Rune Harlyk
63 lines
1.8 KiB
TypeScript
63 lines
1.8 KiB
TypeScript
import { api } from '$lib/api'
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import { notifications } from '$lib/components/toasts/notifications'
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import Kinematic from '$lib/kinematic'
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import { persistentStore } from '$lib/utilities'
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import { derived, type Writable } from 'svelte/store'
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import { base } from '$app/paths'
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let featureFlagsStore: Writable<Record<string, boolean | string>>
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export function useFeatureFlags() {
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if (!featureFlagsStore) {
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featureFlagsStore = persistentStore<Record<string, boolean | string>>('FeatureFlags', {})
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api.get<Record<string, boolean>>('/api/features').then(result => {
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if (result.isOk()) featureFlagsStore.set(result.inner)
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else {
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notifications.error('Feature flag could not be fetched', 2500)
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}
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})
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}
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return featureFlagsStore
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}
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export const variants = {
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SPOTMICRO_ESP32: {
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model: `${base}/spot_micro.urdf.xacro`,
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stl: `${base}/stl.zip`,
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kinematics: {
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coxa: 60.5 / 100,
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coxa_offset: 10 / 100,
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femur: 111.7 / 100,
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tibia: 118.5 / 100,
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L: 207.5 / 100,
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W: 78 / 100
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}
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},
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SPOTMICRO_YERTLE: {
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model: `${base}/yertle.URDF`,
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stl: `${base}/URDF.zip`,
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kinematics: {
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coxa: 35 / 100,
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coxa_offset: 0 / 100,
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femur: 130 / 100,
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tibia: 130 / 100,
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L: 240 / 100,
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W: 78 / 100
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}
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}
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}
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export const currentVariant = derived(useFeatureFlags(), $flagStore => {
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const variantFlag = $flagStore['variant'] as string
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return variantFlag && variants[variantFlag as keyof typeof variants] ?
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variants[variantFlag as keyof typeof variants]
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: variants.SPOTMICRO_ESP32
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})
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export const currentKinematic = derived(
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currentVariant,
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$variant => new Kinematic($variant.kinematics)
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)
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