✂️ Removes mock server

2024-07-18 20:25:32 +02:00
parent 5017e20871
commit 168585c89d
5 changed files with 0 additions and 1395 deletions
@@ -1 +0,0 @@
-/node_modules
@@ -1,397 +0,0 @@
-export default class Kinematic {
-  l1;
-  l2;
-  l3;
-  l4;
-
-  L;
-  W;
-
-  constructor() {
-    this.l1 = 50;
-    this.l2 = 20;
-    this.l3 = 120;
-    this.l4 = 155;
-
-    this.L = 140;
-    this.W = 75;
-  }
-
-  bodyIK(omega, phi, psi, xm, ym, zm) {
-    const { cos, sin } = Math;
-
-    const Rx = [
-      [1, 0, 0, 0],
-      [0, cos(omega), -sin(omega), 0],
-      [0, sin(omega), cos(omega), 0],
-      [0, 0, 0, 1],
-    ];
-    const Ry = [
-      [cos(phi), 0, sin(phi), 0],
-      [0, 1, 0, 0],
-      [-sin(phi), 0, cos(phi), 0],
-      [0, 0, 0, 1],
-    ];
-    const Rz = [
-      [cos(psi), -sin(psi), 0, 0],
-      [sin(psi), cos(psi), 0, 0],
-      [0, 0, 1, 0],
-      [0, 0, 0, 1],
-    ];
-    const Rxyz = this.matrixMultiply(this.matrixMultiply(Rx, Ry), Rz);
-
-    const T = [
-      [0, 0, 0, xm],
-      [0, 0, 0, ym],
-      [0, 0, 0, zm],
-      [0, 0, 0, 0],
-    ];
-    const Tm = this.matrixAdd(T, Rxyz);
-
-    const sHp = sin(Math.PI / 2);
-    const cHp = cos(Math.PI / 2);
-
-    return [
-      this.matrixMultiply(Tm, [
-        [cHp, 0, sHp, this.L / 2],
-        [0, 1, 0, 0],
-        [-sHp, 0, cHp, this.W / 2],
-        [0, 0, 0, 1],
-      ]),
-      this.matrixMultiply(Tm, [
-        [cHp, 0, sHp, this.L / 2],
-        [0, 1, 0, 0],
-        [-sHp, 0, cHp, -this.W / 2],
-        [0, 0, 0, 1],
-      ]),
-      this.matrixMultiply(Tm, [
-        [cHp, 0, sHp, -this.L / 2],
-        [0, 1, 0, 0],
-        [-sHp, 0, cHp, this.W / 2],
-        [0, 0, 0, 1],
-      ]),
-      this.matrixMultiply(Tm, [
-        [cHp, 0, sHp, -this.L / 2],
-        [0, 1, 0, 0],
-        [-sHp, 0, cHp, -this.W / 2],
-        [0, 0, 0, 1],
-      ]),
-    ];
-  }
-
-  legIK(point) {
-    const [x, y, z] = point;
-    const { atan2, cos, sin, sqrt, acos } = Math;
-
-    let F;
-
-    try {
-      F = sqrt(x ** 2 + y ** 2 - this.l1 ** 2);
-      if (isNaN(F)) throw new Error("F is NaN");
-    } catch (error) {
-      F = this.l1;
-    }
-    const G = F - this.l2;
-    const H = sqrt(G ** 2 + z ** 2);
-
-    const theta1 = -atan2(y, x) - atan2(F, -this.l1);
-    let theta3;
-    try {
-      theta3 = acos(
-        (H ** 2 - this.l3 ** 2 - this.l4 ** 2) / (2 * this.l3 * this.l4)
-      );
-      if (isNaN(theta3)) throw new Error("theta3 is NaN");
-    } catch (error) {
-      theta3 = 0;
-    }
-    const theta2 =
-      atan2(z, G) -
-      atan2(this.l4 * sin(theta3), this.l3 + this.l4 * cos(theta3));
-
-    return [theta1, theta2, theta3];
-  }
-
-  matrixMultiply(a, b) {
-    const result = [];
-
-    for (let i = 0; i < a.length; i++) {
-      const row = [];
-
-      for (let j = 0; j < b[0].length; j++) {
-        let sum = 0;
-
-        for (let k = 0; k < a[i].length; k++) {
-          sum += a[i][k] * b[k][j];
-        }
-
-        row.push(sum);
-      }
-
-      result.push(row);
-    }
-
-    return result;
-  }
-
-  multiplyVector(matrix, vector) {
-    const rows = matrix.length;
-    const cols = matrix[0].length;
-    const vectorLength = vector.length;
-
-    if (cols !== vectorLength) {
-      throw new Error(
-        "Matrix and vector dimensions do not match for multiplication."
-      );
-    }
-
-    const result = [];
-
-    for (let i = 0; i < rows; i++) {
-      let sum = 0;
-
-      for (let j = 0; j < cols; j++) {
-        sum += matrix[i][j] * vector[j];
-      }
-
-      result.push(sum);
-    }
-
-    return result;
-  }
-
-  matrixAdd(a, b) {
-    const result = [];
-
-    for (let i = 0; i < a.length; i++) {
-      const row = [];
-
-      for (let j = 0; j < a[i].length; j++) {
-        row.push(a[i][j] + b[i][j]);
-      }
-
-      result.push(row);
-    }
-
-    return result;
-  }
-
-  calcLegPoints(angles) {
-    const [theta1, theta2, theta3] = angles;
-    const theta23 = theta2 + theta3;
-
-    const T0 = [0, 0, 0, 1];
-    const T1 = this.vectorAdd(T0, [
-      -this.l1 * Math.cos(theta1),
-      this.l1 * Math.sin(theta1),
-      0,
-      0,
-    ]);
-    const T2 = this.vectorAdd(T1, [
-      -this.l2 * Math.sin(theta1),
-      -this.l2 * Math.cos(theta1),
-      0,
-      0,
-    ]);
-    const T3 = this.vectorAdd(T2, [
-      -this.l3 * Math.sin(theta1) * Math.cos(theta2),
-      -this.l3 * Math.cos(theta1) * Math.cos(theta2),
-      this.l3 * Math.sin(theta2),
-      0,
-    ]);
-    const T4 = this.vectorAdd(T3, [
-      -this.l4 * Math.sin(theta1) * Math.cos(theta23),
-      -this.l4 * Math.cos(theta1) * Math.cos(theta23),
-      this.l4 * Math.sin(theta23),
-      0,
-    ]);
-
-    return [T0, T1, T2, T3, T4];
-  }
-
-  calcIK(Lp, angles, center) {
-    const [omega, phi, psi] = angles;
-    const [xm, ym, zm] = center;
-
-    const [Tlf, Trf, Tlb, Trb] = this.bodyIK(omega, phi, psi, xm, ym, zm);
-
-    const Ix = [
-      [-1, 0, 0, 0],
-      [0, 1, 0, 0],
-      [0, 0, 1, 0],
-      [0, 0, 0, 1],
-    ];
-
-    return [
-      this.legIK(this.multiplyVector(this.matrixInverse(Tlf), Lp[0])),
-      this.legIK(
-        this.multiplyVector(
-          Ix,
-          this.multiplyVector(this.matrixInverse(Trf), Lp[1])
-        )
-      ),
-      this.legIK(this.multiplyVector(this.matrixInverse(Tlb), Lp[2])),
-      this.legIK(
-        this.multiplyVector(
-          Ix,
-          this.multiplyVector(this.matrixInverse(Trb), Lp[3])
-        )
-      ),
-    ];
-  }
-
-  vectorAdd(a, b) {
-    return a.map((val, index) => val + b[index]);
-  }
-
-  matrixInverse(matrix) {
-    const det = this.determinant(matrix);
-    const adjugate = this.adjugate(matrix);
-    const scalar = 1 / det;
-    const inverse = [];
-
-    for (let i = 0; i < matrix.length; i++) {
-      const row = [];
-
-      for (let j = 0; j < matrix[i].length; j++) {
-        row.push(adjugate[i][j] * scalar);
-      }
-
-      inverse.push(row);
-    }
-
-    return inverse;
-  }
-
-  determinant(matrix) {
-    if (matrix.length !== matrix[0].length) {
-      throw new Error("The matrix is not square.");
-    }
-
-    if (matrix.length === 2) {
-      return matrix[0][0] * matrix[1][1] - matrix[0][1] * matrix[1][0];
-    }
-
-    let det = 0;
-
-    for (let i = 0; i < matrix.length; i++) {
-      const sign = i % 2 === 0 ? 1 : -1;
-      const subMatrix = [];
-
-      for (let j = 1; j < matrix.length; j++) {
-        const row = [];
-
-        for (let k = 0; k < matrix.length; k++) {
-          if (k !== i) {
-            row.push(matrix[j][k]);
-          }
-        }
-
-        subMatrix.push(row);
-      }
-
-      det += sign * matrix[0][i] * this.determinant(subMatrix);
-    }
-
-    return det;
-  }
-
-  adjugate(matrix) {
-    if (matrix.length !== matrix[0].length) {
-      throw new Error("The matrix is not square.");
-    }
-
-    const adjugate = [];
-
-    for (let i = 0; i < matrix.length; i++) {
-      const row = [];
-
-      for (let j = 0; j < matrix[i].length; j++) {
-        const sign = (i + j) % 2 === 0 ? 1 : -1;
-        const subMatrix = [];
-
-        for (let k = 0; k < matrix.length; k++) {
-          if (k !== i) {
-            const subRow = [];
-
-            for (let l = 0; l < matrix.length; l++) {
-              if (l !== j) {
-                subRow.push(matrix[k][l]);
-              }
-            }
-
-            subMatrix.push(subRow);
-          }
-        }
-
-        const cofactor = sign * this.determinant(subMatrix);
-        row.push(cofactor);
-      }
-
-      adjugate.push(row);
-    }
-
-    return this.transpose(adjugate);
-  }
-
-  transpose(matrix) {
-    const transposed = [];
-
-    for (let i = 0; i < matrix.length; i++) {
-      const row = [];
-
-      for (let j = 0; j < matrix[i].length; j++) {
-        row.push(matrix[j][i]);
-      }
-
-      transposed.push(row);
-    }
-
-    return transposed;
-  }
-}
-
-class ForwardKinematics {
-  l1;
-  l2;
-  l3;
-  l4;
-
-  constructor() {
-    this.l1 = 50;
-    this.l2 = 20;
-    this.l3 = 120;
-    this.l4 = 155;
-  }
-
-  calculateFootpoint(theta1, theta2, theta3) {
-    const { cos, sin } = Math;
-
-    const x =
-      this.l1 * cos(theta1) +
-      this.l2 * cos(theta1) +
-      this.l3 * cos(theta1 + theta2) +
-      this.l4 * cos(theta1 + theta2 + theta3);
-    const y =
-      this.l1 * sin(theta1) +
-      this.l2 * sin(theta1) +
-      this.l3 * sin(theta1 + theta2) +
-      this.l4 * sin(theta1 + theta2 + theta3);
-    const z = 0;
-
-    return [x, y, z];
-  }
-
-  calculateFootpoints(angles) {
-    const footpoints = [];
-
-    for (let i = 0; i < angles.length; i += 3) {
-      const theta1 = angles[i];
-      const theta2 = angles[i + 1];
-      const theta3 = angles[i + 2];
-      const footpoint = this.calculateFootpoint(theta1, theta2, theta3);
-      footpoints.push(footpoint);
-    }
-
-    return footpoints;
-  }
-}
@@ -1,18 +0,0 @@
-{
-  "name": "mock",
-  "version": "1.0.0",
-  "description": "",
-  "main": "index.js",
-  "scripts": {
-    "test": "echo \"Error: no test specified\" && exit 1"
-  },
-  "keywords": [],
-  "author": "",
-  "license": "ISC",
-  "type": "module",
-  "dependencies": {
-    "cors": "^2.8.5",
-    "express": "^4.18.2",
-    "ws": "^8.16.0"
-  }
-}
@@ -1,483 +0,0 @@
-lockfileVersion: '6.0'
-
-settings:
-  autoInstallPeers: true
-  excludeLinksFromLockfile: false
-
-dependencies:
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-    version: 2.8.5
-  express:
-    specifier: ^4.18.2
-    version: 4.18.2
-  ws:
-    specifier: ^8.16.0
-    version: 8.16.0
-
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@@ -1,496 +0,0 @@
-import express from "express";
-import cors from "cors";
-import Kinematic from "./kinematic.js";
-import { WebSocketServer } from "ws";
-
-const app = express();
-const kinematic = new Kinematic();
-const wss = new WebSocketServer({ port: 2096 });
-
-app.use(cors());
-app.use(express.json());
-
-const port = 3000;
-const subscriptions = {};
-
-const randomFloatFromInterval = (min, max) =>
-  Math.floor((Math.random() * (max - min + 1) + min) * 100) / 100;
-
-const radToDeg = (val) => val * (180 / Math.PI);
-const degToRad = (val) => val * (Math.PI / 180);
-
-const lerp = (start, end, amt) => {
-  return (1 - amt) * start + amt * end;
-};
-
-function createNewClientState() {
-  return {
-    model: JSON.parse(JSON.stringify(model)),
-    settings: JSON.parse(JSON.stringify(settings)),
-    logs: JSON.parse(JSON.stringify(logs)),
-    subscriptions: {},
-    mode: "idle",
-    controller: {
-      stop: 0,
-      lx: 0,
-      ly: 0,
-      rx: 0,
-      ry: 0,
-      h: 70,
-      s: 0,
-    },
-  };
-}
-
-const unsubscribeClientFromCategory = (ws, category) => {
-  if (!subscriptions[category]) return;
-  subscriptions[category].delete(ws);
-  if (subscriptions[category].size === 0) {
-    delete subscriptions[category].size;
-  }
-};
-
-const sendUpdateToSubscribers = (category, data) => {
-  if (subscriptions[category]) {
-    const message = JSON.stringify(data);
-    for (const client of subscriptions[category]) {
-      client.send(message);
-    }
-  }
-};
-
-if (!Array.prototype.last) {
-  Array.prototype.last = function () {
-    return this[this.length - 1];
-  };
-}
-
-const model = {
-  battery: {
-    voltage: randomFloatFromInterval(7.6, 8.2),
-    ampere: randomFloatFromInterval(0.2, 3),
-    power_button: false,
-  },
-  servos: {
-    angles: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
-    dir: [-1, -1, -1, 1, -1, -1, -1, -1, -1, 1, -1, -1],
-    on: true,
-  },
-  mpu: {
-    x: 0,
-    y: 0,
-    z: 0,
-    heading: 240,
-    temperature: 21,
-  },
-  display: [[]],
-  distance_sensors: {
-    left: 22,
-    right: 23,
-  },
-  appTime: 1123321,
-  connectivity: {
-    ssid: "best network",
-    ip: "192.168.0.118",
-    mDNS: "leika.local",
-    rssi: 100,
-  },
-  running: true,
-  mode: "stand",
-  rotation: [0, 0, 0],
-  position: [0, 0, 0],
-};
-
-const settings = {
-  useMetric: true,
-  name: "Leika",
-  ssid: "Rune private network",
-  pass: "12345678",
-  ap: "Leika",
-  apPass: "12345678",
-  apChannel: 1,
-};
-
-const logs = [
-  "[2023-02-05 10:00:00] [verbose] Booting up",
-  "[2023-02-05 10:00:10] [verbose] Starting webserver",
-  "[2023-02-05 10:00:20] [verbose] Loading setting",
-  "[2023-02-05 10:00:30] [verbose] Connected to Rune private network",
-];
-
-const system = {
-  HeapSize: 400000,
-  HeapFree: 0,
-  HeapMin: 0,
-  DmaHeapSize: 0,
-  DmaHeapFree: 0,
-  DmaHeapMin: 0,
-  PsramSize: 400000,
-  PsramFree: 0,
-  PsramMin: 0,
-  ChipModel: 0,
-  ChipRevision: 0,
-  ChipCores: 2,
-  CpuFreqMHz: 80,
-  SketchSize: 0,
-  FreeSketchSpace: 10200,
-  FlashChipSize: 0,
-  CpuUsed: 0,
-  CpuUsedCore0: 0,
-  CpuUsedCore1: 0,
-  arduinoVersion: "3.2.1",
-};
-
-const updateBattery = () => {
-  model.battery.voltage = randomFloatFromInterval(7.6, 8.2);
-  model.battery.ampere = randomFloatFromInterval(0.2, 3);
-  return model.battery;
-};
-
-const updateMpu = () => {
-  model.mpu.x = randomFloatFromInterval(0, 1);
-  model.mpu.y = randomFloatFromInterval(0, 1);
-  model.mpu.z = randomFloatFromInterval(0, 1);
-  model.mpu.temperature = randomFloatFromInterval(20, 22);
-  return model.mpu;
-};
-
-const updateDistances = () => {
-  model.distance_sensors = {
-    left: randomFloatFromInterval(10, 220),
-    right: randomFloatFromInterval(10, 220),
-  };
-  return model.distance_sensors;
-};
-
-const updateDistance = (position) => {
-  model.distance_sensors[position] = randomFloatFromInterval(10, 220);
-  return model.distance_sensors[position];
-};
-
-const updateSystem = () => {
-  system.CpuUsedCore0 = randomFloatFromInterval(0, 100);
-  system.CpuUsedCore1 = randomFloatFromInterval(0, 100);
-  system.CpuUsed =
-    Math.floor((system.CpuUsedCore0 + system.CpuUsedCore1) / 0.02) / 100;
-  system.HeapFree = randomFloatFromInterval(0, 20000);
-  system.HeapMin = randomFloatFromInterval(0, 20000);
-  return system;
-};
-
-const updateBodyState = (model, angles, position) => {
-  const Lp = [
-    [100, -100, 100, 1],
-    [100, -100, -100, 1],
-    [-100, -100, 100, 1],
-    [-100, -100, -100, 1],
-  ];
-
-  model.servos.angles = kinematic
-    .calcIK(
-      Lp,
-      angles.map((x) => degToRad(x)),
-      position
-    )
-    .flat()
-    .map((x, i) => radToDeg(x * model.servos.dir[i]));
-  return model.servos.angles;
-};
-
-const updateAngle = (id, angle) => {
-  model.servos.angles[id] = angle;
-  return model.servos.angles;
-};
-
-const updateAngles = (angles) => {
-  model.servos.angles = angles;
-  return model.servos.angles;
-};
-
-const bufferToController = (buffer) => {
-  return {
-    stop: buffer[0],
-    lx: buffer[1],
-    ly: buffer[2],
-    rx: buffer[3],
-    ry: buffer[4],
-    h: buffer[5],
-    s: buffer[6],
-  };
-};
-
-const unpackMessageBuffer = (data) => {
-  return {
-    angles: [0, data.rx / 4, data.ry / 4],
-    position: [data.ly / 2, 70, data.lx / 2],
-  };
-};
-
-const rest_stance = {
-  rotation: [0, 0, 0],
-  position: [0, 10, 0],
-};
-
-const idle = () => {};
-
-const rest = (client) => {
-  for (let i = 0; i < 3; i++) {
-    client.clientState.model.position[i] = lerp(
-      client.clientState.model.position[i],
-      rest_stance.position[i],
-      0.01
-    );
-    client.clientState.model.rotation[i] = lerp(
-      client.clientState.model.rotation[i],
-      rest_stance.rotation[i],
-      0.01
-    );
-  }
-  client.send(
-    JSON.stringify({
-      type: "angles",
-      data: updateBodyState(
-        client.clientState.model,
-        client.clientState.model.rotation,
-        client.clientState.model.position
-      ),
-    })
-  );
-};
-
-const stand = (client) => {
-  if (!client.clientState.model.running) return;
-  const data = unpackMessageBuffer(client.clientState.controller);
-  client.send(
-    JSON.stringify({
-      type: "angles",
-      data: updateBodyState(
-        client.clientState.model,
-        data.angles,
-        data.position
-      ),
-    })
-  );
-};
-
-// https://www.hindawi.com/journals/cin/2016/9853070/
-
-const step = (model, controller, tick) => {
-  const y1 = -100 * Math.sin(-0.05 * tick) - 150;
-  const y2 = -100 * Math.sin(-0.05 * tick + Math.PI) - 150;
-  const x1 = Math.abs((tick % 120) - 60) - 60;
-  const Lp = [
-    // -50  is minimum
-    [100, y1, 100, 1],
-    [100, y2, -100, 1],
-    [-100, y2, 100, 1],
-    [-100, y1, -100, 1],
-  ];
-
-  model.servos.angles = kinematic
-    .calcIK(
-      Lp,
-      model.rotation.map((x) => degToRad(x)),
-      model.position
-    )
-    .flat()
-    .map((x, i) => radToDeg(x * model.servos.dir[i]));
-  return model.servos.angles;
-};
-
-const walk = (client) => {
-  const angles = step(
-    client.clientState.model,
-    client.clientState.controller,
-    client.tick
-  );
-  client.send(JSON.stringify({ type: "angles", data: angles }));
-};
-
-const start_dynamics = (client) => {
-  client.tick = 0;
-  client.clientState.mode = "idle";
-  client.clientState.next_mode = "walk";
-  const modes = { rest, idle, stand, walk };
-  client.id = setInterval(() => {
-    client.tick += 1;
-
-    if (client.clientState.mode !== client.clientState.next_mode) {
-      // Transition
-      client.clientState.mode = client.clientState.next_mode;
-    } else {
-      modes[client.clientState.mode](client);
-    }
-  }, 10);
-};
-
-const handelController = (ws, buffer) => {
-  const controllerData = bufferToController(new Int8Array(buffer));
-  ws.clientState.controller = controllerData;
-  if (controllerData.stop) {
-    ws.clientState.model.running = false;
-    ws.clientState.logs.push("[2024-02-05 19:10:00] [Warning] STOPPING SERVOS");
-    ws.send(JSON.stringify({ type: "log", data: ws.clientState.logs.last() }));
-    return;
-  }
-};
-
-const handleBufferMessage = (ws, buffer) => {
-  if (buffer.length === 6) {
-    handelController(ws, buffer);
-  }
-};
-
-const handleJsonMessage = (ws, data) => {
-  switch (data.type) {
-    case "mode":
-      ws.clientState.next_mode = data.data;
-      //   ws.send({ type: "battery", data: JSON.stringify(updateBattery()) });
-      break;
-    case "sensor/battery":
-      ws.send({ type: "battery", data: JSON.stringify(updateBattery()) });
-      break;
-    case "sensor/mpu":
-      ws.send({ type: "battery", data: JSON.stringify(updateMpu()) });
-      break;
-    case "sensor/distances":
-      ws.send(JSON.stringify(updateDistances()));
-      break;
-    case "sensor/distance":
-      ws.send(JSON.stringify({ distance: updateDistance(data.position) }));
-      break;
-    case "kinematic/angle":
-      if (data.angle && data.id) {
-        ws.clientState.model.servos.angles[data.id] = data.angle;
-        ws.send(
-          JSON.stringify({
-            type: "angles",
-            data: ws.clientState.model.servos.angles,
-          })
-        );
-      } else {
-        ws.send(JSON.stringify(updateAngle(data.id, data.angle)));
-      }
-      break;
-    case "kinematic/angles":
-      if (data.angles) {
-        ws.clientState.model.servos.angles = data.angles;
-        ws.send(
-          JSON.stringify({
-            type: "angles",
-            data: ws.clientState.model.servos.angles,
-          })
-        );
-      } else {
-        ws.send(JSON.stringify(updateAngles(data.angles)));
-      }
-      break;
-    case "kinematic/bodystate":
-      if (data.angles) {
-        ws.send(
-          JSON.stringify({
-            type: "angles",
-            data: updateBodyState(
-              ws.clientState.model,
-              data.angles,
-              data.position
-            ),
-          })
-        );
-      } else {
-        ws.send(JSON.stringify({ angles: model.servos.angles }));
-      }
-      break;
-    case "system/logs":
-      ws.send(JSON.stringify({ type: "logs", data: ws.clientState.logs }));
-      break;
-    case "system/info":
-      ws.send(JSON.stringify({ type: "info", data: updateSystem() }));
-      break;
-    case "system/settings":
-      if (data.settings) {
-        Object.entries(data.settings).forEach(
-          ([key, value]) => (ws.clientState.settings[key] = value)
-        );
-        ws.send(JSON.stringify(ws.clientState.settings));
-      } else {
-        ws.send(
-          JSON.stringify({
-            type: "settings",
-            settings: ws.clientState.settings,
-          })
-        );
-      }
-      break;
-    case "system/stop":
-      ws.clientState.model.running = false;
-      ws.clientState.logs.push(
-        "[2024-02-05 19:10:00] [Warning] STOPPING SERVOS"
-      );
-      ws.send(
-        JSON.stringify({ type: "log", data: ws.clientState.logs.last() })
-      );
-      break;
-    default:
-      ws.send(JSON.stringify({ error: "Unknown request type" }));
-  }
-};
-
-wss.on("connection", (ws) => {
-  const clientState = createNewClientState();
-  ws.clientState = clientState;
-  start_dynamics(ws);
-  ws.on("error", console.error);
-
-  ws.on("message", (message) => {
-    let data = message;
-    try {
-      data = JSON.parse(message);
-      handleJsonMessage(ws, data);
-    } catch (error) {
-      handleBufferMessage(ws, message);
-    }
-  });
-
-  ws.on("close", () => {
-    for (const category in subscriptions) {
-      unsubscribeClientFromCategory(ws, category);
-    }
-  });
-});
-
-app.get("/sensor/battery", (req, res) => res.send(updateBattery()));
-app.get("/sensor/mpu", (req, res) => res.send(updateMpu()));
-app.get("/sensor/distances", (req, res) => res.send(updateDistances()));
-app.get("/sensor/distance/:position", (req, res) =>
-  res.send({ distance: updateDistance(req.params.position) })
-);
-
-// ----------------------------------------------------------- //
-
-app.post("/kinematic/angle/:id", (req, res) =>
-  res.send(updateAngle(req.params.id, req.body.angle))
-);
-app.post("/kinematic/angles/", (req, res) =>
-  res.send(updateAngles(req.body.angles))
-);
-app.get("/kinematic/bodystate", (req, res) => res.send(model.servos.angles));
-app.post("/kinematic/bodystate", (req, res) => {
-  sendUpdateToSubscribers("angles", model.servos.angles);
-  res.send(updateBodyState(model, req.body.angles, req.body.position));
-});
-
-// ----------------------------------------------------------- //
-
-app.get("/system/log", (req, res) => res.send(logs));
-app.get("/system/info", (req, res) => res.send(updateSystem()));
-app.get("/system/settings", (req, res) => res.send(settings));
-app.post("/system/settings", (req, res) => {
-  Object.entries(req.body).forEach((x) => (settings[x[0]] = x[1]));
-  res.send(settings);
-});
-app.post("/system/stop", (req, res) => {
-  model.running = false;
-  model.res.send(settings);
-});
-app.listen(port, () => console.log(`Open at http://localhost:${port}`));