♻️ Makes IMU store handle data subscription

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:
 

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) => {
+        addData,
-            update(imu_data => {
+        listen: () => {
-                return [...imu_data, content].slice(-maxIMUData)
+            listenerCount++
-            })
+            if (!unsubscribe) {
+                unsubscribe = socket.on(IMUData, addData)
+            }
+        },
+        stop: () => {
+            listenerCount = Math.max(0, listenerCount - 1)
+            if (listenerCount === 0 && unsubscribe) {
+                unsubscribe()
+                unsubscribe = null
+            }
         }
     }
 })()

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
-}

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 => {
+        imu.listen()
-            console.log(data)
-            imu.addData(data)
-        })
-
         initializeCharts()
         intervalId = setInterval(updateData, 200)
     })
 
     onDestroy(() => {
-        unsubscribeImu?.()
+        imu.stop()
         clearInterval(intervalId)
     })