🏃‍♀️ Adds mock spot server to develop of API

mock/.gitignore

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+/node_modules

mock/kinematic.js

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+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;
+  }
+}

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"
+  }
+}

mock/pnpm-lock.yaml

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+
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mock/server.js

@@ -0,0 +1,316 @@
+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 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);
+    }
+  }
+};
+
+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 = [
+  "Booting up",
+  "Starting webserver",
+  "Loading setting",
+  "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 = (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) => {
+  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) {
+          model.servos.angles[data.id] = data.angle;
+          ws.send(
+            JSON.stringify({ type: "angles", angles: model.servos.angles })
+          );
+        } else {
+          ws.send(JSON.stringify(updateAngle(data.id, data.angle)));
+        }
+        break;
+      case "kinematic/angles":
+        if (data.angles) {
+          model.servos.angles = data.angles;
+          ws.send(
+            JSON.stringify({
+              type: "angles",
+              angles: 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(data.angles, data.position),
+            })
+          );
+        } else {
+          ws.send(JSON.stringify({ angles: model.servos.angles }));
+        }
+        break;
+      case "system/log":
+        ws.send(JSON.stringify(logs));
+        break;
+      case "system/info":
+        ws.send(JSON.stringify(updateSystem()));
+        break;
+      case "system/settings":
+        if (data.settings) {
+          Object.entries(data.settings).forEach(
+            ([key, value]) => (settings[key] = value)
+          );
+          ws.send(JSON.stringify(settings));
+        } else {
+          ws.send(JSON.stringify(settings));
+        }
+        break;
+      case "system/stop":
+        model.running = false;
+        ws.send(JSON.stringify(settings));
+        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(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}`));