Added protobufs for TS

.vscode/settings.json

@@ -1,15 +1,51 @@
 {
     "files.associations": {
-      "cmath": "cpp",
+        "cmath": "cpp",
-      "array": "cpp",
+        "array": "cpp",
-      "deque": "cpp",
+        "deque": "cpp",
-      "string": "cpp",
+        "string": "cpp",
-      "unordered_map": "cpp",
+        "unordered_map": "cpp",
-      "unordered_set": "cpp",
+        "unordered_set": "cpp",
-      "vector": "cpp",
+        "vector": "cpp",
-      "string_view": "cpp",
+        "string_view": "cpp",
-      "initializer_list": "cpp",
+        "initializer_list": "cpp",
-      "regex": "cpp"
+        "regex": "cpp",
+        "list": "cpp",
+        "memory": "cpp",
+        "random": "cpp",
+        "atomic": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "map": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "iosfwd": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp"
     },
     "editor.tabSize": 4,
     "editor.detectIndentation": false,

app/env.d.ts

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

compile_proto_TEMP

@@ -0,0 +1,3 @@
+This file is temporary, just to show how ot compile the proto files
+
+protoc --plugin="protoc-gen-ts_proto=$(Resolve-Path app\node_modules\.bin\protoc-gen-ts_proto.CMD)" --ts_proto_out="./app/proto" "platform_shared\example.proto"

esp32/factory_settings.ini

@@ -10,8 +10,8 @@ build_flags =
     -D APP_VERSION=\"0.1.0\"
 
     ; WiFi settings
-    -D FACTORY_WIFI_SSID=\"\"
+    -D FACTORY_WIFI_SSID=\"Dunder\ Milffin\"
-    -D FACTORY_WIFI_PASSWORD=\"\"
+    -D FACTORY_WIFI_PASSWORD=\"BodomReaper666\"
     -D FACTORY_WIFI_HOSTNAME=\"spot-micro\" ; supports placeholders
 
     ; Access point settings

esp32/features.ini

@@ -1,8 +1,8 @@
 [features]
 build_flags = 
   ; Kinematics - Choose only one
-  -D SPOTMICRO_ESP32
+;   -D SPOTMICRO_ESP32
-;   -D SPOTMICRO_ESP32_MINI
+    -D SPOTMICRO_ESP32_MINI
 ;   -D SPOTMICRO_YERTLE
 
   ; Firmware flags

esp32/include/settings/peripherals_settings.h

@@ -14,6 +14,9 @@
 #ifndef SCL_PIN
 #define SCL_PIN SCL
 #endif
+// #define STR(x) #x
+// #define XSTR(x) STR(x)
+// #pragma message ("SDA PIN: " XSTR(SDA_PIN))
 #ifndef I2C_FREQUENCY
 #define I2C_FREQUENCY 1000000UL
 #endif
@@ -42,9 +45,9 @@ class PeripheralsConfiguration {
     }
 
     static StateUpdateResult update(JsonVariant &root, PeripheralsConfiguration &settings) {
-        settings.sda = root["sda"] | SDA_PIN;
+        //settings.sda = root["sda"] | SDA_PIN;
-        settings.scl = root["scl"] | SCL_PIN;
+        //settings.scl = root["scl"] | SCL_PIN;
-        settings.frequency = root["frequency"] | I2C_FREQUENCY;
+        //settings.frequency = root["frequency"] | I2C_FREQUENCY;
         return StateUpdateResult::CHANGED;
     };
 };

platform_shared/example.proto

@@ -0,0 +1,13 @@
+syntax = "proto3";
+
+
+enum IMUType {
+    IMU_NONE = 0;
+    IMU_ACCEL = 1;
+    IMU_GYRO = 2;
+}
+
+message IMUReport {
+    IMUType type = 1;
+    double x_val = 2;
+}