Merge pull request #4 from runeharlyk/new-api

Refactoring for controller

app/package.json

@@ -5,7 +5,9 @@
   "type": "module",
   "scripts": {
     "dev": "vite",
-    "build": "vite build",
+    "dev:mock": "vite --mode MOCK",
+    "build": "cross-env FOR_EMBEDDED=true vite build",
+    "build:web": "cross-env FOR_EMBEDDED=false vite build --mode WEB",
     "preview": "vite preview",
     "check": "svelte-check --tsconfig ./tsconfig.json",
     "format": "prettier --plugin-search-dir . --write ."
@@ -17,6 +19,7 @@
     "@typescript-eslint/eslint-plugin": "^6.20.0",
     "@typescript-eslint/parser": "^6.20.0",
     "autoprefixer": "^10.4.17",
+    "cross-env": "^7.0.3",
     "husky": "^9.0.7",
     "lint-staged": "^15.2.0",
     "postcss": "^8.4.33",

app/pnpm-lock.yaml

@@ -43,6 +43,9 @@ devDependencies:
   autoprefixer:
     specifier: ^10.4.17
     version: 10.4.17(postcss@8.4.33)
+  cross-env:
+    specifier: ^7.0.3
+    version: 7.0.3
   husky:
     specifier: ^9.0.7
     version: 9.0.7
@@ -989,6 +992,14 @@ packages:
     resolution: {integrity: sha512-/Srv4dswyQNBfohGpz9o6Yb3Gz3SrUDqBH5rTuhGR7ahtlbYKnVxw2bCFMRljaA7EXHaXZ8wsHdodFvbkhKmqg==}
     dev: true
 
+  /cross-env@7.0.3:
+    resolution: {integrity: sha512-+/HKd6EgcQCJGh2PSjZuUitQBQynKor4wrFbRg4DtAgS1aWO+gU52xpH7M9ScGgXSYmAVS9bIJ8EzuaGw0oNAw==}
+    engines: {node: '>=10.14', npm: '>=6', yarn: '>=1'}
+    hasBin: true
+    dependencies:
+      cross-spawn: 7.0.3
+    dev: true
+
   /cross-spawn@7.0.3:
     resolution: {integrity: sha512-iRDPJKUPVEND7dHPO8rkbOnPpyDygcDFtWjpeWNCgy8WP2rXcxXL8TskReQl6OrB2G7+UJrags1q15Fudc7G6w==}
     engines: {node: '>= 8'}

app/src/App.svelte

@@ -4,16 +4,19 @@
 	import TopBar from './components/TopBar.svelte';
 	import { connect } from './lib/socket';
 	import Controller from './routes/Controller.svelte';
-	import Config from './routes/Config.svelte';
-	import Health from './routes/SystemHealth.svelte';
-	import location from './lib/location';
-	import Sidebar from './components/Sidebar.svelte';
     import FileCache from './lib/cache';
+	import { socketLocation } from './lib/location';
+    import Settings from './routes/Settings.svelte';
+	import { jointNames, model } from './lib/store';
+	import { loadModelAsync } from './lib/modelLoader';
 
-	export let url = window.location.pathname;
+	export let url = window.location.pathname 
-	onMount(() => {
+	onMount(async () => {
-		connect(`ws://${location}`);
+		connect(socketLocation);
         registerFetchIntercept()
+        const [urdf, JOINT_NAME] = await loadModelAsync('/spot_micro.urdf.xacro') 
+        jointNames.set(JOINT_NAME)
+        model.set(urdf)
 	});
 
     const registerFetchIntercept = () => {
@@ -21,9 +24,9 @@
         window.fetch = async (...args) => {
             const [resource, config] = args;
             await FileCache.openDatabase();
-            let file;
+            let file: BodyInit | Uint8Array | undefined | null;
             try {
-                file = await FileCache.getFile(resource.url);
+                file = await FileCache.getFile(resource.toString());
             } catch (error) {
                 console.log(error);
             }
@@ -37,10 +40,8 @@
 
 <Router {url}>
 	<TopBar />
-	<Sidebar />
 	<div class="absolute w-full h-full bg-background text-on-background">
 		<Route path="/" component={Controller} />
-		<Route path="/config" component={Config} />
+		<Route path="/settings/*page" component={Settings} />
-		<Route path="/health" component={Health} />
 	</div>
 </Router>

app/src/components/Card.svelte

@@ -1,3 +0,0 @@
-<div class={`${$$props.class} p-4 m-2 rounded-md shadow-lg bg-surface`}>
-    <slot />
-</div>

app/src/components/CardHeader.svelte

@@ -1 +0,0 @@
-<h2 class={`${$$props.class} text-lg border-b border-gray-600 text-on-background`}><slot/></h2>

app/src/components/Controls.svelte

@@ -1,9 +1,9 @@
 <script lang="ts">
 	import nipplejs from 'nipplejs';
 	import { onMount } from 'svelte';
-	import { throttler } from '../lib/throttle';
+	import { throttler } from '$lib/throttle';
-	import { socket } from '../lib/socket';
+	import { socket } from '$lib/socket';
-	import { emulateModel, input, outControllerData } from '../lib/store';
+	import { emulateModel, input, outControllerData } from '$lib/store';
 
 	let throttle = new throttler();
 	let left: nipplejs.JoystickManager;

app/src/components/Input.svelte

@@ -1,10 +0,0 @@
-<script lang="ts">
-    export let value
-    export let placeholder = ""
-    export let required = false
-    export let disabled = false
-</script>
-<div  class="{$$restProps.class || ''}">
-    <label for="first_name" class="block text-sm font-medium text-gray-900 dark:text-white"><slot/></label>
-    <input type="number" on:change placeholder={placeholder} disabled={disabled} bind:value={value} required={required} class="bg-gray-50 border border-gray-300 text-gray-900 text-sm rounded-lg focus:ring-blue-500 focus:border-blue-500 block w-full p-1 dark:bg-gray-700 dark:border-gray-600 dark:placeholder-gray-400 dark:text-white dark:focus:ring-blue-500 dark:focus:border-blue-500">
-</div>

app/src/components/Model/ModelView.svelte

@@ -1,229 +0,0 @@
-<script lang="ts">
-import { onMount } from 'svelte';
-import { CanvasTexture, CircleGeometry, Mesh, MeshBasicMaterial} from 'three';
-import { dataBuffer, servoBuffer } from '../../lib/socket'
-import { lerp } from '../../lib/utils';
-import uzip from 'uzip';
-import { outControllerData } from '../../lib/store';
-import Kinematic, { ForwardKinematics } from '../../lib/kinematic';
-import location from '../../lib/location';
-import FileCache from '../../lib/cache';
-import SceneBuilder from './sceneBuilder';
-
-let sceneManager:SceneBuilder
-let canvas: HTMLCanvasElement, streamCanvas: HTMLCanvasElement, stream: HTMLImageElement
-let context: CanvasRenderingContext2D, texture: CanvasTexture
-
-let modelAngles:number[] | Int16Array = new Array(12).fill(0)
-let modelTargetAngles:number[] | Int16Array = new Array(12).fill(0)
-
-let modelBodyAngles:EulerAngle = { omega: 0, phi: 0, psi: 0 }
-let modelTargeBodyAngles:EulerAngle = { omega: 0, phi: 0, psi: 0 }
-
-let modelBodyPoint:Point = {x: 0, y: 0, z: 0 }
-let modelTargetBodyPoint:Point = {x: 0, y: 0, z: 0 }
-
-const dir = [ -1, -1, -1, 1, -1, -1, -1, -1, -1, 1, -1, -1]
-const videoStream = `//${location}/api/stream`;
-
-let showModel = true, showStream = false
-
-const servoNames = [
-    "front_left_shoulder", "front_left_leg", "front_left_foot", 
-    "front_right_shoulder", "front_right_leg", "front_right_foot", 
-    "rear_left_shoulder", "rear_left_leg", "rear_left_foot", 
-    "rear_right_shoulder", "rear_right_leg", "rear_right_foot"
-]
-
-interface EulerAngle {
-    omega: number;
-    phi: number;
-    psi: number;
-}
-
-interface Point {
-    x: number;
-    y: number;
-    z: number;
-}
-
-interface BodyState {
-    euler: EulerAngle;
-    position: Point;
-    legPositions:[number, number, number, number];
-}
-
-const radToDeg = (val:number) => val * (180 / Math.PI)
-const degToRad = (val:number) => val * (Math.PI / 180)
-
-const idle = () => {
-    const angles = new Array(12).fill(0)
-    servoBuffer.set(angles) 
-}
-
-const rest = () => {
-    const angles = [0, 90, -180, 0, 90, -180, 0, 90, -180, 0, 90, -180, ]
-    servoBuffer.set(angles) 
-}
-
-const stand = () => {
-    const angles = [0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90]
-    servoBuffer.set(angles) 
-}
-
-const calculateKinematics = () => {
-    const kinematic = new Kinematic();
-    const angles: number[] = [degToRad(modelTargeBodyAngles.omega), degToRad(modelTargeBodyAngles.phi), degToRad(modelTargeBodyAngles.psi)];
-    const center: number[] = [modelTargetBodyPoint.x, modelTargetBodyPoint.y, modelTargetBodyPoint.z];
-    const Lp = [[100,-100,100,1],[100,-100,-100,1],[-100,-100,100,1],[-100,-100,-100,1]]  
-
-    const legs = kinematic.calcIK(Lp, angles, center)
-
-    const legsAngles = legs
-        .map(x => x.map(y => radToDeg(y)))
-        .flat()
-        .map((x, i) => x * dir[i])
-    servoBuffer.set(legsAngles)
-}
-
-onMount(async () => {
-    await cacheModelFiles()
-    createScene()
-
-    outControllerData.subscribe(data => {
-        modelTargeBodyAngles = {omega:0, phi:(data[1]-128) / 3, psi:(data[2]-128) / 4}
-        modelTargetBodyPoint = {x:(data[4]-128) / 2, y:data[5], z:(data[3]-128) / 2} // (data[5]-128) / 4
-        calculateKinematics()
-    })
-
-    servoBuffer.subscribe(angles => modelTargetAngles = angles)
-
-    modelTargeBodyAngles = {omega:0, phi:0, psi:0}
-    modelTargetBodyPoint = {x:0, y:0, z:0}
-    stand()
-});
-
-const cacheModelFiles = async () => {
-    let data = await fetch("/stl.zip").then(data => data.arrayBuffer())
-    
-    var files = uzip.parse(data);
-    await FileCache.openDatabase()
-    
-    for(const [path, data] of Object.entries(files) as [path:string, data:Uint8Array][]){
-        const url = new URL(path, window.location.href)
-        FileCache.saveFile(url.toString(), data)
-    }
-}
-
-const createScene = () => {
-    sceneManager = new SceneBuilder()
-        .addRenderer({ antialias: true, canvas: canvas, alpha: true})
-        .addPerspectiveCamera({x:-0.5, y:0.5, z:1})
-        .addOrbitControls(10, 30)
-        .addGroundPlane({x:0, y:-2, z:0})
-        .addGridHelper({size:250, divisions:125, y:-2})
-        .addAmbientLight({color:0xffffff, intensity:0.7})
-        .addDirectionalLight({x:10, y:100, z:10, color:0xffffff, intensity:1})
-        .addArrowHelper({origin:{x:0, y:0, z:0}, direction:{x:0, y:-2, z:0}})
-        .addFogExp2(0xcccccc, 0.015)
-        .loadModel('/spot_micro.urdf.xacro')
-        .addDragControl((name:string, angle:number) => modelTargetAngles[servoNames.indexOf(name)] = angle * (180/Math.PI))
-        .handleResize()
-        .addRenderCb(render)
-        .startRenderLoop()
-
-    addVideoStream()
-}
-
-const addVideoStream = () => {
-    context = streamCanvas.getContext("2d");
-    texture = new CanvasTexture( stream );
-    const liveStream = new Mesh( new CircleGeometry(35, 32), new MeshBasicMaterial({ map: texture }))
-    liveStream.position.z = -50
-    liveStream.visible = showStream
-    sceneManager.scene.add(liveStream)
-}
-
-const handleVideoStream = () => {
-    if(!showStream) return
-    context.drawImage(stream, 0, 0)
-    texture.needsUpdate = true;
-}
-
-const render = () => {
-    const robot = sceneManager.model
-    if(!robot) return
-
-    const forwardKinematics = new ForwardKinematics()
-
-    const points = forwardKinematics.calculateFootpoints(modelTargetAngles.map(ang => degToRad(ang)) as number[])
-    robot.position.y = Math.max(...points.map(coord => coord[0] / 100)) - 2.7
-    robot.rotation.z = lerp(robot.rotation.z, degToRad($dataBuffer[1] + 90), 0.1)
-    
-    handleVideoStream()
-
-    for (let i = 0; i < servoNames.length; i++) {
-        modelAngles[i] = lerp(robot.joints[servoNames[i]].angle * (180/Math.PI), modelTargetAngles[i], 0.1)
-        robot.joints[servoNames[i]].setJointValue(degToRad(modelAngles[i]));
-    }
-
-    modelBodyAngles.omega = lerp(robot.rotation.x * (180/Math.PI), modelTargeBodyAngles.omega - 90, 0.1)
-    modelBodyAngles.phi = lerp(robot.rotation.y * (180/Math.PI), modelTargeBodyAngles.phi, 0.1)
-    modelBodyAngles.psi = lerp(robot.rotation.z * (180/Math.PI), modelTargeBodyAngles.psi + 90, 0.1)  
-}
-</script>
-  
-<svelte:window on:resize={sceneManager.handleResize}></svelte:window>
-
-<div class="absolute top-0 z-10 left-0 m-10">
-    <h1 class="text-on-background text-xl mb-2">Poses</h1>
-    <div class="flex gap-4">
-        <button class="outline outline-primary p-2 rounded-md" on:click={idle}>Idle</button>
-        <button class="outline outline-primary p-2 rounded-md" on:click={rest}>Rest</button>
-        <button class="outline outline-primary p-2 rounded-md" on:click={stand}>Stand</button>
-    </div>
-    <div class="w-full">
-    <h1 class="text-on-background text-xl mt-4">Motor angles</h1>
-        {#each Object.entries(sceneManager?.model?.joints ?? {}).filter(x => x[1].jointValue.length > 0) as [name, joint], i}
-            <div class="flex justify-between mb-2">
-                <span class="w-40">{name}: </span>
-                <input type="range" min="{radToDeg(joint.limit.lower)}" max="{radToDeg(joint.limit.upper)}" step="0.1" class="accent-primary" bind:value={$servoBuffer[i]}>
-                <input class="w-24 bg-background" min="{radToDeg(joint.limit.lower)}" max="{radToDeg(joint.limit.upper)}" step="0.1" bind:value={$servoBuffer[i]}> 
-            </div>
-        {/each}
-    </div>
-
-    <div>
-    <h1 class="text-on-background text-xl mb-2">Body rotation</h1>
-        {#each Object.keys(modelBodyAngles) as name}
-            <div class="flex justify-between mb-2">
-                <span class="w-40">{name}: </span>
-                <input type="range" min="-180" max="180" step="0.1" class="accent-primary" bind:value={modelTargeBodyAngles[name]} on:input={calculateKinematics}>
-                <input class="w-24 bg-background" min="-180" max="180" step="0.1" bind:value={modelTargeBodyAngles[name]} on:input={calculateKinematics}> 
-            </div>
-        {/each}
-    </div>
-
-    <div>
-        <h1 class="text-on-background text-xl mb-2">Body position</h1>
-            {#each Object.keys(modelBodyPoint) as name}
-                <div class="flex justify-between mb-2">
-                    <span class="w-40">{name}: </span>
-                    <input type="range" min="-180" max="180" step="0.1" class="accent-primary" bind:value={modelTargetBodyPoint[name]} on:input={calculateKinematics}>
-                    <input class="w-24 bg-background" min="-180" max="180" step="0.1" bind:value={modelTargetBodyPoint[name]} on:input={calculateKinematics}> 
-                </div>
-            {/each}
-        </div>
-</div>
-
-{#if showStream}
-    <img
-        bind:this={stream}
-        src={videoStream}
-        class="hidden"
-        alt="Live stream is down"
-        crossorigin="anonymous"
-    />
-    {/if}
-<canvas bind:this={streamCanvas} class="hidden"></canvas>
-<canvas bind:this={canvas} class="absolute"></canvas>

app/src/components/Sidebar.svelte

@@ -1,31 +0,0 @@
-<script lang="ts">
-	import { Link } from 'svelte-routing';
-	import { Icon, XMark, ChartBar, DevicePhoneMobile, Cog6Tooth } from 'svelte-hero-icons';
-	import { sidebarOpen } from '../lib/store';
-
-	const closeMenu = () => {
-		sidebarOpen.set(false);
-	};
-</script>
-
-<div
-	id="drawer-example"
-	style="background-color:#36393f"
-	class="fixed top-0 left-0 z-40 h-screen p-4 overflow-y-auto transition-transform
-    {$sidebarOpen ? '' : '-translate-x-full'} bg-white w-40 dark:bg-gray-800"
-	tabindex="-1"
-	aria-labelledby="drawer-label"
->
-	<button
-		type="button"
-		on:click={closeMenu}
-		class="text-gray-400 bg-transparent hover:bg-gray-200 hover:text-gray-900 rounded-lg text-sm p-1.5 absolute top-2.5 right-2.5 inline-flex items-center dark:hover:bg-gray-600 dark:hover:text-white"
-	>
-		<Icon src={XMark} size="32" />
-	</button>
-	<div class="h-full w-full flex flex-col justify-evenly items-center">
-		<Link to="/"><Icon src={DevicePhoneMobile} size="32" /></Link>
-		<Link to="/health"><Icon src={ChartBar} size="32" /></Link>
-		<Link to="/config"><Icon src={Cog6Tooth} size="32" /></Link>
-	</div>
-</div>

app/src/components/Topbar.svelte

@@ -1,117 +1,76 @@
 <script lang="ts">
-	import { isConnected, dataBuffer } from '../lib/socket';
+	import { isConnected, status, socket } from '$lib/socket';
-	import { Icon, ArrowsPointingIn, ArrowsPointingOut, Bars3, Power, Cube } from 'svelte-hero-icons';
+	import { Icon, Bars3, XMark, Power, Battery100, Signal, SignalSlash } from 'svelte-hero-icons';
-	import { tweened } from 'svelte/motion';
+	import { emulateModel } from '$lib/store';
-	import { quadInOut } from 'svelte/easing';
+    import { Link, useLocation } from 'svelte-routing'
-	import { emulateModel, sidebarOpen } from '../lib/store';
 
-	let isFullscreen = false;
+    const views = ["Virtual environment", "Robot camera"]
+    const modes = ["Drive", "Choreography"]
 
-	const width = tweened(0, {
+    const location = useLocation()
-		duration: 250,
-		easing: quadInOut
-	});
 
-	function handleClick() {
+	let selected_view = views[0];
-		if ($width === 0) width.set(75);
+	let selected_modes = modes[0];
-		else width.set(0);
+    let settingOpen = window.location.pathname.includes('/settings')
+
+    $: emulateModel.set(selected_view === views[0])
+    $: settingOpen = $location.pathname.includes('/settings')
+
+    const stop = () => {
+        if ($isConnected) {
+            $socket.send(JSON.stringify({type:"system/stop"}))
+        }
     }
-
-	const toggleFullScreen = () => {
-		if (!document.fullscreenElement) document.documentElement.requestFullscreen();
-		else if (document.exitFullscreen) document.exitFullscreen();
-		isFullscreen = !document.fullscreenElement;
-	};
 </script>
 
-<div class="absolute flex justify-between w-full z-10 h-10" on:dblclick={handleClick}>
+
-    <div class="absolute flex justify-between w-full">
+<div class="topbar absolute left-0 top-0 w-full z-10 flex justify-between bg-zinc-800">
-        <div class="w-20 p-4 z-20">
+    <div class="flex gap-2 p-2">
-            <button on:click={() => sidebarOpen.set(true)}>
+        {#if settingOpen}
+            <Link to="/">
+                <Icon src={XMark} size="32" /> 
+            </Link>
+        {:else}    
+            <Link to="/settings">
                 <Icon src={Bars3} size="32" />
-            </button>
+            </Link>
-        </div>
-        <div class="w-20 p-4 text-right">{Math.floor($dataBuffer[0])}°🌡️<br>
-            {Math.floor($dataBuffer[9]*10)/10}V<br>
-            {Math.floor($dataBuffer[8]*1000)/1000}A
-        </div>
-    </div>
-    <div class="absolute flex justify-center w-full">
-        <div>
-            <div
-                style="height:{$width}px; width:300px; background-color:#36393f"
-                class="rounded-b-xl overflow-hidden flex justify-end flex-col"
-            >
-                {#if $width !== 0}
-                    <div class="flex justify-evenly p-4 w-full">
-                        <button on:click={toggleFullScreen}>
-                            <Icon src={isFullscreen ? ArrowsPointingIn : ArrowsPointingOut} size="32" />
-                        </button>
-                        <button>
-                            <Icon src={Power} size="32" />
-                        </button>
-                        <button class:text-blue-600={$emulateModel} on:click={() => emulateModel.update(v => !v)}>
-                            <Icon src={Cube} size="32"/>
-                        </button>
-                    </div>
         {/if}
+        <select bind:value={selected_modes} class="rounded-md outline outline-2 text-zinc-200 outline-zinc-600 bg-zinc-800">
+            {#each modes as mode}
+            <option>{mode}</option>
+            {/each}
+        </select>
+        
+        <select bind:value={selected_view} class="rounded-md outline outline-2 text-zinc-200 outline-zinc-600 bg-zinc-800">
+            {#each views as view}
+            <option>{view}</option>
+            {/each}
+        </select>
     </div>
-            <div class="flex justify-center" on:mouseup={handleClick}>
+
-                <svg height="40" width="300" class="Settings_topSVG__2VXbU">
+    <div class="flex gap-2 p-2">
-                    <path
+        <button class="action_button bg-zinc-600">
-                        stroke="none"
+            <Icon src={Power} size="24" />
-                        fill="#36393f"
+        </button>
-                        d="M 0 0 C 40 0 40 40 80 40 H 220 C 260 40 260 0 300 0 Z"
+        <button class="action_button"><Icon src={Battery100} size="24" /></button>
-                    />
+        <button class="action_button"><Icon src={$isConnected ? Signal : SignalSlash} size="24" /></button>
-                </svg>
-                <div
-                    class="absolute flex gap-1 h-10 w-36 justify-center items-center dots
-                {$isConnected ? 'connected' : 'disconnected'}"
-                >
-                    <span class="dot h-4 w-4" />
-                    <span class="dot h-4 w-4" />
-                    <span class="dot h-4 w-4" />
-                    <span class="dot h-4 w-4" />
-                </div>
-            </div>
     </div>
+    <div>
+        <button class="h-full w-20 bg-red-600 text-white" on:click={stop}>STOP</button>
     </div>
 </div>
 
-<style scoped>
+<style>
-	.dot {
+    .topbar {
-		background-color: grey;
+        height: 50px;
-	}
-	.disconnected .dot {
-		animation: _fade 0.5s 3s infinite alternate forwards;
-	}
-	.connected .dot:first-child {
-		background-color: #00bbe3;
-		transform: scale(1.1);
-	}
-	.dots .dot:first-child {
-		animation-delay: 0.25s;
-	}
-	.dots .dot:nth-child(2) {
-		animation-delay: 0.5s;
-	}
-	.dots .dot:nth-child(3) {
-		animation-delay: 0.75s;
-	}
-	.dots .dot:last-child {
-		animation-delay: 1s;
-	}
-	.dots .dot:last-child {
-		animation-delay: 1s;
-	}
-	@keyframes _fade {
-		from {
-			background-color: #00bbe3;
-			transform: scale(1.1);
-		}
-		to {
-			background-color: grey;
-			transform: scale(1.1);
     }
+    .action_button {
+        border-radius: 4px;
+        width: 34px;
+        height: 34px;
+        display: flex;
+        justify-content: center;
+        align-items: center;
+        outline: 1px solid #52525b;
     }
 </style>

app/src/components/Views/Model.svelte

@@ -0,0 +1,147 @@
+<script lang="ts">
+import { onDestroy, onMount } from 'svelte';
+import { CanvasTexture, CircleGeometry, Mesh, MeshBasicMaterial} from 'three';
+import {socket, angles, mpu } from '$lib/socket'
+import { lerp } from '$lib/utils';
+import uzip from 'uzip';
+import { model, outControllerData } from '$lib/store';
+import { ForwardKinematics } from '$lib/kinematic';
+import location from '$lib/location';
+import FileCache from '$lib/cache';
+import SceneBuilder from '$lib/sceneBuilder';
+
+let sceneManager:SceneBuilder
+let canvas: HTMLCanvasElement, streamCanvas: HTMLCanvasElement, stream: HTMLImageElement
+let context: CanvasRenderingContext2D, texture: CanvasTexture
+
+let modelAngles:number[] | Int16Array = new Array(12).fill(0)
+let modelTargetAngles:number[] | Int16Array = new Array(12).fill(0)
+
+let modelBodyAngles:EulerAngle = { omega: 0, phi: 0, psi: 0 }
+let modelTargeBodyAngles:EulerAngle = { omega: 0, phi: 0, psi: 0 }
+
+const videoStream = `//${location}/api/stream`;
+
+let showModel = true, showStream = false
+
+const servoNames = [
+    "front_left_shoulder", "front_left_leg", "front_left_foot", 
+    "front_right_shoulder", "front_right_leg", "front_right_foot", 
+    "rear_left_shoulder", "rear_left_leg", "rear_left_foot", 
+    "rear_right_shoulder", "rear_right_leg", "rear_right_foot"
+]
+
+interface EulerAngle {
+    omega: number;
+    phi: number;
+    psi: number;
+}
+
+const degToRad = (val:number) => val * (Math.PI / 180)
+
+onMount(async () => {
+    await cacheModelFiles()
+    await createScene()
+
+    outControllerData.subscribe(data => {        
+        $socket.send(JSON.stringify({
+            type: "kinematic/bodystate", 
+            angles:[0, (data[1]-128)/3, (data[2]-128) / 4], 
+            position:[(data[4]-128)/2, data[5], (data[3]-128)/2]}))
+    })
+});
+
+onDestroy(() => {
+    canvas.remove()
+})
+
+const cacheModelFiles = async () => {
+    let data = await fetch("/stl.zip").then(data => data.arrayBuffer())
+    
+    var files = uzip.parse(data);
+    await FileCache.openDatabase()
+    
+    for(const [path, data] of Object.entries(files) as [path:string, data:Uint8Array][]){
+        const url = new URL(path, window.location.href)
+        FileCache.saveFile(url.toString(), data)
+    }
+}
+
+const updateAngles = (name:string, angle:number) => {
+    modelTargetAngles[servoNames.indexOf(name)] = angle * (180/Math.PI)
+    $socket.send(JSON.stringify({type:"kinematic/angle", angle:angle * (180/Math.PI), id:servoNames.indexOf(name)}))
+}
+
+const createScene = async () => {
+    sceneManager = new SceneBuilder()
+        .addRenderer({ antialias: true, canvas: canvas, alpha: true})
+        .addPerspectiveCamera({x:-0.5, y:0.5, z:1})
+        .addOrbitControls(10, 30)
+        .addSky()
+        .addGroundPlane({x:0, y:-2, z:0})
+        .addGridHelper({size:250, divisions:125, y:-2})
+        .addAmbientLight({color:0xffffff, intensity:0.7})
+        .addDirectionalLight({x:10, y:100, z:10, color:0xffffff, intensity:1})
+        .addArrowHelper({origin:{x:0, y:0, z:0}, direction:{x:0, y:-2, z:0}})
+        .addFogExp2(0xcccccc, 0.015)
+        .addModel($model)
+        .addDragControl(updateAngles) 
+        .handleResize()
+        .addRenderCb(render)
+        .startRenderLoop()
+
+    addVideoStream()
+}
+
+const addVideoStream = () => {
+    context = streamCanvas.getContext("2d");
+    texture = new CanvasTexture( stream );
+    const liveStream = new Mesh( new CircleGeometry(35, 32), new MeshBasicMaterial({ map: texture }))
+    liveStream.position.z = -50
+    liveStream.visible = showStream
+    sceneManager.scene.add(liveStream)
+}
+
+const handleVideoStream = () => {
+    if(!showStream) return
+    context.drawImage(stream, 0, 0)
+    texture.needsUpdate = true;
+}
+
+const render = () => {
+    const robot = sceneManager.model
+    if(!robot) return
+
+    const forwardKinematics = new ForwardKinematics()
+
+    const points = forwardKinematics.calculateFootpoints(modelAngles.map(ang => degToRad(ang)) as number[])
+    robot.position.y = Math.max(...points.map(coord => coord[0] / 100)) - 2.7
+    robot.rotation.z = lerp(robot.rotation.z, degToRad($mpu.heading + 90), 0.1)
+    modelTargetAngles = $angles 
+   
+    handleVideoStream()
+
+    for (let i = 0; i < servoNames.length; i++) {
+        modelAngles[i] = lerp(robot.joints[servoNames[i]].angle * (180/Math.PI), modelTargetAngles[i], 0.1)
+        robot.joints[servoNames[i]].setJointValue(degToRad(modelAngles[i]));
+    }
+
+    modelBodyAngles.omega = lerp(robot.rotation.x * (180/Math.PI), modelTargeBodyAngles.omega - 90, 0.1)
+    modelBodyAngles.phi = lerp(robot.rotation.y * (180/Math.PI), modelTargeBodyAngles.phi, 0.1)
+    modelBodyAngles.psi = lerp(robot.rotation.z * (180/Math.PI), modelTargeBodyAngles.psi + 90, 0.1)  
+}
+</script>
+  
+<svelte:window on:resize={sceneManager.handleResize}></svelte:window>
+
+{#if showStream}
+    <img
+        bind:this={stream}
+        src={videoStream}
+        class="hidden"
+        alt="Live stream is down"
+        crossorigin="anonymous"
+    />
+    {/if}
+<canvas bind:this={streamCanvas} class="hidden"></canvas>
+<canvas bind:this={canvas} class="absolute"></canvas>

app/src/components/Views/Stream.svelte

@@ -1,6 +1,6 @@
 <script lang="ts">
 	import { onDestroy } from 'svelte';
-	import location from '../lib/location';
+	import location from '$lib/location';
 
 	let videoStream = `//${location}/api/stream`;
 

app/src/components/index.ts

@@ -1,2 +0,0 @@
-export { default as Card } from "./Card.svelte";
-export { default as CardHeader } from "./CardHeader.svelte";

app/src/components/settings/Calibration.svelte

@@ -0,0 +1,71 @@
+<script lang="ts">
+	import { onMount } from 'svelte';
+	import { jointNames } from '../../lib/store';
+
+    type Servo = {
+        id: number;
+        name: string;
+        minPWM: number;
+        maxPWM: number;
+        pwmFor180: number;
+    };
+
+	let servos: any[] = [];
+
+    onMount(() => {
+        jointNames.subscribe(data => {
+            servos = data.map((name:string, i:number) => {
+                return {
+                    id: i,
+                    name,
+                    minPWM: 0,
+                    maxPWM: 0,
+                    pwmFor180: 0
+                };
+            });
+        })
+    })
+
+
+	let selectedServo: number | null = null;
+
+    function updateServoValue(index: number, field: keyof Servo, value: number): void {
+        servos[index] = { ...servos[index], [field]: value };
+    }
+
+    const formatServo = (servo:Servo) => {
+        const string = servo.name
+        const name = string.charAt(0).toUpperCase() + string.split('_').join(' ').slice(1);
+        return `${servo.id} ${name}`
+    }
+</script>
+<div>
+	<div class="servo-selector">
+		<label for="servo-select">Select Servo:</label>
+		<select id="servo-select" class="bg-zinc-800" bind:value={selectedServo}>
+			{#each servos as servo}
+				<option value={servo.id}>{formatServo(servo)}</option>
+			{/each}
+		</select>
+	</div>
+
+{#if selectedServo !== null}
+  <div class="mt-5">
+    <h2>Servo {formatServo(servos[selectedServo])} Calibration</h2>
+    <label for="minPWM">Min PWM:</label>
+    <input type="number" id="minPWM" class="bg-zinc-800"
+           value={servos[selectedServo].minPWM}
+           on:blur={(event) => updateServoValue(selectedServo, 'minPWM', Number(event.target.value))} />
+
+    <label for="maxPWM">Max PWM:</label>
+    <input type="number" id="maxPWM" class="bg-zinc-800"
+           value={servos[selectedServo].maxPWM}
+           on:blur={(event) => updateServoValue(selectedServo, 'maxPWM', Number(event.target.value))} />
+
+    <label for="pwmFor180">PWM for 180°:</label>
+    <input type="number" id="pwmFor180" class="bg-zinc-800"
+           value={servos[selectedServo].pwmFor180}
+           on:blur={(event) => updateServoValue(selectedServo, 'pwmFor180', Number(event.target.value))} />
+  </div>
+{/if}
+</div>

app/src/components/settings/Configuration.svelte

@@ -0,0 +1,23 @@
+<script lang="ts">
+    import { socket, isConnected, settings } from "../../lib/socket";
+    import { onMount } from 'svelte'
+    
+    onMount(() => {
+        if ($isConnected) {
+            const message = JSON.stringify({type: 'system/settings'})
+            $socket.send(message)
+        }
+    })
+
+</script>
+
+<div class="w-full h-full">
+    <div>
+        {#each Object.entries($settings) as entry}
+           <div class="flex gap-8">
+                <div class="w-32">{entry[0]}:</div>
+                <div>{entry[1]}</div>
+            </div>
+        {/each}
+    </div>
+</div>

app/src/components/settings/Info.svelte

@@ -0,0 +1,27 @@
+<script lang="ts">
+    import { socket, isConnected, systemInfo } from "../../lib/socket";
+    import { onMount } from 'svelte'
+	import { humanFileSize } from "../../lib/utils";
+    
+    onMount(() => {
+        if ($isConnected) {
+            const message = JSON.stringify({type: 'system/info'})
+            $socket.send(message)
+        }
+    })
+
+</script>
+<div class="w-full h-full">
+    <div class="w-1/3">
+        {#each Object.entries($systemInfo ?? {}) as entry}
+           <div class="flex gap-8">
+            <div class="w-32">{entry[0]}:</div>
+            {#if entry[0].includes("Size") || entry[0].includes("Free") || entry[0].includes("Min")}
+                <div>{humanFileSize(entry[1])}</div>
+            {:else}
+                <div>{entry[1]}</div>
+            {/if}
+        </div>
+        {/each}
+    </div>
+</div>

app/src/components/settings/Log.svelte

@@ -0,0 +1,18 @@
+<script lang="ts">
+    import { socket, isConnected, log } from "../../lib/socket";
+    import { onMount } from 'svelte'
+    
+    onMount(() => {
+        if ($isConnected) {
+            const message = JSON.stringify({type: 'system/logs'})
+            $socket.send(message)
+        }
+    })
+
+</script>
+
+<div class="w-full h-full">
+    {#each $log as entry}
+        <div>{entry}</div>
+    {/each}
+</div>

app/src/lib/location.ts

@@ -1,3 +1,8 @@
-const location = import.meta.env.DEV ? "leika.local" : window.location.host 
+const forWeb = import.meta.env.MODE === "WEB"
+const mock = import.meta.env.MODE === "MOCK"
+
+const location = mock ? `${window.location.hostname}:2096` : "leika.local"
+
+export const socketLocation = forWeb ? `wss://${window.location.hostname}:2096` : `ws://${location}` 
 
 export default location;

app/src/lib/modelLoader.ts

@@ -0,0 +1,31 @@
+import { LoaderUtils } from "three";
+import URDFLoader, { type URDFRobot } from "urdf-loader"
+import { XacroLoader } from "xacro-parser"
+
+export const loadModelAsync = async (url:string):Promise<[URDFRobot, string[]]> => {
+  return new Promise((resolve, reject) => {
+    const xacroLoader = new XacroLoader();
+    
+    xacroLoader.load(url, async (xml) => {
+      const urdfLoader = new URDFLoader();
+      
+      urdfLoader.workingPath = LoaderUtils.extractUrlBase(url);
+      
+      try {
+        const model = urdfLoader.parse(xml);
+        model.rotation.x = -Math.PI / 2;
+        model.rotation.z = Math.PI / 2;
+        model.traverse(c => c.castShadow = true);
+        model.updateMatrixWorld(true);
+        model.scale.setScalar(10);
+        const joints = Object.entries(model.joints)
+            .filter(joint => joint[1]._jointType !== 'fixed')
+            .map(joint => joint[0])
+
+        resolve([model, joints]); 
+      } catch (error) {
+        reject(error); 
+      }
+    }, (error) => reject(error)); 
+  });
+}

app/src/lib/sceneBuilder.ts

@@ -17,11 +17,14 @@ import { Mesh,
     type ColorRepresentation, 
     type WebGLRendererParameters,
     MeshPhongMaterial,
+    EquirectangularReflectionMapping,
+    ACESFilmicToneMapping,
+    MathUtils,
 } from "three";
+import { Sky } from 'three/addons/objects/Sky.js';
 import { OrbitControls } from "three/examples/jsm/controls/OrbitControls";
-import URDFLoader, { type URDFMimicJoint } from "urdf-loader";
+import { type URDFMimicJoint } from "urdf-loader";
 import { PointerURDFDragControls } from 'urdf-loader/src/URDFDragControls'
-import { XacroLoader } from "xacro-parser";
 
 export const addScene = () => new Scene()
 
@@ -52,6 +55,13 @@ type directionalLight = position & light
 
 type gridHelperOptions = gridOptions & position
 
+function calculateCurrentSunElevation() {
+    let now = new Date();
+    let decimalTime = now.getHours() + now.getMinutes() / 60;
+    let normalizedTime = ((decimalTime - 6) % 12) / 6 - 1;
+    return 10 * Math.sin(normalizedTime * Math.PI);
+}
+
 export default class SceneBuilder {
     public scene: Scene
     public camera: PerspectiveCamera
@@ -68,6 +78,9 @@ export default class SceneBuilder {
 
     constructor() {
         this.scene = new Scene()
+        if (this.scene.environment?.mapping) {
+            this.scene.environment.mapping = EquirectangularReflectionMapping;
+        } 
         return this
     }
 
@@ -76,10 +89,40 @@ export default class SceneBuilder {
         this.renderer.outputColorSpace = "srgb";
         this.renderer.shadowMap.enabled = true;
         this.renderer.shadowMap.type = PCFSoftShadowMap;
+        this.renderer.toneMapping = ACESFilmicToneMapping;
+        this.renderer.toneMappingExposure = 0.85;
         document.body.appendChild(this.renderer.domElement);
         return this
     }
 
+    public addSky = () => {
+        const sky = new Sky();
+        sky.scale.setScalar(450000);
+        this.scene.add(sky);
+        const effectController = {
+            turbidity: 10,
+            rayleigh: 3,
+            mieCoefficient: 0.005,
+            mieDirectionalG: 0.7,
+            elevation: calculateCurrentSunElevation(),
+            azimuth: 180,
+            exposure: this.renderer.toneMappingExposure
+        };
+        const uniforms = sky.material.uniforms;
+        uniforms['turbidity'].value = effectController.turbidity;
+        uniforms['rayleigh'].value = effectController.rayleigh;
+        uniforms['mieCoefficient'].value = effectController.mieCoefficient;
+        uniforms['mieDirectionalG'].value = effectController.mieDirectionalG;
+        this.renderer.toneMappingExposure = 0.5;
+        const phi = MathUtils.degToRad( 90 - effectController.elevation );
+        const theta = MathUtils.degToRad( effectController.azimuth );
+        const sun = new Vector3();
+
+        sun.setFromSphericalCoords( 1, phi, theta );
+        uniforms[ 'sunPosition' ].value.copy( sun );
+        return this
+    }
+
     public addPerspectiveCamera = (options:position) => {
         this.camera = new PerspectiveCamera();
         this.camera.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
@@ -126,6 +169,9 @@ export default class SceneBuilder {
     public addGridHelper = (options:gridHelperOptions) => {
         this.gridHelper = new GridHelper(options.size, options.divisions);
         this.gridHelper.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
+        this.gridHelper.material.opacity = 0.2;
+        this.gridHelper.material.depthWrite = false;
+        this.gridHelper.material.transparent = true;
         this.scene.add(this.gridHelper);
         return this
     }
@@ -174,7 +220,7 @@ export default class SceneBuilder {
 
     isJoint = j => j.isURDFJoint && j.jointType !== 'fixed';
 
-    highlightLinkGeometry = (m, revert:boolean, material) => {
+    highlightLinkGeometry = (m: URDFMimicJoint, revert:boolean, material: MeshPhongMaterial) => {
         const traverse = c => {
             if (c.type === 'Mesh') {
                 if (revert) {
@@ -198,26 +244,13 @@ export default class SceneBuilder {
         traverse(m);
     };
 
-    public loadModel = (urlXacro:string) => {
+    public addModel = (model: any) => {
-        const xacroLoader = new XacroLoader();
+        this.model = model
-        xacroLoader.load(urlXacro, xml => {
+        this.scene.add(model)
-            const urdfLoader = new URDFLoader();
-            urdfLoader.workingPath = LoaderUtils.extractUrlBase(urlXacro);
-
-            this.model = urdfLoader.parse(xml);
-            this.model.rotation.x = -Math.PI / 2;
-            this.model.rotation.z = Math.PI / 2;
-            this.model.traverse(c => c.castShadow = true);
-            this.model.updateMatrixWorld(true);
-            this.model.scale.setScalar(10);      
-
-            this.scene.add(this.model);
-
-        }, (error) => console.log(error));
         return this 
     }
 
-    public addDragControl = (updateAngle) => {
+    public addDragControl = (updateAngle:any) => {
         const highlightColor = '#FFFFFF'
         const highlightMaterial =
             new MeshPhongMaterial({
@@ -232,18 +265,14 @@ export default class SceneBuilder {
             this.setJointValue(joint.name, angle);
             updateAngle(joint.name, angle)
         };
-        dragControls.onDragStart = () => {
+        dragControls.onDragStart = () => this.controls.enabled = false;
-            this.controls.enabled = false;
+        dragControls.onDragEnd = () => this.controls.enabled = true;
-        };
+        dragControls.onHover = (joint:URDFMimicJoint) => this.highlightLinkGeometry(joint, false, highlightMaterial);
-        dragControls.onDragEnd = () => {
+        dragControls.onUnhover = (joint:URDFMimicJoint) => this.highlightLinkGeometry(joint, true, highlightMaterial);
-            this.controls.enabled = true;
+
-        };
+        this.renderer.domElement.addEventListener('touchstart', (data) => dragControls._mouseDown(data.touches[0]));
-        dragControls.onHover = (joint:URDFMimicJoint) => {
+        this.renderer.domElement.addEventListener('touchmove', (data) => dragControls._mouseMove(data.touches[0]))
-            this.highlightLinkGeometry(joint, false, highlightMaterial);
+        this.renderer.domElement.addEventListener('touchup', (data) => dragControls._mouseUp(data.touches[0]));
-        }
-        dragControls.onUnhover = (joint:URDFMimicJoint) => {
-            this.highlightLinkGeometry(joint, true, highlightMaterial);
-        }
         return this
     }
 

app/src/lib/socket.ts

@@ -4,6 +4,14 @@ export type WebSocketStatus = 'OPEN' | 'CONNECTING' | 'CLOSED'
 
 export const isConnected = writable(false)
 
+export const angles = writable(new Int16Array(12).fill(0))
+export const log = writable([])
+export const battery = writable({})
+export const mpu = writable({heading:0})
+export const distances = writable({})
+export const settings = writable({})
+export const systemInfo = writable({} as number)
+
 export const dataBuffer = writable(new Float32Array(13))
 
 export const servoBuffer:Writable<Int16Array|number[]> = writable(new Int16Array(12))
@@ -12,7 +20,7 @@ export const data = writable();
 
 export const status:Writable<WebSocketStatus> = writable('CLOSED')
 
-export const socket:Writable<WebSocket> = writable(null)
+export const socket:Writable<WebSocket> = writable()
 
 export const connect = (url:string) => {
     status.set('CONNECTING')
@@ -42,11 +50,43 @@ const _disconnected = () => {
     isConnected.set(false)
 }
 
-const _message = (event) => {    
+const _message = (event:any) => {    
     if (event.data instanceof ArrayBuffer) {
         let buffer = new Int8Array(event.data);
         if(buffer.length === 44) {
             dataBuffer.set(new Float32Array(buffer.buffer) )
         }
-    } else dataBuffer.set(JSON.parse(event.data));
+    } else {
+        let data = event.data
+        try {
+            data = JSON.parse(event.data)
+        } catch (error) {
+            console.warn(error)
+        }
+        switch (data.type) {
+            case "angles":
+                angles.set(data.angles)
+                break
+            case "logs":
+                log.set(data.logs)
+                break
+            case "log":
+                log.update(entries => {entries.push(data.log); return entries})
+                break
+            case "settings":
+                settings.set(data.settings)
+            case "info":
+                systemInfo.set(data.info)
+                break
+            case "mpu":
+                mpu.set(data.mpu)
+                break
+            case "distances":
+                distances.set(data.distances)
+                break
+             case "battery":
+                battery.set(data.battery)
+                break    
+        }
+    }
 }

app/src/lib/store.ts

@@ -1,9 +1,12 @@
 import { writable } from 'svelte/store';
-
+import { persistentStore } from './utils';
-export const sidebarOpen = writable(false);
 
 export const emulateModel = writable(true);
 
 export const input = writable({left:{x:0, y:0}, right:{x:0, y:0}, height:70, speed:0});
 
-export const outControllerData = writable(new Uint8Array(6));
+export const outControllerData = writable(new Uint8Array([0, 128, 128, 128, 128, 70, 0]));
+
+export const jointNames = persistentStore("joint_names", [])
+
+export const model = writable()

app/src/lib/utils.ts

@@ -1,3 +1,5 @@
+import { writable } from 'svelte/store';
+
 export const humanFileSize = (size:number):string => {
     var i = size == 0 ? 0 : Math.floor(Math.log(size) / Math.log(1024));
     return Number((size / Math.pow(1024, i)).toFixed(2)) * 1 + ['B', 'kB', 'MB', 'GB', 'TB'][i];
@@ -6,3 +8,15 @@ export const humanFileSize = (size:number):string => {
 export const lerp = (start: number, end: number, amt: number) => {
     return (1 - amt) * start + amt * end;
 };
+
+export const persistentStore = (key:string, initialValue:any) => {
+    const savedValue = JSON.parse(localStorage.getItem(key) as string);
+    const data = savedValue !== null ? savedValue : initialValue;  
+    const store = writable(data);
+    
+    store.subscribe(value => {
+        localStorage.setItem(key, JSON.stringify(value));
+    });
+    
+    return store;
+}

app/src/routes/Config.svelte

@@ -1,50 +0,0 @@
-<script lang="ts">
-    import { Card, CardHeader } from "../components/index";
-	import { socket, isConnected } from "../lib/socket";
-    import { throttler } from "../lib/throttle";
-
-    let throttle = new throttler();
-    let throttle_timing = 25;
-    let pwm = 300
-    let servo = 0
-    
-    let min = 0;
-    let halfWay = 0;
-    let max = 0;
-    let overallRange = 0;
-        
-    $: buffer = (overallRange - 180) / 2
-    $: conversionRate = (max - min) / overallRange;
-    $: zeroMark = (conversionRate * buffer) + min;
-    $: oneEightyMark = (conversionRate * buffer) + halfWay;
-
-    $: pwm, throttle.throttle(() => $isConnected ? $socket.send(JSON.stringify({servo, pwm, action:0})) : console.log("Is not connected yet"), throttle_timing);
-
-</script>
-
-<div class="w-full h-full absolute top-0 p-4 flex justify-center items-center">
-    <Card class="w-full h-1/2">
-        <CardHeader>Servo calibration</CardHeader>
-        <div>Servo</div>
-        <input type="number" class="bg-background" bind:value={servo}>
-        <div class="flex w-full">
-            <label for="pwm">Pwm ({pwm})</label>
-            <div class="flex w-full">
-                <button class="p-2" on:click={() => pwm--}>-</button>
-                <input class="flex-1" bind:value={pwm} type="range" id="pwm" min={0} max={700}>
-                <button class="p-2" on:click={() => pwm++}>+</button>
-            </div>
-        </div>
-        <div class="grid grid-cols-2 w-1/2">
-            <div>Min pwm</div>
-            <input type="number" class="bg-background" bind:value={min}>
-            <div>Pwm at Halfway from min</div> <input type="number" class="bg-background" bind:value={halfWay}>
-            <div>Max pwm</div> <input type="number" class="bg-background" bind:value={max}>
-            <div>Overall angle</div> <input type="number" class="bg-background" bind:value={overallRange}>
-            <div>Buffer</div><div>{buffer}</div>
-            <div>Conversion rate</div><div>{conversionRate}</div>
-            <div>pwm for 0° mark</div><div>{zeroMark}</div>
-            <div>pwm for 180° Mark</div><div>{oneEightyMark}</div>
-        </div>
-    </Card>
-</div>

app/src/routes/Controller.svelte

@@ -1,13 +1,13 @@
 <script lang="ts">
-	import Stream from '../Views/Stream.svelte';
+	import Stream from '$components/Views/Stream.svelte';
-	import Controls from '../components/Controls.svelte';
+    import Model from '$components/Views/Model.svelte';
-    import ModelView from '../components/Model/ModelView.svelte';
+	import Controls from '$components/Controls.svelte';
-	import { emulateModel } from '../lib/store';
+	import { emulateModel } from '$lib/store';
 </script>
 
 <div class="flex justify-center items-center w-full h-full">
     {#if $emulateModel}
-        <ModelView />
+        <Model />
     {:else}
         <Stream />
     {/if}

app/src/routes/Settings.svelte

@@ -0,0 +1,56 @@
+<script lang="ts">
+	import { Link, Route, Router } from 'svelte-routing';
+	import Info from '../components/settings/Info.svelte';
+	import Log from '../components/settings/Log.svelte';
+	import Configuration from '../components/settings/Configuration.svelte';
+	import { Icon, Wifi, CommandLine, InformationCircle, BookOpen, AdjustmentsVertical, Cog6Tooth, Newspaper } from 'svelte-hero-icons';
+	import Calibration from '../components/settings/Calibration.svelte';
+
+    export const page = ""
+
+	const menu = [
+		{
+			title: 'Calibration',
+			path: '/calibration',
+            icon: AdjustmentsVertical,
+			component: Calibration
+		},
+		{
+            title: 'System info',
+			path: '/info',
+            icon: InformationCircle,
+			component: Info
+		},
+        {
+            title: 'Log',
+			path: '/log',
+            icon: BookOpen,
+			component: Log
+		},
+        {
+            title: 'Settings',
+            path: '/settings',
+            icon: Cog6Tooth,
+            component: Configuration
+        },
+	];
+</script>
+
+<div class="pt-14 flex h-full">
+	<nav class="w-1/6 flex flex-col">
+		{#each menu as link}
+			<Link to={'/settings'+link.path}>
+                <div class="px-4 py-2 flex gap-2 items-center">
+                    <Icon src={link.icon} size="24" />{link.title}
+                </div>
+            </Link>
+		{/each}
+	</nav>
+	<main class="w-full h-full">
+        <Router>
+            {#each menu as link}
+			    <Route path={link.path} component={link.component}></Route>
+            {/each}
+        </Router>
+	</main>
+</div>

app/src/routes/SystemHealth.svelte

@@ -1,34 +0,0 @@
-<script lang="ts">
-	import { onDestroy, onMount } from 'svelte';
-	import { dataBuffer, socket } from '../lib/socket';
-	import { humanFileSize } from '../lib/utils';
-
-	let buf = new Uint8Array(2);
-	buf[0] = 1;
-
-	onMount(() => {
-		buf[1] = 1;
-		$socket.send(buf);
-	});
-
-	onDestroy(() => {
-		buf[1] = 0;
-		$socket.send(buf);
-	});
-</script>
-
-<div class="p-10 flex gap-4">
-	<div class="bg-slate-600 rounded-md p-2 drop-shadow-lg">
-		<b>Heap allocation:</b>
-		<div class="flex gap-2"><span>Total free:</span>{humanFileSize($dataBuffer[8])}</div>
-		<div class="flex gap-2"><span>Max free block:</span>{humanFileSize($dataBuffer[12])}</div>
-		<div class="flex gap-2"><span>Min:</span>{humanFileSize($dataBuffer[10])}</div>
-	</div>
-
-	<div class="bg-slate-600 rounded-md p-2 drop-shadow-lg">
-		<b>PSRam allocation:</b>
-		<div class="flex gap-2"><span>Free</span>{humanFileSize($dataBuffer[9])}</div>
-		<div class="flex gap-2"><span>Min:</span>{humanFileSize($dataBuffer[11])}</div>
-		<div class="flex gap-2"><span>Max block:</span>{humanFileSize($dataBuffer[13])}</div>
-	</div>
-</div>

app/tsconfig.json

@@ -14,7 +14,14 @@
 		 */
 		"allowJs": true,
 		"checkJs": true,
-		"isolatedModules": true
+		"isolatedModules": true,
+        "paths": {
+			"$lib/*": ["./src/lib/*"],
+			"$utils/*": ["./src/utils/*"],
+			"$components/*": ["./src/components/*"],
+			"$stores/*": ["./src/stores/*"]
+		}
+
 	},
 	"include": ["src/**/*.d.ts", "src/**/*.ts", "src/**/*.js", "src/**/*.svelte"],
 	"references": [{ "path": "./tsconfig.node.json" }]

app/vite.config.ts

@@ -2,12 +2,24 @@ import { defineConfig } from 'vite';
 import { svelte } from '@sveltejs/vite-plugin-svelte';
 import { viteSingleFile } from 'vite-plugin-singlefile';
 import viteCompression from 'vite-plugin-compression';
+import path from 'path'
+
+const forEmbedded = process.env.FOR_EMBEDDED == 'true'
 
 // https://vitejs.dev/config/
 export default defineConfig({
-	plugins: [svelte(), viteSingleFile(), viteCompression({deleteOriginFile: true})],
+	plugins: [svelte(), 
+        ...(forEmbedded ? [ viteSingleFile(), viteCompression({deleteOriginFile: true})]: [])],
 	build: {
-		outDir: '../data',
+		outDir: forEmbedded ? '../data': './build',
 		emptyOutDir: true
-	}
+	},
+    resolve: {
+        alias: {
+            '$lib': path.resolve('./src/lib/'),
+            '$components': path.resolve('./src/components'),
+            '$utils': path.resolve('./src/utils'),
+            '$stores': path.resolve('./src/stores'),
+        },
+    },
 });

docs/api.md

@@ -0,0 +1,25 @@
+# API
+
+https://dev.bostondynamics.com/docs/concepts/choreography/choreography_in_tablet.html
+
+| HTTP Method | Endpoint       | Description                | Parameters                |
+|-------------|----------------|----------------------------|---------------------------|
+| GET         | /api/sensor/battery       | Retrieve the battery state |                       |
+| GET         | /api/sensor/mpu       | Retrieve the mpu state |                       |
+| GET         | /api/sensor/magnetometer       | Retrieve the magnetometer state |                       |
+| GET         | /api/sensor/distances       | Retrieve the distances state |                      |
+| GET         | /api/sensor/distance/{position}       | Retrieve the distance state |    `position`: The position of the distance sensor **LEFT** and **RIGHT**                    |
+| GET         | /api/sensor/stream    | Retrieve the camera stream  | |
+| GET         | /api/actuator    | Retrieve the actuator states  | |
+| GET         | /api/actuator/{id}    | Retrieve the actuator state for `id`  | `id`: The ID of the actuator |
+| POST        | /api/actuator/{id}    | Set the actuator state  | `id`: The ID of the actuator|
+| GET         | /api/kinematics/feet    | Retrieve the current feet positions as (x, y, z) coordinates|                           |
+| GET         | /api/kinematics/body    | Retrieve the current body position as a (x, y, z) coordinates|                           |
+| GET         | /api/kinematics/bodystate    | Retrieve the current body and feet positions |                           |
+| GET         | /api/system/log    | Retrieve the system log  | |
+| GET         | /api/system/info    | Retrieve the system information  | |
+| GET         | /api/system/settings    | Retrieve the system settings  | |
+| POST        | /api/system/settings    | Set the system settings  | |
+| POST        | /api/system/reset    | Reset system  | |
+| POST        | /api/system/power/off    | Power of the system  | |
+| POST        | /api/system/stop    | Stop power to actuators  | `id`: The stop level **CUT**, **SETTLE_THEN_CUT**, **NONE** |

docs/readme.md

@@ -0,0 +1,31 @@
+# ABOUT SPOT MICRO
+
+## Cameras
+
+## Hips and joints
+
+## Robot specifications
+
+### Dimensions
+
+### Environment
+
+| Specification | Value |
+| --- | --- |
+| Ingress protection | *IP42 |
+| Operating temperature | 0C to 30C |
+
+### Power
+
+### Sensing
+
+| Specification | Value |
+| --- | --- |
+| Camera type | single |
+| Field of view | 160 degrees |
+
+### Connectivity
+
+| Specification | Value |
+| --- | --- |
+| Wifi | 802.11 |

mock/.gitignore

@@ -0,0 +1 @@
+/node_modules

mock/kinematic.js

@@ -0,0 +1,397 @@
+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;
+  }
+}

mock/package.json

@@ -0,0 +1,18 @@
+{
+  "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"
+  }
+}

mock/pnpm-lock.yaml

@@ -0,0 +1,483 @@
+lockfileVersion: '6.0'
+
+settings:
+  autoInstallPeers: true
+  excludeLinksFromLockfile: false
+
+dependencies:
+  cors:
+    specifier: ^2.8.5
+    version: 2.8.5
+  express:
+    specifier: ^4.18.2
+    version: 4.18.2
+  ws:
+    specifier: ^8.16.0
+    version: 8.16.0
+
+packages:
+
+  /accepts@1.3.8:
+    resolution: {integrity: sha512-PYAthTa2m2VKxuvSD3DPC/Gy+U+sOA1LAuT8mkmRuvw+NACSaeXEQ+NHcVF7rONl6qcaxV3Uuemwawk+7+SJLw==}
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+      call-bind: 1.0.5
+      get-intrinsic: 1.2.2
+      object-inspect: 1.13.1
+    dev: false
+
+  /statuses@2.0.1:
+    resolution: {integrity: sha512-RwNA9Z/7PrK06rYLIzFMlaF+l73iwpzsqRIFgbMLbTcLD6cOao82TaWefPXQvB2fOC4AjuYSEndS7N/mTCbkdQ==}
+    engines: {node: '>= 0.8'}
+    dev: false
+
+  /toidentifier@1.0.1:
+    resolution: {integrity: sha512-o5sSPKEkg/DIQNmH43V0/uerLrpzVedkUh8tGNvaeXpfpuwjKenlSox/2O/BTlZUtEe+JG7s5YhEz608PlAHRA==}
+    engines: {node: '>=0.6'}
+    dev: false
+
+  /type-is@1.6.18:
+    resolution: {integrity: sha512-TkRKr9sUTxEH8MdfuCSP7VizJyzRNMjj2J2do2Jr3Kym598JVdEksuzPQCnlFPW4ky9Q+iA+ma9BGm06XQBy8g==}
+    engines: {node: '>= 0.6'}
+    dependencies:
+      media-typer: 0.3.0
+      mime-types: 2.1.35
+    dev: false
+
+  /unpipe@1.0.0:
+    resolution: {integrity: sha512-pjy2bYhSsufwWlKwPc+l3cN7+wuJlK6uz0YdJEOlQDbl6jo/YlPi4mb8agUkVC8BF7V8NuzeyPNqRksA3hztKQ==}
+    engines: {node: '>= 0.8'}
+    dev: false
+
+  /utils-merge@1.0.1:
+    resolution: {integrity: sha512-pMZTvIkT1d+TFGvDOqodOclx0QWkkgi6Tdoa8gC8ffGAAqz9pzPTZWAybbsHHoED/ztMtkv/VoYTYyShUn81hA==}
+    engines: {node: '>= 0.4.0'}
+    dev: false
+
+  /vary@1.1.2:
+    resolution: {integrity: sha512-BNGbWLfd0eUPabhkXUVm0j8uuvREyTh5ovRa/dyow/BqAbZJyC+5fU+IzQOzmAKzYqYRAISoRhdQr3eIZ/PXqg==}
+    engines: {node: '>= 0.8'}
+    dev: false
+
+  /ws@8.16.0:
+    resolution: {integrity: sha512-HS0c//TP7Ina87TfiPUz1rQzMhHrl/SG2guqRcTOIUYD2q8uhUdNHZYJUaQ8aTGPzCh+c6oawMKW35nFl1dxyQ==}
+    engines: {node: '>=10.0.0'}
+    peerDependencies:
+      bufferutil: ^4.0.1
+      utf-8-validate: '>=5.0.2'
+    peerDependenciesMeta:
+      bufferutil:
+        optional: true
+      utf-8-validate:
+        optional: true
+    dev: false

mock/server.js

@@ -0,0 +1,336 @@
+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: 8080 });
+
+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);
+
+function createNewClientState() {
+  return {
+    model: JSON.parse(JSON.stringify(model)),
+    settings: JSON.parse(JSON.stringify(settings)),
+    logs: JSON.parse(JSON.stringify(logs)),
+    subscriptions: {},
+  };
+}
+
+function subscribeClientToCategory(ws, category) {
+  if (!subscriptions[category]) {
+    subscriptions[category] = new Set();
+  }
+  subscriptions[category].add(ws);
+}
+
+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,
+};
+
+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;
+};
+
+wss.on("connection", (ws) => {
+  const clientState = createNewClientState();
+  ws.clientState = clientState;
+  ws.on("error", console.error);
+
+  ws.on("message", (message) => {
+    let data = message;
+    try {
+      data = JSON.parse(message);
+    } catch (error) {
+      return;
+    }
+    switch (data.type) {
+      case "subscribe":
+        subscribeClientToCategory(ws, data.category);
+        break;
+      case "unsubscribe":
+        unsubscribeClientFromCategory(ws, data.category);
+        break;
+      case "sensor/battery":
+        ws.send({ type: "battery", battery: JSON.stringify(updateBattery()) });
+        break;
+      case "sensor/mpu":
+        ws.send({ type: "battery", mpu: 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",
+              angles: 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",
+              angles: 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",
+              angles: 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", logs:ws.clientState.logs }));
+        break;
+      case "system/info":
+        ws.send(JSON.stringify({ type: "info", info: 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", log:ws.clientState.logs.last()}));
+        break;
+      default:
+        ws.send(JSON.stringify({ error: "Unknown request type" }));
+    }
+  });
+
+  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}`));