Rune Harlyk
57 lines
1.7 KiB
TypeScript
57 lines
1.7 KiB
TypeScript
import Kinematic from '$lib/kinematic'
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import {
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ControllerData,
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KinematicData,
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ModeData,
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ModesEnum,
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WalkGaitData,
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WalkGaits
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} from '$lib/platform_shared/message'
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import { persistentStore } from '$lib/utilities/svelte-utilities'
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import { writable, type Writable } from 'svelte/store'
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export const emulateModel = writable(true)
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export const jointNames = persistentStore('joint_names', <string[]>[])
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export const model = writable()
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export const mode: Writable<ModeData> = writable(ModeData.create({ mode: ModesEnum.DEACTIVATED }))
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export const walkGait: Writable<WalkGaitData> = writable(
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WalkGaitData.create({ gait: WalkGaits.TROT })
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)
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export const kinematicData = writable(KinematicData.create())
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export const input: Writable<ControllerData> = writable(
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ControllerData.create({
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left: { x: 0, y: 0 },
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right: { x: 0, y: 0 },
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height: 0.7,
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s1: 0.5,
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speed: 0.5
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})
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)
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function enumToValuesAndLabels<T extends number>(enumObj: Record<string, T | string>) {
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const entries = Object.entries(enumObj).filter(
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([key, v]) => typeof v === 'number' && key !== 'UNRECOGNIZED'
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) as [string, T][]
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return {
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values: entries.map(([, v]) => v),
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labels: Object.fromEntries(
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entries.map(([k, v]) => [v, k.charAt(0) + k.slice(1).toLowerCase()])
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) as Record<T, string>
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}
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}
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const modesData = enumToValuesAndLabels<ModesEnum>(ModesEnum)
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export const modes = modesData.values
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export const modeLabels = modesData.labels
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const walkGaitsData = enumToValuesAndLabels<WalkGaits>(WalkGaits)
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export const walkGaits = walkGaitsData.values
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export const walkGaitLabels = walkGaitsData.labels
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