Rune Harlyk
49 lines
1.6 KiB
Svelte
49 lines
1.6 KiB
Svelte
<script lang="ts">
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import { Router, Route } from 'svelte-routing';
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import { onMount } from 'svelte';
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import TopBar from './components/TopBar.svelte';
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import socketService from '$lib/services/socket-service';
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import Controller from './routes/Controller.svelte';
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import { fileService } from '$lib/services';
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import Settings from './routes/Settings.svelte';
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import { jointNames, model, outControllerData, mode } from '$lib/stores';
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import { loadModelAsync, socketLocation } from '$lib/utilities';
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import type { Result } from '$lib/utilities/result';
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export let url = window.location.pathname;
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onMount(async () => {
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socketService.connect(socketLocation);
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socketService.addPublisher(outControllerData);
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socketService.addPublisher(mode, 'mode');
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registerFetchIntercept();
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const modelRes = await loadModelAsync('/spot_micro.urdf.xacro');
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if (modelRes.isOk()) {
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const [urdf, JOINT_NAME] = modelRes.inner;
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jointNames.set(JOINT_NAME);
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model.set(urdf);
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} else {
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console.error(modelRes.inner, { exception: modelRes.exception });
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}
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});
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const registerFetchIntercept = () => {
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const { fetch: originalFetch } = window;
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window.fetch = async (...args) => {
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const [resource, config] = args;
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let file: Result<Uint8Array | undefined, string>;
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file = await fileService.getFile(resource.toString());
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return file.isOk() ? new Response(file.inner) : originalFetch(resource, config);
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};
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};
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</script>
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<Router {url}>
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<TopBar />
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<div class="absolute w-full h-full bg-background text-on-background">
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<Route path="/" component={Controller} />
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<Route path="/settings/*page" component={Settings} />
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</div>
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</Router>
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