From b96ea51bd8f1a759eea20e2466da96b2a8dc1c87 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Sat, 3 Jan 2026 17:45:31 +0100
Subject: [PATCH] =?UTF-8?q?=E2=99=BB=EF=B8=8F=20Makes=20IMU=20store=20hand?=
 =?UTF-8?q?le=20data=20subscription?=
MIME-Version: 1.0
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---
 app/pnpm-lock.yaml                        |  3 ---
 app/src/lib/stores/imu.ts                 | 28 ++++++++++++++++++-----
 app/src/lib/stores/socket-store.ts        | 16 -------------
 app/src/routes/peripherals/imu/imu.svelte | 11 +++------
 4 files changed, 25 insertions(+), 33 deletions(-)

diff --git a/app/pnpm-lock.yaml b/app/pnpm-lock.yaml
index 603edba..6b9250c 100644
--- a/app/pnpm-lock.yaml
+++ b/app/pnpm-lock.yaml
@@ -150,9 +150,6 @@ importers:
       vitest:
         specifier: ^3.2.4
         version: 3.2.4(@types/node@24.7.1)(jiti@2.6.1)(jsdom@27.0.0(postcss@8.5.6))(lightningcss@1.30.2)(yaml@2.8.1)
-      ws:
-        specifier: ^8.18.3
-        version: 8.18.3
 
 packages:
 
diff --git a/app/src/lib/stores/imu.ts b/app/src/lib/stores/imu.ts
index 37ffc1c..2baafa9 100644
--- a/app/src/lib/stores/imu.ts
+++ b/app/src/lib/stores/imu.ts
@@ -1,18 +1,34 @@
 import { writable } from 'svelte/store'
 import { IMUData } from '$lib/platform_shared/message'
+import { socket } from './socket'
 
-const imu_data: IMUData[] = []
 const maxIMUData = 100
 
 export const imu = (() => {
-    const { subscribe, update } = writable(imu_data)
+    const { subscribe, update } = writable<IMUData[]>([])
+
+    let unsubscribe: (() => void) | null = null
+    let listenerCount = 0
+
+    const addData = (content: IMUData) => {
+        update(data => [...data, content].slice(-maxIMUData))
+    }
 
     return {
         subscribe,
-        addData: (content: IMUData) => {
-            update(imu_data => {
-                return [...imu_data, content].slice(-maxIMUData)
-            })
+        addData,
+        listen: () => {
+            listenerCount++
+            if (!unsubscribe) {
+                unsubscribe = socket.on(IMUData, addData)
+            }
+        },
+        stop: () => {
+            listenerCount = Math.max(0, listenerCount - 1)
+            if (listenerCount === 0 && unsubscribe) {
+                unsubscribe()
+                unsubscribe = null
+            }
         }
     }
 })()
diff --git a/app/src/lib/stores/socket-store.ts b/app/src/lib/stores/socket-store.ts
index e7f4dde..7816a62 100644
--- a/app/src/lib/stores/socket-store.ts
+++ b/app/src/lib/stores/socket-store.ts
@@ -8,21 +8,5 @@ export const servoAngles: Writable<AnglesData> = writable(
     AnglesData.create({ angles: [0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90] })
 )
 
-export const logs = writable([] as string[])
 export const mpu = writable({ heading: 0 })
 export const sonar = writable([0, 0])
-export const distances = writable({})
-
-export interface socketDataCollection {
-    angles: Writable<AnglesData>
-    logs: Writable<string[]>
-    mpu: Writable<unknown>
-    distances: Writable<unknown>
-}
-
-export const socketData = {
-    angles: servoAngles,
-    logs,
-    mpu,
-    distances
-}
diff --git a/app/src/routes/peripherals/imu/imu.svelte b/app/src/routes/peripherals/imu/imu.svelte
index ffaf0a6..665be3b 100644
--- a/app/src/routes/peripherals/imu/imu.svelte
+++ b/app/src/routes/peripherals/imu/imu.svelte
@@ -9,7 +9,7 @@
     import { useFeatureFlags } from '$lib/stores/featureFlags'
     import { Rotate3d } from '$lib/components/icons'
 
-    import { type IMUCalibrateData, IMUData } from '$lib/platform_shared/message'
+    import { type IMUCalibrateData } from '$lib/platform_shared/message'
 
     Chart.register(...registerables)
 
@@ -212,19 +212,14 @@
             )
         }
     }
-    let unsubscribeImu: (() => void) | undefined
     onMount(() => {
-        unsubscribeImu = socket.on(IMUData, data => {
-            console.log(data)
-            imu.addData(data)
-        })
-
+        imu.listen()
         initializeCharts()
         intervalId = setInterval(updateData, 200)
     })
 
     onDestroy(() => {
-        unsubscribeImu?.()
+        imu.stop()
         clearInterval(intervalId)
     })