🚚 Rename websocket_message to messages

.github/workflows/embedded-build.yml

@@ -19,7 +19,7 @@ jobs:
     steps:
       - uses: actions/checkout@v3
         with:
-          submodules: 'recursive'
+          submodules: "recursive"
       - uses: actions/cache@v3
         with:
           path: |
@@ -34,13 +34,11 @@ jobs:
       - name: Install PlatformIO Core
         run: pip install --upgrade platformio
 
-
       - name: Install Python dependencies for nanopb
         run: pip install protobuf grpcio-tools
 
       - name: Build Protocol Buffers (nanopb)
-        run: python ./submodules/nanopb/generator/nanopb_generator.py -I "./platform_shared/" -D esp32/src/platform_shared ./platform_shared/websocket_message.proto ./platform_shared/rest_message.proto
+        run: python ./submodules/nanopb/generator/nanopb_generator.py -I "./platform_shared/" -D esp32/src/platform_shared ./platform_shared/message.proto
-
 
       - name: Build PlatformIO Project
         run: pio run

.github/workflows/proto-build.yml

@@ -2,10 +2,9 @@ name: Proto Build
 
 on:
   push:
-    branches: [ master, protobuf-playground ]
+    branches: [master, protobuf-playground]
   pull_request:
-    branches: [ master, protobuf-playground ]
+    branches: [master, protobuf-playground]
-
 
 jobs:
   build:
@@ -20,7 +19,7 @@ jobs:
       - name: Checkout code
         uses: actions/checkout@v4
         with:
-          submodules: 'recursive'
+          submodules: "recursive"
 
       - name: Setup Python
         uses: actions/setup-python@v4
@@ -31,7 +30,7 @@ jobs:
         run: pip install protobuf grpcio-tools
 
       - name: Build Protocol Buffers (nanopb)
-        run: python ./submodules/nanopb/generator/nanopb_generator.py -I "./platform_shared/" -D esp32/src/platform_shared ./platform_shared/websocket_message.proto ./platform_shared/rest_message.proto
+        run: python ./submodules/nanopb/generator/nanopb_generator.py -I "./platform_shared/" -D esp32/src/platform_shared ./platform_shared/message.proto
 
       - name: Setup Protocol Buffers compiler
         uses: arduino/setup-protoc@v3
@@ -57,4 +56,4 @@ jobs:
 
       - name: Build Protocol Buffers (Typescript)
         run: pnpm proto
-        working-directory: ./app
+        working-directory: ./app

app/scripts/compile_protos.js

@@ -17,7 +17,7 @@ const pluginPath =
         path.join(projectRoot, 'node_modules', '.bin', 'protoc-gen-ts_proto.cmd')
     :   path.join(projectRoot, 'node_modules', '.bin', 'protoc-gen-ts_proto')
 
-const protoFiles = ['websocket_message.proto', 'rest_message.proto']
+const protoFiles = ['message.proto']
 
 const tsProtoOpts = ['useExactTypes=false', 'outputExtensions=true', 'outputSchema=true'].join(',')
 

app/src/lib/components/Visualization.svelte

@@ -37,7 +37,7 @@
     import { radToDeg } from 'three/src/math/MathUtils.js'
     import type { URDFRobot } from 'urdf-loader'
     import { get } from 'svelte/store'
-    import { AnglesData, KinematicData, ModesEnum } from '$lib/platform_shared/websocket_message'
+    import { AnglesData, KinematicData, ModesEnum } from '$lib/platform_shared/message'
 
     interface Props {
         defaultColor?: string | null

app/src/lib/components/statusbar/StopButton.svelte

@@ -1,5 +1,5 @@
 <script lang="ts">
-    import { ModeData, ModesEnum } from '$lib/platform_shared/websocket_message'
+    import { ModeData, ModesEnum } from '$lib/platform_shared/message'
     import { mode } from '$lib/stores'
 
     const deactivate = async () => {

app/src/lib/gait.ts

@@ -1,7 +1,7 @@
 import { get } from 'svelte/store'
 import type { body_state_t } from './kinematic'
 import { currentKinematic } from './stores/featureFlags'
-import { HumanInputData, WalkGaits } from './platform_shared/websocket_message'
+import { HumanInputData, WalkGaits } from './platform_shared/message'
 
 export interface gait_state_t {
     step_height: number

app/src/lib/stores/analytics.ts

@@ -1,4 +1,4 @@
-import { AnalyticsData } from '$lib/platform_shared/websocket_message'
+import { AnalyticsData } from '$lib/platform_shared/message'
 import { writable } from 'svelte/store'
 
 const analytics_data: AnalyticsData[] = []

app/src/lib/stores/imu.ts

@@ -1,5 +1,5 @@
 import { writable } from 'svelte/store'
-import { IMUData } from '$lib/platform_shared/websocket_message'
+import { IMUData } from '$lib/platform_shared/message'
 
 const imu_data: IMUData[] = []
 const maxIMUData = 100

app/src/lib/stores/model-store.ts

@@ -6,7 +6,7 @@ import {
     ModesEnum,
     WalkGaitData,
     WalkGaits
-} from '$lib/platform_shared/websocket_message'
+} from '$lib/platform_shared/message'
 import { persistentStore } from '$lib/utilities/svelte-utilities'
 import { writable, type Writable } from 'svelte/store'
 

app/src/lib/stores/socket-store.ts

@@ -1,4 +1,4 @@
-import { AnglesData } from '$lib/platform_shared/websocket_message'
+import { AnglesData } from '$lib/platform_shared/message'
 import { writable, type Writable } from 'svelte/store'
 
 export const servoAnglesOut: Writable<AnglesData> = writable(

app/src/lib/stores/socket.ts

@@ -1,12 +1,12 @@
 import { writable } from 'svelte/store'
 import {
-    WebsocketMessage,
+    Message,
     CorrelationRequest,
     CorrelationResponse,
-    protoMetadata as websocket_md,
+    protoMetadata,
     type MessageFns
-} from '$lib/platform_shared/websocket_message'
+} from '$lib/platform_shared/message'
-import * as WebsocketMessages from '$lib/platform_shared/websocket_message'
+import * as Messages from '$lib/platform_shared/message'
 
 export const MESSAGE_TYPE_TO_KEY = new Map<MessageFns<unknown>, string>()
 export const MESSAGE_TYPE_TO_TAG = new Map<MessageFns<unknown>, number>()
@@ -20,14 +20,14 @@ type PendingRequest = {
     timeoutId: ReturnType<typeof setTimeout>
 }
 
-const websocketMessageType = websocket_md.fileDescriptor.messageType?.find(
+const MessageType = protoMetadata.fileDescriptor.messageType?.find(
-    (msg: { name: string }) => msg.name === 'WebsocketMessage'
+    (msg: { name: string }) => msg.name === 'Message'
 )
 
-if (websocketMessageType?.field) {
+if (MessageType?.field) {
-    for (const field of websocketMessageType.field) {
+    for (const field of MessageType.field) {
         if (field.typeName) {
-            const messageFns = websocket_md.references[field.typeName]
+            const messageFns = protoMetadata.references[field.typeName]
             if (messageFns && field.jsonName && field.number) {
                 MESSAGE_TYPE_TO_KEY.set(messageFns, field.jsonName)
                 MESSAGE_TYPE_TO_TAG.set(messageFns, field.number)
@@ -38,21 +38,21 @@ if (websocketMessageType?.field) {
     }
 }
 
-function get_name_from_messagetype<T>(event_type: MessageFns<T>): string {
+function getNameFromMessageType<T>(event_type: MessageFns<T>): string {
     const event = MESSAGE_TYPE_TO_KEY.get(event_type as MessageFns<unknown>)
     if (!event) {
         throw new Error(
-            "Event type not found in 'WebsocketMessage'. The MessageFns you passed doesn't correspond to any WebsocketMessage field."
+            "Event type not found in 'Message'. The MessageFns you passed doesn't correspond to any Message field."
         )
     }
     return event
 }
 
-function get_tag_from_messagetype<T>(event_type: MessageFns<T>): number {
+function getTagFromMessageType<T>(event_type: MessageFns<T>): number {
     const fieldNumber = MESSAGE_TYPE_TO_TAG.get(event_type as MessageFns<unknown>)
     if (fieldNumber === undefined) {
         throw new Error(
-            "Tag not found in 'WebsocketMessage'. The MessageFns you passed doesn't correspond to any WebsocketMessage field."
+            "Tag not found in 'Message'. The MessageFns you passed doesn't correspond to any Message field."
         )
     }
     return fieldNumber
@@ -60,10 +60,10 @@ function get_tag_from_messagetype<T>(event_type: MessageFns<T>): number {
 
 type SocketEvent = 'open' | 'close' | 'error' | 'message' | 'unresponsive'
 
-type TaggedSocketMessage = { tag: number; msg: WebsocketMessage }
+type TaggedMessage = { tag: number; msg: Message }
 
-export const decodeMessage = (data: ArrayBuffer): TaggedSocketMessage => {
+export const decodeMessage = (data: ArrayBuffer): TaggedMessage => {
-    const decoded = WebsocketMessage.decode(new Uint8Array(data))
+    const decoded = Message.decode(new Uint8Array(data))
     const values = Object.entries(decoded).filter(([, value]) => value !== undefined)
     if (values.length != 1) {
         throw new Error('Message included either 0 or more than 1 data point')
@@ -76,8 +76,8 @@ export const decodeMessage = (data: ArrayBuffer): TaggedSocketMessage => {
     return { tag: tag, msg: decoded }
 }
 
-export const encodeMessage = (data: WebsocketMessage): Uint8Array<ArrayBuffer> => {
+export const encodeMessage = (data: Message): Uint8Array<ArrayBuffer> => {
-    const encoded = WebsocketMessage.encode(data).finish()
+    const encoded = Message.encode(data).finish()
     return encoded
 }
 
@@ -158,7 +158,7 @@ function createWebSocket() {
     }
 
     function unsubscribe<MT>(event_type: MessageFns<MT>, listener: (data: MT) => void) {
-        const tag = get_tag_from_messagetype(event_type)
+        const tag = getTagFromMessageType(event_type)
         const message_listeners_totag = message_listeners.get(tag)
         if (!message_listeners_totag) return
 
@@ -182,43 +182,43 @@ function createWebSocket() {
 
     function sendEvent<T>(event: MessageFns<T>, data: T) {
         if (!ws || ws.readyState !== WebSocket.OPEN) return
-        const type = get_name_from_messagetype(event)
+        const type = getNameFromMessageType(event)
-        const wsm = WebsocketMessage.create() as Record<string, unknown>
+        const wsm = Message.create() as Record<string, unknown>
         wsm[type] = data
-        send(wsm as WebsocketMessage)
+        send(wsm as Message)
     }
 
     function unsubscribeToMessageFromServer<T>(event_type: MessageFns<T>) {
         if (!ws || ws.readyState !== WebSocket.OPEN) return
-        const unsub_msg = WebsocketMessages.UnsubscribeNotification.create({
+        const unsub_msg = Messages.UnsubscribeNotification.create({
-            tag: get_tag_from_messagetype(event_type)
+            tag: getTagFromMessageType(event_type)
         })
-        send(WebsocketMessage.create({ unsubNotif: unsub_msg }))
+        send(Message.create({ unsubNotif: unsub_msg }))
     }
 
     function subscribeToEvent<T>(event_type: MessageFns<T>) {
         if (!ws || ws.readyState !== WebSocket.OPEN) return
-        const sub_msg = WebsocketMessages.SubscribeNotification.create({
+        const sub_msg = Messages.SubscribeNotification.create({
-            tag: get_tag_from_messagetype(event_type)
+            tag: getTagFromMessageType(event_type)
         })
-        send(WebsocketMessage.create({ subNotif: sub_msg }))
+        send(Message.create({ subNotif: sub_msg }))
     }
 
     function resubscribeAll() {
         for (const tag of message_listeners.keys()) {
-            const sub_msg = WebsocketMessages.SubscribeNotification.create({ tag })
+            const sub_msg = Messages.SubscribeNotification.create({ tag })
-            send(WebsocketMessage.create({ subNotif: sub_msg }))
+            send(Message.create({ subNotif: sub_msg }))
         }
     }
 
-    function send(data: WebsocketMessage) {
+    function send(data: Message) {
         if (!ws || ws.readyState !== WebSocket.OPEN) return
         const encoded = encodeMessage(data)
         ws.send(encoded)
     }
 
     function ping() {
-        send(WebsocketMessage.create({ pingmsg: {} }))
+        send(Message.create({ pingmsg: {} }))
     }
 
     function sendRequest(
@@ -235,7 +235,7 @@ function createWebSocket() {
         pending_requests.set(correlationId, { resolve, reject, timeoutId })
 
         const request = CorrelationRequest.create({ correlationId, ...data })
-        send(WebsocketMessage.create({ correlationRequest: request }))
+        send(Message.create({ correlationRequest: request }))
     }
 
     function flushQueuedRequests() {
@@ -250,7 +250,7 @@ function createWebSocket() {
         sendEvent,
         init,
         on: <MT>(event_type: MessageFns<MT>, listener: (data: MT) => void): (() => void) => {
-            const tag = get_tag_from_messagetype(event_type)
+            const tag = getTagFromMessageType(event_type)
 
             let message_listeners_totag = message_listeners.get(tag)
             if (!message_listeners_totag) {

app/src/lib/stores/telemetry.ts

@@ -1,4 +1,4 @@
-import { DownloadOTAData, RSSIData } from '$lib/platform_shared/websocket_message'
+import { DownloadOTAData, RSSIData } from '$lib/platform_shared/message'
 import { writable } from 'svelte/store'
 
 type telemetry_data_type = {

app/src/routes/+layout.svelte

@@ -32,7 +32,7 @@
         RSSIData,
         SonarData,
         WalkGaitData
-    } from '$lib/platform_shared/websocket_message'
+    } from '$lib/platform_shared/message'
     import { Throttler } from '$lib/utilities'
 
     interface Props {
@@ -82,7 +82,7 @@
                     servoAngles.set(data)
                 }),
                 socket.on(PingMsg, data => {
-                    console.log("Ping received!")
+                    console.log('Ping received!')
                 })
             ]
         )

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

@@ -5,7 +5,7 @@
     import { onMount } from 'svelte'
     import { mpu, socket } from '$lib/stores'
     import { imu } from '$lib/stores/imu'
-    import { IMUData } from '$lib/platform_shared/websocket_message'
+    import { IMUData } from '$lib/platform_shared/message'
 
     let layout = $derived($views.find(v => v.name === $selectedView)!)
 

app/src/routes/controller/Controls.svelte

@@ -14,12 +14,7 @@
     import { VerticalSlider } from '$lib/components/input'
     import { gamepadAxes, gamepadButtonsEdges, hasGamepad } from '$lib/stores/gamepad'
     import { notifications } from '$lib/components/toasts/notifications'
-    import {
+    import { ModeData, ModesEnum, WalkGaitData, WalkGaits } from '$lib/platform_shared/message'
-        ModeData,
-        ModesEnum,
-        WalkGaitData,
-        WalkGaits
-    } from '$lib/platform_shared/websocket_message'
 
     let left: nipplejs.JoystickManager
     let right: nipplejs.JoystickManager

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

@@ -4,7 +4,7 @@
     import { socket } from '$lib/stores'
     import { Connection } from '$lib/components/icons'
     import I2CSetting from './i2cSetting.svelte'
-    import type { I2CDevice } from '$lib/platform_shared/websocket_message'
+    import type { I2CDevice } from '$lib/platform_shared/message'
 
     let active_devices: I2CDevice[] = $state([])
     let isLoading = $state(false)

app/src/routes/peripherals/i2c/i2cSetting.svelte

@@ -7,7 +7,7 @@
     import {
         PeripheralSettingsData,
         PeripheralSettingsDataRequest
-    } from '$lib/platform_shared/websocket_message'
+    } from '$lib/platform_shared/message'
 
     let settings: PeripheralSettingsData | null = $state(null)
     let isEditing = $state(false)

app/src/routes/peripherals/imu/imu.svelte

@@ -9,7 +9,7 @@
     import { useFeatureFlags } from '$lib/stores/featureFlags'
     import { Rotate3d } from '$lib/components/icons'
 
-    import { type IMUCalibrateData, IMUData } from '$lib/platform_shared/websocket_message'
+    import { type IMUCalibrateData, IMUData } from '$lib/platform_shared/message'
 
     Chart.register(...registerables)
 

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

@@ -1,5 +1,5 @@
 <script lang="ts">
-    import { ServoPWMData, ServoStateData } from '$lib/platform_shared/websocket_message'
+    import { ServoPWMData, ServoStateData } from '$lib/platform_shared/message'
     import { socket } from '$lib/stores'
     import { Throttler } from '$lib/utilities'
 

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

@@ -3,7 +3,13 @@
     import { socket } from '$lib/stores'
 
     //import { IMUReport, IMUType } from '$lib/platform_shared/example';
-    import { AnglesData, WebsocketMessage, IMUData, CorrelationRequest, CorrelationResponse } from '$lib/platform_shared/websocket_message'
+    import {
+        AnglesData,
+        Message,
+        IMUData,
+        CorrelationRequest,
+        CorrelationResponse
+    } from '$lib/platform_shared/message'
 
     // const imu_report: IMUReport = {type: IMUType.IMU_ACCEL, xVal: 4}
     // const writer = IMUReport.encode(imu_report);
@@ -13,20 +19,20 @@
     // 	.map((b) => b.toString(16).padStart(2, '0'))
     // 	.join(' ');
 
-    // const wmd: WebsocketMessage = { imu: {temp: 0, x: 0, y: 0, z: 1}, angles: {angles: [2]}}
+    // const wmd: Message = { imu: {temp: 0, x: 0, y: 0, z: 1}, angles: {angles: [2]}}
-    // const wmd: WebsocketMessage = { imu: {temp: 0, x: 0, y: 0, z: 0} }
+    // const wmd: Message = { imu: {temp: 0, x: 0, y: 0, z: 0} }
-    // const wmd: WebsocketMessage = { rssi: { rssi: 16 } }
+    // const wmd: Message = { rssi: { rssi: 16 } }
-    // const wmd: WebsocketMessage = { imu: {temp: 1, x: 2, y: 4, z: 5} }
+    // const wmd: Message = { imu: {temp: 1, x: 2, y: 4, z: 5} }
-    // const wmd: WebsocketMessage = { angles: {angles: [1,2,3,4]} }
+    // const wmd: Message = { angles: {angles: [1,2,3,4]} }
-    const wmd: WebsocketMessage = { pongmsg: {} }
+    const wmd: Message = { pongmsg: {} }
-    const writer = WebsocketMessage.encode(wmd)
+    const writer = Message.encode(wmd)
     const bytes = writer.finish()
     // Convert bytes to hex
     const hex = Array.from(bytes)
         .map(b => b.toString(16).padStart(2, '0'))
         .join(' ')
 
-    // const decodedmsg: WebsocketMessage = WebsocketMessage.decode(bytes);
+    // const decodedmsg: Message = Message.decode(bytes);
     // const objects = Object.entries(decodedmsg)
 
     // console.log(Object.keys(AnglesData.create())[0] )
@@ -48,11 +54,17 @@
         // console.log(data)
     }
     onMount(() => {
-        socket.on(CorrelationResponse, (data) => {
+        socket.on(CorrelationResponse, data => {
             console.log(data)
         })
         socket.onEvent('open', () => {
-            socket.sendEvent(CorrelationRequest, CorrelationRequest.create({correlationId: 69, featuresDataRequest: { sonarTest: true }}))
+            socket.sendEvent(
+                CorrelationRequest,
+                CorrelationRequest.create({
+                    correlationId: 69,
+                    featuresDataRequest: { sonarTest: true }
+                })
+            )
         })
 
         return socket.on(IMUData, handleData)

app/src/routes/system/status/SystemStatus.svelte

@@ -31,7 +31,7 @@
     } from '$lib/components/icons'
     import StatusItem from '$lib/components/StatusItem.svelte'
     import ActionButton from './ActionButton.svelte'
-    import { AnalyticsData, type SystemInformation } from '$lib/platform_shared/websocket_message'
+    import { AnalyticsData, type SystemInformation } from '$lib/platform_shared/message'
 
     const features = useFeatureFlags()
 

app/src/routes/wifi/sta/Wifi.svelte

@@ -33,7 +33,7 @@
         Edit
     } from '$lib/components/icons'
     import StatusItem from '$lib/components/StatusItem.svelte'
-    import { KnownNetworkItem } from '$lib/platform_shared/websocket_message'
+    import { KnownNetworkItem } from '$lib/platform_shared/message'
     import { WifiSettings, type WifiStatus } from '$lib/platform_shared/rest_message'
 
     let networkEditable: KnownNetworkItem = $state(KnownNetworkItem.create())

app/tests/unit/socket.spec.ts

@@ -1,20 +1,15 @@
 import { describe, it, expect, beforeEach, afterEach } from 'vitest'
 import { WebSocketServer } from 'ws'
 import { decodeMessage, MESSAGE_KEY_TO_TAG, socket } from '../../src/lib/stores/socket'
-import {
+import { IMUData, PingMsg, PongMsg, Message } from '../../src/lib/platform_shared/message'
-    IMUData,
-    PingMsg,
-    PongMsg,
-    WebsocketMessage
-} from '../../src/lib/platform_shared/websocket_message'
 
 // Helper function to create encoded WebSocket messages
 function createEncodedMessage(messageType: 'imu' | 'rssi' | 'mode', data: unknown): Uint8Array {
     // eslint-disable-next-line @typescript-eslint/no-explicit-any
     const message: any = {}
     message[messageType] = data
-    const wsMessage = WebsocketMessage.create(message)
+    const wsMessage = Message.create(message)
-    return WebsocketMessage.encode(wsMessage).finish()
+    return Message.encode(wsMessage).finish()
 }
 
 describe.sequential('WebSocket Integration Tests', () => {
@@ -130,7 +125,7 @@ describe.sequential('WebSocket Integration Tests', () => {
 
                     try {
                         // Decode the protobuf message
-                        const decoded = WebsocketMessage.decode(new Uint8Array(data))
+                        const decoded = Message.decode(new Uint8Array(data))
                         // console.log('Server: Decoded message:', JSON.stringify(decoded, null, 2))
 
                         // Only resolve if we got actual IMU data
@@ -193,9 +188,9 @@ describe.sequential('WebSocket Integration Tests', () => {
             setTimeout(() => {
                 console.log('Client: Sending invalid message type...')
                 // Send any invalid message type
-                const wsm = WebsocketMessage.create()
+                const wsm = Message.create()
                 try {
-                    socket.sendEvent(WebsocketMessage as any, wsm)
+                    socket.sendEvent(Message as any, wsm)
                     clearTimeout(timeout)
                     reject(new Error('Expected sendEvent to throw, but it did not'))
                 } catch (e) {
@@ -208,7 +203,7 @@ describe.sequential('WebSocket Integration Tests', () => {
     })
 })
 
-describe('WebsocketMessage Protobuf Encoding/Decoding', () => {
+describe('Message Protobuf Encoding/Decoding', () => {
     it('should encode and decode IMU data correctly', () => {
         const imuData = IMUData.create({
             x: 3.25,
@@ -233,21 +228,17 @@ describe('WebsocketMessage Protobuf Encoding/Decoding', () => {
     })
 
     it('should encode and decode two empty types correctly', () => {
-        const encoded_ping = WebsocketMessage.encode(
+        const encoded_ping = Message.encode(Message.create({ pingmsg: PingMsg.create() })).finish()
-            WebsocketMessage.create({ pingmsg: PingMsg.create() })
-        ).finish()
         const decoded_ping = decodeMessage(encoded_ping.buffer)
         expect(decoded_ping.tag).toBe(MESSAGE_KEY_TO_TAG.get('pingmsg'))
 
-        const encoded_pong = WebsocketMessage.encode(
+        const encoded_pong = Message.encode(Message.create({ pongmsg: PongMsg.create() })).finish()
-            WebsocketMessage.create({ pongmsg: PongMsg.create() })
-        ).finish()
         const decoded_pong = decodeMessage(encoded_pong.buffer)
         expect(decoded_pong.tag).toBe(MESSAGE_KEY_TO_TAG.get('pongmsg'))
     })
 
-    it('should encode and decode complete WebsocketMessage', () => {
+    it('should encode and decode complete Message', () => {
-        const original = WebsocketMessage.create({
+        const original = Message.create({
             imu: IMUData.create({
                 x: 3.25,
                 y: 2.5,
@@ -259,8 +250,8 @@ describe('WebsocketMessage Protobuf Encoding/Decoding', () => {
             })
         })
 
-        const encoded = WebsocketMessage.encode(original).finish()
+        const encoded = Message.encode(original).finish()
-        const decoded = WebsocketMessage.decode(encoded)
+        const decoded = Message.decode(encoded)
 
         expect(decoded.imu).toBeDefined()
         expect(decoded.imu?.x).toBe(3.25)

esp32/include/communication/comm_base.hpp

@@ -42,7 +42,7 @@ class CommAdapterBase {
         MessageTraits<T>::assign(msg_, data);
 
         pb_ostream_t stream = pb_ostream_from_buffer(buffer_, sizeof(buffer_));
-        if (!pb_encode(&stream, socket_message_WebsocketMessage_fields, &msg_)) {
+        if (!pb_encode(&stream, socket_message_Message_fields, &msg_)) {
             return;
         }
 
@@ -86,10 +86,10 @@ class CommAdapterBase {
 
     void sendPong(int cid) {
         uint8_t pongBuffer[16];
-        msg_.which_message = socket_message_WebsocketMessage_pongmsg_tag;
+        msg_.which_message = socket_message_Message_pongmsg_tag;
         msg_.message.pongmsg = socket_message_PongMsg_init_zero;
         pb_ostream_t stream = pb_ostream_from_buffer(pongBuffer, sizeof(pongBuffer));
-        if (pb_encode(&stream, socket_message_WebsocketMessage_fields, &msg_)) {
+        if (pb_encode(&stream, socket_message_Message_fields, &msg_)) {
             send(pongBuffer, stream.bytes_written, cid);
         }
     }
@@ -97,7 +97,7 @@ class CommAdapterBase {
     SemaphoreHandle_t mutex_;
     std::map<int32_t, std::list<int>> client_subscriptions_;
     ProtoDecoder decoder_;
-    socket_message_WebsocketMessage msg_ = socket_message_WebsocketMessage_init_zero;
+    socket_message_Message msg_ = socket_message_Message_init_zero;
     uint8_t buffer_[PROTO_BUFFER_SIZE];
 
   private:

esp32/include/communication/proto_helpers.h

@@ -2,7 +2,7 @@
 
 #include <pb_encode.h>
 #include <pb_decode.h>
-#include <platform_shared/websocket_message.pb.h>
+#include <platform_shared/message.pb.h>
 #include <functional>
 #include <map>
 
@@ -11,16 +11,16 @@
 template <typename T>
 struct MessageTraits;
 
-#define DEFINE_MESSAGE_TRAITS(DataType, field)                                                            \
+#define DEFINE_MESSAGE_TRAITS(DataType, field)                                                   \
-    template <>                                                                                           \
+    template <>                                                                                  \
-    struct MessageTraits<socket_message_##DataType> {                                                     \
+    struct MessageTraits<socket_message_##DataType> {                                            \
-        static constexpr pb_size_t tag = socket_message_WebsocketMessage_##field##_tag;                   \
+        static constexpr pb_size_t tag = socket_message_Message_##field##_tag;                   \
-        static void assign(socket_message_WebsocketMessage& msg, const socket_message_##DataType& data) { \
+        static void assign(socket_message_Message& msg, const socket_message_##DataType& data) { \
-            msg.message.field = data;                                                                     \
+            msg.message.field = data;                                                            \
-        }                                                                                                 \
+        }                                                                                        \
-        static const socket_message_##DataType& access(const socket_message_WebsocketMessage& msg) {      \
+        static const socket_message_##DataType& access(const socket_message_Message& msg) {      \
-            return msg.message.field;                                                                     \
+            return msg.message.field;                                                            \
-        }                                                                                                 \
+        }                                                                                        \
     };
 
 DEFINE_MESSAGE_TRAITS(IMUData, imu)
@@ -42,7 +42,6 @@ DEFINE_MESSAGE_TRAITS(ServoStateData, servo_state)
 DEFINE_MESSAGE_TRAITS(CorrelationRequest, correlation_request)
 DEFINE_MESSAGE_TRAITS(CorrelationResponse, correlation_response)
 
-
 #undef DEFINE_MESSAGE_TRAITS
 
 class ProtoDecoder {
@@ -65,20 +64,20 @@ class ProtoDecoder {
     bool decode(const uint8_t* data, size_t len, int clientId) {
         pb_istream_t stream = pb_istream_from_buffer(data, len);
 
-        if (!pb_decode(&stream, socket_message_WebsocketMessage_fields, &msg_)) {
+        if (!pb_decode(&stream, socket_message_Message_fields, &msg_)) {
             return false;
         }
 
         switch (msg_.which_message) {
-            case socket_message_WebsocketMessage_sub_notif_tag:
+            case socket_message_Message_sub_notif_tag:
                 if (subscribeHandler_) subscribeHandler_(msg_.message.sub_notif.tag, clientId);
                 return true;
 
-            case socket_message_WebsocketMessage_unsub_notif_tag:
+            case socket_message_Message_unsub_notif_tag:
                 if (unsubscribeHandler_) unsubscribeHandler_(msg_.message.unsub_notif.tag, clientId);
                 return true;
 
-            case socket_message_WebsocketMessage_pingmsg_tag:
+            case socket_message_Message_pingmsg_tag:
                 if (pingHandler_) pingHandler_(clientId);
                 return true;
 
@@ -94,7 +93,7 @@ class ProtoDecoder {
     }
 
   private:
-    socket_message_WebsocketMessage msg_ = socket_message_WebsocketMessage_init_zero;
+    socket_message_Message msg_ = socket_message_Message_init_zero;
     SubscribeHandler subscribeHandler_;
     UnsubscribeHandler unsubscribeHandler_;
     PingHandler pingHandler_;

esp32/include/features.h

@@ -3,7 +3,7 @@
 #include <WiFi.h>
 #include <ArduinoJson.h>
 #include <PsychicHttp.h>
-#include "platform_shared/websocket_message.pb.h"
+#include "platform_shared/message.pb.h"
 
 #define FT_ENABLED(feature) feature
 

esp32/include/message_types.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <platform_shared/websocket_message.pb.h>
+#include <platform_shared/message.pb.h>
 
 struct CommandMsg {
     float lx, ly, rx, ry, h, s, s1;

esp32/include/peripherals/peripherals.h

@@ -8,7 +8,7 @@
 #include <features.h>
 #include <settings/peripherals_settings.h>
 #include <template/stateful_endpoint.h>
-#include <platform_shared/websocket_message.pb.h>
+#include <platform_shared/message.pb.h>
 
 #include <list>
 #include <SPI.h>

esp32/scripts/compile_protos.py

@@ -16,10 +16,7 @@ def compile_nanopb():
     
     output_dir.mkdir(parents=True, exist_ok=True)
     
-    proto_files = [
+    proto_files = [proto_dir / "message.proto"]
-        proto_dir / "websocket_message.proto",
-        proto_dir / "rest_message.proto"
-    ]
     
     print(f"Compiling protobuf files with nanopb...")
     print(f"  Proto dir: {proto_dir}")

platform_shared/message.proto

@@ -1,9 +1,8 @@
 syntax = "proto3";
 
-
 package socket_message;
 
-
+// Partial data types
 message Vector { float x = 1; float y = 2; }
 message I2CDevice { int32 address = 1; string part_number = 2; string name = 3; }
 message PinConfig { int32 pin = 1; string mode = 2; string type = 3; string role = 4; }
@@ -39,8 +38,6 @@ message FeaturesDataResponse {
 
 message FeaturesDataRequest { }
 
-
-
 message CorrelationRequest {
     uint32 correlation_id = 1;
     oneof request {
@@ -49,6 +46,7 @@ message CorrelationRequest {
         IMUCalibrateExecute imu_calibrate_execute = 30;
     }
 }
+
 message CorrelationResponse {
     uint32 correlation_id = 1;
     uint32 status_code = 2;
@@ -67,6 +65,7 @@ enum ModesEnum {
     STAND = 4;
     WALK = 5;
 }
+
 message StaticSystemInformation {
     string esp_platform = 1; 
     string firmware_version = 2; 
@@ -83,10 +82,12 @@ message StaticSystemInformation {
     string cpu_reset_reason = 13; 
 }
 
-
 message IMUCalibrateData { bool success = 1; }
+
 message IMUCalibrateExecute {}
+
 message ModeData { ModesEnum mode = 1; }
+
 message ControllerInputData {
     Vector left = 1;
     Vector right = 2;
@@ -94,6 +95,7 @@ message ControllerInputData {
     float speed = 4;
     float s1 = 5;
 }
+
 message AnalyticsData {
     int32 max_alloc_heap = 1;
     int32 psram_size = 2;
@@ -114,32 +116,46 @@ message ServoPWMData {
     int32 servo_id = 1;
     uint32 servo_pwm = 2;
 }
+
 message ServoStateData {
     bool active = 1;
 }
 
 message AnglesData { repeated int32 angles = 1; }
+
 message I2CScanData { repeated I2CDevice devices = 1; }
+
 message I2CScanDataRequest {}
+
 message PeripheralSettingsData { int32 sda = 1; int32 scl = 2; int32 frequency = 3; repeated PinConfig pins = 4; }
+
 message PeripheralSettingsDataRequest {}
+
 message WifiSettingsData { string hostname = 1; bool priority_rssi = 2; repeated KnownNetworkItem wifi_networks = 3; }
+
 message RSSIData { int32 rssi = 1; }
+
 message DownloadOTAData { string status = 1; int32 progress = 2; string error = 3; }
+
 message SonarData { string dummy_field = 1; }
+
 message HumanInputData {
     Vector left = 10; Vector right = 11; float height = 20; float speed = 21; float s1 = 22;
 }
+
 message SystemInformation {
     AnalyticsData analytics_data = 1; StaticSystemInformation static_system_information = 2;
 }
+
 enum WalkGaits {
     TROT = 0;
     CRAWL = 1;
 }
+
 message WalkGaitData {
     WalkGaits gait = 1;
 }
+
 message KinematicData {
     float omega = 1;
     float phi = 2;
@@ -150,15 +166,15 @@ message KinematicData {
 }
 
 message SubscribeNotification { int32 tag = 1; }
+
 message UnsubscribeNotification {int32 tag = 1; }
 
 message PingMsg {}
+
 message PongMsg {}
 
-
 // WebSocket message wrapper
-// Only ONE field will be set at a time (oneof ensures this)
+message Message {
-message WebsocketMessage {
     oneof message {
         CorrelationRequest correlation_request = 10;
         CorrelationResponse correlation_response = 11;

platform_shared/rest_message.options

@@ -1,12 +0,0 @@
-rest_message.WifiStatus.local_ip max_size:16
-rest_message.WifiStatus.mac_address max_size:18
-rest_message.WifiStatus.ssid max_size:33
-rest_message.WifiStatus.bssid max_size:18
-rest_message.WifiStatus.subnet_mask max_size:16
-rest_message.WifiStatus.gateway_ip max_size:16
-rest_message.WifiStatus.dns_ip_1 max_size:16
-rest_message.WifiStatus.dns_ip_2 max_size:16
-
-rest_message.WifiSettings.hostname max_size:32
-rest_message.WifiSettings.wifi_networks max_count:8
-

platform_shared/rest_message.proto

@@ -1,27 +0,0 @@
-syntax = "proto3";
-
-import "websocket_message.proto";
-
-// Note: This is most likely a "temporary" proto that will be redone, as these endpoints are static for the esp32, which means we are forced to use WiFi for communication
-package rest_message;
-
-
-message WifiStatus {
-    int32 status = 1;
-    string local_ip = 2;
-    string mac_address = 3;
-    float rssi = 4;
-    string ssid = 5;
-    string bssid = 6;
-    uint32 channel = 7;
-    string subnet_mask = 8;
-    string gateway_ip = 9;
-    string dns_ip_1 = 10;
-    optional string dns_ip_2 = 11;
-}
-
-message WifiSettings {
-    string hostname = 1;
-    bool priority_rssi = 2;
-    repeated socket_message.KnownNetworkItem wifi_networks = 3;
-}