📜 Makes data sync more seamless

app/src/App.svelte

@@ -6,7 +6,7 @@
 	import Controller from './routes/Controller.svelte';
 	import { fileService } from '$lib/services';
 	import Settings from './routes/Settings.svelte';
-	import { jointNames, model } from '$lib/store';
+	import { jointNames, model, outControllerData } from '$lib/store';
 	import { loadModelAsync } from '$lib/utilities';
 	import { socketLocation } from '$lib/utilities';
 	import type { Result } from '$lib/utilities/result';
@@ -14,6 +14,7 @@
 	export let url = window.location.pathname;
 	onMount(async () => {
 		socketService.connect(socketLocation);
+		socketService.addPublisher(outControllerData);
 		registerFetchIntercept();
 		const modelRes = await loadModelAsync('/spot_micro.urdf.xacro');
 

app/src/components/Controls.svelte

@@ -1,7 +1,7 @@
 <script lang="ts">
 	import nipplejs from 'nipplejs';
 	import { onMount } from 'svelte';
-	import { throttler, toUint8 } from '$lib/utilities';
+	import { throttler, toInt8 } from '$lib/utilities';
 	import socketService from '$lib/services/socket-service';
 	import { emulateModel, input, outControllerData } from '$lib/store';
 
@@ -13,7 +13,7 @@
 
 	let mode = 'rest'; // 'rest' | 'stand' | 'stand+' | 'walk'
 
-	let data = new Uint8Array(6);
+	let data = new Int8Array(6);
 
 	onMount(() => {
 		left = nipplejs.create({
@@ -67,16 +67,16 @@
 
 	const updateData = () => {
 		data[0] = 0;
-		data[1] = toUint8($input.left.x, -1, 1);
-		data[2] = toUint8($input.left.y, -1, 1);
-		data[3] = toUint8($input.right.x, -1, 1);
-		data[4] = toUint8($input.right.y, -1, 1);
-		data[5] = toUint8($input.height, 0, 100);
-		data[6] = toUint8($input.speed, 0, 100);
+		data[1] = toInt8($input.left.x, -1, 1);
+		data[2] = toInt8($input.left.y, -1, 1);
+		data[3] = toInt8($input.right.x, -1, 1);
+		data[4] = toInt8($input.right.y, -1, 1);
+		data[5] = toInt8($input.height, 0, 100);
+		data[6] = toInt8($input.speed, 0, 100);
 
 		outControllerData.set(data);
 
-		if (!$emulateModel) socketService.send(data);
+        if (!$emulateModel) socketService.send(data);
 	};
 </script>
 

app/src/components/Views/Model.svelte

@@ -3,13 +3,13 @@
 	import { CanvasTexture, CircleGeometry, Mesh, MeshBasicMaterial } from 'three';
 	import socketService from '$lib/services/socket-service';
 	import uzip from 'uzip';
-	import { model, outControllerData } from '$lib/store';
+	import { model } from '$lib/store';
 	import { ForwardKinematics } from '$lib/kinematic';
 	import { location } from '$lib/utilities';
 	import { fileService } from '$lib/services';
 	import { servoAngles, mpu } from '$lib/stores';
 	import SceneBuilder from '$lib/sceneBuilder';
-	import { lerp } from 'three/src/math/MathUtils';
+	import { lerp, degToRad } from 'three/src/math/MathUtils';
 
 	let sceneManager: SceneBuilder;
 	let canvas: HTMLCanvasElement, streamCanvas: HTMLCanvasElement, stream: HTMLImageElement;
@@ -47,21 +47,9 @@
 		psi: number;
 	}
 
-	const degToRad = (val: number) => val * (Math.PI / 180);
-
 	onMount(async () => {
 		await cacheModelFiles();
 		await createScene();
-
-		outControllerData.subscribe((data) => {
-			socketService.send(
-				JSON.stringify({
-					type: 'kinematic/bodystate',
-					angles: [0, (data[1] - 128) / 3, (data[2] - 128) / 4],
-					position: [(data[4] - 128) / 2, data[5], (data[3] - 128) / 2]
-				})
-			);
-		});
 	});
 
 	onDestroy(() => {

app/src/lib/services/socket-service.ts

@@ -2,6 +2,7 @@ import { isConnected, socketData } from '$lib/stores';
 import { Result, Ok } from '$lib/utilities';
 import { resultService } from '$lib/services';
 import { type WebSocketJsonMsg } from '$lib/models';
+import type { Writable } from 'svelte/store';
 
 type WebsocketOutData = string | ArrayBufferLike | Blob | ArrayBufferView;
 
@@ -37,6 +38,10 @@ class SocketService {
 		return Result.err('The connection is not open');
 	}
 
+	public addPublisher(store: Writable<WebsocketOutData>, type?: string) {
+		store.subscribe((data) => this.send(type ? JSON.stringify({ type, data }) : data));
+	}
+
 	private handleConnected(): void {
 		isConnected.set(true);
 	}

app/src/lib/store.ts

@@ -10,7 +10,7 @@ export const input = writable({
 	speed: 0
 });
 
-export const outControllerData = writable(new Uint8Array([0, 128, 128, 128, 128, 70, 0]));
+export const outControllerData = writable(new Int8Array([0, 0, 0, 0, 0, 70, 0]));
 
 export const jointNames = persistentStore('joint_names', []);
 

app/src/lib/utilities/math-utilities.ts

@@ -3,3 +3,9 @@ export const toUint8 = (number: number, min: number, max: number) => {
 	let scaled = ((number - min) / (max - min)) * 255;
 	return Math.round(scaled) & 0xff;
 };
+
+export const toInt8 = (number: number, min: number, max: number) => {
+    number = Math.max(min, Math.min(max, number));
+    let scaled = ((number - min) / (max - min)) * 255 - 128;
+    return Math.max(-128, Math.min(127, Math.round(scaled))) | 0;
+};

app/test/specs/number-convert.spec.ts

@@ -0,0 +1,46 @@
+import { describe, it, expect } from 'vitest';
+import { toUint8, toInt8 } from '../../src/lib/utilities';
+
+describe('toUint8', () => {
+	it('min interval value should get 0', () => {
+		expect(toUint8(-1, -1, 1)).toBe(0);
+	});
+	it('middle interval value should get 128', () => {
+		expect(toUint8(0, -1, 1)).toBe(128);
+	});
+
+	it('max interval value should get 255', () => {
+		expect(toUint8(1, -1, 1)).toBe(255);
+	});
+
+	it('min value should be clamped', () => {
+		expect(toUint8(-2, -1, 1)).toBe(0);
+	});
+
+	it('max value should be clamped', () => {
+		expect(toUint8(2, -1, 1)).toBe(255);
+	});
+});
+
+describe('toInt8', () => {
+	it('min interval value should get -128', () => {
+		expect(toInt8(-1, -1, 1)).toBe(-128);
+	});
+	it('middle interval value should get 0', () => {
+		expect(toInt8(0, -1, 1)).toBe(0);
+	});
+
+	it('max interval value should get 127', () => {
+		expect(toInt8(1, -1, 1)).toBe(127);
+	});
+
+	it('min value should be clamped', () => {
+		expect(toInt8(-2, -1, 1)).toBe(-128);
+	});
+
+	it('max value should be clamped', () => {
+		expect(toInt8(2, -1, 1)).toBe(127);
+	});
+});
+
+

app/test/specs/toUint8.spec.ts

@@ -1,24 +0,0 @@
-import { describe, it, expect } from 'vitest';
-import { toUint8 } from '../../src/lib/utilities';
-
-describe('toUint8', () => {
-	it('min interval value should get 0', () => {
-		expect(toUint8(-1, -1, 1)).toBe(0);
-	});
-
-	it('middle interval value should get 128', () => {
-		expect(toUint8(0, -1, 1)).toBe(128);
-	});
-
-	it('max interval value should get 255', () => {
-		expect(toUint8(1, -1, 1)).toBe(255);
-	});
-
-	it('min value should be clamped', () => {
-		expect(toUint8(-2, -1, 1)).toBe(0);
-	});
-
-	it('max value should be clamped', () => {
-		expect(toUint8(2, -1, 1)).toBe(255);
-	});
-});