Start of svelte socket rewrite
This commit is contained in:
Niklas Jensen
File diff suppressed because it is too large
Load Diff
@@ -1,30 +1,38 @@
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import { writable } from 'svelte/store'
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import { encode, decode } from '@msgpack/msgpack'
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import { WebsocketMessage } from '$lib/platform_shared/websocket_message'
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const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const
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type SocketEvent = (typeof socketEvents)[number]
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type SocketMessage = [string, ArrayBuffer]
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type TaggedSocketMessage = [string, WebsocketMessage]
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let useBinary = false
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const decodeMessage = (data: ArrayBuffer): SocketMessage | null => {
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const decodeMessage = (data: ArrayBuffer): TaggedSocketMessage => {
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try {
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const view = new Uint8Array(data);
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let comma_index: number = 0;
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let tag: string = "";
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for (comma_index = 0; view[comma_index] != 0x2c; comma_index++) { // 0x2c is the ascii code for a comma!
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tag += String.fromCharCode(view[comma_index]);
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if (comma_index >= data.byteLength) { throw new RangeError("Comma index exceeded")}
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}
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return [ tag, data.slice(comma_index+1) ]
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} catch (error) {
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console.error(`Could not decode data: ${new Uint8Array(data as ArrayBuffer)} - ${error}`)
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const decoded = WebsocketMessage.decode(new Uint8Array(data));
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const values = Object.entries(decoded).filter(([, value]) => value !== undefined) // Filter all values which are not undefined
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if (values.length != 1) {
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throw new Error("Message included either 0 or more than 1 data point")
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}
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const [tag, value] = values[0]
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return [tag, decoded]
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// try {
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// const view = new Uint8Array(data);
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// let comma_index: number = 0;
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// let tag: string = "";
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// for (comma_index = 0; view[comma_index] != 0x2c; comma_index++) { // 0x2c is the ascii code for a comma!
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// tag += String.fromCharCode(view[comma_index]);
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// if (comma_index >= data.byteLength) { throw new RangeError("Comma index exceeded")}
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// }
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// return [ tag, data.slice(comma_index+1) ]
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// } catch (error) {
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// console.error(`Could not decode data: ${new Uint8Array(data as ArrayBuffer)} - ${error}`)
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// }
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return null
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}
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@@ -76,10 +84,8 @@ function createWebSocket() {
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}
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ws.onmessage = frame => {
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resetUnresponsiveCheck()
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const message = decodeMessage(frame.data)
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if (!message) return
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const [event, payload] = message
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if (event) listeners.get(event)?.forEach(listener => listener(payload))
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const [tag, message] = decodeMessage(frame.data)
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if (tag) listeners.get(tag)?.forEach(listener => listener(message))
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}
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ws.onerror = ev => disconnect('error', ev)
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ws.onclose = ev => disconnect('close', ev)
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@@ -143,6 +149,11 @@ function createWebSocket() {
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sendEvent,
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init,
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on: <T>(event: string, listener: (data: T) => void): (() => void) => {
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if (event !in Object.keys(WebsocketMessage.create())) {
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throw new Error("Event not found in 'WebsocketMessage' type, message can never be decoded, and the listener has not been added");
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}
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let eventListeners = listeners.get(event)
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if (!eventListeners) {
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if (!socketEvents.includes(event as SocketEvent)) {
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@@ -5,6 +5,16 @@ Make sure to actually create the output directories before executing the command
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TS:
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protoc --plugin="protoc-gen-ts_proto=$(Resolve-Path app\node_modules\.bin\protoc-gen-ts_proto.CMD)" --ts_proto_out="./app/src/lib" "platform_shared\example.proto"
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NEW TS (USING PROTOBUFJS):
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cd app
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pnpm install protobufjs-cli
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pnpm install -D protobufjs-cli
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pnpm exec pbjs -t static-module -w es6 -o src\lib\platform_shared\compiled.js ..\platform_shared\websocket_message.proto
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pnpm exec pbts -o src\lib\platform_shared\compiled.d.ts src\lib\platform_shared\compiled.js
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pnpm exec pbjs -t json-module -o src\lib\platform_shared\compiled.d.json ..\platform_shared\websocket_message.proto
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C++:
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protoc -I=platform_shared --cpp_out=esp32/src/platform_shared platform_shared/example.proto
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@@ -0,0 +1,60 @@
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/* Automatically generated nanopb constant definitions */
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/* Generated by nanopb-1.0.0-dev */
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#include "platform_shared/websocket_message.pb.h"
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#if PB_PROTO_HEADER_VERSION != 40
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#error Regenerate this file with the current version of nanopb generator.
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#endif
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PB_BIND(IMUData, IMUData, AUTO)
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PB_BIND(IMUCalibrateData, IMUCalibrateData, AUTO)
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PB_BIND(ModeData, ModeData, AUTO)
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PB_BIND(InputData, InputData, AUTO)
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PB_BIND(AnalyticsData, AnalyticsData, AUTO)
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PB_BIND(PositionData, PositionData, AUTO)
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PB_BIND(AnglesData, AnglesData, AUTO)
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PB_BIND(I2CScanData, I2CScanData, AUTO)
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PB_BIND(PeripheralSettingsData, PeripheralSettingsData, AUTO)
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PB_BIND(OTAStatusData, OTAStatusData, AUTO)
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PB_BIND(GaitData, GaitData, AUTO)
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PB_BIND(ServoStateData, ServoStateData, AUTO)
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PB_BIND(ServoPWMData, ServoPWMData, AUTO)
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PB_BIND(WifiSettingsData, WifiSettingsData, AUTO)
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PB_BIND(SonarData, SonarData, AUTO)
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PB_BIND(RSSIData, RSSIData, AUTO)
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PB_BIND(WebsocketMessage, WebsocketMessage, 2)
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@@ -0,0 +1,352 @@
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/* Automatically generated nanopb header */
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/* Generated by nanopb-1.0.0-dev */
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#ifndef PB_PLATFORM_SHARED_WEBSOCKET_MESSAGE_PB_H_INCLUDED
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#define PB_PLATFORM_SHARED_WEBSOCKET_MESSAGE_PB_H_INCLUDED
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#include <pb.h>
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#if PB_PROTO_HEADER_VERSION != 40
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#error Regenerate this file with the current version of nanopb generator.
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#endif
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/* Struct definitions */
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/* Individual message data types */
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typedef struct _IMUData {
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float x;
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float y;
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float z;
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float temp;
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} IMUData;
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typedef struct _IMUCalibrateData {
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char dummy_field;
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} IMUCalibrateData;
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typedef struct _ModeData {
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int32_t mode;
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} ModeData;
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typedef struct _InputData {
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char dummy_field;
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} InputData;
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typedef struct _AnalyticsData {
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char dummy_field;
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} AnalyticsData;
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typedef struct _PositionData {
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char dummy_field;
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} PositionData;
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typedef struct _AnglesData {
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pb_callback_t angles;
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} AnglesData;
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typedef struct _I2CScanData {
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char dummy_field;
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} I2CScanData;
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typedef struct _PeripheralSettingsData {
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char dummy_field;
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} PeripheralSettingsData;
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typedef struct _OTAStatusData {
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char dummy_field;
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} OTAStatusData;
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typedef struct _GaitData {
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char dummy_field;
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} GaitData;
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typedef struct _ServoStateData {
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char dummy_field;
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} ServoStateData;
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typedef struct _ServoPWMData {
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char dummy_field;
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} ServoPWMData;
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typedef struct _WifiSettingsData {
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char dummy_field;
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} WifiSettingsData;
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typedef struct _SonarData {
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char dummy_field;
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} SonarData;
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typedef struct _RSSIData {
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int32_t rssi;
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} RSSIData;
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/* WebSocket message wrapper
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Only ONE field will be set at a time (oneof ensures this) */
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typedef struct _WebsocketMessage {
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pb_size_t which_message;
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union _WebsocketMessage_message {
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IMUData imu;
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IMUCalibrateData imu_calibrate;
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ModeData mode;
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InputData input;
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AnalyticsData analytics;
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PositionData position;
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AnglesData angles;
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I2CScanData i2c_scan;
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PeripheralSettingsData peripheral_settings;
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OTAStatusData ota_status;
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GaitData gait;
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ServoStateData servo_state;
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ServoPWMData servo_pwm;
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WifiSettingsData wifi_settings;
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SonarData sonar;
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RSSIData rssi;
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} message;
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} WebsocketMessage;
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Initializer values for message structs */
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#define IMUData_init_default {0, 0, 0, 0}
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#define IMUCalibrateData_init_default {0}
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#define ModeData_init_default {0}
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#define InputData_init_default {0}
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#define AnalyticsData_init_default {0}
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#define PositionData_init_default {0}
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#define AnglesData_init_default {{{NULL}, NULL}}
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#define I2CScanData_init_default {0}
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#define PeripheralSettingsData_init_default {0}
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#define OTAStatusData_init_default {0}
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#define GaitData_init_default {0}
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#define ServoStateData_init_default {0}
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#define ServoPWMData_init_default {0}
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#define WifiSettingsData_init_default {0}
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#define SonarData_init_default {0}
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#define RSSIData_init_default {0}
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#define WebsocketMessage_init_default {0, {IMUData_init_default}}
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#define IMUData_init_zero {0, 0, 0, 0}
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#define IMUCalibrateData_init_zero {0}
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#define ModeData_init_zero {0}
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#define InputData_init_zero {0}
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#define AnalyticsData_init_zero {0}
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#define PositionData_init_zero {0}
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#define AnglesData_init_zero {{{NULL}, NULL}}
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#define I2CScanData_init_zero {0}
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#define PeripheralSettingsData_init_zero {0}
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#define OTAStatusData_init_zero {0}
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#define GaitData_init_zero {0}
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#define ServoStateData_init_zero {0}
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#define ServoPWMData_init_zero {0}
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#define WifiSettingsData_init_zero {0}
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#define SonarData_init_zero {0}
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#define RSSIData_init_zero {0}
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#define WebsocketMessage_init_zero {0, {IMUData_init_zero}}
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/* Field tags (for use in manual encoding/decoding) */
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#define IMUData_x_tag 1
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#define IMUData_y_tag 2
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#define IMUData_z_tag 3
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#define IMUData_temp_tag 4
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#define ModeData_mode_tag 1
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#define AnglesData_angles_tag 1
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#define RSSIData_rssi_tag 1
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#define WebsocketMessage_imu_tag 10
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#define WebsocketMessage_imu_calibrate_tag 20
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#define WebsocketMessage_mode_tag 30
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#define WebsocketMessage_input_tag 40
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#define WebsocketMessage_analytics_tag 50
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#define WebsocketMessage_position_tag 60
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#define WebsocketMessage_angles_tag 70
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#define WebsocketMessage_i2c_scan_tag 80
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#define WebsocketMessage_peripheral_settings_tag 90
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#define WebsocketMessage_ota_status_tag 100
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#define WebsocketMessage_gait_tag 110
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#define WebsocketMessage_servo_state_tag 120
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#define WebsocketMessage_servo_pwm_tag 130
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#define WebsocketMessage_wifi_settings_tag 140
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#define WebsocketMessage_sonar_tag 150
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#define WebsocketMessage_rssi_tag 160
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/* Struct field encoding specification for nanopb */
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#define IMUData_FIELDLIST(X, a) \
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X(a, STATIC, SINGULAR, FLOAT, x, 1) \
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X(a, STATIC, SINGULAR, FLOAT, y, 2) \
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X(a, STATIC, SINGULAR, FLOAT, z, 3) \
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X(a, STATIC, SINGULAR, FLOAT, temp, 4)
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#define IMUData_CALLBACK NULL
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#define IMUData_DEFAULT NULL
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#define IMUCalibrateData_FIELDLIST(X, a) \
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#define IMUCalibrateData_CALLBACK NULL
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#define IMUCalibrateData_DEFAULT NULL
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#define ModeData_FIELDLIST(X, a) \
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X(a, STATIC, SINGULAR, INT32, mode, 1)
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#define ModeData_CALLBACK NULL
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#define ModeData_DEFAULT NULL
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#define InputData_FIELDLIST(X, a) \
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#define InputData_CALLBACK NULL
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#define InputData_DEFAULT NULL
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#define AnalyticsData_FIELDLIST(X, a) \
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#define AnalyticsData_CALLBACK NULL
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#define AnalyticsData_DEFAULT NULL
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#define PositionData_FIELDLIST(X, a) \
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#define PositionData_CALLBACK NULL
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#define PositionData_DEFAULT NULL
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#define AnglesData_FIELDLIST(X, a) \
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X(a, CALLBACK, REPEATED, FLOAT, angles, 1)
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#define AnglesData_CALLBACK pb_default_field_callback
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#define AnglesData_DEFAULT NULL
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#define I2CScanData_FIELDLIST(X, a) \
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#define I2CScanData_CALLBACK NULL
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#define I2CScanData_DEFAULT NULL
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#define PeripheralSettingsData_FIELDLIST(X, a) \
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#define PeripheralSettingsData_CALLBACK NULL
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#define PeripheralSettingsData_DEFAULT NULL
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#define OTAStatusData_FIELDLIST(X, a) \
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#define OTAStatusData_CALLBACK NULL
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#define OTAStatusData_DEFAULT NULL
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#define GaitData_FIELDLIST(X, a) \
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#define GaitData_CALLBACK NULL
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#define GaitData_DEFAULT NULL
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#define ServoStateData_FIELDLIST(X, a) \
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#define ServoStateData_CALLBACK NULL
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#define ServoStateData_DEFAULT NULL
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#define ServoPWMData_FIELDLIST(X, a) \
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#define ServoPWMData_CALLBACK NULL
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#define ServoPWMData_DEFAULT NULL
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#define WifiSettingsData_FIELDLIST(X, a) \
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#define WifiSettingsData_CALLBACK NULL
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#define WifiSettingsData_DEFAULT NULL
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#define SonarData_FIELDLIST(X, a) \
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#define SonarData_CALLBACK NULL
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#define SonarData_DEFAULT NULL
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#define RSSIData_FIELDLIST(X, a) \
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X(a, STATIC, SINGULAR, INT32, rssi, 1)
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#define RSSIData_CALLBACK NULL
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#define RSSIData_DEFAULT NULL
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#define WebsocketMessage_FIELDLIST(X, a) \
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X(a, STATIC, ONEOF, MESSAGE, (message,imu,message.imu), 10) \
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X(a, STATIC, ONEOF, MESSAGE, (message,imu_calibrate,message.imu_calibrate), 20) \
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X(a, STATIC, ONEOF, MESSAGE, (message,mode,message.mode), 30) \
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X(a, STATIC, ONEOF, MESSAGE, (message,input,message.input), 40) \
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X(a, STATIC, ONEOF, MESSAGE, (message,analytics,message.analytics), 50) \
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X(a, STATIC, ONEOF, MESSAGE, (message,position,message.position), 60) \
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X(a, STATIC, ONEOF, MESSAGE, (message,angles,message.angles), 70) \
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X(a, STATIC, ONEOF, MESSAGE, (message,i2c_scan,message.i2c_scan), 80) \
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X(a, STATIC, ONEOF, MESSAGE, (message,peripheral_settings,message.peripheral_settings), 90) \
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X(a, STATIC, ONEOF, MESSAGE, (message,ota_status,message.ota_status), 100) \
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X(a, STATIC, ONEOF, MESSAGE, (message,gait,message.gait), 110) \
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X(a, STATIC, ONEOF, MESSAGE, (message,servo_state,message.servo_state), 120) \
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X(a, STATIC, ONEOF, MESSAGE, (message,servo_pwm,message.servo_pwm), 130) \
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X(a, STATIC, ONEOF, MESSAGE, (message,wifi_settings,message.wifi_settings), 140) \
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X(a, STATIC, ONEOF, MESSAGE, (message,sonar,message.sonar), 150) \
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X(a, STATIC, ONEOF, MESSAGE, (message,rssi,message.rssi), 160)
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#define WebsocketMessage_CALLBACK NULL
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#define WebsocketMessage_DEFAULT NULL
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#define WebsocketMessage_message_imu_MSGTYPE IMUData
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#define WebsocketMessage_message_imu_calibrate_MSGTYPE IMUCalibrateData
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#define WebsocketMessage_message_mode_MSGTYPE ModeData
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#define WebsocketMessage_message_input_MSGTYPE InputData
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#define WebsocketMessage_message_analytics_MSGTYPE AnalyticsData
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#define WebsocketMessage_message_position_MSGTYPE PositionData
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#define WebsocketMessage_message_angles_MSGTYPE AnglesData
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#define WebsocketMessage_message_i2c_scan_MSGTYPE I2CScanData
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#define WebsocketMessage_message_peripheral_settings_MSGTYPE PeripheralSettingsData
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#define WebsocketMessage_message_ota_status_MSGTYPE OTAStatusData
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#define WebsocketMessage_message_gait_MSGTYPE GaitData
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||||
#define WebsocketMessage_message_servo_state_MSGTYPE ServoStateData
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||||
#define WebsocketMessage_message_servo_pwm_MSGTYPE ServoPWMData
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||||
#define WebsocketMessage_message_wifi_settings_MSGTYPE WifiSettingsData
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||||
#define WebsocketMessage_message_sonar_MSGTYPE SonarData
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||||
#define WebsocketMessage_message_rssi_MSGTYPE RSSIData
|
||||
|
||||
extern const pb_msgdesc_t IMUData_msg;
|
||||
extern const pb_msgdesc_t IMUCalibrateData_msg;
|
||||
extern const pb_msgdesc_t ModeData_msg;
|
||||
extern const pb_msgdesc_t InputData_msg;
|
||||
extern const pb_msgdesc_t AnalyticsData_msg;
|
||||
extern const pb_msgdesc_t PositionData_msg;
|
||||
extern const pb_msgdesc_t AnglesData_msg;
|
||||
extern const pb_msgdesc_t I2CScanData_msg;
|
||||
extern const pb_msgdesc_t PeripheralSettingsData_msg;
|
||||
extern const pb_msgdesc_t OTAStatusData_msg;
|
||||
extern const pb_msgdesc_t GaitData_msg;
|
||||
extern const pb_msgdesc_t ServoStateData_msg;
|
||||
extern const pb_msgdesc_t ServoPWMData_msg;
|
||||
extern const pb_msgdesc_t WifiSettingsData_msg;
|
||||
extern const pb_msgdesc_t SonarData_msg;
|
||||
extern const pb_msgdesc_t RSSIData_msg;
|
||||
extern const pb_msgdesc_t WebsocketMessage_msg;
|
||||
|
||||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
|
||||
#define IMUData_fields &IMUData_msg
|
||||
#define IMUCalibrateData_fields &IMUCalibrateData_msg
|
||||
#define ModeData_fields &ModeData_msg
|
||||
#define InputData_fields &InputData_msg
|
||||
#define AnalyticsData_fields &AnalyticsData_msg
|
||||
#define PositionData_fields &PositionData_msg
|
||||
#define AnglesData_fields &AnglesData_msg
|
||||
#define I2CScanData_fields &I2CScanData_msg
|
||||
#define PeripheralSettingsData_fields &PeripheralSettingsData_msg
|
||||
#define OTAStatusData_fields &OTAStatusData_msg
|
||||
#define GaitData_fields &GaitData_msg
|
||||
#define ServoStateData_fields &ServoStateData_msg
|
||||
#define ServoPWMData_fields &ServoPWMData_msg
|
||||
#define WifiSettingsData_fields &WifiSettingsData_msg
|
||||
#define SonarData_fields &SonarData_msg
|
||||
#define RSSIData_fields &RSSIData_msg
|
||||
#define WebsocketMessage_fields &WebsocketMessage_msg
|
||||
|
||||
/* Maximum encoded size of messages (where known) */
|
||||
/* AnglesData_size depends on runtime parameters */
|
||||
/* WebsocketMessage_size depends on runtime parameters */
|
||||
#define AnalyticsData_size 0
|
||||
#define GaitData_size 0
|
||||
#define I2CScanData_size 0
|
||||
#define IMUCalibrateData_size 0
|
||||
#define IMUData_size 20
|
||||
#define InputData_size 0
|
||||
#define ModeData_size 11
|
||||
#define OTAStatusData_size 0
|
||||
#define PLATFORM_SHARED_WEBSOCKET_MESSAGE_PB_H_MAX_SIZE IMUData_size
|
||||
#define PeripheralSettingsData_size 0
|
||||
#define PositionData_size 0
|
||||
#define RSSIData_size 11
|
||||
#define ServoPWMData_size 0
|
||||
#define ServoStateData_size 0
|
||||
#define SonarData_size 0
|
||||
#define WifiSettingsData_size 0
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -1,13 +0,0 @@
|
||||
syntax = "proto3";
|
||||
|
||||
|
||||
enum IMUType {
|
||||
IMU_NONE = 0;
|
||||
IMU_ACCEL = 1;
|
||||
IMU_GYRO = 2;
|
||||
}
|
||||
|
||||
message IMUReport {
|
||||
IMUType type = 1;
|
||||
double x_val = 2;
|
||||
}
|
||||
@@ -0,0 +1,49 @@
|
||||
syntax = "proto3";
|
||||
|
||||
// Individual message data types
|
||||
message IMUData {
|
||||
float x = 1;
|
||||
float y = 2;
|
||||
float z = 3;
|
||||
float temp = 4;
|
||||
}
|
||||
|
||||
message IMUCalibrateData {}
|
||||
message ModeData { int32 mode = 1; }
|
||||
message InputData {}
|
||||
message AnalyticsData {}
|
||||
message PositionData {}
|
||||
message AnglesData { repeated float angles = 1; }
|
||||
message I2CScanData {}
|
||||
message PeripheralSettingsData {}
|
||||
message OTAStatusData {}
|
||||
message GaitData {}
|
||||
message ServoStateData {}
|
||||
message ServoPWMData {}
|
||||
message WifiSettingsData {}
|
||||
message SonarData {}
|
||||
message RSSIData { int32 rssi = 1; }
|
||||
|
||||
|
||||
// WebSocket message wrapper
|
||||
// Only ONE field will be set at a time (oneof ensures this)
|
||||
message WebsocketMessage {
|
||||
oneof message {
|
||||
IMUData imu = 10;
|
||||
IMUCalibrateData imu_calibrate = 20;
|
||||
ModeData mode = 30;
|
||||
InputData input = 40;
|
||||
AnalyticsData analytics = 50;
|
||||
PositionData position = 60;
|
||||
AnglesData angles = 70;
|
||||
I2CScanData i2c_scan = 80;
|
||||
PeripheralSettingsData peripheral_settings = 90;
|
||||
OTAStatusData ota_status = 100;
|
||||
GaitData gait = 110;
|
||||
ServoStateData servo_state = 120;
|
||||
ServoPWMData servo_pwm = 130;
|
||||
WifiSettingsData wifi_settings = 140;
|
||||
SonarData sonar = 150;
|
||||
RSSIData rssi = 160;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user