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♻️ Moves throttling to socket out

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This commit is contained in:
Rune Harlyk
2026-01-02 23:07:44 +01:00
parent 21bd4fa837
commit 4da929a6de
6 changed files with 34 additions and 45 deletions
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app/src/lib/components/Visualization.svelte
+11 -15
View File
@@ -14,7 +14,7 @@
kinematicData,
mode,
model,
outControllerData,
input,
servoAnglesOut,
servoAngles,
mpu,
@@ -23,7 +23,7 @@
walkGait,
walkGaitToMode
} from '$lib/stores'
import { populateModelCache, throttler, getToeWorldPositions } from '$lib/utilities'
import { populateModelCache, getToeWorldPositions } from '$lib/utilities'
import SceneBuilder from '$lib/sceneBuilder'
import { lerp, degToRad } from 'three/src/math/MathUtils'
import { GUI } from 'three/addons/libs/lil-gui.module.min.js'
@@ -55,7 +55,6 @@
let currentModelAngles: number[] = new Array(12).fill(0)
let modelTargetAngles: number[] = new Array(12).fill(0)
let gui_panel: GUI
let Throttler = new throttler()
let target: Object3D<Object3DEventMap>
@@ -169,10 +168,7 @@
const updateAngles = (name: string, angle: number) => {
modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI)
Throttler.throttle(
() => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))),
100
)
servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num)))
}
const createScene = async () => {
@@ -275,15 +271,15 @@
const update_gait = () => {
if (sceneManager.isDragging || !settings['Internal kinematic']) return
const controlData = get(outControllerData)
const controlData = get(input)
const data = {
lx: controlData[0],
ly: controlData[1],
rx: controlData[2],
ry: controlData[3],
h: controlData[4],
s: controlData[5],
s1: controlData[6]
lx: controlData.left.x,
ly: controlData.left.y,
rx: controlData.right.x,
ry: controlData.right.y,
h: controlData.height,
s: controlData.speed,
s1: controlData.s1
}
let planner = planners[get(mode)]
app/src/lib/utilities/buffer-utilities.ts
+1 -1
View File
@@ -1,4 +1,4 @@
export class throttler {
export class Throttler {
private _throttlePause: boolean
constructor() {
this._throttlePause = false
app/src/routes/+layout.svelte
+15 -4
View File
@@ -14,7 +14,7 @@
ModesEnum,
kinematicData,
mode,
outControllerData,
input,
servoAngles,
servoAnglesOut,
socket,
@@ -24,6 +24,7 @@
} from '$lib/stores'
import { type Analytics, type DownloadOTA } from '$lib/types/models'
import { MessageTopic } from '$lib/types/models'
import { Throttler } from '$lib/utilities'
interface Props {
children?: import('svelte').Snippet
@@ -32,6 +33,7 @@
let { children }: Props = $props()
const features = useFeatureFlags()
const throttler = new Throttler()
onMount(async () => {
const ws = $apiLocation ? $apiLocation : window.location.host
@@ -39,11 +41,20 @@
addEventListeners()
outControllerData.subscribe(data => socket.sendEvent(MessageTopic.input, data))
input.subscribe(data =>
socket.sendEvent(
MessageTopic.input,
throttler.throttle(() => Object.values(data), 40)
)
)
mode.subscribe(data => socket.sendEvent(MessageTopic.mode, data))
walkGait.subscribe(data => socket.sendEvent(MessageTopic.gait, data))
servoAnglesOut.subscribe(data => socket.sendEvent(MessageTopic.angles, data))
kinematicData.subscribe(data => socket.sendEvent(MessageTopic.position, data))
servoAnglesOut.subscribe(data =>
throttler.throttle(() => socket.sendEvent(MessageTopic.angles, data), 100)
)
kinematicData.subscribe(data =>
throttler.throttle(() => socket.sendEvent(MessageTopic.position, data), 100)
)
})
onDestroy(() => {
app/src/routes/controller/Controls.svelte
+3 -21
View File
@@ -1,10 +1,9 @@
<script lang="ts">
import nipplejs from 'nipplejs'
import { onMount } from 'svelte'
import { capitalize, throttler } from '$lib/utilities'
import { capitalize } from '$lib/utilities'
import {
input,
outControllerData,
mode,
modes,
type Modes,
@@ -18,11 +17,9 @@
import { gamepadAxes, gamepadButtonsEdges, hasGamepad } from '$lib/stores/gamepad'
import { notifications } from '$lib/components/toasts/notifications'
let throttle = new throttler()
let left: nipplejs.JoystickManager
let right: nipplejs.JoystickManager
let throttle_timing = 40
let data = new Array(7)
$effect(() => {
@@ -46,12 +43,12 @@
if (b[3]?.justPressed) mode.set(0)
if (b[12]?.justPressed)
input.update(inputData => {
inputData['height'] = Math.min(inputData.height + 0.1, 1)
inputData.height = Math.min(inputData.height + 0.1, 1)
return inputData
})
if (b[13]?.justPressed)
input.update(inputData => {
inputData['height'] = Math.min(inputData.height - 0.1, 1)
inputData.height = Math.min(inputData.height - 0.1, 1)
return inputData
})
})
@@ -84,19 +81,6 @@
inputData[key] = data
return inputData
})
throttle.throttle(updateData, throttle_timing)
}
const updateData = () => {
data[0] = $input.left.x
data[1] = $input.left.y
data[2] = $input.right.x
data[3] = $input.right.y
data[4] = $input.height
data[5] = $input.speed
data[6] = $input.s1
outControllerData.set(data)
}
const handleKeyup = (event: KeyboardEvent) => {
@@ -110,7 +94,6 @@
if (event.key === 'ArrowRight') data.right.x = down ? -1 : 0
return data
})
throttle.throttle(updateData, throttle_timing)
}
const handleRange = (event: Event, key: 'speed' | 'height' | 's1') => {
@@ -120,7 +103,6 @@
inputData[key] = value
return inputData
})
throttle.throttle(updateData, throttle_timing)
}
const changeMode = (modeValue: Modes) => {
app/src/routes/peripherals/servo/servos.svelte
+1 -1
View File
@@ -1,7 +1,7 @@
<script lang="ts">
import { socket } from '$lib/stores'
import { MessageTopic } from '$lib/types/models'
import { throttler as Throttler } from '$lib/utilities'
import { Throttler } from '$lib/utilities'
let { servoId = $bindable(0), pwm = $bindable(306) } = $props()