📜 Makes data sync more seamless

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;
+};