Minor change to new message formats. LONG WAY TO GO

app/src/lib/types/models.ts

@@ -1,21 +1,3 @@
-export enum MessageTopic {
-    imu = 'imu',
-    imuCalibrate = 'imuCalibrate',
-    mode = 'mode',
-    input = 'input',
-    analytics = 'analytics',
-    position = 'position',
-    angles = 'angles',
-    i2cScan = 'i2cScan',
-    peripheralSettings = 'peripheralSettings',
-    otastatus = 'otastatus',
-    gait = 'walk_gait',
-    servoState = 'servoState',
-    servoPWM = 'servoPWM',
-    WiFiSettings = 'WiFiSettings',
-    sonar = 'sonar',
-    rssi = 'rssi'
-}
 
 export type vector = { x: number; y: number }
 

app/src/routes/+layout.svelte

@@ -23,8 +23,14 @@
         walkGait
     } from '$lib/stores'
     import { type Analytics, type DownloadOTA } from '$lib/types/models'
-    import { MessageTopic } from '$lib/types/models'
     import { Throttler } from '$lib/utilities'
+    import {
+        AnglesData,
+        GaitData,
+        InputData,
+        ModeData,
+        PositionData
+    } from '$lib/platform_shared/websocket_message'
 
     interface Props {
         children?: import('svelte').Snippet
@@ -41,20 +47,11 @@
 
         addEventListeners()
 
-        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 =>
-            throttler.throttle(() => socket.sendEvent(MessageTopic.angles, data), 100)
-        )
-        kinematicData.subscribe(data =>
-            throttler.throttle(() => socket.sendEvent(MessageTopic.position, data), 100)
-        )
+        input.subscribe(data => socket.sendEvent(InputData, InputData.create()))
+        mode.subscribe(data => socket.sendEvent(ModeData, data))
+        walkGait.subscribe(data => socket.sendEvent(GaitData, data))
+        servoAnglesOut.subscribe(data => socket.sendEvent(AnglesData, data))
+        kinematicData.subscribe(data => socket.sendEvent(PositionData, data))
     })
 
     onDestroy(() => {

app/src/routes/peripherals/i2c/i2c.svelte

@@ -2,9 +2,10 @@
     import SettingsCard from '$lib/components/SettingsCard.svelte'
     import { onMount } from 'svelte'
     import { socket } from '$lib/stores'
-    import { MessageTopic, type I2CDevice } from '$lib/types/models'
+    import { type I2CDevice } from '$lib/types/models'
     import { Connection } from '$lib/components/icons'
     import I2CSetting from './i2cSetting.svelte'
+    import { I2CScanData } from '$lib/platform_shared/websocket_message'
 
     const i2cDevices = [
         { address: 30, part_number: 'HMC5883', name: '3-Axis Digital Compass/Magnetometer IC' },
@@ -25,9 +26,9 @@
     let isLoading = $state(false)
 
     onMount(() => {
-        socket.on(MessageTopic.i2cScan, handleScan)
+        socket.on(I2CScanData, handleScan)
         triggerScan()
-        return () => socket.off(MessageTopic.i2cScan, handleScan)
+        return () => socket.off(I2CScanData, handleScan)
     })
 
     const handleScan = (data: { addresses: number[] }) => {
@@ -44,7 +45,7 @@
 
     const triggerScan = () => {
         isLoading = true
-        socket.sendEvent(MessageTopic.i2cScan, '')
+        socket.sendEvent(I2CScanData, '')
     }
 </script>
 

app/src/routes/peripherals/servo/servos.svelte

@@ -1,6 +1,6 @@
 <script lang="ts">
+    import { ServoPWMData, ServoStateData } from '$lib/platform_shared/websocket_message'
     import { socket } from '$lib/stores'
-    import { MessageTopic } from '$lib/types/models'
     import { Throttler } from '$lib/utilities'
 
     let { servoId = $bindable(0), pwm = $bindable(306) } = $props()
@@ -12,16 +12,16 @@
     const throttler = new Throttler()
 
     const activateServo = () => {
-        socket.sendEvent(MessageTopic.servoState, { active: 1 })
+        socket.sendEvent(ServoStateData, { active: 1 })
     }
 
     const deactivateServo = () => {
-        socket.sendEvent(MessageTopic.servoState, { active: 0 })
+        socket.sendEvent(ServoStateData, { active: 0 })
     }
 
     const updatePWM = () => {
         throttler.throttle(() => {
-            socket.sendEvent(MessageTopic.servoPWM, { servo_id: servoId, pwm })
+            socket.sendEvent(ServoPWMData, { servo_id: servoId, pwm })
         }, 10)
     }
 

app/src/routes/prototest/+page.svelte

@@ -1,6 +1,11 @@
+
 <script lang="ts">
+    import { onMount } from 'svelte'
+    import { socket } from '$lib/stores'
+
+
 	//import { IMUReport, IMUType } from '$lib/platform_shared/example';
-    import { AnglesData, WebsocketMessage } from '$lib/platform_shared/websocket_message'
+    import { AnglesData, WebsocketMessage, IMUData } from '$lib/platform_shared/websocket_message'
 
 	// const imu_report: IMUReport = {type: IMUType.IMU_ACCEL, xVal: 4}
 	// const writer = IMUReport.encode(imu_report);
@@ -40,8 +45,21 @@
     //     console.log("True2!")
     // }
 
+    const handleData = (data: IMUData) => {
+        
+        console.log(data);
+    }
+    onMount(() => {
+        
+        
+        socket.on(IMUData, handleData)
+        return () => socket.off(IMUData, handleData)
+    })
+
 </script>
 
+
+
 <h1>Hexadecimal Output</h1>
 
 <p><strong>Hex output:</strong> {hex}</p>

app/tests/unit/socket.spec.ts

@@ -1,7 +1,7 @@
 import { describe, it, expect, beforeEach, afterEach } from 'vitest'
 import { WebSocketServer } from 'ws'
 import { socket } from '../../src/lib/stores/socket'
-import { IMUData, RSSIData, WebsocketMessage, WebsocketMessage } from '../../src/lib/platform_shared/websocket_message'
+import { IMUData, RSSIData, WebsocketMessage } from '../../src/lib/platform_shared/websocket_message'
 
 // Helper function to create encoded WebSocket messages
 function createEncodedMessage(messageType: 'imu' | 'rssi' | 'mode', data: any): Uint8Array {