diff --git a/app/index.html b/app/index.html index 7507292..f1fe239 100644 --- a/app/index.html +++ b/app/index.html @@ -1,9 +1,12 @@ - +
- + diff --git a/app/package.json b/app/package.json index b53ed0e..bc121f9 100644 --- a/app/package.json +++ b/app/package.json @@ -1,49 +1,52 @@ { - "name": "app", - "private": true, - "version": "0.0.0", - "type": "module", - "scripts": { - "dev": "vite", - "dev:mock": "vite --mode MOCK", - "build": "cross-env FOR_EMBEDDED=true vite build", - "build:web": "cross-env FOR_EMBEDDED=false vite build --mode WEB", - "preview": "vite preview", - "check": "svelte-check --tsconfig ./tsconfig.json", - "format": "prettier --plugin-search-dir . --write ." - }, - "devDependencies": { - "@sveltejs/vite-plugin-svelte": "^3.0.2", - "@tsconfig/svelte": "^5.0.2", - "@types/three": "^0.160.0", - "@typescript-eslint/eslint-plugin": "^6.20.0", - "@typescript-eslint/parser": "^6.20.0", - "autoprefixer": "^10.4.17", - "cross-env": "^7.0.3", - "husky": "^9.0.7", - "lint-staged": "^15.2.0", - "postcss": "^8.4.33", - "prettier": "3.2.4", - "svelte": "^4.2.9", - "svelte-check": "^3.6.3", - "svelte-hero-icons": "^5.0.0", - "tailwindcss": "^3.4.1", - "tslib": "^2.6.2", - "typescript": "^5.3.3", - "vite": "^5.0.12", - "vite-plugin-compression": "^0.5.1", - "vite-plugin-singlefile": "^1.0.0" - }, - "dependencies": { - "nipplejs": "^0.10.1", - "svelte-routing": "^2.11.0", - "three": "^0.160.1", - "urdf-loader": "^0.12.1", - "uzip": "^0.20201231.0", - "xacro-parser": "^0.3.9" - }, - "lint-staged": { - "*.js": "eslint --cache --fix", - "*.{js,css,md,ts,svelte}": "prettier --write" - } + "name": "app", + "private": true, + "version": "0.0.0", + "type": "module", + "scripts": { + "dev": "vite", + "dev:mock": "vite --mode MOCK", + "build": "cross-env FOR_EMBEDDED=true vite build", + "build:web": "cross-env FOR_EMBEDDED=false vite build --mode WEB", + "preview": "vite preview", + "test": "vitest", + "check": "svelte-check --tsconfig ./tsconfig.json", + "format": "prettier --plugin-search-dir . --write ." + }, + "devDependencies": { + "@sveltejs/vite-plugin-svelte": "^3.0.2", + "@tsconfig/svelte": "^5.0.2", + "@types/three": "^0.160.0", + "@typescript-eslint/eslint-plugin": "^6.20.0", + "@typescript-eslint/parser": "^6.20.0", + "autoprefixer": "^10.4.17", + "cross-env": "^7.0.3", + "husky": "^9.0.7", + "lint-staged": "^15.2.0", + "postcss": "^8.4.33", + "prettier": "3.2.4", + "svelte": "^4.2.9", + "svelte-check": "^3.6.3", + "svelte-hero-icons": "^5.0.0", + "tailwindcss": "^3.4.1", + "tslib": "^2.6.2", + "typescript": "^5.3.3", + "vite": "^5.0.12", + "vite-plugin-compression": "^0.5.1", + "vite-plugin-singlefile": "^1.0.0", + "vitest": "^1.3.1" + }, + "dependencies": { + "nipplejs": "^0.10.1", + "prettier-plugin-svelte": "^3.2.1", + "svelte-routing": "^2.11.0", + "three": "^0.160.1", + "urdf-loader": "^0.12.1", + "uzip": "^0.20201231.0", + "xacro-parser": "^0.3.9" + }, + "lint-staged": { + "*.js": "eslint --cache --fix", + "*.{js,css,md,ts,svelte}": "prettier --write" + } } diff --git a/app/pnpm-lock.yaml b/app/pnpm-lock.yaml index 9211806..9b33dc4 100644 --- a/app/pnpm-lock.yaml +++ b/app/pnpm-lock.yaml @@ -8,6 +8,9 @@ dependencies: nipplejs: specifier: ^0.10.1 version: 0.10.1 + prettier-plugin-svelte: + specifier: ^3.2.1 + version: 3.2.1(prettier@3.2.4)(svelte@4.2.9) svelte-routing: specifier: ^2.11.0 version: 2.11.0 @@ -85,6 +88,9 @@ devDependencies: vite-plugin-singlefile: specifier: ^1.0.0 version: 1.0.0(rollup@4.9.6)(vite@5.0.12) + vitest: + specifier: ^1.3.1 + version: 1.3.1 packages: @@ -104,7 +110,6 @@ packages: dependencies: '@jridgewell/gen-mapping': 0.3.3 '@jridgewell/trace-mapping': 0.3.18 - 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'@types/node' + - less + - lightningcss + - sass + - stylus + - sugarss + - supports-color + - terser + dev: true + /vite-plugin-compression@0.5.1(vite@5.0.12): resolution: {integrity: sha512-5QJKBDc+gNYVqL/skgFAP81Yuzo9R+EAf19d+EtsMF/i8kFUpNi3J/H01QD3Oo8zBQn+NzoCIFkpPLynoOzaJg==} peerDependencies: @@ -2590,6 +2816,61 @@ packages: vite: 5.0.12 dev: true + /vitest@1.3.1: + resolution: {integrity: sha512-/1QJqXs8YbCrfv/GPQ05wAZf2eakUPLPa18vkJAKE7RXOKfVHqMZZ1WlTjiwl6Gcn65M5vpNUB6EFLnEdRdEXQ==} + engines: {node: ^18.0.0 || >=20.0.0} + hasBin: true + peerDependencies: + '@edge-runtime/vm': '*' + '@types/node': ^18.0.0 || >=20.0.0 + '@vitest/browser': 1.3.1 + '@vitest/ui': 1.3.1 + happy-dom: '*' + jsdom: '*' + peerDependenciesMeta: + '@edge-runtime/vm': + optional: true + '@types/node': + optional: true + '@vitest/browser': + optional: true + '@vitest/ui': + optional: true + happy-dom: + optional: true + jsdom: + optional: true + dependencies: + '@vitest/expect': 1.3.1 + '@vitest/runner': 1.3.1 + '@vitest/snapshot': 1.3.1 + '@vitest/spy': 1.3.1 + '@vitest/utils': 1.3.1 + acorn-walk: 8.3.2 + chai: 4.4.1 + debug: 4.3.4 + execa: 8.0.1 + local-pkg: 0.5.0 + magic-string: 0.30.5 + pathe: 1.1.2 + picocolors: 1.0.0 + std-env: 3.7.0 + strip-literal: 2.0.0 + tinybench: 2.6.0 + tinypool: 0.8.2 + vite: 5.0.12 + vite-node: 1.3.1 + why-is-node-running: 2.2.2 + transitivePeerDependencies: + - less + - lightningcss + - sass + - stylus + - sugarss + - supports-color + - terser + dev: true + /which@2.0.2: resolution: {integrity: sha512-BLI3Tl1TW3Pvl70l3yq3Y64i+awpwXqsGBYWkkqMtnbXgrMD+yj7rhW0kuEDxzJaYXGjEW5ogapKNMEKNMjibA==} engines: {node: '>= 8'} @@ -2598,6 +2879,15 @@ packages: isexe: 2.0.0 dev: true + /why-is-node-running@2.2.2: + resolution: {integrity: sha512-6tSwToZxTOcotxHeA+qGCq1mVzKR3CwcJGmVcY+QE8SHy6TnpFnh8PAvPNHYr7EcuVeG0QSMxtYCuO1ta/G/oA==} + engines: {node: '>=8'} + hasBin: true + dependencies: + siginfo: 2.0.0 + stackback: 0.0.2 + dev: true + /wrap-ansi@7.0.0: resolution: {integrity: sha512-YVGIj2kamLSTxw6NsZjoBxfSwsn0ycdesmc4p+Q21c5zPuZ1pl+NfxVdxPtdHvmNVOQ6XSYG4AUtyt/Fi7D16Q==} engines: {node: '>=10'} @@ -2668,3 +2958,8 @@ packages: resolution: {integrity: sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==} engines: {node: '>=10'} dev: true + + /yocto-queue@1.0.0: + resolution: {integrity: sha512-9bnSc/HEW2uRy67wc+T8UwauLuPJVn28jb+GtJY16iiKWyvmYJRXVT4UamsAEGQfPohgr2q4Tq0sQbQlxTfi1g==} + engines: {node: '>=12.20'} + dev: true diff --git a/app/src/App.svelte b/app/src/App.svelte index 448f0fe..06e56f8 100644 --- a/app/src/App.svelte +++ b/app/src/App.svelte @@ -2,40 +2,40 @@ import { Router, Route } from 'svelte-routing'; import { onMount } from 'svelte'; import TopBar from './components/TopBar.svelte'; - import { connect } from './lib/socket'; + import socketService from '$lib/services/socket-service'; import Controller from './routes/Controller.svelte'; - import FileCache from './lib/cache'; - import { socketLocation } from './lib/location'; - import Settings from './routes/Settings.svelte'; - import { jointNames, model } from './lib/store'; - import { loadModelAsync } from './lib/modelLoader'; + import { fileService } from '$lib/services'; + import Settings from './routes/Settings.svelte'; + import { jointNames, model, outControllerData } from '$lib/store'; + import { loadModelAsync } from '$lib/utilities'; + import { socketLocation } from '$lib/utilities'; + import type { Result } from '$lib/utilities/result'; - export let url = window.location.pathname + export let url = window.location.pathname; onMount(async () => { - connect(socketLocation); - registerFetchIntercept() - const [urdf, JOINT_NAME] = await loadModelAsync('/spot_micro.urdf.xacro') - jointNames.set(JOINT_NAME) - model.set(urdf) + socketService.connect(socketLocation); + socketService.addPublisher(outControllerData); + registerFetchIntercept(); + const modelRes = await loadModelAsync('/spot_micro.urdf.xacro'); + + if (modelRes.isOk()) { + const [urdf, JOINT_NAME] = modelRes.inner; + jointNames.set(JOINT_NAME); + model.set(urdf); + } else { + console.error(modelRes.inner, { exception: modelRes.exception }); + } }); - const registerFetchIntercept = () => { - const { fetch: originalFetch } = window; - window.fetch = async (...args) => { - const [resource, config] = args; - await FileCache.openDatabase(); - let file: BodyInit | Uint8Array | undefined | null; - try { - file = await FileCache.getFile(resource.toString()); - } catch (error) { - console.log(error); - } - - return file - ? new Response(file) - : originalFetch(resource, config) - }; - } + const registerFetchIntercept = () => { + const { fetch: originalFetch } = window; + window.fetch = async (...args) => { + const [resource, config] = args; + let file: Result