Idea of how typescript should decode Protobuffer

app/src/lib/stores/imu.ts

@@ -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

@@ -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)