@viamrobotics/motion-tools 0.11.8 → 0.13.0

package/dist/hooks/usePoses.svelte.js

@@ -1,63 +0,0 @@
-import { createQueries, queryOptions } from '@tanstack/svelte-query';
-import { MotionClient, PoseInFrame, ResourceName } from '@viamrobotics/sdk';
-import { createResourceClient, useResourceNames } from '@viamrobotics/svelte-sdk';
-import { getContext, setContext } from 'svelte';
-import { fromStore, toStore } from 'svelte/store';
-import { useMachineSettings } from './useMachineSettings.svelte';
-const key = Symbol('poses-context');
-export const providePoses = (partID) => {
-    const { refreshRates } = useMachineSettings();
-    const resources = useResourceNames(partID);
-    const components = $derived(resources.current.filter(({ type }) => type === 'component'));
-    const motionResources = useResourceNames(partID, 'motion');
-    const clients = $derived(motionResources.current.map((resource) => createResourceClient(MotionClient, partID, () => resource.name)));
-    if (!refreshRates.has('Poses')) {
-        refreshRates.set('Poses', 1000);
-    }
-    const options = $derived(clients.map((motionClient) => {
-        const interval = refreshRates.get('Poses');
-        return queryOptions({
-            enabled: interval !== -1 && motionClient.current !== undefined,
-            refetchInterval: interval === 0 ? false : interval,
-            queryKey: ['partID', partID(), motionClient.current?.name, 'getPose'],
-            queryFn: async () => {
-                const client = motionClient.current;
-                if (!client) {
-                    throw new Error('No client');
-                }
-                const promises = components.map((component) => {
-                    return client.getPose(component.name, 'world', []);
-                });
-                const results = await Promise.allSettled(promises);
-                return results
-                    .map((result, index) => ({ ...result, component: components[index] }))
-                    .filter((result) => result.status === 'fulfilled')
-                    .map((result) => ({ ...result.value, component: result.component }));
-            },
-        });
-    }));
-    const queries = fromStore(createQueries({
-        queries: toStore(() => options),
-        combine: (results) => {
-            const obj = {};
-            for (const service of results) {
-                let i = 0;
-                if (service.data) {
-                    for (const pose of service.data) {
-                        obj[components[i].name] = pose;
-                        i += 1;
-                    }
-                }
-            }
-            return obj;
-        },
-    }));
-    setContext(key, {
-        get current() {
-            return queries.current;
-        },
-    });
-};
-export const usePoses = () => {
-    return getContext(key);
-};