Fixed the controls and cleaned up some lookup tables

app/src/lib/stores/model-store.ts

@@ -1,4 +1,4 @@
-import { HumanInputData, ModeData, ModesEnum } from '$lib/platform_shared/websocket_message'
+import { HumanInputData, ModeData, ModesEnum, WalkGaitData, WalkGaits } from '$lib/platform_shared/websocket_message'
 import { persistentStore } from '$lib/utilities/svelte-utilities'
 import { writable, type Writable } from 'svelte/store'
 
@@ -8,34 +8,38 @@ export const jointNames = persistentStore('joint_names', <string[]>[])
 
 export const model = writable()
 
-export const modes = ['deactivated', 'idle', 'calibration', 'rest', 'stand', 'walk'] as const
-
-export type Modes = (typeof modes)[number]
-
-
-
-export enum WalkGaits {
-    Trot = 0,
-    Crawl = 1
-}
-
-export const walkGaits = ['trot', 'crawl'] as const
-
-export const walkGaitLabels: Record<WalkGaits, string> = {
-    [WalkGaits.Trot]: 'Trot',
-    [WalkGaits.Crawl]: 'Crawl'
-}
-
-export const walkGaitToMode = (gait: WalkGaits): 'trot' | 'crawl' => {
-    return gait === WalkGaits.Trot ? 'trot' : 'crawl'
-}
-
 export const mode: Writable<ModeData> = writable(ModeData.create({ mode: ModesEnum.DEACTIVATED }))
 
-export const walkGait: Writable<WalkGaits> = writable(WalkGaits.Trot)
+export const walkGait: Writable<WalkGaitData> = writable( WalkGaitData.create({gait: WalkGaits.TROT }) )
 
 export const outControllerData = writable( HumanInputData.create( {left: {x:0,y:0}, right: {x:0,y:0}, height:0, s1:0, speed:0} ) )
 
 export const kinematicData = writable([0, 0, 0, 0, 1, 0])
 
 export const input: Writable<HumanInputData> = writable( HumanInputData.create( {left: {x:0,y:0}, right: {x:0,y:0}, height:0, s1:0, speed:0} ) )
+
+
+// Following code is generated from CLAUDE CODE
+// Auto-generate modes array from ModesEnum (excluding UNRECOGNIZED)
+export const modes = Object.values(ModesEnum)
+    .filter((v): v is ModesEnum => typeof v === 'number' && v !== ModesEnum.UNRECOGNIZED)
+
+// Auto-generate mode labels from enum keys
+export const modeLabels: Record<ModesEnum, string> = Object.entries(ModesEnum)
+    .filter(([_, v]) => typeof v === 'number' && v !== ModesEnum.UNRECOGNIZED)
+    .reduce((acc, [key, value]) => {
+        acc[value as ModesEnum] = key.charAt(0) + key.slice(1).toLowerCase()
+        return acc
+    }, {} as Record<ModesEnum, string>)
+
+// Auto-generate walk gaits array from WalkGaits enum (excluding UNRECOGNIZED)
+export const walkGaits = Object.values(WalkGaits)
+    .filter((v): v is WalkGaits => typeof v === 'number' && v !== WalkGaits.UNRECOGNIZED)
+
+// Auto-generate walk gait labels from enum keys
+export const walkGaitLabels: Record<WalkGaits, string> = Object.entries(WalkGaits)
+    .filter(([_, v]) => typeof v === 'number' && v !== WalkGaits.UNRECOGNIZED)
+    .reduce((acc, [key, value]) => {
+        acc[value as WalkGaits] = key.charAt(0) + key.slice(1).toLowerCase()
+        return acc
+    }, {} as Record<WalkGaits, string>)