Added protobufs for TS

app/env.d.ts

@@ -1,8 +1,8 @@
-declare module 'app-env' {
-    interface ENV {
-        VITE_USE_HOST_NAME: boolean
-    }
+declare module "app-env" {
+  interface ENV {
+    VITE_USE_HOST_NAME: boolean;
+  }
 
-    const appEnv: ENV
-    export default appEnv
+  const appEnv: ENV;
+  export default appEnv;
 }

app/package.json

@@ -48,6 +48,7 @@
     },
     "type": "module",
     "dependencies": {
+        "@bufbuild/protobuf": "^2.10.2",
         "@msgpack/msgpack": "^3.1.2",
         "@niku/vite-env-caster": "^1.1.2",
         "@sveltejs/adapter-auto": "^6.1.1",
@@ -60,6 +61,7 @@
         "svelte-dnd-list": "^0.1.8",
         "svelte-modals": "^2.0.1",
         "three": "^0.180.0",
+        "ts-proto": "^2.10.1",
         "urdf-loader": "^0.12.6",
         "uzip": "^0.20201231.0",
         "xacro-parser": "^0.3.10"

app/pnpm-lock.yaml

@@ -8,6 +8,9 @@ importers:
 
   .:
     dependencies:
+      '@bufbuild/protobuf':
+        specifier: ^2.10.2
+        version: 2.10.2
       '@msgpack/msgpack':
         specifier: ^3.1.2
         version: 3.1.2
@@ -44,6 +47,9 @@ importers:
       three:
         specifier: ^0.180.0
         version: 0.180.0
+      ts-proto:
+        specifier: ^2.10.1
+        version: 2.10.1
       urdf-loader:
         specifier: ^0.12.6
         version: 0.12.6(three@0.180.0)
@@ -159,6 +165,9 @@ packages:
   '@asamuzakjp/nwsapi@2.3.9':
     resolution: {integrity: sha512-n8GuYSrI9bF7FFZ/SjhwevlHc8xaVlb/7HmHelnc/PZXBD2ZR49NnN9sMMuDdEGPeeRQ5d0hqlSlEpgCX3Wl0Q==}
 
+  '@bufbuild/protobuf@2.10.2':
+    resolution: {integrity: sha512-uFsRXwIGyu+r6AMdz+XijIIZJYpoWeYzILt5yZ2d3mCjQrWUTVpVD9WL/jZAbvp+Ed04rOhrsk7FiTcEDseB5A==}
+
   '@csstools/color-helpers@5.1.0':
     resolution: {integrity: sha512-S11EXWJyy0Mz5SYvRmY8nJYTFFd1LCNV+7cXyAgQtOOuzb4EsgfqDufL+9esx72/eLhsRdGZwaldu/h+E4t4BA==}
     engines: {node: '>=18'}
@@ -987,6 +996,10 @@ packages:
   caniuse-lite@1.0.30001749:
     resolution: {integrity: sha512-0rw2fJOmLfnzCRbkm8EyHL8SvI2Apu5UbnQuTsJ0ClgrH8hcwFooJ1s5R0EP8o8aVrFu8++ae29Kt9/gZAZp/Q==}
 
+  case-anything@2.1.13:
+    resolution: {integrity: sha512-zlOQ80VrQ2Ue+ymH5OuM/DlDq64mEm+B9UTdHULv5osUMD6HalNTblf2b1u/m6QecjsnOkBpqVZ+XPwIVsy7Ng==}
+    engines: {node: '>=12.13'}
+
   chai@5.3.3:
     resolution: {integrity: sha512-4zNhdJD/iOjSH0A05ea+Ke6MU5mmpQcbQsSOkgdaUMJ9zTlDTD/GYlwohmIE2u0gaxHYiVHEn1Fw9mZ/ktJWgw==}
     engines: {node: '>=18'}
@@ -1094,6 +1107,11 @@ packages:
     resolution: {integrity: sha512-3sUqbMEc77XqpdNO7FRyRog+eW3ph+GYCbj+rK+uYyRMuwsVy0rMiVtPn+QJlKFvWP/1PYpapqYn0Me2knFn+A==}
     engines: {node: '>=0.10.0'}
 
+  detect-libc@1.0.3:
+    resolution: {integrity: sha512-pGjwhsmsp4kL2RTz08wcOlGN83otlqHeD/Z5T8GXZB+/YcpQ/dgo+lbU8ZsGxV0HIvqqxo9l7mqYwyYMD9bKDg==}
+    engines: {node: '>=0.10'}
+    hasBin: true
+
   detect-libc@2.1.2:
     resolution: {integrity: sha512-Btj2BOOO83o3WyH59e8MgXsxEQVcarkUOpEYrubB0urwnN10yQ364rsiByU11nZlqWYZm05i/of7io4mzihBtQ==}
     engines: {node: '>=8'}
@@ -1101,6 +1119,9 @@ packages:
   devalue@5.3.2:
     resolution: {integrity: sha512-UDsjUbpQn9kvm68slnrs+mfxwFkIflOhkanmyabZ8zOYk8SMEIbJ3TK+88g70hSIeytu4y18f0z/hYHMTrXIWw==}
 
+  dprint-node@1.0.8:
+    resolution: {integrity: sha512-iVKnUtYfGrYcW1ZAlfR/F59cUVL8QIhWoBJoSjkkdua/dkWIgjZfiLMeTjiB06X0ZLkQ0M2C1VbUj/CxkIf1zg==}
+
   electron-to-chromium@1.5.234:
     resolution: {integrity: sha512-RXfEp2x+VRYn8jbKfQlRImzoJU01kyDvVPBmG39eU2iuRVhuS6vQNocB8J0/8GrIMLnPzgz4eW6WiRnJkTuNWg==}
 
@@ -1962,6 +1983,16 @@ packages:
     peerDependencies:
       typescript: '>=4.8.4'
 
+  ts-poet@6.12.0:
+    resolution: {integrity: sha512-xo+iRNMWqyvXpFTaOAvLPA5QAWO6TZrSUs5s4Odaya3epqofBu/fMLHEWl8jPmjhA0s9sgj9sNvF1BmaQlmQkA==}
+
+  ts-proto-descriptors@2.1.0:
+    resolution: {integrity: sha512-S5EZYEQ6L9KLFfjSRpZWDIXDV/W7tAj8uW7pLsihIxyr62EAVSiKuVPwE8iWnr849Bqa53enex1jhDUcpgquzA==}
+
+  ts-proto@2.10.1:
+    resolution: {integrity: sha512-4sOE1hCs0uobJgdRCtcEwdbc8MAyKP+LJqUIKxZIiKac0rPBlVKsRGEGo2oQ1MnKA2Wwk0KuGP2POkiCwPtebw==}
+    hasBin: true
+
   tslib@2.8.1:
     resolution: {integrity: sha512-oJFu94HQb+KVduSUQL7wnpmqnfmLsOA/nAh6b6EH0wCEoK0/mPeXU6c3wKDV83MkOuHPRHtSXKKU99IBazS/2w==}
 
@@ -2237,6 +2268,8 @@ snapshots:
 
   '@asamuzakjp/nwsapi@2.3.9': {}
 
+  '@bufbuild/protobuf@2.10.2': {}
+
   '@csstools/color-helpers@5.1.0': {}
 
   '@csstools/css-calc@2.1.4(@csstools/css-parser-algorithms@3.0.5(@csstools/css-tokenizer@3.0.4))(@csstools/css-tokenizer@3.0.4)':
@@ -3005,6 +3038,8 @@ snapshots:
 
   caniuse-lite@1.0.30001749: {}
 
+  case-anything@2.1.13: {}
+
   chai@5.3.3:
     dependencies:
       assertion-error: 2.0.1
@@ -3099,10 +3134,16 @@ snapshots:
 
   deepmerge@4.3.1: {}
 
+  detect-libc@1.0.3: {}
+
   detect-libc@2.1.2: {}
 
   devalue@5.3.2: {}
 
+  dprint-node@1.0.8:
+    dependencies:
+      detect-libc: 1.0.3
+
   electron-to-chromium@1.5.234: {}
 
   emoji-regex@8.0.0: {}
@@ -3922,6 +3963,21 @@ snapshots:
     dependencies:
       typescript: 5.9.3
 
+  ts-poet@6.12.0:
+    dependencies:
+      dprint-node: 1.0.8
+
+  ts-proto-descriptors@2.1.0:
+    dependencies:
+      '@bufbuild/protobuf': 2.10.2
+
+  ts-proto@2.10.1:
+    dependencies:
+      '@bufbuild/protobuf': 2.10.2
+      case-anything: 2.1.13
+      ts-poet: 6.12.0
+      ts-proto-descriptors: 2.1.0
+
   tslib@2.8.1: {}
 
   type-check@0.4.0:

app/vite.config.ts

@@ -21,7 +21,7 @@ export default defineConfig({
     server: {
         proxy: {
             '/api': {
-                target: 'http://spot-micro.local/',
+                target: 'http://192.168.50.22/',
                 changeOrigin: true,
                 ws: true
             }