{#if $emulateModel}
-
+
{:else}
{/if}
diff --git a/app/src/routes/Settings.svelte b/app/src/routes/Settings.svelte
new file mode 100644
index 0000000..d827f93
--- /dev/null
+++ b/app/src/routes/Settings.svelte
@@ -0,0 +1,56 @@
+
+
+
+
+ {#each menu as link}
+
+
+
+ {/each}
+
+
+
+ {#each menu as link}
+
+
+
diff --git a/app/src/routes/SystemHealth.svelte b/app/src/routes/SystemHealth.svelte
deleted file mode 100644
index 9855815..0000000
--- a/app/src/routes/SystemHealth.svelte
+++ /dev/null
@@ -1,34 +0,0 @@
-
-
-
-
-
Heap allocation:
-
Total free: {humanFileSize($dataBuffer[8])}
-
Max free block: {humanFileSize($dataBuffer[12])}
-
Min: {humanFileSize($dataBuffer[10])}
-
-
-
-
PSRam allocation:
-
Free {humanFileSize($dataBuffer[9])}
-
Min: {humanFileSize($dataBuffer[11])}
-
Max block: {humanFileSize($dataBuffer[13])}
-
-
diff --git a/app/tsconfig.json b/app/tsconfig.json
index 319ff21..2e1fbc5 100644
--- a/app/tsconfig.json
+++ b/app/tsconfig.json
@@ -14,7 +14,14 @@
*/
"allowJs": true,
"checkJs": true,
- "isolatedModules": true
+ "isolatedModules": true,
+ "paths": {
+ "$lib/*": ["./src/lib/*"],
+ "$utils/*": ["./src/utils/*"],
+ "$components/*": ["./src/components/*"],
+ "$stores/*": ["./src/stores/*"]
+ }
+
},
"include": ["src/**/*.d.ts", "src/**/*.ts", "src/**/*.js", "src/**/*.svelte"],
"references": [{ "path": "./tsconfig.node.json" }]
diff --git a/app/vite.config.ts b/app/vite.config.ts
index 1599344..9c50df8 100644
--- a/app/vite.config.ts
+++ b/app/vite.config.ts
@@ -2,12 +2,24 @@ import { defineConfig } from 'vite';
import { svelte } from '@sveltejs/vite-plugin-svelte';
import { viteSingleFile } from 'vite-plugin-singlefile';
import viteCompression from 'vite-plugin-compression';
+import path from 'path'
+
+const forEmbedded = process.env.FOR_EMBEDDED == 'true'
// https://vitejs.dev/config/
export default defineConfig({
- plugins: [svelte(), viteSingleFile(), viteCompression({deleteOriginFile: true})],
+ plugins: [svelte(),
+ ...(forEmbedded ? [ viteSingleFile(), viteCompression({deleteOriginFile: true})]: [])],
build: {
- outDir: '../data',
+ outDir: forEmbedded ? '../data': './build',
emptyOutDir: true
- }
+ },
+ resolve: {
+ alias: {
+ '$lib': path.resolve('./src/lib/'),
+ '$components': path.resolve('./src/components'),
+ '$utils': path.resolve('./src/utils'),
+ '$stores': path.resolve('./src/stores'),
+ },
+ },
});
diff --git a/docs/api.md b/docs/api.md
new file mode 100644
index 0000000..f89602d
--- /dev/null
+++ b/docs/api.md
@@ -0,0 +1,25 @@
+# API
+
+https://dev.bostondynamics.com/docs/concepts/choreography/choreography_in_tablet.html
+
+| HTTP Method | Endpoint | Description | Parameters |
+|-------------|----------------|----------------------------|---------------------------|
+| GET | /api/sensor/battery | Retrieve the battery state | |
+| GET | /api/sensor/mpu | Retrieve the mpu state | |
+| GET | /api/sensor/magnetometer | Retrieve the magnetometer state | |
+| GET | /api/sensor/distances | Retrieve the distances state | |
+| GET | /api/sensor/distance/{position} | Retrieve the distance state | `position`: The position of the distance sensor **LEFT** and **RIGHT** |
+| GET | /api/sensor/stream | Retrieve the camera stream | |
+| GET | /api/actuator | Retrieve the actuator states | |
+| GET | /api/actuator/{id} | Retrieve the actuator state for `id` | `id`: The ID of the actuator |
+| POST | /api/actuator/{id} | Set the actuator state | `id`: The ID of the actuator|
+| GET | /api/kinematics/feet | Retrieve the current feet positions as (x, y, z) coordinates| |
+| GET | /api/kinematics/body | Retrieve the current body position as a (x, y, z) coordinates| |
+| GET | /api/kinematics/bodystate | Retrieve the current body and feet positions | |
+| GET | /api/system/log | Retrieve the system log | |
+| GET | /api/system/info | Retrieve the system information | |
+| GET | /api/system/settings | Retrieve the system settings | |
+| POST | /api/system/settings | Set the system settings | |
+| POST | /api/system/reset | Reset system | |
+| POST | /api/system/power/off | Power of the system | |
+| POST | /api/system/stop | Stop power to actuators | `id`: The stop level **CUT**, **SETTLE_THEN_CUT**, **NONE** |
diff --git a/docs/readme.md b/docs/readme.md
new file mode 100644
index 0000000..ce6f716
--- /dev/null
+++ b/docs/readme.md
@@ -0,0 +1,31 @@
+# ABOUT SPOT MICRO
+
+## Cameras
+
+## Hips and joints
+
+## Robot specifications
+
+### Dimensions
+
+### Environment
+
+| Specification | Value |
+| --- | --- |
+| Ingress protection | *IP42 |
+| Operating temperature | 0C to 30C |
+
+### Power
+
+### Sensing
+
+| Specification | Value |
+| --- | --- |
+| Camera type | single |
+| Field of view | 160 degrees |
+
+### Connectivity
+
+| Specification | Value |
+| --- | --- |
+| Wifi | 802.11 |
diff --git a/mock/.gitignore b/mock/.gitignore
new file mode 100644
index 0000000..30bc162
--- /dev/null
+++ b/mock/.gitignore
@@ -0,0 +1 @@
+/node_modules
\ No newline at end of file
diff --git a/mock/kinematic.js b/mock/kinematic.js
new file mode 100644
index 0000000..41de371
--- /dev/null
+++ b/mock/kinematic.js
@@ -0,0 +1,397 @@
+export default class Kinematic {
+ l1;
+ l2;
+ l3;
+ l4;
+
+ L;
+ W;
+
+ constructor() {
+ this.l1 = 50;
+ this.l2 = 20;
+ this.l3 = 120;
+ this.l4 = 155;
+
+ this.L = 140;
+ this.W = 75;
+ }
+
+ bodyIK(omega, phi, psi, xm, ym, zm) {
+ const { cos, sin } = Math;
+
+ const Rx = [
+ [1, 0, 0, 0],
+ [0, cos(omega), -sin(omega), 0],
+ [0, sin(omega), cos(omega), 0],
+ [0, 0, 0, 1],
+ ];
+ const Ry = [
+ [cos(phi), 0, sin(phi), 0],
+ [0, 1, 0, 0],
+ [-sin(phi), 0, cos(phi), 0],
+ [0, 0, 0, 1],
+ ];
+ const Rz = [
+ [cos(psi), -sin(psi), 0, 0],
+ [sin(psi), cos(psi), 0, 0],
+ [0, 0, 1, 0],
+ [0, 0, 0, 1],
+ ];
+ const Rxyz = this.matrixMultiply(this.matrixMultiply(Rx, Ry), Rz);
+
+ const T = [
+ [0, 0, 0, xm],
+ [0, 0, 0, ym],
+ [0, 0, 0, zm],
+ [0, 0, 0, 0],
+ ];
+ const Tm = this.matrixAdd(T, Rxyz);
+
+ const sHp = sin(Math.PI / 2);
+ const cHp = cos(Math.PI / 2);
+
+ return [
+ this.matrixMultiply(Tm, [
+ [cHp, 0, sHp, this.L / 2],
+ [0, 1, 0, 0],
+ [-sHp, 0, cHp, this.W / 2],
+ [0, 0, 0, 1],
+ ]),
+ this.matrixMultiply(Tm, [
+ [cHp, 0, sHp, this.L / 2],
+ [0, 1, 0, 0],
+ [-sHp, 0, cHp, -this.W / 2],
+ [0, 0, 0, 1],
+ ]),
+ this.matrixMultiply(Tm, [
+ [cHp, 0, sHp, -this.L / 2],
+ [0, 1, 0, 0],
+ [-sHp, 0, cHp, this.W / 2],
+ [0, 0, 0, 1],
+ ]),
+ this.matrixMultiply(Tm, [
+ [cHp, 0, sHp, -this.L / 2],
+ [0, 1, 0, 0],
+ [-sHp, 0, cHp, -this.W / 2],
+ [0, 0, 0, 1],
+ ]),
+ ];
+ }
+
+ legIK(point) {
+ const [x, y, z] = point;
+ const { atan2, cos, sin, sqrt, acos } = Math;
+
+ let F;
+
+ try {
+ F = sqrt(x ** 2 + y ** 2 - this.l1 ** 2);
+ if (isNaN(F)) throw new Error("F is NaN");
+ } catch (error) {
+ F = this.l1;
+ }
+ const G = F - this.l2;
+ const H = sqrt(G ** 2 + z ** 2);
+
+ const theta1 = -atan2(y, x) - atan2(F, -this.l1);
+ let theta3;
+ try {
+ theta3 = acos(
+ (H ** 2 - this.l3 ** 2 - this.l4 ** 2) / (2 * this.l3 * this.l4)
+ );
+ if (isNaN(theta3)) throw new Error("theta3 is NaN");
+ } catch (error) {
+ theta3 = 0;
+ }
+ const theta2 =
+ atan2(z, G) -
+ atan2(this.l4 * sin(theta3), this.l3 + this.l4 * cos(theta3));
+
+ return [theta1, theta2, theta3];
+ }
+
+ matrixMultiply(a, b) {
+ const result = [];
+
+ for (let i = 0; i < a.length; i++) {
+ const row = [];
+
+ for (let j = 0; j < b[0].length; j++) {
+ let sum = 0;
+
+ for (let k = 0; k < a[i].length; k++) {
+ sum += a[i][k] * b[k][j];
+ }
+
+ row.push(sum);
+ }
+
+ result.push(row);
+ }
+
+ return result;
+ }
+
+ multiplyVector(matrix, vector) {
+ const rows = matrix.length;
+ const cols = matrix[0].length;
+ const vectorLength = vector.length;
+
+ if (cols !== vectorLength) {
+ throw new Error(
+ "Matrix and vector dimensions do not match for multiplication."
+ );
+ }
+
+ const result = [];
+
+ for (let i = 0; i < rows; i++) {
+ let sum = 0;
+
+ for (let j = 0; j < cols; j++) {
+ sum += matrix[i][j] * vector[j];
+ }
+
+ result.push(sum);
+ }
+
+ return result;
+ }
+
+ matrixAdd(a, b) {
+ const result = [];
+
+ for (let i = 0; i < a.length; i++) {
+ const row = [];
+
+ for (let j = 0; j < a[i].length; j++) {
+ row.push(a[i][j] + b[i][j]);
+ }
+
+ result.push(row);
+ }
+
+ return result;
+ }
+
+ calcLegPoints(angles) {
+ const [theta1, theta2, theta3] = angles;
+ const theta23 = theta2 + theta3;
+
+ const T0 = [0, 0, 0, 1];
+ const T1 = this.vectorAdd(T0, [
+ -this.l1 * Math.cos(theta1),
+ this.l1 * Math.sin(theta1),
+ 0,
+ 0,
+ ]);
+ const T2 = this.vectorAdd(T1, [
+ -this.l2 * Math.sin(theta1),
+ -this.l2 * Math.cos(theta1),
+ 0,
+ 0,
+ ]);
+ const T3 = this.vectorAdd(T2, [
+ -this.l3 * Math.sin(theta1) * Math.cos(theta2),
+ -this.l3 * Math.cos(theta1) * Math.cos(theta2),
+ this.l3 * Math.sin(theta2),
+ 0,
+ ]);
+ const T4 = this.vectorAdd(T3, [
+ -this.l4 * Math.sin(theta1) * Math.cos(theta23),
+ -this.l4 * Math.cos(theta1) * Math.cos(theta23),
+ this.l4 * Math.sin(theta23),
+ 0,
+ ]);
+
+ return [T0, T1, T2, T3, T4];
+ }
+
+ calcIK(Lp, angles, center) {
+ const [omega, phi, psi] = angles;
+ const [xm, ym, zm] = center;
+
+ const [Tlf, Trf, Tlb, Trb] = this.bodyIK(omega, phi, psi, xm, ym, zm);
+
+ const Ix = [
+ [-1, 0, 0, 0],
+ [0, 1, 0, 0],
+ [0, 0, 1, 0],
+ [0, 0, 0, 1],
+ ];
+
+ return [
+ this.legIK(this.multiplyVector(this.matrixInverse(Tlf), Lp[0])),
+ this.legIK(
+ this.multiplyVector(
+ Ix,
+ this.multiplyVector(this.matrixInverse(Trf), Lp[1])
+ )
+ ),
+ this.legIK(this.multiplyVector(this.matrixInverse(Tlb), Lp[2])),
+ this.legIK(
+ this.multiplyVector(
+ Ix,
+ this.multiplyVector(this.matrixInverse(Trb), Lp[3])
+ )
+ ),
+ ];
+ }
+
+ vectorAdd(a, b) {
+ return a.map((val, index) => val + b[index]);
+ }
+
+ matrixInverse(matrix) {
+ const det = this.determinant(matrix);
+ const adjugate = this.adjugate(matrix);
+ const scalar = 1 / det;
+ const inverse = [];
+
+ for (let i = 0; i < matrix.length; i++) {
+ const row = [];
+
+ for (let j = 0; j < matrix[i].length; j++) {
+ row.push(adjugate[i][j] * scalar);
+ }
+
+ inverse.push(row);
+ }
+
+ return inverse;
+ }
+
+ determinant(matrix) {
+ if (matrix.length !== matrix[0].length) {
+ throw new Error("The matrix is not square.");
+ }
+
+ if (matrix.length === 2) {
+ return matrix[0][0] * matrix[1][1] - matrix[0][1] * matrix[1][0];
+ }
+
+ let det = 0;
+
+ for (let i = 0; i < matrix.length; i++) {
+ const sign = i % 2 === 0 ? 1 : -1;
+ const subMatrix = [];
+
+ for (let j = 1; j < matrix.length; j++) {
+ const row = [];
+
+ for (let k = 0; k < matrix.length; k++) {
+ if (k !== i) {
+ row.push(matrix[j][k]);
+ }
+ }
+
+ subMatrix.push(row);
+ }
+
+ det += sign * matrix[0][i] * this.determinant(subMatrix);
+ }
+
+ return det;
+ }
+
+ adjugate(matrix) {
+ if (matrix.length !== matrix[0].length) {
+ throw new Error("The matrix is not square.");
+ }
+
+ const adjugate = [];
+
+ for (let i = 0; i < matrix.length; i++) {
+ const row = [];
+
+ for (let j = 0; j < matrix[i].length; j++) {
+ const sign = (i + j) % 2 === 0 ? 1 : -1;
+ const subMatrix = [];
+
+ for (let k = 0; k < matrix.length; k++) {
+ if (k !== i) {
+ const subRow = [];
+
+ for (let l = 0; l < matrix.length; l++) {
+ if (l !== j) {
+ subRow.push(matrix[k][l]);
+ }
+ }
+
+ subMatrix.push(subRow);
+ }
+ }
+
+ const cofactor = sign * this.determinant(subMatrix);
+ row.push(cofactor);
+ }
+
+ adjugate.push(row);
+ }
+
+ return this.transpose(adjugate);
+ }
+
+ transpose(matrix) {
+ const transposed = [];
+
+ for (let i = 0; i < matrix.length; i++) {
+ const row = [];
+
+ for (let j = 0; j < matrix[i].length; j++) {
+ row.push(matrix[j][i]);
+ }
+
+ transposed.push(row);
+ }
+
+ return transposed;
+ }
+}
+
+class ForwardKinematics {
+ l1;
+ l2;
+ l3;
+ l4;
+
+ constructor() {
+ this.l1 = 50;
+ this.l2 = 20;
+ this.l3 = 120;
+ this.l4 = 155;
+ }
+
+ calculateFootpoint(theta1, theta2, theta3) {
+ const { cos, sin } = Math;
+
+ const x =
+ this.l1 * cos(theta1) +
+ this.l2 * cos(theta1) +
+ this.l3 * cos(theta1 + theta2) +
+ this.l4 * cos(theta1 + theta2 + theta3);
+ const y =
+ this.l1 * sin(theta1) +
+ this.l2 * sin(theta1) +
+ this.l3 * sin(theta1 + theta2) +
+ this.l4 * sin(theta1 + theta2 + theta3);
+ const z = 0;
+
+ return [x, y, z];
+ }
+
+ calculateFootpoints(angles) {
+ const footpoints = [];
+
+ for (let i = 0; i < angles.length; i += 3) {
+ const theta1 = angles[i];
+ const theta2 = angles[i + 1];
+ const theta3 = angles[i + 2];
+ const footpoint = this.calculateFootpoint(theta1, theta2, theta3);
+ footpoints.push(footpoint);
+ }
+
+ return footpoints;
+ }
+}
diff --git a/mock/package.json b/mock/package.json
new file mode 100644
index 0000000..ab6414c
--- /dev/null
+++ b/mock/package.json
@@ -0,0 +1,18 @@
+{
+ "name": "mock",
+ "version": "1.0.0",
+ "description": "",
+ "main": "index.js",
+ "scripts": {
+ "test": "echo \"Error: no test specified\" && exit 1"
+ },
+ "keywords": [],
+ "author": "",
+ "license": "ISC",
+ "type": "module",
+ "dependencies": {
+ "cors": "^2.8.5",
+ "express": "^4.18.2",
+ "ws": "^8.16.0"
+ }
+}
diff --git a/mock/pnpm-lock.yaml b/mock/pnpm-lock.yaml
new file mode 100644
index 0000000..30d71be
--- /dev/null
+++ b/mock/pnpm-lock.yaml
@@ -0,0 +1,483 @@
+lockfileVersion: '6.0'
+
+settings:
+ autoInstallPeers: true
+ excludeLinksFromLockfile: false
+
+dependencies:
+ cors:
+ specifier: ^2.8.5
+ version: 2.8.5
+ express:
+ specifier: ^4.18.2
+ version: 4.18.2
+ ws:
+ specifier: ^8.16.0
+ version: 8.16.0
+
+packages:
+
+ /accepts@1.3.8:
+ resolution: {integrity: sha512-PYAthTa2m2VKxuvSD3DPC/Gy+U+sOA1LAuT8mkmRuvw+NACSaeXEQ+NHcVF7rONl6qcaxV3Uuemwawk+7+SJLw==}
+ engines: {node: '>= 0.6'}
+ dependencies:
+ mime-types: 2.1.35
+ negotiator: 0.6.3
+ dev: false
+
+ /array-flatten@1.1.1:
+ resolution: {integrity: sha512-PCVAQswWemu6UdxsDFFX/+gVeYqKAod3D3UVm91jHwynguOwAvYPhx8nNlM++NqRcK6CxxpUafjmhIdKiHibqg==}
+ dev: false
+
+ /body-parser@1.20.1:
+ resolution: {integrity: sha512-jWi7abTbYwajOytWCQc37VulmWiRae5RyTpaCyDcS5/lMdtwSz5lOpDE67srw/HYe35f1z3fDQw+3txg7gNtWw==}
+ engines: {node: '>= 0.8', npm: 1.2.8000 || >= 1.4.16}
+ dependencies:
+ bytes: 3.1.2
+ content-type: 1.0.5
+ debug: 2.6.9
+ depd: 2.0.0
+ destroy: 1.2.0
+ http-errors: 2.0.0
+ iconv-lite: 0.4.24
+ on-finished: 2.4.1
+ qs: 6.11.0
+ raw-body: 2.5.1
+ type-is: 1.6.18
+ unpipe: 1.0.0
+ transitivePeerDependencies:
+ - supports-color
+ dev: false
+
+ /bytes@3.1.2:
+ resolution: {integrity: sha512-/Nf7TyzTx6S3yRJObOAV7956r8cr2+Oj8AC5dt8wSP3BQAoeX58NoHyCU8P8zGkNXStjTSi6fzO6F0pBdcYbEg==}
+ engines: {node: '>= 0.8'}
+ dev: false
+
+ /call-bind@1.0.5:
+ resolution: {integrity: sha512-C3nQxfFZxFRVoJoGKKI8y3MOEo129NQ+FgQ08iye+Mk4zNZZGdjfs06bVTr+DBSlA66Q2VEcMki/cUCP4SercQ==}
+ dependencies:
+ function-bind: 1.1.2
+ get-intrinsic: 1.2.2
+ set-function-length: 1.2.0
+ dev: false
+
+ /content-disposition@0.5.4:
+ resolution: {integrity: sha512-FveZTNuGw04cxlAiWbzi6zTAL/lhehaWbTtgluJh4/E95DqMwTmha3KZN1aAWA8cFIhHzMZUvLevkw5Rqk+tSQ==}
+ engines: {node: '>= 0.6'}
+ dependencies:
+ safe-buffer: 5.2.1
+ dev: false
+
+ /content-type@1.0.5:
+ resolution: {integrity: sha512-nTjqfcBFEipKdXCv4YDQWCfmcLZKm81ldF0pAopTvyrFGVbcR6P/VAAd5G7N+0tTr8QqiU0tFadD6FK4NtJwOA==}
+ engines: {node: '>= 0.6'}
+ dev: false
+
+ /cookie-signature@1.0.6:
+ resolution: {integrity: sha512-QADzlaHc8icV8I7vbaJXJwod9HWYp8uCqf1xa4OfNu1T7JVxQIrUgOWtHdNDtPiywmFbiS12VjotIXLrKM3orQ==}
+ dev: false
+
+ /cookie@0.5.0:
+ resolution: {integrity: sha512-YZ3GUyn/o8gfKJlnlX7g7xq4gyO6OSuhGPKaaGssGB2qgDUS0gPgtTvoyZLTt9Ab6dC4hfc9dV5arkvc/OCmrw==}
+ engines: {node: '>= 0.6'}
+ dev: false
+
+ /cors@2.8.5:
+ resolution: {integrity: sha512-KIHbLJqu73RGr/hnbrO9uBeixNGuvSQjul/jdFvS/KFSIH1hWVd1ng7zOHx+YrEfInLG7q4n6GHQ9cDtxv/P6g==}
+ engines: {node: '>= 0.10'}
+ dependencies:
+ object-assign: 4.1.1
+ vary: 1.1.2
+ dev: false
+
+ /debug@2.6.9:
+ resolution: {integrity: sha512-bC7ElrdJaJnPbAP+1EotYvqZsb3ecl5wi6Bfi6BJTUcNowp6cvspg0jXznRTKDjm/E7AdgFBVeAPVMNcKGsHMA==}
+ peerDependencies:
+ supports-color: '*'
+ peerDependenciesMeta:
+ supports-color:
+ optional: true
+ dependencies:
+ ms: 2.0.0
+ dev: false
+
+ /define-data-property@1.1.1:
+ resolution: {integrity: sha512-E7uGkTzkk1d0ByLeSc6ZsFS79Axg+m1P/VsgYsxHgiuc3tFSj+MjMIwe90FC4lOAZzNBdY7kkO2P2wKdsQ1vgQ==}
+ engines: {node: '>= 0.4'}
+ dependencies:
+ get-intrinsic: 1.2.2
+ gopd: 1.0.1
+ has-property-descriptors: 1.0.1
+ dev: false
+
+ /depd@2.0.0:
+ resolution: {integrity: sha512-g7nH6P6dyDioJogAAGprGpCtVImJhpPk/roCzdb3fIh61/s/nPsfR6onyMwkCAR/OlC3yBC0lESvUoQEAssIrw==}
+ engines: {node: '>= 0.8'}
+ dev: false
+
+ /destroy@1.2.0:
+ resolution: {integrity: sha512-2sJGJTaXIIaR1w4iJSNoN0hnMY7Gpc/n8D4qSCJw8QqFWXf7cuAgnEHxBpweaVcPevC2l3KpjYCx3NypQQgaJg==}
+ engines: {node: '>= 0.8', npm: 1.2.8000 || >= 1.4.16}
+ dev: false
+
+ /ee-first@1.1.1:
+ resolution: {integrity: sha512-WMwm9LhRUo+WUaRN+vRuETqG89IgZphVSNkdFgeb6sS/E4OrDIN7t48CAewSHXc6C8lefD8KKfr5vY61brQlow==}
+ dev: false
+
+ /encodeurl@1.0.2:
+ resolution: {integrity: sha512-TPJXq8JqFaVYm2CWmPvnP2Iyo4ZSM7/QKcSmuMLDObfpH5fi7RUGmd/rTDf+rut/saiDiQEeVTNgAmJEdAOx0w==}
+ engines: {node: '>= 0.8'}
+ dev: false
+
+ /escape-html@1.0.3:
+ resolution: {integrity: sha512-NiSupZ4OeuGwr68lGIeym/ksIZMJodUGOSCZ/FSnTxcrekbvqrgdUxlJOMpijaKZVjAJrWrGs/6Jy8OMuyj9ow==}
+ dev: false
+
+ /etag@1.8.1:
+ resolution: {integrity: sha512-aIL5Fx7mawVa300al2BnEE4iNvo1qETxLrPI/o05L7z6go7fCw1J6EQmbK4FmJ2AS7kgVF/KEZWufBfdClMcPg==}
+ engines: {node: '>= 0.6'}
+ dev: false
+
+ /express@4.18.2:
+ resolution: {integrity: sha512-5/PsL6iGPdfQ/lKM1UuielYgv3BUoJfz1aUwU9vHZ+J7gyvwdQXFEBIEIaxeGf0GIcreATNyBExtalisDbuMqQ==}
+ engines: {node: '>= 0.10.0'}
+ dependencies:
+ accepts: 1.3.8
+ array-flatten: 1.1.1
+ body-parser: 1.20.1
+ content-disposition: 0.5.4
+ content-type: 1.0.5
+ cookie: 0.5.0
+ cookie-signature: 1.0.6
+ debug: 2.6.9
+ depd: 2.0.0
+ encodeurl: 1.0.2
+ escape-html: 1.0.3
+ etag: 1.8.1
+ finalhandler: 1.2.0
+ fresh: 0.5.2
+ http-errors: 2.0.0
+ merge-descriptors: 1.0.1
+ methods: 1.1.2
+ on-finished: 2.4.1
+ parseurl: 1.3.3
+ path-to-regexp: 0.1.7
+ proxy-addr: 2.0.7
+ qs: 6.11.0
+ range-parser: 1.2.1
+ safe-buffer: 5.2.1
+ send: 0.18.0
+ serve-static: 1.15.0
+ setprototypeof: 1.2.0
+ statuses: 2.0.1
+ type-is: 1.6.18
+ utils-merge: 1.0.1
+ vary: 1.1.2
+ transitivePeerDependencies:
+ - supports-color
+ dev: false
+
+ /finalhandler@1.2.0:
+ resolution: {integrity: sha512-5uXcUVftlQMFnWC9qu/svkWv3GTd2PfUhK/3PLkYNAe7FbqJMt3515HaxE6eRL74GdsriiwujiawdaB1BpEISg==}
+ engines: {node: '>= 0.8'}
+ dependencies:
+ debug: 2.6.9
+ encodeurl: 1.0.2
+ escape-html: 1.0.3
+ on-finished: 2.4.1
+ parseurl: 1.3.3
+ statuses: 2.0.1
+ unpipe: 1.0.0
+ transitivePeerDependencies:
+ - supports-color
+ dev: false
+
+ /forwarded@0.2.0:
+ resolution: {integrity: sha512-buRG0fpBtRHSTCOASe6hD258tEubFoRLb4ZNA6NxMVHNw2gOcwHo9wyablzMzOA5z9xA9L1KNjk/Nt6MT9aYow==}
+ engines: {node: '>= 0.6'}
+ dev: false
+
+ /fresh@0.5.2:
+ resolution: {integrity: sha512-zJ2mQYM18rEFOudeV4GShTGIQ7RbzA7ozbU9I/XBpm7kqgMywgmylMwXHxZJmkVoYkna9d2pVXVXPdYTP9ej8Q==}
+ engines: {node: '>= 0.6'}
+ dev: false
+
+ /function-bind@1.1.2:
+ resolution: {integrity: sha512-7XHNxH7qX9xG5mIwxkhumTox/MIRNcOgDrxWsMt2pAr23WHp6MrRlN7FBSFpCpr+oVO0F744iUgR82nJMfG2SA==}
+ dev: false
+
+ /get-intrinsic@1.2.2:
+ resolution: {integrity: sha512-0gSo4ml/0j98Y3lngkFEot/zhiCeWsbYIlZ+uZOVgzLyLaUw7wxUL+nCTP0XJvJg1AXulJRI3UJi8GsbDuxdGA==}
+ dependencies:
+ function-bind: 1.1.2
+ has-proto: 1.0.1
+ has-symbols: 1.0.3
+ hasown: 2.0.0
+ dev: false
+
+ /gopd@1.0.1:
+ resolution: {integrity: sha512-d65bNlIadxvpb/A2abVdlqKqV563juRnZ1Wtk6s1sIR8uNsXR70xqIzVqxVf1eTqDunwT2MkczEeaezCKTZhwA==}
+ dependencies:
+ get-intrinsic: 1.2.2
+ dev: false
+
+ /has-property-descriptors@1.0.1:
+ resolution: {integrity: sha512-VsX8eaIewvas0xnvinAe9bw4WfIeODpGYikiWYLH+dma0Jw6KHYqWiWfhQlgOVK8D6PvjubK5Uc4P0iIhIcNVg==}
+ dependencies:
+ get-intrinsic: 1.2.2
+ dev: false
+
+ /has-proto@1.0.1:
+ resolution: {integrity: sha512-7qE+iP+O+bgF9clE5+UoBFzE65mlBiVj3tKCrlNQ0Ogwm0BjpT/gK4SlLYDMybDh5I3TCTKnPPa0oMG7JDYrhg==}
+ engines: {node: '>= 0.4'}
+ dev: false
+
+ /has-symbols@1.0.3:
+ resolution: {integrity: sha512-l3LCuF6MgDNwTDKkdYGEihYjt5pRPbEg46rtlmnSPlUbgmB8LOIrKJbYYFBSbnPaJexMKtiPO8hmeRjRz2Td+A==}
+ engines: {node: '>= 0.4'}
+ dev: false
+
+ /hasown@2.0.0:
+ resolution: {integrity: sha512-vUptKVTpIJhcczKBbgnS+RtcuYMB8+oNzPK2/Hp3hanz8JmpATdmmgLgSaadVREkDm+e2giHwY3ZRkyjSIDDFA==}
+ engines: {node: '>= 0.4'}
+ dependencies:
+ function-bind: 1.1.2
+ dev: false
+
+ /http-errors@2.0.0:
+ resolution: {integrity: sha512-FtwrG/euBzaEjYeRqOgly7G0qviiXoJWnvEH2Z1plBdXgbyjv34pHTSb9zoeHMyDy33+DWy5Wt9Wo+TURtOYSQ==}
+ engines: {node: '>= 0.8'}
+ dependencies:
+ depd: 2.0.0
+ inherits: 2.0.4
+ setprototypeof: 1.2.0
+ statuses: 2.0.1
+ toidentifier: 1.0.1
+ dev: false
+
+ /iconv-lite@0.4.24:
+ resolution: {integrity: sha512-v3MXnZAcvnywkTUEZomIActle7RXXeedOR31wwl7VlyoXO4Qi9arvSenNQWne1TcRwhCL1HwLI21bEqdpj8/rA==}
+ engines: {node: '>=0.10.0'}
+ dependencies:
+ safer-buffer: 2.1.2
+ dev: false
+
+ /inherits@2.0.4:
+ resolution: {integrity: sha512-k/vGaX4/Yla3WzyMCvTQOXYeIHvqOKtnqBduzTHpzpQZzAskKMhZ2K+EnBiSM9zGSoIFeMpXKxa4dYeZIQqewQ==}
+ dev: false
+
+ /ipaddr.js@1.9.1:
+ resolution: {integrity: sha512-0KI/607xoxSToH7GjN1FfSbLoU0+btTicjsQSWQlh/hZykN8KpmMf7uYwPW3R+akZ6R/w18ZlXSHBYXiYUPO3g==}
+ engines: {node: '>= 0.10'}
+ dev: false
+
+ /media-typer@0.3.0:
+ resolution: {integrity: sha512-dq+qelQ9akHpcOl/gUVRTxVIOkAJ1wR3QAvb4RsVjS8oVoFjDGTc679wJYmUmknUF5HwMLOgb5O+a3KxfWapPQ==}
+ engines: {node: '>= 0.6'}
+ dev: false
+
+ /merge-descriptors@1.0.1:
+ resolution: {integrity: sha512-cCi6g3/Zr1iqQi6ySbseM1Xvooa98N0w31jzUYrXPX2xqObmFGHJ0tQ5u74H3mVh7wLouTseZyYIq39g8cNp1w==}
+ dev: false
+
+ /methods@1.1.2:
+ resolution: {integrity: sha512-iclAHeNqNm68zFtnZ0e+1L2yUIdvzNoauKU4WBA3VvH/vPFieF7qfRlwUZU+DA9P9bPXIS90ulxoUoCH23sV2w==}
+ engines: {node: '>= 0.6'}
+ dev: false
+
+ /mime-db@1.52.0:
+ resolution: {integrity: sha512-sPU4uV7dYlvtWJxwwxHD0PuihVNiE7TyAbQ5SWxDCB9mUYvOgroQOwYQQOKPJ8CIbE+1ETVlOoK1UC2nU3gYvg==}
+ engines: {node: '>= 0.6'}
+ dev: false
+
+ /mime-types@2.1.35:
+ resolution: {integrity: sha512-ZDY+bPm5zTTF+YpCrAU9nK0UgICYPT0QtT1NZWFv4s++TNkcgVaT0g6+4R2uI4MjQjzysHB1zxuWL50hzaeXiw==}
+ engines: {node: '>= 0.6'}
+ dependencies:
+ mime-db: 1.52.0
+ dev: false
+
+ /mime@1.6.0:
+ resolution: {integrity: sha512-x0Vn8spI+wuJ1O6S7gnbaQg8Pxh4NNHb7KSINmEWKiPE4RKOplvijn+NkmYmmRgP68mc70j2EbeTFRsrswaQeg==}
+ engines: {node: '>=4'}
+ hasBin: true
+ dev: false
+
+ /ms@2.0.0:
+ resolution: {integrity: sha512-Tpp60P6IUJDTuOq/5Z8cdskzJujfwqfOTkrwIwj7IRISpnkJnT6SyJ4PCPnGMoFjC9ddhal5KVIYtAt97ix05A==}
+ dev: false
+
+ /ms@2.1.3:
+ resolution: {integrity: sha512-6FlzubTLZG3J2a/NVCAleEhjzq5oxgHyaCU9yYXvcLsvoVaHJq/s5xXI6/XXP6tz7R9xAOtHnSO/tXtF3WRTlA==}
+ dev: false
+
+ /negotiator@0.6.3:
+ resolution: {integrity: sha512-+EUsqGPLsM+j/zdChZjsnX51g4XrHFOIXwfnCVPGlQk/k5giakcKsuxCObBRu6DSm9opw/O6slWbJdghQM4bBg==}
+ engines: {node: '>= 0.6'}
+ dev: false
+
+ /object-assign@4.1.1:
+ resolution: {integrity: sha512-rJgTQnkUnH1sFw8yT6VSU3zD3sWmu6sZhIseY8VX+GRu3P6F7Fu+JNDoXfklElbLJSnc3FUQHVe4cU5hj+BcUg==}
+ engines: {node: '>=0.10.0'}
+ dev: false
+
+ /object-inspect@1.13.1:
+ resolution: {integrity: sha512-5qoj1RUiKOMsCCNLV1CBiPYE10sziTsnmNxkAI/rZhiD63CF7IqdFGC/XzjWjpSgLf0LxXX3bDFIh0E18f6UhQ==}
+ dev: false
+
+ /on-finished@2.4.1:
+ resolution: {integrity: sha512-oVlzkg3ENAhCk2zdv7IJwd/QUD4z2RxRwpkcGY8psCVcCYZNq4wYnVWALHM+brtuJjePWiYF/ClmuDr8Ch5+kg==}
+ engines: {node: '>= 0.8'}
+ dependencies:
+ ee-first: 1.1.1
+ dev: false
+
+ /parseurl@1.3.3:
+ resolution: {integrity: sha512-CiyeOxFT/JZyN5m0z9PfXw4SCBJ6Sygz1Dpl0wqjlhDEGGBP1GnsUVEL0p63hoG1fcj3fHynXi9NYO4nWOL+qQ==}
+ engines: {node: '>= 0.8'}
+ dev: false
+
+ /path-to-regexp@0.1.7:
+ resolution: {integrity: sha512-5DFkuoqlv1uYQKxy8omFBeJPQcdoE07Kv2sferDCrAq1ohOU+MSDswDIbnx3YAM60qIOnYa53wBhXW0EbMonrQ==}
+ dev: false
+
+ /proxy-addr@2.0.7:
+ resolution: {integrity: sha512-llQsMLSUDUPT44jdrU/O37qlnifitDP+ZwrmmZcoSKyLKvtZxpyV0n2/bD/N4tBAAZ/gJEdZU7KMraoK1+XYAg==}
+ engines: {node: '>= 0.10'}
+ dependencies:
+ forwarded: 0.2.0
+ ipaddr.js: 1.9.1
+ dev: false
+
+ /qs@6.11.0:
+ resolution: {integrity: sha512-MvjoMCJwEarSbUYk5O+nmoSzSutSsTwF85zcHPQ9OrlFoZOYIjaqBAJIqIXjptyD5vThxGq52Xu/MaJzRkIk4Q==}
+ engines: {node: '>=0.6'}
+ dependencies:
+ side-channel: 1.0.4
+ dev: false
+
+ /range-parser@1.2.1:
+ resolution: {integrity: sha512-Hrgsx+orqoygnmhFbKaHE6c296J+HTAQXoxEF6gNupROmmGJRoyzfG3ccAveqCBrwr/2yxQ5BVd/GTl5agOwSg==}
+ engines: {node: '>= 0.6'}
+ dev: false
+
+ /raw-body@2.5.1:
+ resolution: {integrity: sha512-qqJBtEyVgS0ZmPGdCFPWJ3FreoqvG4MVQln/kCgF7Olq95IbOp0/BWyMwbdtn4VTvkM8Y7khCQ2Xgk/tcrCXig==}
+ engines: {node: '>= 0.8'}
+ dependencies:
+ bytes: 3.1.2
+ http-errors: 2.0.0
+ iconv-lite: 0.4.24
+ unpipe: 1.0.0
+ dev: false
+
+ /safe-buffer@5.2.1:
+ resolution: {integrity: sha512-rp3So07KcdmmKbGvgaNxQSJr7bGVSVk5S9Eq1F+ppbRo70+YeaDxkw5Dd8NPN+GD6bjnYm2VuPuCXmpuYvmCXQ==}
+ dev: false
+
+ /safer-buffer@2.1.2:
+ resolution: {integrity: sha512-YZo3K82SD7Riyi0E1EQPojLz7kpepnSQI9IyPbHHg1XXXevb5dJI7tpyN2ADxGcQbHG7vcyRHk0cbwqcQriUtg==}
+ dev: false
+
+ /send@0.18.0:
+ resolution: {integrity: sha512-qqWzuOjSFOuqPjFe4NOsMLafToQQwBSOEpS+FwEt3A2V3vKubTquT3vmLTQpFgMXp8AlFWFuP1qKaJZOtPpVXg==}
+ engines: {node: '>= 0.8.0'}
+ dependencies:
+ debug: 2.6.9
+ depd: 2.0.0
+ destroy: 1.2.0
+ encodeurl: 1.0.2
+ escape-html: 1.0.3
+ etag: 1.8.1
+ fresh: 0.5.2
+ http-errors: 2.0.0
+ mime: 1.6.0
+ ms: 2.1.3
+ on-finished: 2.4.1
+ range-parser: 1.2.1
+ statuses: 2.0.1
+ transitivePeerDependencies:
+ - supports-color
+ dev: false
+
+ /serve-static@1.15.0:
+ resolution: {integrity: sha512-XGuRDNjXUijsUL0vl6nSD7cwURuzEgglbOaFuZM9g3kwDXOWVTck0jLzjPzGD+TazWbboZYu52/9/XPdUgne9g==}
+ engines: {node: '>= 0.8.0'}
+ dependencies:
+ encodeurl: 1.0.2
+ escape-html: 1.0.3
+ parseurl: 1.3.3
+ send: 0.18.0
+ transitivePeerDependencies:
+ - supports-color
+ dev: false
+
+ /set-function-length@1.2.0:
+ resolution: {integrity: sha512-4DBHDoyHlM1IRPGYcoxexgh67y4ueR53FKV1yyxwFMY7aCqcN/38M1+SwZ/qJQ8iLv7+ck385ot4CcisOAPT9w==}
+ engines: {node: '>= 0.4'}
+ dependencies:
+ define-data-property: 1.1.1
+ function-bind: 1.1.2
+ get-intrinsic: 1.2.2
+ gopd: 1.0.1
+ has-property-descriptors: 1.0.1
+ dev: false
+
+ /setprototypeof@1.2.0:
+ resolution: {integrity: sha512-E5LDX7Wrp85Kil5bhZv46j8jOeboKq5JMmYM3gVGdGH8xFpPWXUMsNrlODCrkoxMEeNi/XZIwuRvY4XNwYMJpw==}
+ dev: false
+
+ /side-channel@1.0.4:
+ resolution: {integrity: sha512-q5XPytqFEIKHkGdiMIrY10mvLRvnQh42/+GoBlFW3b2LXLE2xxJpZFdm94we0BaoV3RwJyGqg5wS7epxTv0Zvw==}
+ dependencies:
+ call-bind: 1.0.5
+ get-intrinsic: 1.2.2
+ object-inspect: 1.13.1
+ dev: false
+
+ /statuses@2.0.1:
+ resolution: {integrity: sha512-RwNA9Z/7PrK06rYLIzFMlaF+l73iwpzsqRIFgbMLbTcLD6cOao82TaWefPXQvB2fOC4AjuYSEndS7N/mTCbkdQ==}
+ engines: {node: '>= 0.8'}
+ dev: false
+
+ /toidentifier@1.0.1:
+ resolution: {integrity: sha512-o5sSPKEkg/DIQNmH43V0/uerLrpzVedkUh8tGNvaeXpfpuwjKenlSox/2O/BTlZUtEe+JG7s5YhEz608PlAHRA==}
+ engines: {node: '>=0.6'}
+ dev: false
+
+ /type-is@1.6.18:
+ resolution: {integrity: sha512-TkRKr9sUTxEH8MdfuCSP7VizJyzRNMjj2J2do2Jr3Kym598JVdEksuzPQCnlFPW4ky9Q+iA+ma9BGm06XQBy8g==}
+ engines: {node: '>= 0.6'}
+ dependencies:
+ media-typer: 0.3.0
+ mime-types: 2.1.35
+ dev: false
+
+ /unpipe@1.0.0:
+ resolution: {integrity: sha512-pjy2bYhSsufwWlKwPc+l3cN7+wuJlK6uz0YdJEOlQDbl6jo/YlPi4mb8agUkVC8BF7V8NuzeyPNqRksA3hztKQ==}
+ engines: {node: '>= 0.8'}
+ dev: false
+
+ /utils-merge@1.0.1:
+ resolution: {integrity: sha512-pMZTvIkT1d+TFGvDOqodOclx0QWkkgi6Tdoa8gC8ffGAAqz9pzPTZWAybbsHHoED/ztMtkv/VoYTYyShUn81hA==}
+ engines: {node: '>= 0.4.0'}
+ dev: false
+
+ /vary@1.1.2:
+ resolution: {integrity: sha512-BNGbWLfd0eUPabhkXUVm0j8uuvREyTh5ovRa/dyow/BqAbZJyC+5fU+IzQOzmAKzYqYRAISoRhdQr3eIZ/PXqg==}
+ engines: {node: '>= 0.8'}
+ dev: false
+
+ /ws@8.16.0:
+ resolution: {integrity: sha512-HS0c//TP7Ina87TfiPUz1rQzMhHrl/SG2guqRcTOIUYD2q8uhUdNHZYJUaQ8aTGPzCh+c6oawMKW35nFl1dxyQ==}
+ engines: {node: '>=10.0.0'}
+ peerDependencies:
+ bufferutil: ^4.0.1
+ utf-8-validate: '>=5.0.2'
+ peerDependenciesMeta:
+ bufferutil:
+ optional: true
+ utf-8-validate:
+ optional: true
+ dev: false
diff --git a/mock/server.js b/mock/server.js
new file mode 100644
index 0000000..555154b
--- /dev/null
+++ b/mock/server.js
@@ -0,0 +1,336 @@
+import express from "express";
+import cors from "cors";
+import Kinematic from "./kinematic.js";
+import { WebSocketServer } from "ws";
+
+const app = express();
+const kinematic = new Kinematic();
+const wss = new WebSocketServer({ port: 8080 });
+
+app.use(cors());
+app.use(express.json());
+
+const port = 3000;
+const subscriptions = {};
+
+const randomFloatFromInterval = (min, max) =>
+ Math.floor((Math.random() * (max - min + 1) + min) * 100) / 100;
+
+const radToDeg = (val) => val * (180 / Math.PI);
+const degToRad = (val) => val * (Math.PI / 180);
+
+function createNewClientState() {
+ return {
+ model: JSON.parse(JSON.stringify(model)),
+ settings: JSON.parse(JSON.stringify(settings)),
+ logs: JSON.parse(JSON.stringify(logs)),
+ subscriptions: {},
+ };
+}
+
+function subscribeClientToCategory(ws, category) {
+ if (!subscriptions[category]) {
+ subscriptions[category] = new Set();
+ }
+ subscriptions[category].add(ws);
+}
+
+const unsubscribeClientFromCategory = (ws, category) => {
+ if (!subscriptions[category]) return;
+ subscriptions[category].delete(ws);
+ if (subscriptions[category].size === 0) {
+ delete subscriptions[category].size;
+ }
+};
+
+const sendUpdateToSubscribers = (category, data) => {
+ if (subscriptions[category]) {
+ const message = JSON.stringify(data);
+ for (const client of subscriptions[category]) {
+ client.send(message);
+ }
+ }
+};
+
+if (!Array.prototype.last){
+ Array.prototype.last = function(){
+ return this[this.length - 1];
+ };
+};
+
+const model = {
+ battery: {
+ voltage: randomFloatFromInterval(7.6, 8.2),
+ ampere: randomFloatFromInterval(0.2, 3),
+ power_button: false,
+ },
+ servos: {
+ angles: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
+ dir: [-1, -1, -1, 1, -1, -1, -1, -1, -1, 1, -1, -1],
+ on: true,
+ },
+ mpu: {
+ x: 0,
+ y: 0,
+ z: 0,
+ heading: 240,
+ temperature: 21,
+ },
+ display: [[]],
+ distance_sensors: {
+ left: 22,
+ right: 23,
+ },
+ appTime: 1123321,
+ connectivity: {
+ ssid: "best network",
+ ip: "192.168.0.118",
+ mDNS: "leika.local",
+ rssi: 100,
+ },
+ running: true,
+};
+
+const settings = {
+ useMetric: true,
+ name: "Leika",
+ ssid: "Rune private network",
+ pass: "12345678",
+ ap: "Leika",
+ apPass: "12345678",
+ apChannel: 1,
+};
+
+const logs = [
+ "[2023-02-05 10:00:00] [verbose] Booting up",
+ "[2023-02-05 10:00:10] [verbose] Starting webserver",
+ "[2023-02-05 10:00:20] [verbose] Loading setting",
+ "[2023-02-05 10:00:30] [verbose] Connected to Rune private network",
+];
+
+const system = {
+ HeapSize: 400000,
+ HeapFree: 0,
+ HeapMin: 0,
+ DmaHeapSize: 0,
+ DmaHeapFree: 0,
+ DmaHeapMin: 0,
+ PsramSize: 400000,
+ PsramFree: 0,
+ PsramMin: 0,
+ ChipModel: 0,
+ ChipRevision: 0,
+ ChipCores: 2,
+ CpuFreqMHz: 80,
+ SketchSize: 0,
+ FreeSketchSpace: 10200,
+ FlashChipSize: 0,
+ CpuUsed: 0,
+ CpuUsedCore0: 0,
+ CpuUsedCore1: 0,
+ arduinoVersion: "3.2.1",
+};
+
+const updateBattery = () => {
+ model.battery.voltage = randomFloatFromInterval(7.6, 8.2);
+ model.battery.ampere = randomFloatFromInterval(0.2, 3);
+ return model.battery;
+};
+
+const updateMpu = () => {
+ model.mpu.x = randomFloatFromInterval(0, 1);
+ model.mpu.y = randomFloatFromInterval(0, 1);
+ model.mpu.z = randomFloatFromInterval(0, 1);
+ model.mpu.temperature = randomFloatFromInterval(20, 22);
+ return model.mpu;
+};
+
+const updateDistances = () => {
+ model.distance_sensors = {
+ left: randomFloatFromInterval(10, 220),
+ right: randomFloatFromInterval(10, 220),
+ };
+ return model.distance_sensors;
+};
+
+const updateDistance = (position) => {
+ model.distance_sensors[position] = randomFloatFromInterval(10, 220);
+ return model.distance_sensors[position];
+};
+
+const updateSystem = () => {
+ system.CpuUsedCore0 = randomFloatFromInterval(0, 100);
+ system.CpuUsedCore1 = randomFloatFromInterval(0, 100);
+ system.CpuUsed =
+ Math.floor((system.CpuUsedCore0 + system.CpuUsedCore1) / 0.02) / 100;
+ system.HeapFree = randomFloatFromInterval(0, 20000);
+ system.HeapMin = randomFloatFromInterval(0, 20000);
+ return system;
+};
+
+const updateBodyState = (model, angles, position) => {
+ const Lp = [
+ [100, -100, 100, 1],
+ [100, -100, -100, 1],
+ [-100, -100, 100, 1],
+ [-100, -100, -100, 1],
+ ];
+
+ model.servos.angles = kinematic
+ .calcIK(
+ Lp,
+ angles.map((x) => degToRad(x)),
+ position
+ )
+ .flat()
+ .map((x, i) => radToDeg(x * model.servos.dir[i]));
+ return model.servos.angles;
+};
+
+const updateAngle = (id, angle) => {
+ model.servos.angles[id] = angle;
+ return model.servos.angles;
+};
+
+const updateAngles = (angles) => {
+ model.servos.angles = angles;
+ return model.servos.angles;
+};
+
+wss.on("connection", (ws) => {
+ const clientState = createNewClientState();
+ ws.clientState = clientState;
+ ws.on("error", console.error);
+
+ ws.on("message", (message) => {
+ let data = message;
+ try {
+ data = JSON.parse(message);
+ } catch (error) {
+ return;
+ }
+ switch (data.type) {
+ case "subscribe":
+ subscribeClientToCategory(ws, data.category);
+ break;
+ case "unsubscribe":
+ unsubscribeClientFromCategory(ws, data.category);
+ break;
+ case "sensor/battery":
+ ws.send({ type: "battery", battery: JSON.stringify(updateBattery()) });
+ break;
+ case "sensor/mpu":
+ ws.send({ type: "battery", mpu: JSON.stringify(updateMpu()) });
+ break;
+ case "sensor/distances":
+ ws.send(JSON.stringify(updateDistances()));
+ break;
+ case "sensor/distance":
+ ws.send(JSON.stringify({ distance: updateDistance(data.position) }));
+ break;
+ case "kinematic/angle":
+ if (data.angle && data.id) {
+ ws.clientState.model.servos.angles[data.id] = data.angle;
+ ws.send(
+ JSON.stringify({
+ type: "angles",
+ angles: ws.clientState.model.servos.angles,
+ })
+ );
+ } else {
+ ws.send(JSON.stringify(updateAngle(data.id, data.angle)));
+ }
+ break;
+ case "kinematic/angles":
+ if (data.angles) {
+ ws.clientState.model.servos.angles = data.angles;
+ ws.send(
+ JSON.stringify({
+ type: "angles",
+ angles: ws.clientState.model.servos.angles,
+ })
+ );
+ } else {
+ ws.send(JSON.stringify(updateAngles(data.angles)));
+ }
+ break;
+ case "kinematic/bodystate":
+ if (data.angles) {
+ ws.send(
+ JSON.stringify({
+ type: "angles",
+ angles: updateBodyState(ws.clientState.model, data.angles, data.position),
+ })
+ );
+ } else {
+ ws.send(JSON.stringify({ angles: model.servos.angles }));
+ }
+ break;
+ case "system/logs":
+ ws.send(JSON.stringify({ type: "logs", logs:ws.clientState.logs }));
+ break;
+ case "system/info":
+ ws.send(JSON.stringify({ type: "info", info: updateSystem() }));
+ break;
+ case "system/settings":
+ if (data.settings) {
+ Object.entries(data.settings).forEach(
+ ([key, value]) => (ws.clientState.settings[key] = value)
+ );
+ ws.send(JSON.stringify(ws.clientState.settings));
+ } else {
+ ws.send(JSON.stringify({type:"settings", settings: ws.clientState.settings}));
+ }
+ break;
+ case "system/stop":
+ ws.clientState.model.running = false;
+ ws.clientState.logs.push("[2024-02-05 19:10:00] [Warning] STOPPING SERVOS")
+ ws.send(JSON.stringify({type:"log", log:ws.clientState.logs.last()}));
+ break;
+ default:
+ ws.send(JSON.stringify({ error: "Unknown request type" }));
+ }
+ });
+
+ ws.on("close", () => {
+ for (const category in subscriptions) {
+ unsubscribeClientFromCategory(ws, category);
+ }
+ });
+});
+
+app.get("/sensor/battery", (req, res) => res.send(updateBattery()));
+app.get("/sensor/mpu", (req, res) => res.send(updateMpu()));
+app.get("/sensor/distances", (req, res) => res.send(updateDistances()));
+app.get("/sensor/distance/:position", (req, res) =>
+ res.send({ distance: updateDistance(req.params.position) })
+);
+
+// ----------------------------------------------------------- //
+
+app.post("/kinematic/angle/:id", (req, res) =>
+ res.send(updateAngle(req.params.id, req.body.angle))
+);
+app.post("/kinematic/angles/", (req, res) =>
+ res.send(updateAngles(req.body.angles))
+);
+app.get("/kinematic/bodystate", (req, res) => res.send(model.servos.angles));
+app.post("/kinematic/bodystate", (req, res) => {
+ sendUpdateToSubscribers("angles", model.servos.angles);
+ res.send(updateBodyState(model, req.body.angles, req.body.position));
+});
+
+// ----------------------------------------------------------- //
+
+app.get("/system/log", (req, res) => res.send(logs));
+app.get("/system/info", (req, res) => res.send(updateSystem()));
+app.get("/system/settings", (req, res) => res.send(settings));
+app.post("/system/settings", (req, res) => {
+ Object.entries(req.body).forEach((x) => (settings[x[0]] = x[1]));
+ res.send(settings);
+});
+app.post("/system/stop", (req, res) => {
+ model.running = false;
+ model.res.send(settings);
+});
+app.listen(port, () => console.log(`Open at http://localhost:${port}`));