Rune Harlyk
92 lines
2.5 KiB
TypeScript
92 lines
2.5 KiB
TypeScript
import { writable, type Writable } from 'svelte/store';
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export type WebSocketStatus = 'OPEN' | 'CONNECTING' | 'CLOSED'
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export const isConnected = writable(false)
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export const angles = writable(new Int16Array(12).fill(0))
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export const log = writable([])
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export const battery = writable({})
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export const mpu = writable({heading:0})
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export const distances = writable({})
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export const settings = writable({})
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export const systemInfo = writable({} as number)
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export const dataBuffer = writable(new Float32Array(13))
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export const servoBuffer:Writable<Int16Array|number[]> = writable(new Int16Array(12))
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export const data = writable();
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export const status:Writable<WebSocketStatus> = writable('CLOSED')
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export const socket:Writable<WebSocket> = writable()
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export const connect = (url:string) => {
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status.set('CONNECTING')
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let _socket = new WebSocket(url);
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_socket.binaryType = "arraybuffer";
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_socket.onopen = _connected;
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_socket.onclose = _disconnected;
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_socket.onmessage = _message;
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socket.set(_socket)
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servoBuffer.subscribe(data => {
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if(_socket.readyState !== 1) return
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const buffer = []
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buffer[0] = 1
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buffer.push(...data)
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_socket.send(new Int16Array(buffer))
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})
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}
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const _connected = () => {
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status.set('OPEN')
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isConnected.set(true)
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}
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const _disconnected = () => {
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status.set('CLOSED')
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isConnected.set(false)
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}
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const _message = (event:any) => {
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if (event.data instanceof ArrayBuffer) {
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let buffer = new Int8Array(event.data);
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if(buffer.length === 44) {
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dataBuffer.set(new Float32Array(buffer.buffer) )
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}
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} else {
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let data = event.data
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try {
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data = JSON.parse(event.data)
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} catch (error) {
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console.warn(error)
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}
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switch (data.type) {
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case "angles":
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angles.set(data.angles)
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break
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case "logs":
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log.set(data.logs)
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break
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case "log":
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log.update(entries => {entries.push(data.log); return entries})
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break
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case "settings":
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settings.set(data.settings)
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case "info":
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systemInfo.set(data.info)
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break
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case "mpu":
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mpu.set(data.mpu)
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break
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case "distances":
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distances.set(data.distances)
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break
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case "battery":
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battery.set(data.battery)
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break
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}
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}
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} |