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Idea of how typescript should decode Protobuffer

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This commit is contained in:
Niklas Jensen
2025-12-29 21:06:29 +01:00
committed by nikguin04
parent c2bbeb2f2b
commit 8c45f66137
4 changed files with 106 additions and 81 deletions
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app/src/lib/platform_shared/example.ts → app/src/lib/platform_shared/imu_report.ts
+71 -59
View File
@@ -2,68 +2,41 @@
// versions:
// protoc-gen-ts_proto v2.10.1
// protoc v6.33.2
// source: platform_shared/example.proto
// source: platform_shared/imu_report.proto
/* eslint-disable */
import { BinaryReader, BinaryWriter } from "@bufbuild/protobuf/wire";
export const protobufPackage = "";
export enum IMUType {
IMU_NONE = 0,
IMU_ACCEL = 1,
IMU_GYRO = 2,
UNRECOGNIZED = -1,
}
export function iMUTypeFromJSON(object: any): IMUType {
switch (object) {
case 0:
case "IMU_NONE":
return IMUType.IMU_NONE;
case 1:
case "IMU_ACCEL":
return IMUType.IMU_ACCEL;
case 2:
case "IMU_GYRO":
return IMUType.IMU_GYRO;
case -1:
case "UNRECOGNIZED":
default:
return IMUType.UNRECOGNIZED;
}
}
export function iMUTypeToJSON(object: IMUType): string {
switch (object) {
case IMUType.IMU_NONE:
return "IMU_NONE";
case IMUType.IMU_ACCEL:
return "IMU_ACCEL";
case IMUType.IMU_GYRO:
return "IMU_GYRO";
case IMUType.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
export interface IMUReport {
type: IMUType;
xVal: number;
x: number;
y: number;
z: number;
temp: number;
success: boolean;
}
function createBaseIMUReport(): IMUReport {
return { type: 0, xVal: 0 };
return { x: 0, y: 0, z: 0, temp: 0, success: false };
}
export const IMUReport: MessageFns<IMUReport> = {
encode(message: IMUReport, writer: BinaryWriter = new BinaryWriter()): BinaryWriter {
if (message.type !== 0) {
writer.uint32(8).int32(message.type);
if (message.x !== 0) {
writer.uint32(13).float(message.x);
}
if (message.xVal !== 0) {
writer.uint32(17).double(message.xVal);
if (message.y !== 0) {
writer.uint32(21).float(message.y);
}
if (message.z !== 0) {
writer.uint32(29).float(message.z);
}
if (message.temp !== 0) {
writer.uint32(37).float(message.temp);
}
if (message.success !== false) {
writer.uint32(40).bool(message.success);
}
return writer;
},
@@ -76,19 +49,43 @@ export const IMUReport: MessageFns<IMUReport> = {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1: {
if (tag !== 8) {
if (tag !== 13) {
break;
}
message.type = reader.int32() as any;
message.x = reader.float();
continue;
}
case 2: {
if (tag !== 17) {
if (tag !== 21) {
break;
}
message.xVal = reader.double();
message.y = reader.float();
continue;
}
case 3: {
if (tag !== 29) {
break;
}
message.z = reader.float();
continue;
}
case 4: {
if (tag !== 37) {
break;
}
message.temp = reader.float();
continue;
}
case 5: {
if (tag !== 40) {
break;
}
message.success = reader.bool();
continue;
}
}
@@ -102,18 +99,30 @@ export const IMUReport: MessageFns<IMUReport> = {
fromJSON(object: any): IMUReport {
return {
type: isSet(object.type) ? iMUTypeFromJSON(object.type) : 0,
xVal: isSet(object.xVal) ? globalThis.Number(object.xVal) : 0,
x: isSet(object.x) ? globalThis.Number(object.x) : 0,
y: isSet(object.y) ? globalThis.Number(object.y) : 0,
z: isSet(object.z) ? globalThis.Number(object.z) : 0,
temp: isSet(object.temp) ? globalThis.Number(object.temp) : 0,
success: isSet(object.success) ? globalThis.Boolean(object.success) : false,
};
},
toJSON(message: IMUReport): unknown {
const obj: any = {};
if (message.type !== 0) {
obj.type = iMUTypeToJSON(message.type);
if (message.x !== 0) {
obj.x = message.x;
}
if (message.xVal !== 0) {
obj.xVal = message.xVal;
if (message.y !== 0) {
obj.y = message.y;
}
if (message.z !== 0) {
obj.z = message.z;
}
if (message.temp !== 0) {
obj.temp = message.temp;
}
if (message.success !== false) {
obj.success = message.success;
}
return obj;
},
@@ -123,8 +132,11 @@ export const IMUReport: MessageFns<IMUReport> = {
},
fromPartial<I extends Exact<DeepPartial<IMUReport>, I>>(object: I): IMUReport {
const message = createBaseIMUReport();
message.type = object.type ?? 0;
message.xVal = object.xVal ?? 0;
message.x = object.x ?? 0;
message.y = object.y ?? 0;
message.z = object.z ?? 0;
message.temp = object.temp ?? 0;
message.success = object.success ?? false;
return message;
},
};
app/src/lib/stores/imu.ts
+16 -14
View File
@@ -1,5 +1,6 @@
import { writable } from 'svelte/store'
import type { IMUMsg } from '$lib/types/models'
import type { IMUReport } from '$lib/platform_shared/imu_report'
const maxIMUData = 100
@@ -14,23 +15,24 @@ export const imu = (() => {
bmp_temp: [] as number[]
})
const addData = (content: IMUMsg) => {
const addData = (content: IMUReport) => {
update(data => {
if (content.imu && content.imu[4]) {
data.x = [...data.x, content.imu[0]].slice(-maxIMUData)
data.y = [...data.y, content.imu[1]].slice(-maxIMUData)
data.z = [...data.z, content.imu[2]].slice(-maxIMUData)
}
if (content.success) {
data.x = [...data.x, content.x].slice(-maxIMUData)
data.y = [...data.y, content.y].slice(-maxIMUData)
data.z = [...data.z, content.z].slice(-maxIMUData)
}
if (content.mag && content.mag[4]) {
data.heading = [...data.heading, content.mag[3]].slice(-maxIMUData)
}
// TODO: Temporarily disabled
// if (content.mag && content.mag[4]) {
// data.heading = [...data.heading, content.mag[3]].slice(-maxIMUData)
// }
if (content.bmp && content.bmp[3]) {
data.pressure = [...data.pressure, content.bmp[0]].slice(-maxIMUData)
data.altitude = [...data.altitude, content.bmp[1]].slice(-maxIMUData)
data.bmp_temp = [...data.bmp_temp, content.bmp[2]].slice(-maxIMUData)
}
// if (content.bmp && content.bmp[3]) {
// data.pressure = [...data.pressure, content.bmp[0]].slice(-maxIMUData)
// data.altitude = [...data.altitude, content.bmp[1]].slice(-maxIMUData)
// data.bmp_temp = [...data.bmp_temp, content.bmp[2]].slice(-maxIMUData)
// }
return data
})
app/src/lib/stores/socket.ts
+13 -7
View File
@@ -4,18 +4,24 @@ import { encode, decode } from '@msgpack/msgpack'
const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const
type SocketEvent = (typeof socketEvents)[number]
type SocketMessage = [number, string?, unknown?]
type SocketMessage = [string, ArrayBuffer]
let useBinary = false
const decodeMessage = (data: string | ArrayBuffer): SocketMessage | null => {
useBinary = data instanceof ArrayBuffer
const decodeMessage = (data: ArrayBuffer): SocketMessage | null => {
try {
if (useBinary) {
return decode(new Uint8Array(data as ArrayBuffer)) as SocketMessage
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 JSON.parse(data as string)
return [ tag, data.slice(comma_index+1) ]
} catch (error) {
console.error(`Could not decode data: ${new Uint8Array(data as ArrayBuffer)} - ${error}`)
}
@@ -72,7 +78,7 @@ function createWebSocket() {
resetUnresponsiveCheck()
const message = decodeMessage(frame.data)
if (!message) return
const [, event, payload = undefined] = message
const [event, payload] = message
if (event) listeners.get(event)?.forEach(listener => listener(payload))
}
ws.onerror = ev => disconnect('error', ev)
app/src/routes/peripherals/imu/imu.svelte
+6 -1
View File
@@ -10,6 +10,9 @@
import { useFeatureFlags } from '$lib/stores/featureFlags'
import { Rotate3d } from '$lib/components/icons'
import { IMUReport } from '$lib/platform_shared/imu_report';
import { BinaryReader, BinaryWriter } from "@bufbuild/protobuf/wire";
Chart.register(...registerables)
const features = useFeatureFlags()
@@ -203,7 +206,9 @@
}
onMount(() => {
socket.on(MessageTopic.imu, (data: IMUMsg) => {
socket.on(MessageTopic.imu, (buffer: ArrayBuffer) => {
// Temporary conversions here
let data = IMUReport.decode(new BinaryReader(new Uint8Array(buffer)))
console.log(data)
imu.addData(data)
})