✨ Adds skill system

2025-12-25 14:03:39 +01:00
parent bc27e5000a
commit cbfd7aa354
10 changed files with 518 additions and 4 deletions
@@ -0,0 +1,156 @@
+<script lang="ts">
+    import { skill } from '$lib/stores'
+    import { onMount, onDestroy } from 'svelte'
+
+    let targetX = $state(0.5)
+    let targetZ = $state(0)
+    let targetYaw = $state(0)
+    let speed = $state(0.5)
+
+    const status = skill.status
+    const isActive = skill.isActive
+    const progress = skill.progress
+
+    const presets = [
+        { name: 'Forward 0.5m', x: 0.5, z: 0, yaw: 0 },
+        { name: 'Forward 1m', x: 1, z: 0, yaw: 0 },
+        { name: 'Back 0.5m', x: -0.5, z: 0, yaw: 0 },
+        { name: 'Left 0.5m', x: 0, z: 0.5, yaw: 0 },
+        { name: 'Right 0.5m', x: 0, z: -0.5, yaw: 0 },
+        { name: 'Turn Left 90°', x: 0, z: 0, yaw: 1.57 },
+        { name: 'Turn Right 90°', x: 0, z: 0, yaw: -1.57 },
+        { name: 'Turn 180°', x: 0, z: 0, yaw: 3.14 }
+    ]
+
+    onMount(() => skill.init())
+    onDestroy(() => skill.destroy())
+
+    function executeSkill() {
+        skill.walk(targetX, targetZ, targetYaw, speed)
+    }
+
+    function runPreset(preset: (typeof presets)[0]) {
+        skill.walk(preset.x, preset.z, preset.yaw, speed)
+    }
+
+    function formatMeters(val: number): string {
+        return val.toFixed(3) + 'm'
+    }
+
+    function formatDegrees(rad: number): string {
+        return ((rad * 180) / Math.PI).toFixed(1) + '°'
+    }
+</script>
+
+<div class="card bg-base-200 shadow-xl">
+    <div class="card-body p-4">
+        <h2 class="card-title text-sm flex justify-between">
+            Skill Control
+            <span class="badge" class:badge-success={$isActive} class:badge-ghost={!$isActive}>
+                {$isActive ? 'Active' : 'Idle'}
+            </span>
+        </h2>
+
+        <div class="grid grid-cols-2 gap-2 text-xs mb-2">
+            <div class="stat bg-base-300 rounded-lg p-2">
+                <div class="stat-title text-xs">Position</div>
+                <div class="stat-value text-sm">
+                    {formatMeters($status.x)}, {formatMeters($status.z)}
+                </div>
+                <div class="stat-desc">Yaw: {formatDegrees($status.yaw)}</div>
+            </div>
+            <div class="stat bg-base-300 rounded-lg p-2">
+                <div class="stat-title text-xs">Distance</div>
+                <div class="stat-value text-sm">{formatMeters($status.distance)}</div>
+                <div class="stat-desc">Total traveled</div>
+            </div>
+        </div>
+
+        {#if $isActive}
+            <div class="mb-2">
+                <div class="flex justify-between text-xs mb-1">
+                    <span>Progress</span>
+                    <span>{($progress * 100).toFixed(0)}%</span>
+                </div>
+                <progress class="progress progress-primary w-full" value={$progress} max="1"></progress>
+                <div class="text-xs text-base-content/60 mt-1">
+                    Target: ({$status.skill_target_x.toFixed(2)}, {$status.skill_target_z.toFixed(2)}, {formatDegrees(
+                        $status.skill_target_yaw
+                    )})
+                </div>
+            </div>
+        {/if}
+
+        <div class="divider my-1 text-xs">Presets</div>
+
+        <div class="grid grid-cols-4 gap-1">
+            {#each presets as preset}
+                <button class="btn btn-xs btn-outline" onclick={() => runPreset(preset)}>
+                    {preset.name}
+                </button>
+            {/each}
+        </div>
+
+        <div class="divider my-1 text-xs">Custom</div>
+
+        <div class="grid grid-cols-3 gap-2">
+            <div class="form-control">
+                <label class="label py-0" for="skill-x">
+                    <span class="label-text text-xs">X (m)</span>
+                </label>
+                <input
+                    id="skill-x"
+                    type="number"
+                    step="0.1"
+                    bind:value={targetX}
+                    class="input input-bordered input-xs w-full"
+                />
+            </div>
+            <div class="form-control">
+                <label class="label py-0" for="skill-z">
+                    <span class="label-text text-xs">Z (m)</span>
+                </label>
+                <input
+                    id="skill-z"
+                    type="number"
+                    step="0.1"
+                    bind:value={targetZ}
+                    class="input input-bordered input-xs w-full"
+                />
+            </div>
+            <div class="form-control">
+                <label class="label py-0" for="skill-yaw">
+                    <span class="label-text text-xs">Yaw (rad)</span>
+                </label>
+                <input
+                    id="skill-yaw"
+                    type="number"
+                    step="0.1"
+                    bind:value={targetYaw}
+                    class="input input-bordered input-xs w-full"
+                />
+            </div>
+        </div>
+
+        <div class="form-control mt-2">
+            <label class="label py-0" for="skill-speed">
+                <span class="label-text text-xs">Speed: {speed.toFixed(2)}</span>
+            </label>
+            <input id="skill-speed" type="range" min="0.1" max="1" step="0.05" bind:value={speed} class="range range-xs range-primary" />
+        </div>
+
+        <div class="card-actions justify-between mt-2">
+            <div class="flex gap-1">
+                <button class="btn btn-xs btn-ghost" onclick={() => skill.resetPosition()}>Reset Pos</button>
+            </div>
+            <div class="flex gap-1">
+                <button class="btn btn-xs btn-error" onclick={() => skill.stop()} disabled={!$isActive}>
+                    Stop
+                </button>
+                <button class="btn btn-xs btn-primary" onclick={executeSkill} disabled={$isActive}>
+                    Execute
+                </button>
+            </div>
+        </div>
+    </div>
+</div>
@@ -4,6 +4,7 @@ import { get, type Writable } from 'svelte/store'
 import Visualization from '$lib/components/Visualization.svelte'
 import Stream from '$lib/components/Stream.svelte'
 import ChartWidget from '$lib/components/widget/ChartWidget.svelte'
+import SkillPanel from '$lib/components/SkillPanel.svelte'

 export interface WidgetConfig {
    id: string | number
@@ -25,7 +26,8 @@ export const isWidgetConfig = (
 export const WidgetComponents = {
    Visualization,
    Stream,
-    ChartWidget
+    ChartWidget,
+    SkillPanel
 }

 interface View {
@@ -59,6 +61,16 @@ const defaultViews: View[] = [
                { id: 2, component: 'Visualization', props: { debug: true } }
            ]
        }
+    },
+    {
+        name: 'Skills',
+        content: {
+            id: 'root',
+            widgets: [
+                { id: 1, component: 'Visualization', props: { debug: true } },
+                { id: 2, component: 'SkillPanel' }
+            ]
+        }
    }
 ]

@@ -7,3 +7,4 @@ export * from './telemetry'
 export * from './analytics'
 export * from './featureFlags'
 export * from './location-store'
+export * from './skill'
@@ -0,0 +1,85 @@
+import { writable, derived } from 'svelte/store'
+import { socket } from './socket'
+import { MessageTopic, type SkillStatus, type SkillCommand } from '$lib/types/models'
+
+const defaultStatus: SkillStatus = {
+    x: 0,
+    y: 0,
+    z: 0,
+    yaw: 0,
+    distance: 0,
+    skill_active: false,
+    skill_target_x: 0,
+    skill_target_z: 0,
+    skill_target_yaw: 0,
+    skill_traveled_x: 0,
+    skill_traveled_z: 0,
+    skill_rotated: 0,
+    skill_progress: 0,
+    skill_complete: false
+}
+
+function createSkillStore() {
+    const status = writable<SkillStatus>(defaultStatus)
+    const history = writable<SkillCommand[]>([])
+    let unsubscribe: (() => void) | null = null
+
+    function init() {
+        if (unsubscribe) return
+        unsubscribe = socket.on<SkillStatus>(MessageTopic.skillStatus, data => {
+            status.set(data)
+            if (data.event === 'complete') {
+                history.update(h => [...h.slice(-9), getCurrentTarget(data)])
+            }
+        })
+    }
+
+    function getCurrentTarget(s: SkillStatus): SkillCommand {
+        return { x: s.skill_target_x, z: s.skill_target_z, yaw: s.skill_target_yaw }
+    }
+
+    function execute(cmd: SkillCommand) {
+        socket.sendEvent(MessageTopic.skill, cmd)
+    }
+
+    function walk(x: number, z: number = 0, yaw: number = 0, speed: number = 0.5) {
+        execute({ x, z, yaw, speed })
+    }
+
+    function turn(yaw: number, speed: number = 0.5) {
+        execute({ x: 0, z: 0, yaw, speed })
+    }
+
+    function stop() {
+        socket.sendEvent(MessageTopic.displacement, { action: 'clear' })
+    }
+
+    function resetPosition() {
+        socket.sendEvent(MessageTopic.displacement, { action: 'reset' })
+    }
+
+    function destroy() {
+        if (unsubscribe) {
+            unsubscribe()
+            unsubscribe = null
+        }
+    }
+
+    return {
+        status,
+        history,
+        init,
+        destroy,
+        execute,
+        walk,
+        turn,
+        stop,
+        resetPosition,
+        isActive: derived(status, $s => $s.skill_active),
+        progress: derived(status, $s => $s.skill_progress),
+        position: derived(status, $s => ({ x: $s.x, y: $s.y, z: $s.z, yaw: $s.yaw }))
+    }
+}
+
+export const skill = createSkillStore()
+
@@ -14,7 +14,10 @@ export enum MessageTopic {
    servoPWM = 'servoPWM',
    WiFiSettings = 'WiFiSettings',
    sonar = 'sonar',
-    rssi = 'rssi'
+    rssi = 'rssi',
+    skill = 'skill',
+    skillStatus = 'skill_status',
+    displacement = 'displacement'
 }

 export type vector = { x: number; y: number }
@@ -248,3 +251,28 @@ export interface MDNSStatus {
    services: MDNSService[]
    global_txt_records: MDNSTxtRecord[]
 }
+
+export interface SkillCommand {
+    x: number
+    z: number
+    yaw: number
+    speed?: number
+}
+
+export interface SkillStatus {
+    x: number
+    y: number
+    z: number
+    yaw: number
+    distance: number
+    skill_active: boolean
+    skill_target_x: number
+    skill_target_z: number
+    skill_target_yaw: number
+    skill_traveled_x: number
+    skill_traveled_z: number
+    skill_rotated: number
+    skill_progress: number
+    skill_complete: boolean
+    event?: string
+}