this.ground.rotation.x = -Math.PI / 2;
|
||||
this.ground.scale.setScalar(30);
|
||||
this.ground.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
|
||||
this.ground.receiveShadow = true;
|
||||
this.scene.add(this.ground);
|
||||
return this;
|
||||
};
|
||||
|
||||
public addOrbitControls = (minDistance:number, maxDistance:number) => {
|
||||
this.controls = new OrbitControls(this.camera, this.renderer.domElement);
|
||||
this.controls.minDistance = minDistance;
|
||||
this.controls.maxDistance = maxDistance;
|
||||
this.controls.update();
|
||||
return this
|
||||
}
|
||||
public addOrbitControls = (minDistance: number, maxDistance: number) => {
|
||||
this.controls = new OrbitControls(this.camera, this.renderer.domElement);
|
||||
this.controls.minDistance = minDistance;
|
||||
this.controls.maxDistance = maxDistance;
|
||||
this.controls.update();
|
||||
return this;
|
||||
};
|
||||
|
||||
public addAmbientLight = (options:light) => {
|
||||
const ambientLight = new AmbientLight(options.color, options.intensity);
|
||||
this.scene.add(ambientLight);
|
||||
return this
|
||||
}
|
||||
public addAmbientLight = (options: light) => {
|
||||
const ambientLight = new AmbientLight(options.color, options.intensity);
|
||||
this.scene.add(ambientLight);
|
||||
return this;
|
||||
};
|
||||
|
||||
public addDirectionalLight = (options:directionalLight) => {
|
||||
const directionalLight = new DirectionalLight(options.color, options.intensity);
|
||||
directionalLight.castShadow = true;
|
||||
directionalLight.shadow.mapSize.setScalar(2048);
|
||||
directionalLight.shadow.mapSize.width = 1024;
|
||||
directionalLight.shadow.mapSize.height = 1024;
|
||||
directionalLight.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
|
||||
directionalLight.shadow.radius = 5
|
||||
this.scene.add(directionalLight);
|
||||
return this
|
||||
}
|
||||
public addDirectionalLight = (options: directionalLight) => {
|
||||
const directionalLight = new DirectionalLight(options.color, options.intensity);
|
||||
directionalLight.castShadow = true;
|
||||
directionalLight.shadow.mapSize.setScalar(2048);
|
||||
directionalLight.shadow.mapSize.width = 1024;
|
||||
directionalLight.shadow.mapSize.height = 1024;
|
||||
directionalLight.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
|
||||
directionalLight.shadow.radius = 5;
|
||||
this.scene.add(directionalLight);
|
||||
return this;
|
||||
};
|
||||
|
||||
public addGridHelper = (options:gridHelperOptions) => {
|
||||
this.gridHelper = new GridHelper(options.size, options.divisions);
|
||||
this.gridHelper.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
|
||||
this.gridHelper.material.opacity = 0.2;
|
||||
this.gridHelper.material.depthWrite = false;
|
||||
this.gridHelper.material.transparent = true;
|
||||
this.scene.add(this.gridHelper);
|
||||
return this
|
||||
}
|
||||
public addGridHelper = (options: gridHelperOptions) => {
|
||||
this.gridHelper = new GridHelper(options.size, options.divisions);
|
||||
this.gridHelper.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
|
||||
this.gridHelper.material.opacity = 0.2;
|
||||
this.gridHelper.material.depthWrite = false;
|
||||
this.gridHelper.material.transparent = true;
|
||||
this.scene.add(this.gridHelper);
|
||||
return this;
|
||||
};
|
||||
|
||||
public addFogExp2 = (color:ColorRepresentation, density?:number) => {
|
||||
this.scene.fog = new FogExp2(color, density);
|
||||
return this
|
||||
}
|
||||
public addFogExp2 = (color: ColorRepresentation, density?: number) => {
|
||||
this.scene.fog = new FogExp2(color, density);
|
||||
return this;
|
||||
};
|
||||
|
||||
public handleResize = () => {
|
||||
this.renderer.setSize(window.innerWidth, window.innerHeight);
|
||||
this.renderer.setPixelRatio(window.devicePixelRatio);
|
||||
this.camera.aspect = window.innerWidth / window.innerHeight;
|
||||
this.camera.updateProjectionMatrix();
|
||||
return this
|
||||
}
|
||||
public handleResize = () => {
|
||||
this.renderer.setSize(window.innerWidth, window.innerHeight);
|
||||
this.renderer.setPixelRatio(window.devicePixelRatio);
|
||||
this.camera.aspect = window.innerWidth / window.innerHeight;
|
||||
this.camera.updateProjectionMatrix();
|
||||
return this;
|
||||
};
|
||||
|
||||
public addRenderCb = (callback:Function) => {
|
||||
this.callback = callback
|
||||
return this
|
||||
}
|
||||
public addRenderCb = (callback: Function) => {
|
||||
this.callback = callback;
|
||||
return this;
|
||||
};
|
||||
|
||||
public startRenderLoop = () => {
|
||||
this.renderer.setAnimationLoop(() => {
|
||||
this.renderer.render(this.scene, this.camera);
|
||||
this.handleRobotShadow()
|
||||
if(this.callback) this.callback()
|
||||
if(!this.liveStreamTexture) return
|
||||
});
|
||||
return this
|
||||
}
|
||||
public startRenderLoop = () => {
|
||||
this.renderer.setAnimationLoop(() => {
|
||||
this.renderer.render(this.scene, this.camera);
|
||||
this.handleRobotShadow();
|
||||
if (this.callback) this.callback();
|
||||
if (!this.liveStreamTexture) return;
|
||||
});
|
||||
return this;
|
||||
};
|
||||
|
||||
public addArrowHelper = (options?:arrowOptions) => {
|
||||
const dir = new Vector3(options?.direction.x ?? 0, options?.direction.y ?? 0, options?.direction.z ?? 0);
|
||||
const origin = new Vector3(options?.origin.x ?? 0, options?.origin.y ?? 0, options?.origin.z ?? 0);
|
||||
const arrowHelper = new ArrowHelper( dir, origin, options?.length ?? 1.5, options?.color ?? 0xff0000 );
|
||||
this.scene.add( arrowHelper );
|
||||
return this
|
||||
}
|
||||
public addArrowHelper = (options?: arrowOptions) => {
|
||||
const dir = new Vector3(
|
||||
options?.direction.x ?? 0,
|
||||
options?.direction.y ?? 0,
|
||||
options?.direction.z ?? 0
|
||||
);
|
||||
const origin = new Vector3(
|
||||
options?.origin.x ?? 0,
|
||||
options?.origin.y ?? 0,
|
||||
options?.origin.z ?? 0
|
||||
);
|
||||
const arrowHelper = new ArrowHelper(
|
||||
dir,
|
||||
origin,
|
||||
options?.length ?? 1.5,
|
||||
options?.color ?? 0xff0000
|
||||
);
|
||||
this.scene.add(arrowHelper);
|
||||
return this;
|
||||
};
|
||||
|
||||
private setJointValue(jointName:string, angle:number) {
|
||||
if (!this.model) return;
|
||||
if (!this.model.joints[jointName]) return;
|
||||
this.model.joints[jointName].setJointValue(angle)
|
||||
}
|
||||
private setJointValue(jointName: string, angle: number) {
|
||||
if (!this.model) return;
|
||||
if (!this.model.joints[jointName]) return;
|
||||
this.model.joints[jointName].setJointValue(angle);
|
||||
}
|
||||
|
||||
isJoint = j => j.isURDFJoint && j.jointType !== 'fixed';
|
||||
isJoint = (j) => j.isURDFJoint && j.jointType !== 'fixed';
|
||||
|
||||
highlightLinkGeometry = (m: URDFMimicJoint, revert:boolean, material: MeshPhongMaterial) => {
|
||||
const traverse = c => {
|
||||
if (c.type === 'Mesh') {
|
||||
if (revert) {
|
||||
c.material = c.__origMaterial;
|
||||
delete c.__origMaterial;
|
||||
} else {
|
||||
c.__origMaterial = c.material;
|
||||
c.material = material;
|
||||
}
|
||||
}
|
||||
highlightLinkGeometry = (m: URDFMimicJoint, revert: boolean, material: MeshPhongMaterial) => {
|
||||
const traverse = (c) => {
|
||||
if (c.type === 'Mesh') {
|
||||
if (revert) {
|
||||
c.material = c.__origMaterial;
|
||||
delete c.__origMaterial;
|
||||
} else {
|
||||
c.__origMaterial = c.material;
|
||||
c.material = material;
|
||||
}
|
||||
}
|
||||
|
||||
if (c === m || !this.isJoint(c)) {
|
||||
for (let i = 0; i < c.children.length; i++) {
|
||||
const child = c.children[i];
|
||||
if (!child.isURDFCollider) {
|
||||
traverse(c.children[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
traverse(m);
|
||||
};
|
||||
if (c === m || !this.isJoint(c)) {
|
||||
for (let i = 0; i < c.children.length; i++) {
|
||||
const child = c.children[i];
|
||||
if (!child.isURDFCollider) {
|
||||
traverse(c.children[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
traverse(m);
|
||||
};
|
||||
|
||||
public addModel = (model: any) => {
|
||||
this.model = model
|
||||
this.scene.add(model)
|
||||
return this
|
||||
}
|
||||
public addModel = (model: any) => {
|
||||
this.model = model;
|
||||
this.scene.add(model);
|
||||
return this;
|
||||
};
|
||||
|
||||
public addDragControl = (updateAngle:any) => {
|
||||
const highlightColor = '#FFFFFF'
|
||||
const highlightMaterial =
|
||||
new MeshPhongMaterial({
|
||||
shininess: 10,
|
||||
color: highlightColor,
|
||||
emissive: highlightColor,
|
||||
emissiveIntensity: 0.25,
|
||||
});
|
||||
|
||||
const dragControls = new PointerURDFDragControls(this.scene, this.camera, this.renderer.domElement);
|
||||
dragControls.updateJoint = (joint:URDFMimicJoint, angle:number) => {
|
||||
this.setJointValue(joint.name, angle);
|
||||
updateAngle(joint.name, angle)
|
||||
};
|
||||
dragControls.onDragStart = () => this.controls.enabled = false;
|
||||
dragControls.onDragEnd = () => this.controls.enabled = true;
|
||||
dragControls.onHover = (joint:URDFMimicJoint) => this.highlightLinkGeometry(joint, false, highlightMaterial);
|
||||
dragControls.onUnhover = (joint:URDFMimicJoint) => this.highlightLinkGeometry(joint, true, highlightMaterial);
|
||||
public addDragControl = (updateAngle: any) => {
|
||||
const highlightColor = '#FFFFFF';
|
||||
const highlightMaterial = new MeshPhongMaterial({
|
||||
shininess: 10,
|
||||
color: highlightColor,
|
||||
emissive: highlightColor,
|
||||
emissiveIntensity: 0.25
|
||||
});
|
||||
|
||||
this.renderer.domElement.addEventListener('touchstart', (data) => dragControls._mouseDown(data.touches[0]));
|
||||
this.renderer.domElement.addEventListener('touchmove', (data) => dragControls._mouseMove(data.touches[0]))
|
||||
this.renderer.domElement.addEventListener('touchup', (data) => dragControls._mouseUp(data.touches[0]));
|
||||
return this
|
||||
}
|
||||
const dragControls = new PointerURDFDragControls(
|
||||
this.scene,
|
||||
this.camera,
|
||||
this.renderer.domElement
|
||||
);
|
||||
dragControls.updateJoint = (joint: URDFMimicJoint, angle: number) => {
|
||||
this.setJointValue(joint.name, angle);
|
||||
updateAngle(joint.name, angle);
|
||||
};
|
||||
dragControls.onDragStart = () => (this.controls.enabled = false);
|
||||
dragControls.onDragEnd = () => (this.controls.enabled = true);
|
||||
dragControls.onHover = (joint: URDFMimicJoint) =>
|
||||
this.highlightLinkGeometry(joint, false, highlightMaterial);
|
||||
dragControls.onUnhover = (joint: URDFMimicJoint) =>
|
||||
this.highlightLinkGeometry(joint, true, highlightMaterial);
|
||||
|
||||
public toggleFog = () => {
|
||||
this.scene.fog = this.scene.fog ? null : this.fog;
|
||||
}
|
||||
this.renderer.domElement.addEventListener('touchstart', (data) =>
|
||||
dragControls._mouseDown(data.touches[0])
|
||||
);
|
||||
this.renderer.domElement.addEventListener('touchmove', (data) =>
|
||||
dragControls._mouseMove(data.touches[0])
|
||||
);
|
||||
this.renderer.domElement.addEventListener('touchup', (data) =>
|
||||
dragControls._mouseUp(data.touches[0])
|
||||
);
|
||||
return this;
|
||||
};
|
||||
|
||||
private handleRobotShadow = () => {
|
||||
if(this.isLoaded) return
|
||||
const intervalId = setInterval(() => {
|
||||
this.model?.traverse(c => c.castShadow = true);
|
||||
}, 10);
|
||||
setTimeout(() => {
|
||||
clearInterval(intervalId)
|
||||
}, 1000);
|
||||
this.isLoaded = true;
|
||||
}
|
||||
}
|
||||
public toggleFog = () => {
|
||||
this.scene.fog = this.scene.fog ? null : this.fog;
|
||||
};
|
||||
|
||||
private handleRobotShadow = () => {
|
||||
if (this.isLoaded) return;
|
||||
const intervalId = setInterval(() => {
|
||||
this.model?.traverse((c) => (c.castShadow = true));
|
||||
}, 10);
|
||||
setTimeout(() => {
|
||||
clearInterval(intervalId);
|
||||
}, 1000);
|
||||
this.isLoaded = true;
|
||||
};
|
||||
}
|
||||
|
||||
@@ -1,72 +1,71 @@
|
||||
import { Result } from '$lib/utilities/result';
|
||||
|
||||
class FileService {
|
||||
private dbName = 'fileStorageDB';
|
||||
private dbVersion = 1;
|
||||
private storeName = 'files';
|
||||
private dbPromise: Promise<Result<IDBDatabase, string>>;
|
||||
private dbName = 'fileStorageDB';
|
||||
private dbVersion = 1;
|
||||
private storeName = 'files';
|
||||
private dbPromise: Promise<Result<IDBDatabase, string>>;
|
||||
|
||||
constructor() {
|
||||
this.dbPromise = this.openDatabase();
|
||||
}
|
||||
constructor() {
|
||||
this.dbPromise = this.openDatabase();
|
||||
}
|
||||
|
||||
private async openDatabase(): Promise<Result<IDBDatabase, string>> {
|
||||
return new Promise((resolve) => {
|
||||
const request = indexedDB.open(this.dbName, this.dbVersion);
|
||||
private async openDatabase(): Promise<Result<IDBDatabase, string>> {
|
||||
return new Promise((resolve) => {
|
||||
const request = indexedDB.open(this.dbName, this.dbVersion);
|
||||
|
||||
request.onerror = () => resolve(Result.err("Error opening database"));
|
||||
request.onerror = () => resolve(Result.err('Error opening database'));
|
||||
|
||||
request.onsuccess = () => resolve(Result.ok(request.result));
|
||||
request.onsuccess = () => resolve(Result.ok(request.result));
|
||||
|
||||
request.onupgradeneeded = (event) => {
|
||||
const db = request.result;
|
||||
if (!db.objectStoreNames.contains(this.storeName)) {
|
||||
db.createObjectStore(this.storeName);
|
||||
}
|
||||
};
|
||||
});
|
||||
}
|
||||
request.onupgradeneeded = (event) => {
|
||||
const db = request.result;
|
||||
if (!db.objectStoreNames.contains(this.storeName)) {
|
||||
db.createObjectStore(this.storeName);
|
||||
}
|
||||
};
|
||||
});
|
||||
}
|
||||
|
||||
private async getStore(mode: IDBTransactionMode): Promise<Result<IDBObjectStore, string>> {
|
||||
const dbResult = await this.dbPromise;
|
||||
if (dbResult.isErr()) {
|
||||
return Result.err("Database not initialized properly");
|
||||
}
|
||||
const db = dbResult.inner;
|
||||
const transaction = db.transaction(this.storeName, mode);
|
||||
return Result.ok(transaction.objectStore(this.storeName));
|
||||
}
|
||||
private async getStore(mode: IDBTransactionMode): Promise<Result<IDBObjectStore, string>> {
|
||||
const dbResult = await this.dbPromise;
|
||||
if (dbResult.isErr()) {
|
||||
return Result.err('Database not initialized properly');
|
||||
}
|
||||
const db = dbResult.inner;
|
||||
const transaction = db.transaction(this.storeName, mode);
|
||||
return Result.ok(transaction.objectStore(this.storeName));
|
||||
}
|
||||
|
||||
public async saveFile(key: string, file: Uint8Array): Promise<Result<IDBValidKey, string>> {
|
||||
const storeResult = await this.getStore("readwrite");
|
||||
if (storeResult.isErr()) {
|
||||
return Result.err("Failed to access object store for writing");
|
||||
}
|
||||
const store = storeResult.inner;
|
||||
public async saveFile(key: string, file: Uint8Array): Promise<Result<IDBValidKey, string>> {
|
||||
const storeResult = await this.getStore('readwrite');
|
||||
if (storeResult.isErr()) {
|
||||
return Result.err('Failed to access object store for writing');
|
||||
}
|
||||
const store = storeResult.inner;
|
||||
|
||||
return new Promise((resolve) => {
|
||||
const request = store.put(file, key);
|
||||
request.onsuccess = () => resolve(Result.ok(request.result));
|
||||
request.onerror = () => resolve(Result.err("Failed to save file"));
|
||||
});
|
||||
}
|
||||
return new Promise((resolve) => {
|
||||
const request = store.put(file, key);
|
||||
request.onsuccess = () => resolve(Result.ok(request.result));
|
||||
request.onerror = () => resolve(Result.err('Failed to save file'));
|
||||
});
|
||||
}
|
||||
|
||||
public async getFile(key: string): Promise<Result<Uint8Array | undefined, string>> {
|
||||
const storeResult = await this.getStore("readonly");
|
||||
if (storeResult.isErr()) {
|
||||
return Result.err("Failed to access object store for reading");
|
||||
}
|
||||
const store = storeResult.inner;
|
||||
public async getFile(key: string): Promise<Result<Uint8Array | undefined, string>> {
|
||||
const storeResult = await this.getStore('readonly');
|
||||
if (storeResult.isErr()) {
|
||||
return Result.err('Failed to access object store for reading');
|
||||
}
|
||||
const store = storeResult.inner;
|
||||
|
||||
return new Promise((resolve) => {
|
||||
const request = store.get(key);
|
||||
|
||||
request.onsuccess = () =>
|
||||
resolve(request.result ? Result.ok(request.result) : Result.err("File content not found"))
|
||||
request.onerror = () =>
|
||||
resolve(Result.err("Failed to retrieve file"));
|
||||
});
|
||||
}
|
||||
return new Promise((resolve) => {
|
||||
const request = store.get(key);
|
||||
|
||||
request.onsuccess = () =>
|
||||
resolve(request.result ? Result.ok(request.result) : Result.err('File content not found'));
|
||||
request.onerror = () => resolve(Result.err('Failed to retrieve file'));
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
export default new FileService();
|
||||
export default new FileService();
|
||||
|
||||
@@ -1,2 +1,2 @@
|
||||
export * from './file-service'
|
||||
export * from './socket-service'
|
||||
export { default as fileService } from './file-service';
|
||||
export { default as socketService } from './socket-service';
|
||||
|
||||
@@ -1,89 +1,100 @@
|
||||
import { Result, Ok } from '$lib/utilities';
|
||||
import { writable, type Writable } from 'svelte/store';
|
||||
|
||||
type WebsocketData = string | ArrayBufferLike | Blob | ArrayBufferView
|
||||
type WebsocketData = string | ArrayBufferLike | Blob | ArrayBufferView;
|
||||
|
||||
// TODO
|
||||
/**
|
||||
* MOVE THE store to a store.ts file
|
||||
*
|
||||
* Make an object on the class that encapsulate all the stores
|
||||
*
|
||||
* Make the handle message function look up the type and set the value, to simplify the code
|
||||
*/
|
||||
|
||||
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;
|
||||
|
||||
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() {}
|
||||
|
||||
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 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');
|
||||
}
|
||||
|
||||
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 handleConnected(): void {
|
||||
this.isConnected.set(true);
|
||||
}
|
||||
private handleDisconnected(): void {
|
||||
this.isConnected.set(false);
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
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();
|
||||
export default new SocketService();
|
||||
|
||||
@@ -3,10 +3,15 @@ import { persistentStore } from '$lib/utilities';
|
||||
|
||||
export const emulateModel = writable(true);
|
||||
|
||||
export const input = writable({left:{x:0, y:0}, right:{x:0, y:0}, height:70, speed:0});
|
||||
export const input = writable({
|
||||
left: { x: 0, y: 0 },
|
||||
right: { x: 0, y: 0 },
|
||||
height: 70,
|
||||
speed: 0
|
||||
});
|
||||
|
||||
export const outControllerData = writable(new Uint8Array([0, 128, 128, 128, 128, 70, 0]));
|
||||
|
||||
export const jointNames = persistentStore("joint_names", [])
|
||||
export const jointNames = persistentStore('joint_names', []);
|
||||
|
||||
export const model = writable()
|
||||
export const model = writable();
|
||||
|
||||
@@ -1,16 +1,15 @@
|
||||
export class throttler {
|
||||
private _throttlePause: boolean;
|
||||
constructor() {
|
||||
this._throttlePause = false;
|
||||
}
|
||||
throttle = (callback:Function, time:number) => {
|
||||
if (this._throttlePause) return;
|
||||
|
||||
this._throttlePause = true;
|
||||
setTimeout(() => {
|
||||
callback();
|
||||
this._throttlePause = false;
|
||||
}, time);
|
||||
};
|
||||
}
|
||||
private _throttlePause: boolean;
|
||||
constructor() {
|
||||
this._throttlePause = false;
|
||||
}
|
||||
throttle = (callback: Function, time: number) => {
|
||||
if (this._throttlePause) return;
|
||||
|
||||
this._throttlePause = true;
|
||||
setTimeout(() => {
|
||||
callback();
|
||||
this._throttlePause = false;
|
||||
}, time);
|
||||
};
|
||||
}
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
export * from './result'
|
||||
export * from './string-utilities'
|
||||
export * from './svelte-utilities'
|
||||
export * from './math-utilities'
|
||||
export * from './buffer-utilities'
|
||||
export * from './model-utilities'
|
||||
export * from './location-utilities'
|
||||
export * from './result';
|
||||
export * from './string-utilities';
|
||||
export * from './svelte-utilities';
|
||||
export * from './math-utilities';
|
||||
export * from './buffer-utilities';
|
||||
export * from './model-utilities';
|
||||
export * from './location-utilities';
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
const forWeb = import.meta.env.MODE === "WEB"
|
||||
const mock = import.meta.env.MODE === "MOCK"
|
||||
const forWeb = import.meta.env.MODE === 'WEB';
|
||||
const mock = import.meta.env.MODE === 'MOCK';
|
||||
|
||||
export const location = mock ? `${window.location.hostname}:2096` : "leika.local"
|
||||
export const location = mock ? `${window.location.hostname}:2096` : 'leika.local';
|
||||
|
||||
export const socketLocation = forWeb ? `wss://${window.location.hostname}:2096` : `ws://${location}`
|
||||
export const socketLocation = forWeb
|
||||
? `wss://${window.location.hostname}:2096`
|
||||
: `ws://${location}`;
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
export const lerp = (start: number, end: number, amt: number) => {
|
||||
return (1 - amt) * start + amt * end;
|
||||
return (1 - amt) * start + amt * end;
|
||||
};
|
||||
|
||||
@@ -1,32 +1,38 @@
|
||||
import { LoaderUtils } from "three";
|
||||
import URDFLoader, { type URDFRobot } from "urdf-loader"
|
||||
import { XacroLoader } from "xacro-parser"
|
||||
import { Result } from "$lib/utilities";
|
||||
import { LoaderUtils } from 'three';
|
||||
import URDFLoader, { type URDFRobot } from 'urdf-loader';
|
||||
import { XacroLoader } from 'xacro-parser';
|
||||
import { Result } from '$lib/utilities';
|
||||
|
||||
export const loadModelAsync = async (url:string):Promise<Result<[URDFRobot, string[]], string>> => {
|
||||
return new Promise((resolve, reject) => {
|
||||
const xacroLoader = new XacroLoader();
|
||||
|
||||
xacroLoader.load(url, async (xml) => {
|
||||
const urdfLoader = new URDFLoader();
|
||||
|
||||
urdfLoader.workingPath = LoaderUtils.extractUrlBase(url);
|
||||
|
||||
try {
|
||||
const model = urdfLoader.parse(xml);
|
||||
model.rotation.x = -Math.PI / 2;
|
||||
model.rotation.z = Math.PI / 2;
|
||||
model.traverse(c => c.castShadow = true);
|
||||
model.updateMatrixWorld(true);
|
||||
model.scale.setScalar(10);
|
||||
const joints = Object.entries(model.joints)
|
||||
.filter(joint => joint[1].jointType !== 'fixed')
|
||||
.map(joint => joint[0])
|
||||
export const loadModelAsync = async (
|
||||
url: string
|
||||
): Promise<Result<[URDFRobot, string[]], string>> => {
|
||||
return new Promise((resolve, reject) => {
|
||||
const xacroLoader = new XacroLoader();
|
||||
|
||||
resolve(Result.ok([model, joints]));
|
||||
} catch (error) {
|
||||
resolve(Result.err("Failed to load model", error));
|
||||
}
|
||||
}, (error) => reject(error));
|
||||
});
|
||||
}
|
||||
xacroLoader.load(
|
||||
url,
|
||||
async (xml) => {
|
||||
const urdfLoader = new URDFLoader();
|
||||
|
||||
urdfLoader.workingPath = LoaderUtils.extractUrlBase(url);
|
||||
|
||||
try {
|
||||
const model = urdfLoader.parse(xml);
|
||||
model.rotation.x = -Math.PI / 2;
|
||||
model.rotation.z = Math.PI / 2;
|
||||
model.traverse((c) => (c.castShadow = true));
|
||||
model.updateMatrixWorld(true);
|
||||
model.scale.setScalar(10);
|
||||
const joints = Object.entries(model.joints)
|
||||
.filter((joint) => joint[1].jointType !== 'fixed')
|
||||
.map((joint) => joint[0]);
|
||||
|
||||
resolve(Result.ok([model, joints]));
|
||||
} catch (error) {
|
||||
resolve(Result.err('Failed to load model', error));
|
||||
}
|
||||
},
|
||||
(error) => reject(error)
|
||||
);
|
||||
});
|
||||
};
|
||||
|
||||
@@ -1,42 +1,42 @@
|
||||
export class Err<T, U> {
|
||||
#inner: T
|
||||
#exception?: U
|
||||
#inner: T;
|
||||
#exception?: U;
|
||||
|
||||
constructor(inner: T, exception?: U) {
|
||||
this.#inner = inner
|
||||
this.#exception = exception
|
||||
}
|
||||
constructor(inner: T, exception?: U) {
|
||||
this.#inner = inner;
|
||||
this.#exception = exception;
|
||||
}
|
||||
|
||||
get inner(): T {
|
||||
return this.#inner
|
||||
}
|
||||
get inner(): T {
|
||||
return this.#inner;
|
||||
}
|
||||
|
||||
get exception(): U | undefined {
|
||||
return this.#exception;
|
||||
}
|
||||
get exception(): U | undefined {
|
||||
return this.#exception;
|
||||
}
|
||||
|
||||
/**
|
||||
* Type guard for `Ok`
|
||||
* @returns `true` if `Ok`; `false` if `Err`
|
||||
*/
|
||||
isOk(): false {
|
||||
return false
|
||||
}
|
||||
/**
|
||||
* Type guard for `Ok`
|
||||
* @returns `true` if `Ok`; `false` if `Err`
|
||||
*/
|
||||
isOk(): false {
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Type guard for `Err`
|
||||
* @returns `true` if `Err`; `false` if `Ok`
|
||||
*/
|
||||
isErr(): this is Err<T, U> {
|
||||
return true
|
||||
}
|
||||
/**
|
||||
* Type guard for `Err`
|
||||
* @returns `true` if `Err`; `false` if `Ok`
|
||||
*/
|
||||
isErr(): this is Err<T, U> {
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Create an `Err`
|
||||
* @param inner
|
||||
* @returns `Err(inner)`
|
||||
*/
|
||||
static new<E, F>(inner: E, exception: F): Err<E, F> {
|
||||
return new Err<E, F>(inner, exception)
|
||||
}
|
||||
/**
|
||||
* Create an `Err`
|
||||
* @param inner
|
||||
* @returns `Err(inner)`
|
||||
*/
|
||||
static new<E, F>(inner: E, exception: F): Err<E, F> {
|
||||
return new Err<E, F>(inner, exception);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
export * from './err'
|
||||
export * from './ok'
|
||||
export * from './result'
|
||||
export * from './err';
|
||||
export * from './ok';
|
||||
export * from './result';
|
||||
|
||||
@@ -1,44 +1,44 @@
|
||||
export class Ok<T> {
|
||||
#inner: T
|
||||
#inner: T;
|
||||
|
||||
constructor(inner: T) {
|
||||
this.#inner = inner
|
||||
}
|
||||
constructor(inner: T) {
|
||||
this.#inner = inner;
|
||||
}
|
||||
|
||||
get inner(): T {
|
||||
return this.#inner
|
||||
}
|
||||
get inner(): T {
|
||||
return this.#inner;
|
||||
}
|
||||
|
||||
/**
|
||||
* Type guard for `Ok`
|
||||
* @returns `true` if `Ok`; `false` if `Err`
|
||||
*/
|
||||
isOk(): this is Ok<T> {
|
||||
return true
|
||||
}
|
||||
/**
|
||||
* Type guard for `Ok`
|
||||
* @returns `true` if `Ok`; `false` if `Err`
|
||||
*/
|
||||
isOk(): this is Ok<T> {
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Type guard for `Err`
|
||||
* @returns `true` if `Err`; `false` if `Ok`
|
||||
*/
|
||||
isErr(): false {
|
||||
return false
|
||||
}
|
||||
/**
|
||||
* Type guard for `Err`
|
||||
* @returns `true` if `Err`; `false` if `Ok`
|
||||
*/
|
||||
isErr(): false {
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Create an `Ok`
|
||||
* @param inner
|
||||
* @returns `Ok(inner)`
|
||||
*/
|
||||
static new<T>(inner: T): Ok<T> {
|
||||
return new Ok<T>(inner)
|
||||
}
|
||||
/**
|
||||
* Create an `Ok`
|
||||
* @param inner
|
||||
* @returns `Ok(inner)`
|
||||
*/
|
||||
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)
|
||||
}
|
||||
/**
|
||||
* Create an empty `Ok`
|
||||
* @returns `Ok(void)`
|
||||
*/
|
||||
static void(): Ok<void> {
|
||||
return new Ok(undefined);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,20 +1,20 @@
|
||||
import { Err } from './err'
|
||||
import { Ok } from './ok'
|
||||
import { Err } from './err';
|
||||
import { Ok } from './ok';
|
||||
|
||||
export type Result<T = unknown, E = unknown, F = unknown> = Ok<T> | Err<E, F>
|
||||
export type Result<T = unknown, E = unknown, F = unknown> = Ok<T> | Err<E, F>;
|
||||
|
||||
export namespace Result {
|
||||
/**
|
||||
* @returns `Ok<T>`
|
||||
*/
|
||||
export function ok<T = unknown>(value: T) {
|
||||
return Ok.new(value)
|
||||
}
|
||||
/**
|
||||
* @returns `Ok<T>`
|
||||
*/
|
||||
export function ok<T = unknown>(value: T) {
|
||||
return Ok.new(value);
|
||||
}
|
||||
|
||||
/**
|
||||
* @returns `Err<E, F>`
|
||||
*/
|
||||
export function err<E = unknown, F = unknown>(error: E, exception?: F) {
|
||||
return Err.new(error, exception)
|
||||
}
|
||||
/**
|
||||
* @returns `Err<E, F>`
|
||||
*/
|
||||
export function err<E = unknown, F = unknown>(error: E, exception?: F) {
|
||||
return Err.new(error, exception);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
export const humanFileSize = (size:number):string => {
|
||||
const units = ['B', 'kB', 'MB', 'GB', 'TB']
|
||||
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 humanFileSize = (size: number): string => {
|
||||
const units = ['B', 'kB', 'MB', 'GB', 'TB'];
|
||||
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];
|
||||
};
|
||||
|
||||
@@ -1,13 +1,13 @@
|
||||
import { writable } from "svelte/store";
|
||||
import { writable } from 'svelte/store';
|
||||
|
||||
export const persistentStore = (key:string, initialValue:any) => {
|
||||
const savedValue = JSON.parse(localStorage.getItem(key) as string);
|
||||
const data = savedValue !== null ? savedValue : initialValue;
|
||||
const store = writable(data);
|
||||
|
||||
store.subscribe(value => {
|
||||
localStorage.setItem(key, JSON.stringify(value));
|
||||
});
|
||||
|
||||
return store;
|
||||
}
|
||||
export const persistentStore = (key: string, initialValue: any) => {
|
||||
const savedValue = JSON.parse(localStorage.getItem(key) as string);
|
||||
const data = savedValue !== null ? savedValue : initialValue;
|
||||
const store = writable(data);
|
||||
|
||||
store.subscribe((value) => {
|
||||
localStorage.setItem(key, JSON.stringify(value));
|
||||
});
|
||||
|
||||
return store;
|
||||
};
|
||||
|
||||
Reference in New Issue
Block a user