Fixed the controls and cleaned up some lookup tables

app/src/lib/platform_shared/websocket_message.ts

@@ -67,6 +67,39 @@ export function modesEnumToJSON(object: ModesEnum): string {
   }
 }
 
+export enum WalkGaits {
+  TROT = 0,
+  CRAWL = 1,
+  UNRECOGNIZED = -1,
+}
+
+export function walkGaitsFromJSON(object: any): WalkGaits {
+  switch (object) {
+    case 0:
+    case "TROT":
+      return WalkGaits.TROT;
+    case 1:
+    case "CRAWL":
+      return WalkGaits.CRAWL;
+    case -1:
+    case "UNRECOGNIZED":
+    default:
+      return WalkGaits.UNRECOGNIZED;
+  }
+}
+
+export function walkGaitsToJSON(object: WalkGaits): string {
+  switch (object) {
+    case WalkGaits.TROT:
+      return "TROT";
+    case WalkGaits.CRAWL:
+      return "CRAWL";
+    case WalkGaits.UNRECOGNIZED:
+    default:
+      return "UNRECOGNIZED";
+  }
+}
+
 export interface Vector {
   x: number;
   y: number;
@@ -200,6 +233,10 @@ export interface SystemInformation {
   staticSystemInformation: StaticSystemInformation | undefined;
 }
 
+export interface WalkGaitData {
+  gait: WalkGaits;
+}
+
 export interface SubscribeNotification {
   tag: number;
 }
@@ -2326,6 +2363,64 @@ export const SystemInformation: MessageFns<SystemInformation> = {
   },
 };
 
+function createBaseWalkGaitData(): WalkGaitData {
+  return { gait: 0 };
+}
+
+export const WalkGaitData: MessageFns<WalkGaitData> = {
+  encode(message: WalkGaitData, writer: BinaryWriter = new BinaryWriter()): BinaryWriter {
+    if (message.gait !== 0) {
+      writer.uint32(8).int32(message.gait);
+    }
+    return writer;
+  },
+
+  decode(input: BinaryReader | Uint8Array, length?: number): WalkGaitData {
+    const reader = input instanceof BinaryReader ? input : new BinaryReader(input);
+    const end = length === undefined ? reader.len : reader.pos + length;
+    const message = createBaseWalkGaitData();
+    while (reader.pos < end) {
+      const tag = reader.uint32();
+      switch (tag >>> 3) {
+        case 1: {
+          if (tag !== 8) {
+            break;
+          }
+
+          message.gait = reader.int32() as any;
+          continue;
+        }
+      }
+      if ((tag & 7) === 4 || tag === 0) {
+        break;
+      }
+      reader.skip(tag & 7);
+    }
+    return message;
+  },
+
+  fromJSON(object: any): WalkGaitData {
+    return { gait: isSet(object.gait) ? walkGaitsFromJSON(object.gait) : 0 };
+  },
+
+  toJSON(message: WalkGaitData): unknown {
+    const obj: any = {};
+    if (message.gait !== 0) {
+      obj.gait = walkGaitsToJSON(message.gait);
+    }
+    return obj;
+  },
+
+  create<I extends Exact<DeepPartial<WalkGaitData>, I>>(base?: I): WalkGaitData {
+    return WalkGaitData.fromPartial(base ?? ({} as any));
+  },
+  fromPartial<I extends Exact<DeepPartial<WalkGaitData>, I>>(object: I): WalkGaitData {
+    const message = createBaseWalkGaitData();
+    message.gait = object.gait ?? 0;
+    return message;
+  },
+};
+
 function createBaseSubscribeNotification(): SubscribeNotification {
   return { tag: 0 };
 }
@@ -4017,6 +4112,30 @@ export const protoMetadata: ProtoMetadata = {
       "reservedRange": [],
       "reservedName": [],
       "visibility": 0,
+    }, {
+      "name": "WalkGaitData",
+      "field": [{
+        "name": "gait",
+        "number": 1,
+        "label": 1,
+        "type": 14,
+        "typeName": ".WalkGaits",
+        "extendee": "",
+        "defaultValue": "",
+        "oneofIndex": 0,
+        "jsonName": "gait",
+        "options": undefined,
+        "proto3Optional": false,
+      }],
+      "extension": [],
+      "nestedType": [],
+      "enumType": [],
+      "extensionRange": [],
+      "oneofDecl": [],
+      "options": undefined,
+      "reservedRange": [],
+      "reservedName": [],
+      "visibility": 0,
     }, {
       "name": "SubscribeNotification",
       "field": [{
@@ -4296,6 +4415,17 @@ export const protoMetadata: ProtoMetadata = {
       "reservedRange": [],
       "reservedName": [],
       "visibility": 0,
+    }, {
+      "name": "WalkGaits",
+      "value": [{ "name": "TROT", "number": 0, "options": undefined }, {
+        "name": "CRAWL",
+        "number": 1,
+        "options": undefined,
+      }],
+      "options": undefined,
+      "reservedRange": [],
+      "reservedName": [],
+      "visibility": 0,
     }],
     "service": [],
     "extension": [],
@@ -4308,8 +4438,8 @@ export const protoMetadata: ProtoMetadata = {
         "trailingComments": "",
         "leadingDetachedComments": [],
       }, {
-        "path": [4, 23],
+        "path": [4, 24],
-        "span": [87, 0, 105, 1],
+        "span": [94, 0, 112, 1],
         "leadingComments": " WebSocket message wrapper\n Only ONE field will be set at a time (oneof ensures this)\n",
         "trailingComments": "",
         "leadingDetachedComments": [],
@@ -4320,6 +4450,7 @@ export const protoMetadata: ProtoMetadata = {
   },
   references: {
     ".ModesEnum": ModesEnum,
+    ".WalkGaits": WalkGaits,
     ".Vector": Vector,
     ".I2CDevice": I2CDevice,
     ".PinConfig": PinConfig,
@@ -4339,6 +4470,7 @@ export const protoMetadata: ProtoMetadata = {
     ".SonarData": SonarData,
     ".HumanInputData": HumanInputData,
     ".SystemInformation": SystemInformation,
+    ".WalkGaitData": WalkGaitData,
     ".SubscribeNotification": SubscribeNotification,
     ".UnsubscribeNotification": UnsubscribeNotification,
     ".PingMsg": PingMsg,

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>)

app/src/routes/controller/Controls.svelte

@@ -1,27 +1,37 @@
 <script lang="ts">
     import nipplejs from 'nipplejs'
     import { onMount } from 'svelte'
-    import { capitalize } from '$lib/utilities'
     import {
         input,
         mode,
-        modes,
-        type Modes,
-        ModesEnum,
-        WalkGaits,
         walkGait,
+        modes,
+        modeLabels,
+        walkGaits,
         walkGaitLabels
     } from '$lib/stores'
     import type { vector } from '$lib/types/models'
     import { VerticalSlider } from '$lib/components/input'
     import { gamepadAxes, gamepadButtonsEdges, hasGamepad } from '$lib/stores/gamepad'
     import { notifications } from '$lib/components/toasts/notifications'
-    import { HumanInputData } from '$lib/platform_shared/websocket_message'
+    import {
+        HumanInputData,
+        ModeData,
+        ModesEnum,
+        WalkGaitData,
+        WalkGaits
+    } from '$lib/platform_shared/websocket_message'
 
     let left: nipplejs.JoystickManager
     let right: nipplejs.JoystickManager
 
-    let data: HumanInputData = HumanInputData.create( {left: {x:0,y:0}, right: {x:0,y:0}, height:0, s1:0, speed:0} )
+    let data: HumanInputData = HumanInputData.create({
+        left: { x: 0, y: 0 },
+        right: { x: 0, y: 0 },
+        height: 0,
+        s1: 0,
+        speed: 0
+    })
 
     $effect(() => {
         if ($hasGamepad) {
@@ -38,10 +48,10 @@
         if (!$hasGamepad) return
         const b = $gamepadButtonsEdges
         if (!b.length) return
-        if (b[0]?.justPressed) mode.set(5)
+        if (b[0]?.justPressed) mode.set(ModeData.create({ mode: ModesEnum.WALK }))
-        if (b[1]?.justPressed) mode.set(4)
+        if (b[1]?.justPressed) mode.set(ModeData.create({ mode: ModesEnum.STAND }))
-        if (b[2]?.justPressed) mode.set(3)
+        if (b[2]?.justPressed) mode.set(ModeData.create({ mode: ModesEnum.REST }))
-        if (b[3]?.justPressed) mode.set(0)
+        if (b[3]?.justPressed) mode.set(ModeData.create({ mode: ModesEnum.DEACTIVATED }))
         if (b[12]?.justPressed)
             input.update(inputData => {
                 inputData.height = Math.min(inputData.height + 0.1, 1)
@@ -104,12 +114,12 @@
         })
     }
 
-    const changeMode = (modeValue: Modes) => {
+    const changeMode = (modeValue: ModesEnum) => {
-        mode.set(modes.indexOf(modeValue))
+        mode.set(ModeData.create({ mode: modeValue }))
     }
 
     const changeWalkGait = (walkGaitValue: WalkGaits) => {
-        walkGait.set(walkGaitValue)
+        walkGait.set(WalkGaitData.create({ gait: walkGaitValue }))
     }
 </script>
 
@@ -150,26 +160,24 @@
                 {#each modes as modeValue (modeValue)}
                     <button
                         class="btn join-item btn-sm transition-all duration-200"
-                        class:btn-primary={$mode === modes.indexOf(modeValue)}
+                        class:btn-primary={$mode.mode === modeValue}
                         onclick={() => changeMode(modeValue)}
                     >
-                        {capitalize(modeValue)}
+                        {modeLabels[modeValue]}
                     </button>
                 {/each}
             </div>
 
-            {#if $mode === ModesEnum.Walk}
+            {#if $mode.mode === ModesEnum.WALK}
                 <div class="join shadow-md">
-                    {#each Object.values(WalkGaits) as gaitValue (gaitValue)}
+                    {#each walkGaits as gaitValue (gaitValue)}
-                        {#if typeof gaitValue === 'number'}
+                        <button
-                            <button
+                            class="btn join-item btn-xs transition-all duration-200"
-                                class="btn join-item btn-xs transition-all duration-200"
+                            class:btn-secondary={$walkGait.gait === gaitValue}
-                                class:btn-secondary={$walkGait === gaitValue}
+                            onclick={() => changeWalkGait(gaitValue)}
-                                onclick={() => changeWalkGait(gaitValue)}
+                        >
-                            >
+                            {walkGaitLabels[gaitValue]}
-                                {walkGaitLabels[gaitValue]}
+                        </button>
-                            </button>
-                        {/if}
                     {/each}
                 </div>
 
@@ -182,7 +190,8 @@
                             min="0"
                             step="0.01"
                             max="1"
-                            oninput={e => handleRange(Number((e.target as HTMLInputElement).value), 's1')}
+                            oninput={e =>
+                                handleRange(Number((e.target as HTMLInputElement).value), 's1')}
                             class="range range-xs range-primary"
                         />
                     </div>
@@ -194,7 +203,8 @@
                             min="0"
                             step="0.01"
                             max="1"
-                            oninput={e => handleRange(Number((e.target as HTMLInputElement).value), 'speed')}
+                            oninput={e =>
+                                handleRange(Number((e.target as HTMLInputElement).value), 'speed')}
                             class="range range-xs range-primary"
                         />
                     </div>

platform_shared/websocket_message.proto

@@ -13,6 +13,7 @@ message IMUData {
     float temp = 4;
 }
 
+DEACTIVATED = 0;
 enum ModesEnum {
     DEACTIVATED = 0;
     IDLE = 1;
@@ -21,6 +22,22 @@ enum ModesEnum {
     STAND = 4;
     WALK = 5;
 }
+message StaticSystemInformation {
+    string esp_platform = 1; 
+    string firmware_version = 2; 
+    uint32 cpu_freq_mhz = 3; 
+    string cpu_type = 4; 
+    int32 cpu_rev = 5; 
+    uint32 cpu_cores = 6; 
+    uint32 sketch_size = 7; 
+    uint32 free_sketch_space = 8; 
+    string sdk_version = 9; 
+    string arduino_version = 10; 
+    uint32 flash_chip_size = 11; 
+    uint32 flash_chip_speed = 12; 
+    string cpu_reset_reason = 13; 
+}
+
 
 message IMUCalibrateData { bool success = 1; }
 message ModeData { ModesEnum mode = 1; }
@@ -56,7 +73,16 @@ message SonarData { string dummy_field = 1; }
 message HumanInputData {
     Vector left = 10; Vector right = 11; float height = 20; float speed = 21; float s1 = 22;
 }
-
+message SystemInformation {
+    AnalyticsData analytics_data = 1; StaticSystemInformation static_system_information = 2;
+}
+enum WalkGaits {
+    TROT = 0;
+    CRAWL = 1;
+}
+message WalkGaitData {
+    WalkGaits gait = 1;
+}
 
 message SubscribeNotification { int32 tag = 1; }
 message UnsubscribeNotification {int32 tag = 1; }