From 64199ac1a3f7b501149841549ebcfbd453607eb9 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Thu, 22 Jan 2026 22:20:13 +0100
Subject: [PATCH] =?UTF-8?q?=E2=9A=A1=20Removes=20PsychicHttp=20dependency?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 esp32/include/ap_service.h                    |   7 +-
 .../include/communication/websocket_adapter.h |  28 ---
 esp32/include/features.h                      |  13 +-
 esp32/include/filesystem.h                    |  19 +-
 esp32/include/mdns_service.h                  |   9 +-
 esp32/include/peripherals/camera_service.h    |   7 +-
 esp32/include/peripherals/servo_controller.h  |   1 -
 esp32/include/system_service.h                |  10 +-
 esp32/include/template/stateful_endpoint.h    |  33 ++--
 esp32/include/wifi_service.h                  |  10 +-
 esp32/include/www_mount.hpp                   |   4 +-
 esp32/src/ap_service.cpp                      |  13 +-
 esp32/src/communication/websocket_adapter.cpp |  47 -----
 esp32/src/features.cpp                        |  20 +-
 esp32/src/filesystem.cpp                      |  83 +++------
 esp32/src/main.cpp                            | 176 +++++++++---------
 esp32/src/mdns_service.cpp                    |  17 +-
 esp32/src/peripherals/camera_service.cpp      |  83 ++++-----
 esp32/src/system_service.cpp                  |  15 +-
 esp32/src/wifi_service.cpp                    |  40 ++--
 esp32/src/www_mount.cpp                       |  33 ++--
 platformio.ini                                |   1 -
 22 files changed, 256 insertions(+), 413 deletions(-)
 delete mode 100644 esp32/include/communication/websocket_adapter.h
 delete mode 100644 esp32/src/communication/websocket_adapter.cpp

diff --git a/esp32/include/ap_service.h b/esp32/include/ap_service.h
index 5b1e49f..913ae02 100644
--- a/esp32/include/ap_service.h
+++ b/esp32/include/ap_service.h
@@ -1,3 +1,5 @@
+#pragma once
+
 #include <template/stateful_service.h>
 #include <template/stateful_endpoint.h>
 #include <template/stateful_persistence.h>
@@ -16,14 +18,13 @@ class APService : public StatefulService<APSettings> {
     void loop();
     void recoveryMode();
 
-    esp_err_t getStatus(PsychicRequest *request);
+    esp_err_t getStatus(httpd_req_t *request);
     void status(JsonObject &root);
     APNetworkStatus getAPNetworkStatus();
 
     StatefulHttpEndpoint<APSettings> endpoint;
 
   private:
-    PsychicHttpServer *_server;
     FSPersistence<APSettings> _persistence;
 
     DNSServer *_dnsServer;
@@ -37,4 +38,4 @@ class APService : public StatefulService<APSettings> {
     void startAP();
     void stopAP();
     void handleDNS();
-};
\ No newline at end of file
+};
diff --git a/esp32/include/communication/websocket_adapter.h b/esp32/include/communication/websocket_adapter.h
deleted file mode 100644
index 588fb3e..0000000
--- a/esp32/include/communication/websocket_adapter.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#pragma once
-
-#include <PsychicHttp.h>
-#include <template/stateful_service.h>
-#include <list>
-#include <map>
-#include <vector>
-#include <string>
-
-#include <communication/comm_base.hpp>
-
-class Websocket : public CommAdapterBase {
-  public:
-    Websocket(PsychicHttpServer &server, const char *route = "/api/ws");
-
-    void begin() override;
-
-  private:
-    PsychicWebSocketHandler socket_;
-    PsychicHttpServer &server_;
-    const char *route_;
-
-    void onWSOpen(PsychicWebSocketClient *client);
-    void onWSClose(PsychicWebSocketClient *client);
-    esp_err_t onFrame(PsychicWebSocketRequest *request, httpd_ws_frame *frame);
-
-    void send(const uint8_t *data, size_t len, int cid = -1) override;
-};
diff --git a/esp32/include/features.h b/esp32/include/features.h
index 1b6d82e..f9aace1 100644
--- a/esp32/include/features.h
+++ b/esp32/include/features.h
@@ -2,52 +2,43 @@
 
 #include <WiFi.h>
 #include <ArduinoJson.h>
-#include <PsychicHttp.h>
+#include <esp_http_server.h>
 #include "platform_shared/message.pb.h"
 
 #define FT_ENABLED(feature) feature
 
-// ESP32 camera off by default
 #ifndef USE_CAMERA
 #define USE_CAMERA 0
 #endif
 
-// ESP32 IMU on by default
 #ifndef USE_MPU6050
 #define USE_MPU6050 0
 #endif
 
-// ESP32 IMU on by default
 #ifndef USE_BNO055
 #define USE_BNO055 1
 #endif
 
-// ESP32 magnetometer on by default
 #ifndef USE_HMC5883
 #define USE_HMC5883 0
 #endif
 
-// ESP32 barometer off by default
 #ifndef USE_BMP180
 #define USE_BMP180 0
 #endif
 
-// ESP32 SONAR off by default
 #ifndef USE_USS
 #define USE_USS 0
 #endif
 
-// PCA9685 Servo controller on by default
 #ifndef USE_PCA9685
 #define USE_PCA9685 1
 #endif
 
-// WS2812 LED strip off by default
 #ifndef USE_WS2812
 #define USE_WS2812 0
 #endif
 
-// ESP32 MDNS on by default
 #ifndef USE_MDNS
 #define USE_MDNS 1
 #endif
@@ -78,6 +69,6 @@ void features(JsonObject& root);
 
 void features_request(const socket_message_FeaturesDataRequest& fd_req, socket_message_FeaturesDataResponse& fd_res);
 
-esp_err_t getFeatures(PsychicRequest* request);
+esp_err_t getFeatures(httpd_req_t* request);
 
 } // namespace feature_service
diff --git a/esp32/include/filesystem.h b/esp32/include/filesystem.h
index 4acb0b7..7f9eed4 100644
--- a/esp32/include/filesystem.h
+++ b/esp32/include/filesystem.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include <PsychicHttp.h>
-
+#include <esp_http_server.h>
+#include <ArduinoJson.h>
 #include <LittleFS.h>
 #include <string>
 
@@ -16,18 +16,15 @@
 #define MDNS_SETTINGS_FILE "/config/mdnsSettings.json"
 
 namespace FileSystem {
-extern PsychicUploadHandler *uploadHandler;
 
 std::string listFiles(const std::string &directory, bool isRoot = true);
 bool deleteFile(const char *filename);
 bool editFile(const char *filename, const char *content);
-esp_err_t uploadFile(PsychicRequest *request, const std::string &filename, uint64_t index, uint8_t *data, size_t len,
-                     bool last);
 
-esp_err_t getFiles(PsychicRequest *request);
-esp_err_t getConfigFile(PsychicRequest *request);
-esp_err_t handleDelete(PsychicRequest *request, JsonVariant &json);
-esp_err_t handleEdit(PsychicRequest *request, JsonVariant &json);
+esp_err_t getFiles(httpd_req_t *request);
+esp_err_t getConfigFile(httpd_req_t *request);
+esp_err_t handleDelete(httpd_req_t *request, JsonVariant &json);
+esp_err_t handleEdit(httpd_req_t *request, JsonVariant &json);
+esp_err_t mkdir(httpd_req_t *request, JsonVariant &json);
 
-esp_err_t mkdir(PsychicRequest *request, JsonVariant &json);
-} // namespace FileSystem
\ No newline at end of file
+} // namespace FileSystem
diff --git a/esp32/include/mdns_service.h b/esp32/include/mdns_service.h
index 86edf82..8f49e91 100644
--- a/esp32/include/mdns_service.h
+++ b/esp32/include/mdns_service.h
@@ -1,6 +1,7 @@
 #pragma once
 
-#include <PsychicHttp.h>
+#include <esp_http_server.h>
+#include <ArduinoJson.h>
 #include <ESPmDNS.h>
 #include <template/stateful_service.h>
 #include <template/stateful_endpoint.h>
@@ -25,10 +26,10 @@ class MDNSService : public StatefulService<MDNSSettings> {
 
     void begin();
 
-    esp_err_t getStatus(PsychicRequest *request);
+    esp_err_t getStatus(httpd_req_t *request);
     void getStatus(JsonVariant &root);
 
-    static esp_err_t queryServices(PsychicRequest *request, JsonVariant &json);
+    static esp_err_t queryServices(httpd_req_t *request, JsonVariant &json);
 
     StatefulHttpEndpoint<MDNSSettings> endpoint;
-};
\ No newline at end of file
+};
diff --git a/esp32/include/peripherals/camera_service.h b/esp32/include/peripherals/camera_service.h
index 29fd083..710f269 100644
--- a/esp32/include/peripherals/camera_service.h
+++ b/esp32/include/peripherals/camera_service.h
@@ -1,9 +1,8 @@
 #pragma once
 
 #include <ArduinoJson.h>
-#include <PsychicHttp.h>
+#include <esp_http_server.h>
 #include <WiFi.h>
-#include <async_worker.h>
 
 #include <features.h>
 #include <template/stateful_persistence.h>
@@ -31,8 +30,8 @@ class CameraService : public StatefulService<CameraSettings> {
 
     esp_err_t begin();
 
-    esp_err_t cameraStill(PsychicRequest *request);
-    esp_err_t cameraStream(PsychicRequest *request);
+    esp_err_t cameraStill(httpd_req_t *request);
+    esp_err_t cameraStream(httpd_req_t *request);
 
     StatefulHttpEndpoint<CameraSettings> endpoint;
 
diff --git a/esp32/include/peripherals/servo_controller.h b/esp32/include/peripherals/servo_controller.h
index 4a2ad91..e7a6f6b 100644
--- a/esp32/include/peripherals/servo_controller.h
+++ b/esp32/include/peripherals/servo_controller.h
@@ -2,7 +2,6 @@
 #define ServoController_h
 
 #include <Adafruit_PWMServoDriver.h>
-#include <communication/websocket_adapter.h>
 #include <template/stateful_persistence.h>
 #include <template/stateful_service.h>
 #include <template/stateful_endpoint.h>
diff --git a/esp32/include/system_service.h b/esp32/include/system_service.h
index ac5385d..c41f71f 100644
--- a/esp32/include/system_service.h
+++ b/esp32/include/system_service.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <ESPmDNS.h>
-#include <PsychicHttp.h>
+#include <esp_http_server.h>
 #include <WiFi.h>
 #include <filesystem.h>
 #include <global.h>
@@ -13,9 +13,9 @@
 #include "platform_shared/message.pb.h"
 
 namespace system_service {
-esp_err_t handleReset(PsychicRequest *request);
-esp_err_t handleRestart(PsychicRequest *request);
-esp_err_t handleSleep(PsychicRequest *request);
+esp_err_t handleReset(httpd_req_t *request);
+esp_err_t handleRestart(httpd_req_t *request);
+esp_err_t handleSleep(httpd_req_t *request);
 
 void reset();
 void restart();
@@ -25,4 +25,4 @@ void getAnalytics(socket_message_AnalyticsData &analytics);
 void getStaticSystemInformation(socket_message_StaticSystemInformation &info);
 
 const char *resetReason(esp_reset_reason_t reason);
-} // namespace system_service
\ No newline at end of file
+} // namespace system_service
diff --git a/esp32/include/template/stateful_endpoint.h b/esp32/include/template/stateful_endpoint.h
index c8394fe..bd00fe4 100644
--- a/esp32/include/template/stateful_endpoint.h
+++ b/esp32/include/template/stateful_endpoint.h
@@ -1,7 +1,9 @@
 #pragma once
 
-#include <PsychicHttp.h>
+#include <esp_http_server.h>
+#include <ArduinoJson.h>
 #include <template/stateful_service.h>
+#include <communication/native_server.h>
 
 #include <functional>
 
@@ -20,29 +22,26 @@ class StatefulHttpEndpoint {
                          StatefulService<T> *statefulService)
         : _stateReader(stateReader), _stateUpdater(stateUpdater), _statefulService(statefulService) {}
 
-    esp_err_t handleStateUpdate(PsychicRequest *request, JsonVariant &json) {
+    esp_err_t handleStateUpdate(httpd_req_t *request, JsonVariant &json) {
         JsonVariant jsonObject = json.as<JsonVariant>();
         StateUpdateResult outcome = _statefulService->updateWithoutPropagation(jsonObject, _stateUpdater);
 
-        if (outcome == StateUpdateResult::ERROR)
-            return request->reply(400);
-        else if ((outcome == StateUpdateResult::CHANGED)) {
-            // persist the changes to the FS
+        if (outcome == StateUpdateResult::ERROR) {
+            return NativeServer::sendError(request, 400, "Invalid state");
+        } else if ((outcome == StateUpdateResult::CHANGED)) {
             _statefulService->callUpdateHandlers(HTTP_ENDPOINT_ORIGIN_ID);
         }
 
-        PsychicJsonResponse response = PsychicJsonResponse(request, false);
-        jsonObject = response.getRoot();
-
-        _statefulService->read(jsonObject, _stateReader);
-
-        return response.send();
+        JsonDocument doc;
+        JsonVariant root = doc.to<JsonVariant>();
+        _statefulService->read(root, _stateReader);
+        return NativeServer::sendJson(request, 200, doc);
     }
 
-    esp_err_t getState(PsychicRequest *request) {
-        PsychicJsonResponse response = PsychicJsonResponse(request, false);
-        JsonVariant jsonObject = response.getRoot();
-        _statefulService->read(jsonObject, _stateReader);
-        return response.send();
+    esp_err_t getState(httpd_req_t *request) {
+        JsonDocument doc;
+        JsonVariant root = doc.to<JsonVariant>();
+        _statefulService->read(root, _stateReader);
+        return NativeServer::sendJson(request, 200, doc);
     }
 };
diff --git a/esp32/include/wifi_service.h b/esp32/include/wifi_service.h
index 2f044e7..b4bd0c7 100644
--- a/esp32/include/wifi_service.h
+++ b/esp32/include/wifi_service.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <PsychicHttp.h>
+#include <esp_http_server.h>
 #include <WiFi.h>
 #include <ESPmDNS.h>
 #include <string>
@@ -43,9 +43,9 @@ class WiFiService : public StatefulService<WiFiSettings> {
 
     const char *getHostname() { return state().hostname.c_str(); }
 
-    static esp_err_t handleScan(PsychicRequest *request);
-    static esp_err_t getNetworks(PsychicRequest *request);
-    static esp_err_t getNetworkStatus(PsychicRequest *request);
+    static esp_err_t handleScan(httpd_req_t *request);
+    static esp_err_t getNetworks(httpd_req_t *request);
+    static esp_err_t getNetworkStatus(httpd_req_t *request);
 
     StatefulHttpEndpoint<WiFiSettings> endpoint;
-};
\ No newline at end of file
+};
diff --git a/esp32/include/www_mount.hpp b/esp32/include/www_mount.hpp
index 6bb9a51..0cbe9f8 100644
--- a/esp32/include/www_mount.hpp
+++ b/esp32/include/www_mount.hpp
@@ -1,5 +1,5 @@
 #pragma once
-#include <PsychicHttp.h>
+#include <communication/native_server.h>
 #include "WWWData.h"
 
-void mountStaticAssets(PsychicHttpServer& s);
\ No newline at end of file
+void mountStaticAssets(NativeServer& s);
diff --git a/esp32/src/ap_service.cpp b/esp32/src/ap_service.cpp
index 86a4727..f5c271d 100644
--- a/esp32/src/ap_service.cpp
+++ b/esp32/src/ap_service.cpp
@@ -1,4 +1,5 @@
 #include <ap_service.h>
+#include <communication/native_server.h>
 
 static const char *TAG = "APService";
 
@@ -12,11 +13,11 @@ APService::~APService() {}
 
 void APService::begin() { _persistence.readFromFS(); }
 
-esp_err_t APService::getStatus(PsychicRequest *request) {
-    PsychicJsonResponse response = PsychicJsonResponse(request, false);
-    JsonObject root = response.getRoot();
+esp_err_t APService::getStatus(httpd_req_t *request) {
+    JsonDocument doc;
+    JsonObject root = doc.to<JsonObject>();
     status(root);
-    return response.send();
+    return NativeServer::sendJson(request, 200, doc);
 }
 
 void APService::status(JsonObject &root) {
@@ -73,7 +74,7 @@ void APService::startAP() {
     WiFi.softAP(state().ssid.c_str(), state().password.c_str(), state().channel, state().ssidHidden,
                 state().maxClients);
 #if CONFIG_IDF_TARGET_ESP32C3
-    WiFi.setTxPower(WIFI_POWER_8_5dBm); // https://www.wemos.cc/en/latest/c3/c3_mini_1_0_0.html#about-wifi
+    WiFi.setTxPower(WIFI_POWER_8_5dBm);
 #endif
     if (!_dnsServer) {
         IPAddress apIp = WiFi.softAPIP();
@@ -98,4 +99,4 @@ void APService::handleDNS() {
     if (_dnsServer) {
         _dnsServer->processNextRequest();
     }
-}
\ No newline at end of file
+}
diff --git a/esp32/src/communication/websocket_adapter.cpp b/esp32/src/communication/websocket_adapter.cpp
deleted file mode 100644
index 7fcf6dc..0000000
--- a/esp32/src/communication/websocket_adapter.cpp
+++ /dev/null
@@ -1,47 +0,0 @@
-#include <communication/websocket_adapter.h>
-
-static const char* TAG = "Websocket";
-
-Websocket::Websocket(PsychicHttpServer& server, const char* route) : server_(server), route_(route) {
-    socket_.onOpen(std::bind(&Websocket::onWSOpen, this, std::placeholders::_1));
-    socket_.onClose(std::bind(&Websocket::onWSClose, this, std::placeholders::_1));
-    socket_.onFrame(std::bind(&Websocket::onFrame, this, std::placeholders::_1, std::placeholders::_2));
-}
-
-void Websocket::begin() { server_.on(route_, &socket_); }
-
-void Websocket::onWSOpen(PsychicWebSocketClient* client) {
-    ESP_LOGI(TAG, "Client connected: %s [%u]", client->remoteIP().toString().c_str(), client->socket());
-    sendPong(client->socket());
-}
-
-void Websocket::onWSClose(PsychicWebSocketClient* client) {
-    ESP_LOGI(TAG, "Client disconnected: %s [%u]", client->remoteIP().toString().c_str(), client->socket());
-    removeClient(client->socket());
-}
-
-esp_err_t Websocket::onFrame(PsychicWebSocketRequest* request, httpd_ws_frame* frame) {
-    if (frame->type != HTTPD_WS_TYPE_BINARY) {
-        ESP_LOGW(TAG, "Expected binary frame, got type %d", frame->type);
-        return ESP_OK;
-    }
-
-    handleIncoming(frame->payload, frame->len, request->client()->socket());
-    return ESP_OK;
-}
-
-void Websocket::send(const uint8_t* data, size_t len, int cid) {
-    if (cid >= 0) {
-        auto* client = socket_.getClient(cid);
-        if (client) {
-            esp_err_t err = client->sendMessage(HTTPD_WS_TYPE_BINARY, data, len);
-            if (err != ESP_OK) {
-                ESP_LOGE(TAG, "Failed to send message to client %d: %s (len=%u)", cid, esp_err_to_name(err), len);
-            }
-        } else {
-            ESP_LOGW(TAG, "Client %d not found for send", cid);
-        }
-    } else {
-        socket_.sendAll(HTTPD_WS_TYPE_BINARY, data, len);
-    }
-}
diff --git a/esp32/src/features.cpp b/esp32/src/features.cpp
index 20fe5da..d63398a 100644
--- a/esp32/src/features.cpp
+++ b/esp32/src/features.cpp
@@ -1,28 +1,24 @@
 #include <features.h>
+#include <communication/native_server.h>
 
 namespace feature_service {
 
-// New function to print all feature flags to log
 void printFeatureConfiguration() {
     ESP_LOGI("Features", "====================== FEATURE FLAGS ======================");
     ESP_LOGI("Features", "Firmware version: %s, name: %s, target: %s", APP_VERSION, APP_NAME, BUILD_TARGET);
 
-    // Core features
     ESP_LOGI("Features", "USE_CAMERA: %s", USE_CAMERA ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_MOTION: %s", USE_MOTION ? "enabled" : "disabled");
 
-    // Sensors
     ESP_LOGI("Features", "USE_BNO055: %s", USE_BNO055 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_MPU6050: %s", USE_MPU6050 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_HMC5883: %s", USE_HMC5883 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_BMP180: %s", USE_BMP180 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_USS: %s", USE_USS ? "enabled" : "disabled");
 
-    // Peripherals
     ESP_LOGI("Features", "USE_PCA9685: %s", USE_PCA9685 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_WS2812: %s", USE_WS2812 ? "enabled" : "disabled");
 
-    // Web services
     ESP_LOGI("Features", "USE_MDNS: %s", USE_MDNS ? "enabled" : "disabled");
     ESP_LOGI("Features", "EMBED_WEBAPP: %s", EMBED_WEBAPP ? "enabled" : "disabled");
     ESP_LOGI("Features", "KINEMATICS_VARIANT: %s", KINEMATICS_VARIANT_STR);
@@ -45,9 +41,7 @@ void features_request(const socket_message_FeaturesDataRequest& fd_req, socket_m
     fd_res.variant = const_cast<char*>(KINEMATICS_VARIANT_STR);
 }
 
-
-
-void features(JsonObject &root) {
+void features(JsonObject& root) {
     root["camera"] = USE_CAMERA ? true : false;
     root["imu"] = (USE_MPU6050 || USE_BNO055) ? true : false;
     root["mag"] = (USE_HMC5883 || USE_BNO055) ? true : false;
@@ -63,11 +57,11 @@ void features(JsonObject &root) {
     root["variant"] = KINEMATICS_VARIANT_STR;
 }
 
-esp_err_t getFeatures(PsychicRequest *request) {
-    PsychicJsonResponse response = PsychicJsonResponse(request, false);
-    JsonObject root = response.getRoot();
+esp_err_t getFeatures(httpd_req_t* request) {
+    JsonDocument doc;
+    JsonObject root = doc.to<JsonObject>();
     features(root);
-    return response.send();
+    return NativeServer::sendJson(request, 200, doc);
 }
 
-} // namespace feature_service
\ No newline at end of file
+} // namespace feature_service
diff --git a/esp32/src/filesystem.cpp b/esp32/src/filesystem.cpp
index 42626aa..4fedc76 100644
--- a/esp32/src/filesystem.cpp
+++ b/esp32/src/filesystem.cpp
@@ -1,62 +1,53 @@
 #include <filesystem.h>
+#include <communication/native_server.h>
 
 static const char *TAG = "FileService";
 
 namespace FileSystem {
 
-PsychicUploadHandler *uploadHandler;
+esp_err_t getFiles(httpd_req_t *request) {
+    std::string files = listFiles("/");
+    httpd_resp_set_type(request, "application/json");
+    return httpd_resp_send(request, files.c_str(), files.length());
+}
 
-class Initializer {
-  public:
-    Initializer() {
-        uploadHandler = new PsychicUploadHandler();
-        uploadHandler->onUpload([](PsychicRequest *request, const String &filename, uint64_t index, uint8_t *data,
-                                   size_t len, bool last) -> esp_err_t {
-            return uploadFile(request, std::string(filename.c_str()), index, data, len, last);
-        });
-        uploadHandler->onRequest([](PsychicRequest *request) { return request->reply(200); });
+esp_err_t getConfigFile(httpd_req_t *request) {
+    const char *uri = request->uri;
+    std::string path = "/config" + std::string(uri).substr(11);
+    if (!ESP_FS.exists(path.c_str())) {
+        return NativeServer::sendError(request, 404, "File not found");
     }
-};
-
-static Initializer initializer;
-
-esp_err_t getFiles(PsychicRequest *request) { return request->reply(200, "application/json", listFiles("/").c_str()); }
-
-esp_err_t getConfigFile(PsychicRequest *request) {
-    String path = "/config" + request->uri().substring(11);
-    if (!ESP_FS.exists(path)) {
-        return request->reply(404, "text/plain", "File not found");
-    }
-    File file = ESP_FS.open(path, "r");
+    File file = ESP_FS.open(path.c_str(), "r");
     if (!file) {
-        return request->reply(500, "text/plain", "Failed to open file");
+        return NativeServer::sendError(request, 500, "Failed to open file");
     }
     String content = file.readString();
     file.close();
-    return request->reply(200, "application/json", content.c_str());
+    httpd_resp_set_type(request, "application/json");
+    return httpd_resp_send(request, content.c_str(), content.length());
 }
 
-esp_err_t handleDelete(PsychicRequest *request, JsonVariant &json) {
+esp_err_t handleDelete(httpd_req_t *request, JsonVariant &json) {
     if (json.is<JsonObject>()) {
         const char *filename = json["file"].as<const char *>();
         ESP_LOGI(TAG, "Deleting file: %s", filename);
-        return deleteFile(filename) ? request->reply(200) : request->reply(500);
+        return deleteFile(filename) ? NativeServer::sendOk(request)
+                                    : NativeServer::sendError(request, 500, "Delete failed");
     }
-    return request->reply(400);
+    return NativeServer::sendError(request, 400, "Invalid request");
 }
 
-esp_err_t handleEdit(PsychicRequest *request, JsonVariant &json) {
+esp_err_t handleEdit(httpd_req_t *request, JsonVariant &json) {
     if (json.is<JsonObject>()) {
         const char *filename = json["file"].as<const char *>();
         const char *content = json["content"].as<const char *>();
         ESP_LOGI(TAG, "Editing file: %s", filename);
-        return editFile(filename, content) ? request->reply(200) : request->reply(500);
+        return editFile(filename, content) ? NativeServer::sendOk(request)
+                                           : NativeServer::sendError(request, 500, "Edit failed");
     }
-    return request->reply(400);
+    return NativeServer::sendError(request, 400, "Invalid request");
 }
 
-/* Helpers */
-
 bool deleteFile(const char *filename) { return ESP_FS.remove(filename); }
 
 std::string listFiles(const std::string &directory, bool isRoot) {
@@ -89,28 +80,6 @@ std::string listFiles(const std::string &directory, bool isRoot) {
     return output;
 }
 
-esp_err_t uploadFile(PsychicRequest *request, const std::string &filename, uint64_t index, uint8_t *data, size_t len,
-                     bool last) {
-    File file;
-    std::string path = "/www/" + filename;
-    ESP_LOGI(TAG, "Writing %d/%d bytes to: %s\n", (int)index + (int)len, request->contentLength(), path.c_str());
-
-    if (last) ESP_LOGI(TAG, "%s is finished. Total bytes: %d\n", path.c_str(), (int)index + (int)len);
-
-    file = ESP_FS.open(path.c_str(), !index ? FILE_WRITE : FILE_APPEND);
-    if (!file) {
-        ESP_LOGE(TAG, "Failed to open file");
-        return ESP_FAIL;
-    }
-
-    if (!file.write(data, len)) {
-        ESP_LOGE(TAG, "Write failed");
-        return ESP_FAIL;
-    }
-
-    return ESP_OK;
-}
-
 bool editFile(const char *filename, const char *content) {
     File file = ESP_FS.open(filename, FILE_WRITE);
     if (!file) return false;
@@ -120,10 +89,10 @@ bool editFile(const char *filename, const char *content) {
     return true;
 }
 
-esp_err_t mkdir(PsychicRequest *request, JsonVariant &json) {
+esp_err_t mkdir(httpd_req_t *request, JsonVariant &json) {
     const char *path = json["path"].as<const char *>();
     ESP_LOGI(TAG, "Creating directory: %s", path);
-    return ESP_FS.mkdir(path) ? request->reply(200) : request->reply(500);
+    return ESP_FS.mkdir(path) ? NativeServer::sendOk(request) : NativeServer::sendError(request, 500, "mkdir failed");
 }
 
-} // namespace FileSystem
\ No newline at end of file
+} // namespace FileSystem
diff --git a/esp32/src/main.cpp b/esp32/src/main.cpp
index 77aa7dc..b8f6f71 100644
--- a/esp32/src/main.cpp
+++ b/esp32/src/main.cpp
@@ -1,5 +1,4 @@
 #include <Arduino.h>
-#include <PsychicHttp.h>
 #include <ESPmDNS.h>
 #include <WiFi.h>
 #include <Wire.h>
@@ -11,7 +10,8 @@
 #include <peripherals/servo_controller.h>
 #include <peripherals/led_service.h>
 #include <peripherals/camera_service.h>
-#include <communication/websocket_adapter.h>
+#include <communication/native_server.h>
+#include <communication/native_websocket.h>
 #include <features.h>
 #include <motion.h>
 #include <wifi_service.h>
@@ -21,11 +21,8 @@
 
 #include <www_mount.hpp>
 
-// Communication
-PsychicHttpServer server;
-Websocket socket {server, "/api/ws"};
+NativeWebsocket socket {nativeServer, "/api/ws"};
 
-// Core
 Peripherals peripherals;
 ServoController servoController;
 MotionService motionService;
@@ -39,99 +36,91 @@ Camera::CameraService cameraService;
 MDNSService mdnsService;
 #endif
 
-// Service
 WiFiService wifiService;
 APService apService;
 
 void setupServer() {
-    server.config.max_uri_handlers = 50 + WWW_ASSETS_COUNT;
-    server.config.stack_size = 32768; // 32KB
-    server.maxUploadSize = 1000000;   // 1 MB;
-    server.listen(80);
-    server.on("/api/system/reset", HTTP_POST,
-              [&](PsychicRequest *request, JsonVariant &json) { return system_service::handleReset(request); });
-    server.on("/api/system/restart", HTTP_POST,
-              [&](PsychicRequest *request, JsonVariant &json) { return system_service::handleRestart(request); });
-    server.on("/api/system/sleep", HTTP_POST,
-              [&](PsychicRequest *request, JsonVariant &json) { return system_service::handleSleep(request); });
+    nativeServer.config(50 + WWW_ASSETS_COUNT, 32768, 1000000);
+    nativeServer.listen(80);
+
+    nativeServer.on("/api/system/reset", HTTP_POST,
+                    [&](httpd_req_t *request, JsonVariant &json) { return system_service::handleReset(request); });
+    nativeServer.on("/api/system/restart", HTTP_POST,
+                    [&](httpd_req_t *request, JsonVariant &json) { return system_service::handleRestart(request); });
+    nativeServer.on("/api/system/sleep", HTTP_POST,
+                    [&](httpd_req_t *request, JsonVariant &json) { return system_service::handleSleep(request); });
 #if USE_CAMERA
-    server.on("/api/camera/still", HTTP_GET,
-              [&](PsychicRequest *request) { return cameraService.cameraStill(request); });
-    server.on("/api/camera/stream", HTTP_GET,
-              [&](PsychicRequest *request) { return cameraService.cameraStream(request); });
-    server.on("/api/camera/settings", HTTP_GET,
-              [&](PsychicRequest *request) { return cameraService.endpoint.getState(request); });
-    server.on("/api/camera/settings", HTTP_POST, [&](PsychicRequest *request, JsonVariant &json) {
+    nativeServer.on("/api/camera/still", HTTP_GET,
+                    [&](httpd_req_t *request) { return cameraService.cameraStill(request); });
+    nativeServer.on("/api/camera/stream", HTTP_GET,
+                    [&](httpd_req_t *request) { return cameraService.cameraStream(request); });
+    nativeServer.on("/api/camera/settings", HTTP_GET,
+                    [&](httpd_req_t *request) { return cameraService.endpoint.getState(request); });
+    nativeServer.on("/api/camera/settings", HTTP_POST, [&](httpd_req_t *request, JsonVariant &json) {
         return cameraService.endpoint.handleStateUpdate(request, json);
     });
 #endif
-    server.on("/api/servo/config", HTTP_GET,
-              [&](PsychicRequest *request) { return servoController.endpoint.getState(request); });
-    server.on("/api/servo/config", HTTP_POST, [&](PsychicRequest *request, JsonVariant &json) {
+    nativeServer.on("/api/servo/config", HTTP_GET,
+                    [&](httpd_req_t *request) { return servoController.endpoint.getState(request); });
+    nativeServer.on("/api/servo/config", HTTP_POST, [&](httpd_req_t *request, JsonVariant &json) {
         return servoController.endpoint.handleStateUpdate(request, json);
     });
 
-    // WiFi
-    server.on("/api/wifi/sta/settings", HTTP_GET,
-              [&](PsychicRequest *request) { return wifiService.endpoint.getState(request); });
-    server.on("/api/wifi/sta/settings", HTTP_POST, [&](PsychicRequest *request, JsonVariant &json) {
+    nativeServer.on("/api/wifi/sta/settings", HTTP_GET,
+                    [&](httpd_req_t *request) { return wifiService.endpoint.getState(request); });
+    nativeServer.on("/api/wifi/sta/settings", HTTP_POST, [&](httpd_req_t *request, JsonVariant &json) {
         return wifiService.endpoint.handleStateUpdate(request, json);
     });
-    server.on("/api/wifi/scan", HTTP_GET, [&](PsychicRequest *request) { return wifiService.handleScan(request); });
-    server.on("/api/wifi/networks", HTTP_GET,
-              [&](PsychicRequest *request) { return wifiService.getNetworks(request); });
-    server.on("/api/wifi/sta/status", HTTP_GET,
-              [&](PsychicRequest *request) { return wifiService.getNetworkStatus(request); });
+    nativeServer.on("/api/wifi/scan", HTTP_GET, [&](httpd_req_t *request) { return wifiService.handleScan(request); });
+    nativeServer.on("/api/wifi/networks", HTTP_GET,
+                    [&](httpd_req_t *request) { return wifiService.getNetworks(request); });
+    nativeServer.on("/api/wifi/sta/status", HTTP_GET,
+                    [&](httpd_req_t *request) { return wifiService.getNetworkStatus(request); });
 
-    // AP
-    server.on("/api/ap/status", HTTP_GET, [&](PsychicRequest *request) { return apService.getStatus(request); });
-    server.on("/api/ap/settings", HTTP_GET,
-              [&](PsychicRequest *request) { return apService.endpoint.getState(request); });
-    server.on("/api/ap/settings", HTTP_POST, [&](PsychicRequest *request, JsonVariant &json) {
+    nativeServer.on("/api/ap/status", HTTP_GET, [&](httpd_req_t *request) { return apService.getStatus(request); });
+    nativeServer.on("/api/ap/settings", HTTP_GET,
+                    [&](httpd_req_t *request) { return apService.endpoint.getState(request); });
+    nativeServer.on("/api/ap/settings", HTTP_POST, [&](httpd_req_t *request, JsonVariant &json) {
         return apService.endpoint.handleStateUpdate(request, json);
     });
 
-    // Peripherals
-    server.on("/api/peripherals", HTTP_GET,
-              [&](PsychicRequest *request) { return peripherals.endpoint.getState(request); });
-    server.on("/api/peripherals", HTTP_POST, [&](PsychicRequest *request, JsonVariant &json) {
+    nativeServer.on("/api/peripherals", HTTP_GET,
+                    [&](httpd_req_t *request) { return peripherals.endpoint.getState(request); });
+    nativeServer.on("/api/peripherals", HTTP_POST, [&](httpd_req_t *request, JsonVariant &json) {
         return peripherals.endpoint.handleStateUpdate(request, json);
     });
 
-    // MDNS
 #if FT_ENABLED(USE_MDNS)
-    server.on("/api/mdns", HTTP_GET, [&](PsychicRequest *request) { return mdnsService.endpoint.getState(request); });
-    server.on("/api/mdns", HTTP_POST, [&](PsychicRequest *request, JsonVariant &json) {
+    nativeServer.on("/api/mdns", HTTP_GET,
+                    [&](httpd_req_t *request) { return mdnsService.endpoint.getState(request); });
+    nativeServer.on("/api/mdns", HTTP_POST, [&](httpd_req_t *request, JsonVariant &json) {
         return mdnsService.endpoint.handleStateUpdate(request, json);
     });
-    server.on("/api/mdns/status", HTTP_GET, [&](PsychicRequest *request) { return mdnsService.getStatus(request); });
-    server.on("/api/mdns/query", HTTP_POST,
-              [&](PsychicRequest *request, JsonVariant &json) { return mdnsService.queryServices(request, json); });
+    nativeServer.on("/api/mdns/status", HTTP_GET, [&](httpd_req_t *request) { return mdnsService.getStatus(request); });
+    nativeServer.on("/api/mdns/query", HTTP_POST,
+                    [&](httpd_req_t *request, JsonVariant &json) { return mdnsService.queryServices(request, json); });
 #endif
 
-    // Filesystem
-    server.on("/api/config/*", HTTP_GET, [](PsychicRequest *request) { return FileSystem::getConfigFile(request); });
-    server.on("/api/files", HTTP_GET, [&](PsychicRequest *request) { return FileSystem::getFiles(request); });
-    server.on("/api/files", HTTP_POST, FileSystem::uploadHandler);
-    server.on("/api/files/delete", HTTP_POST,
-              [&](PsychicRequest *request, JsonVariant &json) { return FileSystem::handleDelete(request, json); });
-    server.on("/api/files/edit", HTTP_POST,
-              [&](PsychicRequest *request, JsonVariant &json) { return FileSystem::handleEdit(request, json); });
-    server.on("/api/files/mkdir", HTTP_POST,
-              [&](PsychicRequest *request, JsonVariant &json) { return FileSystem::mkdir(request, json); });
+    nativeServer.on("/api/config/*", HTTP_GET, [](httpd_req_t *request) { return FileSystem::getConfigFile(request); });
+    nativeServer.on("/api/files", HTTP_GET, [&](httpd_req_t *request) { return FileSystem::getFiles(request); });
+    nativeServer.on("/api/files/delete", HTTP_POST,
+                    [&](httpd_req_t *request, JsonVariant &json) { return FileSystem::handleDelete(request, json); });
+    nativeServer.on("/api/files/edit", HTTP_POST,
+                    [&](httpd_req_t *request, JsonVariant &json) { return FileSystem::handleEdit(request, json); });
+    nativeServer.on("/api/files/mkdir", HTTP_POST,
+                    [&](httpd_req_t *request, JsonVariant &json) { return FileSystem::mkdir(request, json); });
 #if EMBED_WEBAPP
-    mountStaticAssets(server);
+    mountStaticAssets(nativeServer);
 #endif
-    server.on("/*", HTTP_OPTIONS, [](PsychicRequest *request) { // CORS handling
-        PsychicResponse response(request);
-        response.setCode(200);
-        return response.send();
+    nativeServer.on("/*", HTTP_OPTIONS, [](httpd_req_t *request) {
+        httpd_resp_set_status(request, "200 OK");
+        return httpd_resp_send(request, nullptr, 0);
     });
-    DefaultHeaders::Instance().addHeader("Server", APP_NAME);
-    DefaultHeaders::Instance().addHeader("Access-Control-Allow-Origin", "*");
-    DefaultHeaders::Instance().addHeader("Access-Control-Allow-Headers", "Accept, Content-Type, Authorization");
-    DefaultHeaders::Instance().addHeader("Access-Control-Allow-Methods", "GET, POST, OPTIONS");
-    DefaultHeaders::Instance().addHeader("Access-Control-Max-Age", "86400");
+    nativeServer.addDefaultHeader("Server", APP_NAME);
+    nativeServer.addDefaultHeader("Access-Control-Allow-Origin", "*");
+    nativeServer.addDefaultHeader("Access-Control-Allow-Headers", "Accept, Content-Type, Authorization");
+    nativeServer.addDefaultHeader("Access-Control-Allow-Methods", "GET, POST, OPTIONS");
+    nativeServer.addDefaultHeader("Access-Control-Max-Age", "86400");
 }
 
 void setupEventSocket() {
@@ -164,76 +153,77 @@ void setupEventSocket() {
         data.active ? servoController.activate() : servoController.deactivate();
     });
 
-    socket.on<socket_message_FSUploadData>([&](const socket_message_FSUploadData &data, int clientId) {
-        FileSystemWS::fsHandler.handleUploadData(data);
-    });
+    socket.on<socket_message_FSUploadData>(
+        [&](const socket_message_FSUploadData &data, int clientId) { FileSystemWS::fsHandler.handleUploadData(data); });
 
     using CorrelationHandler =
         std::function<void(const socket_message_CorrelationRequest &, socket_message_CorrelationResponse &, int)>;
     static std::map<pb_size_t, CorrelationHandler> correlationHandlers = {
-        {socket_message_CorrelationRequest_features_data_request_tag, // Features data
+        {socket_message_CorrelationRequest_features_data_request_tag,
          [](const auto &req, auto &res, int clientId) {
              res.which_response = socket_message_CorrelationResponse_features_data_response_tag;
              feature_service::features_request(req.request.features_data_request, res.response.features_data_response);
          }},
 
-        {socket_message_CorrelationRequest_i2c_scan_data_request_tag, // i2c data
+        {socket_message_CorrelationRequest_i2c_scan_data_request_tag,
          [](const auto &req, auto &res, int clientId) {
              res.which_response = socket_message_CorrelationResponse_i2c_scan_data_tag;
              peripherals.scanI2C();
              peripherals.getI2CScanProto(res.response.i2c_scan_data);
          }},
 
-        {socket_message_CorrelationRequest_imu_calibrate_execute_tag, // Calibration request
+        {socket_message_CorrelationRequest_imu_calibrate_execute_tag,
          [](const auto &req, auto &res, int clientId) {
              res.which_response = socket_message_CorrelationResponse_imu_calibrate_data_tag;
              res.response.imu_calibrate_data.success = peripherals.calibrateIMU();
          }},
 
-         {socket_message_CorrelationRequest_system_information_request_tag, // All system information data
+        {socket_message_CorrelationRequest_system_information_request_tag,
          [](const auto &req, auto &res, int clientId) {
-            res.which_response = socket_message_CorrelationResponse_system_information_response_tag;
-            res.response.system_information_response.has_analytics_data = true;
-            res.response.system_information_response.has_static_system_information = true;
-            system_service::getAnalytics(res.response.system_information_response.analytics_data);
-            system_service::getStaticSystemInformation(res.response.system_information_response.static_system_information);
+             res.which_response = socket_message_CorrelationResponse_system_information_response_tag;
+             res.response.system_information_response.has_analytics_data = true;
+             res.response.system_information_response.has_static_system_information = true;
+             system_service::getAnalytics(res.response.system_information_response.analytics_data);
+             system_service::getStaticSystemInformation(
+                 res.response.system_information_response.static_system_information);
          }},
 
-        // Filesystem operations
-        {socket_message_CorrelationRequest_fs_delete_request_tag, // Delete file/directory
+        {socket_message_CorrelationRequest_fs_delete_request_tag,
          [](const auto &req, auto &res, int clientId) {
              res.which_response = socket_message_CorrelationResponse_fs_delete_response_tag;
              res.response.fs_delete_response = FileSystemWS::fsHandler.handleDelete(req.request.fs_delete_request);
          }},
 
-        {socket_message_CorrelationRequest_fs_mkdir_request_tag, // Create directory
+        {socket_message_CorrelationRequest_fs_mkdir_request_tag,
          [](const auto &req, auto &res, int clientId) {
              res.which_response = socket_message_CorrelationResponse_fs_mkdir_response_tag;
              res.response.fs_mkdir_response = FileSystemWS::fsHandler.handleMkdir(req.request.fs_mkdir_request);
          }},
 
-        {socket_message_CorrelationRequest_fs_list_request_tag, // List directory
+        {socket_message_CorrelationRequest_fs_list_request_tag,
          [](const auto &req, auto &res, int clientId) {
              res.which_response = socket_message_CorrelationResponse_fs_list_response_tag;
              res.response.fs_list_response = FileSystemWS::fsHandler.handleList(req.request.fs_list_request);
          }},
 
-        {socket_message_CorrelationRequest_fs_download_request_tag, // Streaming download (no response, streams data)
+        {socket_message_CorrelationRequest_fs_download_request_tag,
          [](const auto &req, auto &res, int clientId) {
              FileSystemWS::fsHandler.handleDownloadRequest(req.request.fs_download_request, clientId);
              res.status_code = 0;
          }},
 
-        {socket_message_CorrelationRequest_fs_upload_start_tag, // Upload start
+        {socket_message_CorrelationRequest_fs_upload_start_tag,
          [](const auto &req, auto &res, int clientId) {
              res.which_response = socket_message_CorrelationResponse_fs_upload_start_response_tag;
-             res.response.fs_upload_start_response = FileSystemWS::fsHandler.handleUploadStart(req.request.fs_upload_start, clientId);
+             res.response.fs_upload_start_response =
+                 FileSystemWS::fsHandler.handleUploadStart(req.request.fs_upload_start, clientId);
          }},
 
-        {socket_message_CorrelationRequest_fs_cancel_transfer_tag, // Cancel transfer
+        {socket_message_CorrelationRequest_fs_cancel_transfer_tag,
          [](const auto &req, auto &res, int clientId) {
              res.which_response = socket_message_CorrelationResponse_fs_cancel_transfer_response_tag;
-             res.response.fs_cancel_transfer_response = FileSystemWS::fsHandler.handleCancelTransfer(req.request.fs_cancel_transfer);
+             res.response.fs_cancel_transfer_response =
+                 FileSystemWS::fsHandler.handleCancelTransfer(req.request.fs_cancel_transfer);
          }},
     };
 
@@ -339,4 +329,4 @@ void setup() {
     ESP_LOGI("main", "Finished booting");
 }
 
-void loop() { vTaskDelete(nullptr); }
\ No newline at end of file
+void loop() { vTaskDelete(nullptr); }
diff --git a/esp32/src/mdns_service.cpp b/esp32/src/mdns_service.cpp
index da5c519..625f3c8 100644
--- a/esp32/src/mdns_service.cpp
+++ b/esp32/src/mdns_service.cpp
@@ -1,4 +1,5 @@
 #include <mdns_service.h>
+#include <communication/native_server.h>
 
 static const char *TAG = "MDNSService";
 
@@ -64,11 +65,11 @@ void MDNSService::addServices() {
     }
 }
 
-esp_err_t MDNSService::getStatus(PsychicRequest *request) {
-    PsychicJsonResponse response = PsychicJsonResponse(request, false);
-    JsonVariant root = response.getRoot();
+esp_err_t MDNSService::getStatus(httpd_req_t *request) {
+    JsonDocument doc;
+    JsonVariant root = doc.to<JsonVariant>();
     getStatus(root);
-    return response.send();
+    return NativeServer::sendJson(request, 200, doc);
 }
 
 void MDNSService::getStatus(JsonVariant &root) {
@@ -76,12 +77,12 @@ void MDNSService::getStatus(JsonVariant &root) {
     root["started"] = _started;
 }
 
-esp_err_t MDNSService::queryServices(PsychicRequest *request, JsonVariant &json) {
+esp_err_t MDNSService::queryServices(httpd_req_t *request, JsonVariant &json) {
     std::string service = json["service"].as<std::string>();
     std::string proto = json["protocol"].as<std::string>();
 
-    PsychicJsonResponse response = PsychicJsonResponse(request, false);
-    JsonVariant root = response.getRoot();
+    JsonDocument doc;
+    JsonVariant root = doc.to<JsonVariant>();
 
     ESP_LOGI(TAG, "Querying for service: %s, protocol: %s", service.c_str(), proto.c_str());
 
@@ -96,5 +97,5 @@ esp_err_t MDNSService::queryServices(PsychicRequest *request, JsonVariant &json)
         serviceObj["port"] = MDNS.port(i);
     }
 
-    return response.send();
+    return NativeServer::sendJson(request, 200, doc);
 }
diff --git a/esp32/src/peripherals/camera_service.cpp b/esp32/src/peripherals/camera_service.cpp
index fad00a3..7f52316 100644
--- a/esp32/src/peripherals/camera_service.cpp
+++ b/esp32/src/peripherals/camera_service.cpp
@@ -1,4 +1,5 @@
 #include <peripherals/camera_service.h>
+#include <communication/native_server.h>
 
 namespace Camera {
 
@@ -83,78 +84,60 @@ esp_err_t CameraService::begin() {
     return err;
 }
 
-esp_err_t CameraService::cameraStill(PsychicRequest *request) {
+esp_err_t CameraService::cameraStill(httpd_req_t *request) {
     camera_fb_t *fb = safe_camera_fb_get();
     if (!fb) {
         ESP_LOGE(TAG, "Camera capture failed");
-        request->reply(500, "text/plain", "Camera capture failed");
-        return ESP_FAIL;
+        return NativeServer::sendError(request, 500, "Camera capture failed");
     }
-    PsychicStreamResponse response = PsychicStreamResponse(request, "image/jpeg", "capture.jpg");
-    response.beginSend();
-    response.write(fb->buf, fb->len);
+
+    httpd_resp_set_type(request, "image/jpeg");
+    httpd_resp_set_hdr(request, "Content-Disposition", "inline; filename=capture.jpg");
+    esp_err_t res = httpd_resp_send(request, (const char *)fb->buf, fb->len);
     esp_camera_fb_return(fb);
-    return response.endSend();
+    return res;
 }
 
-void streamTask(void *pv) {
+esp_err_t CameraService::cameraStream(httpd_req_t *request) {
+    httpd_resp_set_type(request, _STREAM_CONTENT_TYPE);
+
+    camera_fb_t *fb = NULL;
+    char part_buf[64];
+    uint8_t *buf = NULL;
+    size_t buf_len = 0;
     esp_err_t res = ESP_OK;
 
-    PsychicRequest *request = static_cast<PsychicRequest *>(pv);
-
-    httpd_req_t *copy = nullptr;
-    res = httpd_req_async_handler_begin(request->request(), &copy);
-    if (res != ESP_OK) {
-        return;
-    }
-    PsychicHttpServer *server = request->server();
-    PsychicRequest new_request = PsychicRequest(server, copy);
-    request = &new_request;
-
-    PsychicStreamResponse response = PsychicStreamResponse(request, _STREAM_CONTENT_TYPE);
-    camera_fb_t *fb = NULL;
-
-    char *part_buf[64];
-    size_t buf_len = 0;
-    uint8_t *buf = NULL;
-    int64_t fr_start = esp_timer_get_time();
-
-    response.beginSend();
-
-    for (;;) {
+    while (res == ESP_OK) {
         fb = safe_camera_fb_get();
         if (!fb) {
-            ESP_LOGE("Stream", "Camera capture failed");
+            ESP_LOGE(TAG, "Camera capture failed");
             break;
         }
         if (fb->format != PIXFORMAT_JPEG) {
-            if (!frame2jpg(fb, 80, &buf, &buf_len)) break;
+            if (!frame2jpg(fb, 80, &buf, &buf_len)) {
+                esp_camera_fb_return(fb);
+                break;
+            }
         } else {
             buf_len = fb->len;
             buf = fb->buf;
         }
 
-        size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, buf_len);
-        size_t w = response.write((const char *)part_buf, hlen);
-        w += response.write((const char *)buf, buf_len);
-        w += response.write((char *)_STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
-        if (w == 62) break;
+        size_t hlen = snprintf(part_buf, 64, _STREAM_PART, buf_len);
+
+        res = httpd_resp_send_chunk(request, part_buf, hlen);
+        if (res == ESP_OK) res = httpd_resp_send_chunk(request, (const char *)buf, buf_len);
+        if (res == ESP_OK) res = httpd_resp_send_chunk(request, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
+
         esp_camera_fb_return(fb);
         safe_sensor_return();
         buf = NULL;
-        taskYIELD();
-        int64_t delay = 30000ll - esp_timer_get_time() - fr_start;
-        if (delay > 0) vTaskDelay(pdMS_TO_TICKS(delay));
-    }
-    ESP_LOGI("Stream", "Stream ended");
-    response.endSend();
-    httpd_req_async_handler_complete(copy);
-    vTaskDelete(NULL);
-}
 
-esp_err_t CameraService::cameraStream(PsychicRequest *request) {
-    xTaskCreate(streamTask, "Stream client task", 4096, request, 4, nullptr);
-    vTaskDelay(pdMS_TO_TICKS(100));
+        vTaskDelay(pdMS_TO_TICKS(30));
+    }
+
+    ESP_LOGI(TAG, "Stream ended");
+    httpd_resp_send_chunk(request, NULL, 0);
     return ESP_OK;
 }
 
@@ -193,4 +176,4 @@ void CameraService::updateCamera() {
     safe_sensor_return();
 }
 
-} // namespace Camera
\ No newline at end of file
+} // namespace Camera
diff --git a/esp32/src/system_service.cpp b/esp32/src/system_service.cpp
index 83eebe6..266c192 100644
--- a/esp32/src/system_service.cpp
+++ b/esp32/src/system_service.cpp
@@ -1,22 +1,23 @@
 #include "system_service.h"
+#include <communication/native_server.h>
 
 namespace system_service {
 
 static const char *TAG = "SystemService";
 
-esp_err_t handleReset(PsychicRequest *request) {
+esp_err_t handleReset(httpd_req_t *request) {
     reset();
-    return request->reply(200);
+    return NativeServer::sendOk(request);
 }
 
-esp_err_t handleRestart(PsychicRequest *request) {
+esp_err_t handleRestart(httpd_req_t *request) {
     restart();
-    return request->reply(200);
+    return NativeServer::sendOk(request);
 }
 
-esp_err_t handleSleep(PsychicRequest *request) {
+esp_err_t handleSleep(httpd_req_t *request) {
     sleep();
-    return request->reply(200);
+    return NativeServer::sendOk(request);
 }
 
 void reset() {
@@ -141,4 +142,4 @@ const char *resetReason(esp_reset_reason_t reason) {
     }
 }
 
-} // namespace system_service
\ No newline at end of file
+} // namespace system_service
diff --git a/esp32/src/wifi_service.cpp b/esp32/src/wifi_service.cpp
index b0b1119..c9a243d 100644
--- a/esp32/src/wifi_service.cpp
+++ b/esp32/src/wifi_service.cpp
@@ -1,4 +1,5 @@
 #include <wifi_service.h>
+#include <communication/native_server.h>
 
 WiFiService::WiFiService()
     : _persistence(WiFiSettings::read, WiFiSettings::update, this, WIFI_SETTINGS_FILE),
@@ -38,25 +39,28 @@ void WiFiService::reconfigureWiFiConnection() {
 
 void WiFiService::loop() { EXECUTE_EVERY_N_MS(reconnectDelay, manageSTA()); }
 
-esp_err_t WiFiService::handleScan(PsychicRequest *request) {
+esp_err_t WiFiService::handleScan(httpd_req_t *request) {
     if (WiFi.scanComplete() != -1) {
         WiFi.scanDelete();
         WiFi.scanNetworks(true);
     }
-    return request->reply(202);
+    httpd_resp_set_status(request, "202 Accepted");
+    return httpd_resp_send(request, nullptr, 0);
 }
 
-esp_err_t WiFiService::getNetworks(PsychicRequest *request) {
+esp_err_t WiFiService::getNetworks(httpd_req_t *request) {
     int numNetworks = WiFi.scanComplete();
-    if (numNetworks == -1)
-        return request->reply(202);
-    else if (numNetworks < -1)
+    if (numNetworks == -1) {
+        httpd_resp_set_status(request, "202 Accepted");
+        return httpd_resp_send(request, nullptr, 0);
+    } else if (numNetworks < -1) {
         return handleScan(request);
+    }
 
-    PsychicJsonResponse response = PsychicJsonResponse(request, false);
-    JsonObject root = response.getRoot();
+    JsonDocument doc;
+    JsonObject root = doc.to<JsonObject>();
     getNetworks(root);
-    return response.send();
+    return NativeServer::sendJson(request, 200, doc);
 }
 
 void WiFiService::setupMDNS(const char *hostname) {
@@ -80,11 +84,11 @@ void WiFiService::getNetworks(JsonObject &root) {
     }
 }
 
-esp_err_t WiFiService::getNetworkStatus(PsychicRequest *request) {
-    PsychicJsonResponse response = PsychicJsonResponse(request, false);
-    JsonObject root = response.getRoot();
+esp_err_t WiFiService::getNetworkStatus(httpd_req_t *request) {
+    JsonDocument doc;
+    JsonObject root = doc.to<JsonObject>();
     getNetworkStatus(root);
-    return response.send();
+    return NativeServer::sendJson(request, 200, doc);
 }
 
 void WiFiService::getNetworkStatus(JsonObject &root) {
@@ -116,12 +120,10 @@ void WiFiService::manageSTA() {
 }
 
 void WiFiService::connectToWiFi() {
-    // reset availability flag for all stored networks
     for (auto &network : state().wifiSettings) {
         network.available = false;
     }
 
-    // scanning for available networks
     int scanResult = WiFi.scanNetworks();
     if (scanResult == WIFI_SCAN_FAILED) {
         ESP_LOGE("WiFiSettingsService", "WiFi scan failed.");
@@ -130,7 +132,6 @@ void WiFiService::connectToWiFi() {
     } else {
         ESP_LOGI("WiFiSettingsService", "%d networks found.", scanResult);
 
-        // find the best network to connect
         wifi_settings_t *bestNetwork = nullptr;
         int32_t bestNetworkDb = FACTORY_WIFI_RSSI_THRESHOLD;
 
@@ -178,19 +179,16 @@ void WiFiService::connectToWiFi() {
 
 void WiFiService::configureNetwork(wifi_settings_t &network) {
     if (network.staticIPConfig) {
-        // configure for static IP
         WiFi.config(network.localIP, network.gatewayIP, network.subnetMask, network.dnsIP1, network.dnsIP2);
     } else {
-        // configure for DHCP
         WiFi.config(IPAddress(0, 0, 0, 0), IPAddress(0, 0, 0, 0), IPAddress(0, 0, 0, 0));
     }
     WiFi.setHostname(state().hostname.c_str());
 
-    // attempt to connect to the network
     WiFi.begin(network.ssid.c_str(), network.password.c_str());
 
 #if CONFIG_IDF_TARGET_ESP32C3
-    WiFi.setTxPower(WIFI_POWER_8_5dBm); // https://www.wemos.cc/en/latest/c3/c3_mini_1_0_0.html#about-wifi
+    WiFi.setTxPower(WIFI_POWER_8_5dBm);
 #endif
 }
 
@@ -210,4 +208,4 @@ void WiFiService::onStationModeStop(WiFiEvent_t event, WiFiEventInfo_t info) {
 void WiFiService::onStationModeGotIP(WiFiEvent_t event, WiFiEventInfo_t info) {
     ESP_LOGI("WiFiStatus", "WiFi Got IP. localIP=%s, hostName=%s", WiFi.localIP().toString().c_str(),
              WiFi.getHostname());
-}
\ No newline at end of file
+}
diff --git a/esp32/src/www_mount.cpp b/esp32/src/www_mount.cpp
index 142a479..37a548d 100644
--- a/esp32/src/www_mount.cpp
+++ b/esp32/src/www_mount.cpp
@@ -1,30 +1,25 @@
 #include "www_mount.hpp"
 
-static esp_err_t web_send(PsychicRequest* req, const WebAsset& asset) {
-    PsychicResponse resp(req);
-    resp.setCode(200);
-    resp.setContentType(asset.mime);
-    if (asset.gz) resp.addHeader("Content-Encoding", "gzip");
-    if (WWW_OPT.add_vary) resp.addHeader("Vary", "Accept-Encoding");
+static esp_err_t web_send(httpd_req_t* req, const WebAsset& asset) {
+    httpd_resp_set_status(req, "200 OK");
+    httpd_resp_set_type(req, asset.mime);
+    if (asset.gz) httpd_resp_set_hdr(req, "Content-Encoding", "gzip");
+    if (WWW_OPT.add_vary) httpd_resp_set_hdr(req, "Vary", "Accept-Encoding");
+
     char cc[64];
     snprintf(cc, sizeof(cc), "public, immutable, max-age=%u", WWW_OPT.max_age);
-    resp.addHeader("Cache-Control", cc);
+    httpd_resp_set_hdr(req, "Cache-Control", cc);
+
     char et[34];
     snprintf(et, sizeof(et), "\"%08x\"", asset.etag);
-    resp.addHeader("ETag", et);
-    resp.setContent(asset.data, asset.len);
-    return resp.send();
+    httpd_resp_set_hdr(req, "ETag", et);
+
+    return httpd_resp_send(req, (const char*)asset.data, asset.len);
 }
 
-void mountStaticAssets(PsychicHttpServer& server) {
-    static uint8_t buf[sizeof(PsychicWebHandler) * WWW_ASSETS_COUNT];
+void mountStaticAssets(NativeServer& server) {
     for (size_t i = 0; i < WWW_ASSETS_COUNT; i++) {
         const WebAsset* a = &WWW_ASSETS[i];
-        auto* handle = new (&buf[i * sizeof(PsychicWebHandler)]) PsychicWebHandler();
-        handle->onRequest([a](PsychicRequest* req) { return web_send(req, *a); });
-        server.on(a->uri, HTTP_GET, handle);
-        if (strcmp(a->uri, WWW_OPT.default_uri) == 0) {
-            server.defaultEndpoint->setHandler(handle);
-        }
+        server.on(a->uri, HTTP_GET, [a](httpd_req_t* req) { return web_send(req, *a); });
     }
-}
\ No newline at end of file
+}
diff --git a/platformio.ini b/platformio.ini
index b34e157..dfd5363 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -110,7 +110,6 @@ build_src_flags =
 test_ignore = test_embedded
 board_build.filesystem = littlefs
 lib_deps = 
-	hoeken/PsychicHttp@^1.2.1
 	ArduinoJson@>=7.0.0
 	teckel12/NewPing@^1.9.7
 	jrowberg/I2Cdevlib-MPU6050@^1.0.0