Start of svelte socket rewrite

app/src/lib/stores/socket.ts

@@ -1,30 +1,38 @@
 import { writable } from 'svelte/store'
 import { encode, decode } from '@msgpack/msgpack'
+import { WebsocketMessage } from '$lib/platform_shared/websocket_message'
 
 const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const
 type SocketEvent = (typeof socketEvents)[number]
 
-type SocketMessage = [string, ArrayBuffer]
+type TaggedSocketMessage = [string, WebsocketMessage]
 
 let useBinary = false
 
 
 
-const decodeMessage = (data: ArrayBuffer): SocketMessage | null => {
+const decodeMessage = (data: ArrayBuffer): TaggedSocketMessage => {
 
-    try {
+    const decoded = WebsocketMessage.decode(new Uint8Array(data));
-        const view = new Uint8Array(data);
+    const values = Object.entries(decoded).filter(([, value]) => value !== undefined) // Filter all values which are not undefined
-        let comma_index: number = 0;
+    if (values.length != 1) {
-        let tag: string = "";
+        throw new Error("Message included either 0 or more than 1 data point")
-        for (comma_index = 0; view[comma_index] != 0x2c; comma_index++) { // 0x2c is the ascii code for a comma!
-            tag += String.fromCharCode(view[comma_index]);
-            if (comma_index >= data.byteLength) { throw new RangeError("Comma index exceeded")}
     }
+    const [tag, value] = values[0]
+    return [tag, decoded]
+    // try {
+    //     const view = new Uint8Array(data);
+    //     let comma_index: number = 0;
+    //     let tag: string = "";
+    //     for (comma_index = 0; view[comma_index] != 0x2c; comma_index++) { // 0x2c is the ascii code for a comma!
+    //         tag += String.fromCharCode(view[comma_index]);
+    //         if (comma_index >= data.byteLength) { throw new RangeError("Comma index exceeded")}
+    //     }
 
-        return [ tag, data.slice(comma_index+1) ]
+    //     return [ tag, data.slice(comma_index+1) ]
-    } catch (error) {
+    // } catch (error) {
-        console.error(`Could not decode data: ${new Uint8Array(data as ArrayBuffer)} - ${error}`)
+    //     console.error(`Could not decode data: ${new Uint8Array(data as ArrayBuffer)} - ${error}`)
-    }
+    // }
     return null
 }
 
@@ -76,10 +84,8 @@ function createWebSocket() {
         }
         ws.onmessage = frame => {
             resetUnresponsiveCheck()
-            const message = decodeMessage(frame.data)
+            const [tag, message] = decodeMessage(frame.data)
-            if (!message) return
+            if (tag) listeners.get(tag)?.forEach(listener => listener(message))
-            const [event, payload] = message
-            if (event) listeners.get(event)?.forEach(listener => listener(payload))
         }
         ws.onerror = ev => disconnect('error', ev)
         ws.onclose = ev => disconnect('close', ev)
@@ -143,6 +149,11 @@ function createWebSocket() {
         sendEvent,
         init,
         on: <T>(event: string, listener: (data: T) => void): (() => void) => {
+
+            if (event !in Object.keys(WebsocketMessage.create())) {
+                throw new Error("Event not found in 'WebsocketMessage' type, message can never be decoded, and the listener has not been added");
+            }
+
             let eventListeners = listeners.get(event)
             if (!eventListeners) {
                 if (!socketEvents.includes(event as SocketEvent)) {

compile_proto_TEMP

@@ -5,6 +5,16 @@ Make sure to actually create the output directories before executing the command
 TS:
 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"
 
+NEW TS (USING PROTOBUFJS):
+cd app
+pnpm install protobufjs-cli
+pnpm install -D protobufjs-cli
+pnpm exec pbjs -t static-module -w es6 -o src\lib\platform_shared\compiled.js ..\platform_shared\websocket_message.proto
+pnpm exec pbts -o src\lib\platform_shared\compiled.d.ts src\lib\platform_shared\compiled.js
+
+pnpm exec pbjs -t json-module -o src\lib\platform_shared\compiled.d.json ..\platform_shared\websocket_message.proto
+
+
 C++:
 protoc -I=platform_shared --cpp_out=esp32/src/platform_shared platform_shared/example.proto
 

esp32/src/platform_shared/websocket_message.pb.c

@@ -0,0 +1,60 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-1.0.0-dev */
+
+#include "platform_shared/websocket_message.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(IMUData, IMUData, AUTO)
+
+
+PB_BIND(IMUCalibrateData, IMUCalibrateData, AUTO)
+
+
+PB_BIND(ModeData, ModeData, AUTO)
+
+
+PB_BIND(InputData, InputData, AUTO)
+
+
+PB_BIND(AnalyticsData, AnalyticsData, AUTO)
+
+
+PB_BIND(PositionData, PositionData, AUTO)
+
+
+PB_BIND(AnglesData, AnglesData, AUTO)
+
+
+PB_BIND(I2CScanData, I2CScanData, AUTO)
+
+
+PB_BIND(PeripheralSettingsData, PeripheralSettingsData, AUTO)
+
+
+PB_BIND(OTAStatusData, OTAStatusData, AUTO)
+
+
+PB_BIND(GaitData, GaitData, AUTO)
+
+
+PB_BIND(ServoStateData, ServoStateData, AUTO)
+
+
+PB_BIND(ServoPWMData, ServoPWMData, AUTO)
+
+
+PB_BIND(WifiSettingsData, WifiSettingsData, AUTO)
+
+
+PB_BIND(SonarData, SonarData, AUTO)
+
+
+PB_BIND(RSSIData, RSSIData, AUTO)
+
+
+PB_BIND(WebsocketMessage, WebsocketMessage, 2)
+
+
+

esp32/src/platform_shared/websocket_message.pb.h

@@ -0,0 +1,352 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-1.0.0-dev */
+
+#ifndef PB_PLATFORM_SHARED_WEBSOCKET_MESSAGE_PB_H_INCLUDED
+#define PB_PLATFORM_SHARED_WEBSOCKET_MESSAGE_PB_H_INCLUDED
+#include <pb.h>
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+/* Individual message data types */
+typedef struct _IMUData {
+    float x;
+    float y;
+    float z;
+    float temp;
+} IMUData;
+
+typedef struct _IMUCalibrateData {
+    char dummy_field;
+} IMUCalibrateData;
+
+typedef struct _ModeData {
+    int32_t mode;
+} ModeData;
+
+typedef struct _InputData {
+    char dummy_field;
+} InputData;
+
+typedef struct _AnalyticsData {
+    char dummy_field;
+} AnalyticsData;
+
+typedef struct _PositionData {
+    char dummy_field;
+} PositionData;
+
+typedef struct _AnglesData {
+    pb_callback_t angles;
+} AnglesData;
+
+typedef struct _I2CScanData {
+    char dummy_field;
+} I2CScanData;
+
+typedef struct _PeripheralSettingsData {
+    char dummy_field;
+} PeripheralSettingsData;
+
+typedef struct _OTAStatusData {
+    char dummy_field;
+} OTAStatusData;
+
+typedef struct _GaitData {
+    char dummy_field;
+} GaitData;
+
+typedef struct _ServoStateData {
+    char dummy_field;
+} ServoStateData;
+
+typedef struct _ServoPWMData {
+    char dummy_field;
+} ServoPWMData;
+
+typedef struct _WifiSettingsData {
+    char dummy_field;
+} WifiSettingsData;
+
+typedef struct _SonarData {
+    char dummy_field;
+} SonarData;
+
+typedef struct _RSSIData {
+    int32_t rssi;
+} RSSIData;
+
+/* WebSocket message wrapper
+ Only ONE field will be set at a time (oneof ensures this) */
+typedef struct _WebsocketMessage {
+    pb_size_t which_message;
+    union _WebsocketMessage_message {
+        IMUData imu;
+        IMUCalibrateData imu_calibrate;
+        ModeData mode;
+        InputData input;
+        AnalyticsData analytics;
+        PositionData position;
+        AnglesData angles;
+        I2CScanData i2c_scan;
+        PeripheralSettingsData peripheral_settings;
+        OTAStatusData ota_status;
+        GaitData gait;
+        ServoStateData servo_state;
+        ServoPWMData servo_pwm;
+        WifiSettingsData wifi_settings;
+        SonarData sonar;
+        RSSIData rssi;
+    } message;
+} WebsocketMessage;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define IMUData_init_default                     {0, 0, 0, 0}
+#define IMUCalibrateData_init_default            {0}
+#define ModeData_init_default                    {0}
+#define InputData_init_default                   {0}
+#define AnalyticsData_init_default               {0}
+#define PositionData_init_default                {0}
+#define AnglesData_init_default                  {{{NULL}, NULL}}
+#define I2CScanData_init_default                 {0}
+#define PeripheralSettingsData_init_default      {0}
+#define OTAStatusData_init_default               {0}
+#define GaitData_init_default                    {0}
+#define ServoStateData_init_default              {0}
+#define ServoPWMData_init_default                {0}
+#define WifiSettingsData_init_default            {0}
+#define SonarData_init_default                   {0}
+#define RSSIData_init_default                    {0}
+#define WebsocketMessage_init_default            {0, {IMUData_init_default}}
+#define IMUData_init_zero                        {0, 0, 0, 0}
+#define IMUCalibrateData_init_zero               {0}
+#define ModeData_init_zero                       {0}
+#define InputData_init_zero                      {0}
+#define AnalyticsData_init_zero                  {0}
+#define PositionData_init_zero                   {0}
+#define AnglesData_init_zero                     {{{NULL}, NULL}}
+#define I2CScanData_init_zero                    {0}
+#define PeripheralSettingsData_init_zero         {0}
+#define OTAStatusData_init_zero                  {0}
+#define GaitData_init_zero                       {0}
+#define ServoStateData_init_zero                 {0}
+#define ServoPWMData_init_zero                   {0}
+#define WifiSettingsData_init_zero               {0}
+#define SonarData_init_zero                      {0}
+#define RSSIData_init_zero                       {0}
+#define WebsocketMessage_init_zero               {0, {IMUData_init_zero}}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define IMUData_x_tag                            1
+#define IMUData_y_tag                            2
+#define IMUData_z_tag                            3
+#define IMUData_temp_tag                         4
+#define ModeData_mode_tag                        1
+#define AnglesData_angles_tag                    1
+#define RSSIData_rssi_tag                        1
+#define WebsocketMessage_imu_tag                 10
+#define WebsocketMessage_imu_calibrate_tag       20
+#define WebsocketMessage_mode_tag                30
+#define WebsocketMessage_input_tag               40
+#define WebsocketMessage_analytics_tag           50
+#define WebsocketMessage_position_tag            60
+#define WebsocketMessage_angles_tag              70
+#define WebsocketMessage_i2c_scan_tag            80
+#define WebsocketMessage_peripheral_settings_tag 90
+#define WebsocketMessage_ota_status_tag          100
+#define WebsocketMessage_gait_tag                110
+#define WebsocketMessage_servo_state_tag         120
+#define WebsocketMessage_servo_pwm_tag           130
+#define WebsocketMessage_wifi_settings_tag       140
+#define WebsocketMessage_sonar_tag               150
+#define WebsocketMessage_rssi_tag                160
+
+/* Struct field encoding specification for nanopb */
+#define IMUData_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, FLOAT,    x,                 1) \
+X(a, STATIC,   SINGULAR, FLOAT,    y,                 2) \
+X(a, STATIC,   SINGULAR, FLOAT,    z,                 3) \
+X(a, STATIC,   SINGULAR, FLOAT,    temp,              4)
+#define IMUData_CALLBACK NULL
+#define IMUData_DEFAULT NULL
+
+#define IMUCalibrateData_FIELDLIST(X, a) \
+
+#define IMUCalibrateData_CALLBACK NULL
+#define IMUCalibrateData_DEFAULT NULL
+
+#define ModeData_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    mode,              1)
+#define ModeData_CALLBACK NULL
+#define ModeData_DEFAULT NULL
+
+#define InputData_FIELDLIST(X, a) \
+
+#define InputData_CALLBACK NULL
+#define InputData_DEFAULT NULL
+
+#define AnalyticsData_FIELDLIST(X, a) \
+
+#define AnalyticsData_CALLBACK NULL
+#define AnalyticsData_DEFAULT NULL
+
+#define PositionData_FIELDLIST(X, a) \
+
+#define PositionData_CALLBACK NULL
+#define PositionData_DEFAULT NULL
+
+#define AnglesData_FIELDLIST(X, a) \
+X(a, CALLBACK, REPEATED, FLOAT,    angles,            1)
+#define AnglesData_CALLBACK pb_default_field_callback
+#define AnglesData_DEFAULT NULL
+
+#define I2CScanData_FIELDLIST(X, a) \
+
+#define I2CScanData_CALLBACK NULL
+#define I2CScanData_DEFAULT NULL
+
+#define PeripheralSettingsData_FIELDLIST(X, a) \
+
+#define PeripheralSettingsData_CALLBACK NULL
+#define PeripheralSettingsData_DEFAULT NULL
+
+#define OTAStatusData_FIELDLIST(X, a) \
+
+#define OTAStatusData_CALLBACK NULL
+#define OTAStatusData_DEFAULT NULL
+
+#define GaitData_FIELDLIST(X, a) \
+
+#define GaitData_CALLBACK NULL
+#define GaitData_DEFAULT NULL
+
+#define ServoStateData_FIELDLIST(X, a) \
+
+#define ServoStateData_CALLBACK NULL
+#define ServoStateData_DEFAULT NULL
+
+#define ServoPWMData_FIELDLIST(X, a) \
+
+#define ServoPWMData_CALLBACK NULL
+#define ServoPWMData_DEFAULT NULL
+
+#define WifiSettingsData_FIELDLIST(X, a) \
+
+#define WifiSettingsData_CALLBACK NULL
+#define WifiSettingsData_DEFAULT NULL
+
+#define SonarData_FIELDLIST(X, a) \
+
+#define SonarData_CALLBACK NULL
+#define SonarData_DEFAULT NULL
+
+#define RSSIData_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    rssi,              1)
+#define RSSIData_CALLBACK NULL
+#define RSSIData_DEFAULT NULL
+
+#define WebsocketMessage_FIELDLIST(X, a) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,imu,message.imu),  10) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,imu_calibrate,message.imu_calibrate),  20) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,mode,message.mode),  30) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,input,message.input),  40) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,analytics,message.analytics),  50) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,position,message.position),  60) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,angles,message.angles),  70) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,i2c_scan,message.i2c_scan),  80) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,peripheral_settings,message.peripheral_settings),  90) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,ota_status,message.ota_status), 100) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,gait,message.gait), 110) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,servo_state,message.servo_state), 120) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,servo_pwm,message.servo_pwm), 130) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,wifi_settings,message.wifi_settings), 140) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,sonar,message.sonar), 150) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,rssi,message.rssi), 160)
+#define WebsocketMessage_CALLBACK NULL
+#define WebsocketMessage_DEFAULT NULL
+#define WebsocketMessage_message_imu_MSGTYPE IMUData
+#define WebsocketMessage_message_imu_calibrate_MSGTYPE IMUCalibrateData
+#define WebsocketMessage_message_mode_MSGTYPE ModeData
+#define WebsocketMessage_message_input_MSGTYPE InputData
+#define WebsocketMessage_message_analytics_MSGTYPE AnalyticsData
+#define WebsocketMessage_message_position_MSGTYPE PositionData
+#define WebsocketMessage_message_angles_MSGTYPE AnglesData
+#define WebsocketMessage_message_i2c_scan_MSGTYPE I2CScanData
+#define WebsocketMessage_message_peripheral_settings_MSGTYPE PeripheralSettingsData
+#define WebsocketMessage_message_ota_status_MSGTYPE OTAStatusData
+#define WebsocketMessage_message_gait_MSGTYPE GaitData
+#define WebsocketMessage_message_servo_state_MSGTYPE ServoStateData
+#define WebsocketMessage_message_servo_pwm_MSGTYPE ServoPWMData
+#define WebsocketMessage_message_wifi_settings_MSGTYPE WifiSettingsData
+#define WebsocketMessage_message_sonar_MSGTYPE SonarData
+#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

platform_shared/example.proto

@@ -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;
-}

platform_shared/websocket_message.proto

@@ -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;
+    }
+}