💅 Updates the frontpage

.github/workflows/deploy.yml

@@ -1,61 +0,0 @@
-name: Deploy GitHub Pages
-
-on:
-  push:
-    branches: [main]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-concurrency:
-  group: "pages"
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        working-directory: ./app
-    env:
-      BASE_PATH: /SpotMicroESP32-Leika
-
-    steps:
-      - uses: actions/checkout@v4
-
-      - uses: pnpm/action-setup@v2
-        with:
-          version: 9
-
-      - uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: "pnpm"
-          cache-dependency-path: "./app/pnpm-lock.yaml"
-
-      - run: pnpm install
-      - run: pnpm run build
-
-      - name: Setup Pages
-        uses: actions/configure-pages@v4
-        with:
-          static_site_generator: "sveltekit"
-
-      - name: Upload artifact
-        uses: actions/upload-pages-artifact@v3
-        with:
-          path: app/build/
-
-  deploy:
-    runs-on: ubuntu-latest
-    needs: build
-    environment:
-      name: github-pages
-
-    steps:
-      - name: Deploy
-        id: deployment
-        uses: actions/deploy-pages@v4

.github/workflows/embedded-build.yml

@@ -2,19 +2,20 @@ name: PlatformIO CI
 
 on:
   push:
-    branches: [master]
+    branches: [ master ]
     paths:
-      - "esp32/**"
+        - 'esp32/**'  
-      - "platformio.ini"
   pull_request:
-    branches: [master]
+    branches: [ master ]
     paths:
-      - "esp32/**"
+        - 'esp32/**'  
-      - "platformio.ini"
 
 jobs:
   build:
     runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: ./esp32
 
     steps:
       - uses: actions/checkout@v3
@@ -27,8 +28,8 @@ jobs:
 
       - uses: actions/setup-python@v4
         with:
-          python-version: "3.x"
+          python-version: '3.x'
-      - run: pip install -r esp32/scripts/requirements.txt
+      - run: pip install -r ./scripts/requirements.txt
       - name: Install PlatformIO Core
         run: pip install --upgrade platformio
 

.gitignore

@@ -2,7 +2,7 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+
 __pycache__/
 *.py[cod]
 *$py.class
-.pio

.vscode/extensions.json

@@ -2,10 +2,10 @@
     // See http://go.microsoft.com/fwlink/?LinkId=827846
     // for the documentation about the extensions.json format
     "recommendations": [
-        "bradlc.vscode-tailwindcss",
+      "platformio.platformio-ide",
-        "esbenp.prettier-vscode",
+      "svelte.svelte-vscode",
-        "platformio.platformio-ide",
+      "bradlc.vscode-tailwindcss",
-        "svelte.svelte-vscode"
+      "esbenp.prettier-vscode"
     ],
     "unwantedRecommendations": [
         "ms-vscode.cpptools-extension-pack"

app/.env

@@ -1,3 +0,0 @@
-PUBLIC_VITE_USE_HOST_NAME=true
-PUBLIC_USE_JSON=true
-PUBLIC_USE_MSGPACK=true

app/.eslintrc.cjs

@@ -1,31 +1,31 @@
 /** @type { import("eslint").Linter.Config } */
 module.exports = {
-    root: true,
+	root: true,
-    extends: [
+	extends: [
-        'eslint:recommended',
+		'eslint:recommended',
-        'plugin:@typescript-eslint/recommended',
+		'plugin:@typescript-eslint/recommended',
-        'plugin:svelte/recommended',
+		'plugin:svelte/recommended',
-        'prettier'
+		'prettier'
-    ],
+	],
-    parser: '@typescript-eslint/parser',
+	parser: '@typescript-eslint/parser',
-    plugins: ['@typescript-eslint'],
+	plugins: ['@typescript-eslint'],
-    parserOptions: {
+	parserOptions: {
-        sourceType: 'module',
+		sourceType: 'module',
-        ecmaVersion: 2020,
+		ecmaVersion: 2020,
-        extraFileExtensions: ['.svelte']
+		extraFileExtensions: ['.svelte']
-    },
+	},
-    env: {
+	env: {
-        browser: true,
+		browser: true,
-        es2017: true,
+		es2017: true,
-        node: true
+		node: true
-    },
+	},
-    overrides: [
+	overrides: [
-        {
+		{
-            files: ['*.svelte'],
+			files: ['*.svelte'],
-            parser: 'svelte-eslint-parser',
+			parser: 'svelte-eslint-parser',
-            parserOptions: {
+			parserOptions: {
-                parser: '@typescript-eslint/parser'
+				parser: '@typescript-eslint/parser'
-            }
+			}
-        }
+		}
-    ]
+	]
-}
+};

app/.gitignore

@@ -3,6 +3,7 @@ node_modules
 /build
 /.svelte-kit
 /package
+.env
 .env.*
 !.env.example
 vite.config.js.timestamp-*

app/.prettierrc

@@ -1,12 +1,13 @@
 {
     "useTabs": false,
     "singleQuote": true,
-    "tabWidth": 4,
+    "tabWidth": 2,
     "trailingComma": "none",
     "arrowParens": "avoid",
     "experimentalTernaries": true,
     "printWidth": 100,
     "semi": false,
+    "svelteBracketNewLine": false,
     "plugins": ["prettier-plugin-svelte"],
     "overrides": [{ "files": "*.svelte", "options": { "parser": "svelte" } }]
 }

app/.vscode/extensions.json

@@ -1,7 +1,3 @@
 {
-    "recommendations": [
+	"recommendations": ["svelte.svelte-vscode", "bradlc.vscode-tailwindcss", "esbenp.prettier-vscode"]
-        "svelte.svelte-vscode",
-        "bradlc.vscode-tailwindcss",
-        "esbenp.prettier-vscode"
-    ]
 }

app/README.md

@@ -8,21 +8,30 @@ If you're seeing this, you've probably already done this step. Congrats!
 
 ```bash
 # create a new project in the current directory
-npx sv create
+npm create svelte@latest
+
+# create a new project in my-app
+npm create svelte@latest my-app
 ```
 
 ## Developing
 
-Once you've created your project, follow these steps:
+Once you've created a project and installed dependencies with `npm install` (or `pnpm install` or `yarn`), start a development server:
 
-1: Delete package-lock.json
+```bash
-2: Check `git status`. If you see any changes other than package-lock.json or favicon.ico, run the command `git restore ./` (See below)
+npm run dev
-3: Run `npm install` or `pnpm install` or `yarn` to install the dependencies
-4: Run `npm run build` to build the project
 
-Running `git status` should show:
+# or start the server and open the app in a new browser tab
+npm run dev -- --open
+```
 
-[![example.png](https://i.postimg.cc/yddM3hH3/example.png)](https://postimg.cc/7CFsp2bq)
+## Building
+
+To create a production version of your app:
+
+```bash
+npm run build
+```
 
 You can preview the production build with `npm run preview`.
 

app/env.d.ts

@@ -1,8 +1,8 @@
-declare module 'app-env' {
+declare module "app-env" {
-    interface ENV {
+  interface ENV {
-        VITE_USE_HOST_NAME: boolean
+    VITE_USE_HOST_NAME: boolean;
-    }
+  }
 
-    const appEnv: ENV
+  const appEnv: ENV;
-    export default appEnv
+  export default appEnv;
 }

app/package.json

@@ -1,65 +1,65 @@
 {
-    "name": "spot_micro_controller",
+  "name": "spot_micro_controller",
-    "version": "0.0.1",
+  "version": "0.0.1",
-    "private": true,
+  "private": true,
-    "scripts": {
+  "scripts": {
-        "dev": "vite dev --host",
+    "dev": "vite dev --host",
-        "build": "vite build",
+    "build": "vite build",
-        "build:embedded": "cross-env VITE_USE_HOST_NAME=true vite build",
+    "build:embedded": "cross-env VITE_USE_HOST_NAME=true vite build",
-        "preview": "vite preview",
+    "preview": "vite preview",
-        "test": "pnpm run test:integration && pnpm run test:unit",
+    "test": "pnpm run test:integration && pnpm run test:unit",
-        "check": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json",
+    "check": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json",
-        "check:watch": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json --watch",
+    "check:watch": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json --watch",
-        "lint": "prettier --check . && eslint .",
+    "lint": "prettier --check . && eslint .",
-        "format": "prettier --write .",
+    "format": "prettier --write .",
-        "test:integration": "playwright test",
+    "test:integration": "playwright test",
-        "test:unit": "vitest"
+    "test:unit": "vitest"
-    },
+  },
-    "devDependencies": {
+  "devDependencies": {
-        "@iconify-json/mdi": "^1.2.3",
+    "@iconify-json/mdi": "^1.1.64",
-        "@iconify-json/tabler": "^1.2.23",
+    "@iconify-json/tabler": "^1.1.109",
-        "@playwright/test": "^1.56.0",
+    "@playwright/test": "^1.49.1",
-        "@sveltejs/adapter-static": "^3.0.10",
+    "@sveltejs/adapter-static": "^3.0.1",
-        "@sveltejs/kit": "^2.46.4",
+    "@sveltejs/kit": "^2.5.27",
-        "@sveltejs/vite-plugin-svelte": "^6.2.1",
+    "@sveltejs/vite-plugin-svelte": "^5.0.3",
-        "@types/eslint": "^9.6.1",
+    "@types/eslint": "^8.56.0",
-        "@types/three": "^0.180.0",
+    "@types/three": "^0.162.0",
-        "@typescript-eslint/eslint-plugin": "^8.46.0",
+    "@typescript-eslint/eslint-plugin": "^7.0.0",
-        "@typescript-eslint/parser": "^8.46.0",
+    "@typescript-eslint/parser": "^7.0.0",
-        "autoprefixer": "^10.4.21",
+    "autoprefixer": "^10.4.19",
-        "eslint": "^9.37.0",
+    "eslint": "^8.56.0",
-        "eslint-config-prettier": "^10.1.8",
+    "eslint-config-prettier": "^9.1.0",
-        "eslint-plugin-svelte": "^3.12.4",
+    "eslint-plugin-svelte": "^2.45.1",
-        "jsdom": "^27.0.0",
+    "jsdom": "^24.0.0",
-        "prettier": "^3.6.2",
+    "prettier": "^3.1.1",
-        "prettier-plugin-svelte": "^3.4.0",
+    "prettier-plugin-svelte": "^3.2.6",
-        "svelte": "^5.39.11",
+    "svelte": "^5.0.0",
-        "svelte-check": "^4.3.3",
+    "svelte-check": "^4.0.0",
-        "svelte-focus-trap": "^1.2.0",
+    "svelte-focus-trap": "^1.2.0",
-        "tailwindcss": "^4.1.14",
+    "tailwindcss": "^4.0.12",
-        "tslib": "^2.8.1",
+    "tslib": "^2.6.1",
-        "typescript": "^5.9.3",
+    "typescript": "^5.5.0",
-        "unplugin-icons": "^22.4.2",
+    "unplugin-icons": "^0.18.5",
-        "vite": "^7.1.9",
+    "vite": "^6.2.1",
-        "vitest": "^3.2.4"
+    "vitest": "^1.2.0"
-    },
+  },
-    "type": "module",
+  "type": "module",
-    "dependencies": {
+  "dependencies": {
-        "@msgpack/msgpack": "^3.1.2",
+    "@niku/vite-env-caster": "^1.0.2",
-        "@niku/vite-env-caster": "^1.1.2",
+    "@sveltejs/adapter-auto": "^4.0.0",
-        "@sveltejs/adapter-auto": "^6.1.1",
+    "@tailwindcss/vite": "^4.0.12",
-        "@tailwindcss/vite": "^4.1.14",
+    "chart.js": "^4.4.2",
-        "chart.js": "^4.5.0",
+    "compare-versions": "^6.1.0",
-        "compare-versions": "^6.1.1",
+    "cross-env": "^7.0.3",
-        "cross-env": "^10.1.0",
+    "daisyui": "^5.0.0",
-        "daisyui": "^5.2.0",
+    "jwt-decode": "^4.0.0",
-        "nipplejs": "^0.10.2",
+    "nipplejs": "^0.10.1",
-        "svelte-dnd-list": "^0.1.8",
+    "svelte-dnd-list": "^0.1.8",
-        "svelte-modals": "^2.0.1",
+    "svelte-modals": "^2.0.0",
-        "three": "^0.180.0",
+    "three": "^0.162.0",
-        "urdf-loader": "^0.12.6",
+    "urdf-loader": "^0.12.1",
-        "uzip": "^0.20201231.0",
+    "uzip": "^0.20201231.0",
-        "xacro-parser": "^0.3.10"
+    "xacro-parser": "^0.3.9"
-    },
+  },
-    "packageManager": "pnpm@9.3.0"
+  "packageManager": "pnpm@9.3.0"
 }

app/playwright.config.ts

@@ -1,12 +1,12 @@
-import type { PlaywrightTestConfig } from '@playwright/test'
+import type { PlaywrightTestConfig } from '@playwright/test';
 
 const config: PlaywrightTestConfig = {
-    webServer: {
+	webServer: {
-        command: 'pnpm run build && pnpm run preview',
+		command: 'pnpm run build && pnpm run preview',
-        port: 4173
+		port: 4173
-    },
+	},
-    testDir: 'tests/integration',
+	testDir: 'tests/integration',
-    testMatch: /(.+\.)?(test|spec)\.[jt]s/
+	testMatch: /(.+\.)?(test|spec)\.[jt]s/
-}
+};
 
-export default config
+export default config;

app/src/app.css

@@ -2,47 +2,39 @@
 @plugin "daisyui";
 
 @plugin "daisyui" {
-    themes:
+  themes:
-        light --default,
+    light --default,
-        dark --prefersdark;
+    dark --prefersdark;
 }
 
 @plugin "daisyui/theme" {
-    name: 'light';
+  name: 'light';
-    default: true;
+  default: true;
-    --color-primary: #00bfff;
+  --color-primary: #00bfff;
-    --color-secondary: #3c00ff;
+  --color-secondary: #3c00ff;
-    --base-content: white;
+  --base-content: white;
 }
 
 @plugin "daisyui/theme" {
-    name: 'dark';
+  name: 'dark';
-    prefersdark: true;
+  prefersdark: true;
-    --color-primary: #00bfff;
+  --color-primary: #00bfff;
-    --color-secondary: #3c00ff;
+  --color-secondary: #3c00ff;
-    --base-content: oklch(0.3 0.012 256);
+  --base-content: oklch(0.3 0.012 256);
-}
-
-button {
-    cursor: pointer;
-}
-
-button:disabled {
-    cursor: not-allowed;
 }
 
 #nipple_0_0,
 #nipple_1_1 {
-    z-index: 10 !important;
+  z-index: 10 !important;
 }
 
 #three-gui-panel {
-    top: 64px;
+  top: 64px;
-    right: 0px;
+  right: 0px;
 }
 
 @media (max-width: 1023px) {
-    #three-gui-panel {
+  #three-gui-panel {
-        top: 48px;
+    top: 48px;
-    }
+  }
 }

app/src/app.d.ts

@@ -1,13 +1,13 @@
 // See https://kit.svelte.dev/docs/types#app
 // for information about these interfaces
 declare global {
-    namespace App {
+	namespace App {
-        // interface Error {}
+		// interface Error {}
-        // interface Locals {}
+		// interface Locals {}
-        // interface PageData {}
+		// interface PageData {}
-        // interface PageState {}
+		// interface PageState {}
-        // interface Platform {}
+		// interface Platform {}
-    }
+	}
 }
 
-export {}
+export {};

app/src/app.html

@@ -1,17 +1,14 @@
 <!doctype html>
 <html lang="en">
-    <head>
+	<head>
-        <meta charset="utf-8" />
+		<meta charset="utf-8" />
-        <link rel="icon" href="%sveltekit.assets%/logo512.png" />
+		<link rel="icon" href="%sveltekit.assets%/logo512.png" />
-        <meta
+		<meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1" />
-            name="viewport"
+		<meta name="apple-mobile-web-app-capable" content="yes" />
-            content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1"
+		<meta name="mobile-web-app-capable" content="yes" />
-        />
+		%sveltekit.head%
-        <meta name="apple-mobile-web-app-capable" content="yes" />
+	</head>
-        <meta name="mobile-web-app-capable" content="yes" />
+	<body data-sveltekit-preload-data="hover">
-        %sveltekit.head%
+		<div style="display: contents">%sveltekit.body%</div>
-    </head>
+	</body>
-    <body data-sveltekit-preload-data="hover">
-        <div style="display: contents">%sveltekit.body%</div>
-    </body>
 </html>

app/src/index.test.ts

@@ -0,0 +1,7 @@
+import { describe, it, expect } from 'vitest';
+
+describe('sum test', () => {
+	it('adds 1 + 2 to equal 3', () => {
+		expect(1 + 2).toBe(3);
+	});
+});

app/src/lib/api.ts

@@ -1,22 +1,22 @@
-import { get } from 'svelte/store'
+import { get } from 'svelte/store';
-import { Err, Ok, type Result } from './utilities'
+import { Err, Ok, type Result } from './utilities';
-import { apiLocation } from './stores'
+import { location } from './stores';
 
-export const api = {
+export namespace api {
-    get<TResponse>(endpoint: string, params?: RequestInit) {
+    export function get<TResponse>(endpoint: string, params?: RequestInit) {
-        return sendRequest<TResponse>(endpoint, 'GET', null, params)
+        return sendRequest<TResponse>(endpoint, 'GET', null, params);
-    },
+    }
 
-    post<TResponse>(endpoint: string, data?: unknown) {
+    export function post<TResponse>(endpoint: string, data?: unknown) {
-        return sendRequest<TResponse>(endpoint, 'POST', data)
+        return sendRequest<TResponse>(endpoint, 'POST', data);
-    },
+    }
 
-    put<TResponse>(endpoint: string, data?: unknown) {
+    export function put<TResponse>(endpoint: string, data?: unknown) {
-        return sendRequest<TResponse>(endpoint, 'PUT', data)
+        return sendRequest<TResponse>(endpoint, 'PUT', data);
-    },
+    }
 
-    remove<TResponse>(endpoint: string) {
+    export function remove<TResponse>(endpoint: string) {
-        return sendRequest<TResponse>(endpoint, 'DELETE')
+        return sendRequest<TResponse>(endpoint, 'DELETE');
     }
 }
 
@@ -26,8 +26,8 @@ async function sendRequest<TResponse>(
     data?: unknown,
     params?: RequestInit
 ): Promise<Result<TResponse, Error>> {
-    endpoint = resolveUrl(endpoint)
+    endpoint = resolveUrl(endpoint);
-    const body = data !== null && typeof data !== 'undefined' ? JSON.stringify(data) : undefined
+    const body = data !== null && typeof data !== 'undefined' ? JSON.stringify(data) : undefined;
 
     const request = {
         ...params,
@@ -38,42 +38,43 @@ async function sendRequest<TResponse>(
             Authorization: 'Basic',
             'Content-Type': 'application/json'
         }
-    }
+    };
 
-    let response
+    let response;
 
     try {
-        response = await fetch(endpoint, request)
+        response = await fetch(endpoint, request);
-    } catch {
+    } catch (error) {
-        return Err.new(new Error(), 'An error has occurred')
+        return Err.new(new Error(), 'An error has occurred');
     }
 
-    const isResponseOk = response.status >= 200 && response.status < 400
+    const isResponseOk = response.status >= 200 && response.status < 400;
     if (!isResponseOk) {
         if (response.status === 401) {
-            return Err.new(new ApiError(response), 'User was not authorized')
+            return Err.new(new ApiError(response), 'User was not authorized');
         }
-        return Err.new(new ApiError(response), 'An error has occurred')
+        return Err.new(new ApiError(response), 'An error has occurred');
     }
 
-    const contentType = response.headers.get('Content-Type') ?? response.headers.get('Content-Type')
+    const contentType =
+        response.headers.get('Content-Type') ?? response.headers.get('Content-Type');
     if (contentType && contentType.includes('application/json')) {
-        const data = await response.json()
+        const data = await response.json();
-        return Ok.new(data as TResponse)
+        return Ok.new(data as TResponse);
     } else {
         // Handle empty object as response
-        return Ok.new(null as TResponse)
+        return Ok.new(null as TResponse);
     }
 }
 
 function resolveUrl(url: string): string {
-    if (url.startsWith('http') || !get(apiLocation)) return url
+    if (url.startsWith('http') || !get(location)) return url;
-    const protocol = window.location.protocol
+    const protocol = window.location.protocol;
-    return `${protocol}//${get(apiLocation)}${url.startsWith('/') ? '' : '/'}${url}`
+    return `${protocol}//${get(location)}${url.startsWith('/') ? '' : '/'}${url}`;
 }
 
 export class ApiError extends Error {
     constructor(public readonly response: Response) {
-        super(`${response.status}`)
+        super(`${response.status}`);
     }
 }

app/src/lib/components/Collapsible.svelte

@@ -1,18 +1,18 @@
 <script lang="ts">
-    import { slide } from 'svelte/transition'
+    import { slide } from 'svelte/transition';
-    import { cubicOut } from 'svelte/easing'
+    import { cubicOut } from 'svelte/easing';
-    import { Down } from './icons'
+    import { Down } from './icons';
 
     function openCollapsible() {
-        open = !open
+        open = !open;
         if (open) {
-            opened()
+            opened();
         } else {
-            closed()
+            closed();
         }
     }
 
-    let { icon, title, children, open, opened, closed, class: klass } = $props()
+    let { icon, title, children, open, opened, closed, class: klass } = $props();
 </script>
 
 <div class="{klass} relative grid w-full max-w-2xl self-center overflow-hidden">

app/src/lib/components/ConfirmDialog.svelte

@@ -1,8 +1,18 @@
 <script lang="ts">
-    import { focusTrap } from 'svelte-focus-trap'
+    import { focusTrap } from 'svelte-focus-trap';
-    import { fly } from 'svelte/transition'
+    import { fly } from 'svelte/transition';
-    import { Cancel, Check } from '$lib/components/icons'
+    import { Cancel, Check } from '$lib/components/icons';
-    import { modals, exitBeforeEnter, type ModalProps } from 'svelte-modals'
+    import { modals, exitBeforeEnter } from 'svelte-modals';
+
+    // provided by <Modals />
+
+    interface Props {
+        isOpen: boolean;
+        title: string;
+        message: string;
+        onConfirm: any;
+        labels?: any;
+    }
 
     let {
         isOpen,
@@ -13,7 +23,7 @@
             cancel: { label: 'Cancel', icon: Cancel },
             confirm: { label: 'OK', icon: Check }
         }
-    }: ModalProps = $props()
+    }: Props = $props();
 </script>
 
 {#if isOpen}
@@ -34,12 +44,15 @@
             <div class="divider my-2"></div>
             <div class="flex justify-end gap-2">
                 <button
-                    class="btn btn-error inline-flex items-center"
+                    class="btn btn-primary inline-flex items-center"
                     onclick={() => modals.close()}
                 >
                     <labels.cancel.icon class="mr-2 h-5 w-5" /><span>{labels?.cancel.label}</span>
                 </button>
-                <button class="btn btn-primary inline-flex items-center" onclick={onConfirm}>
+                <button
+                    class="btn btn-warning text-warning-content inline-flex items-center"
+                    onclick={onConfirm}
+                >
                     <SvelteComponent class="mr-2 h-5 w-5" /><span>{labels?.confirm.label}</span>
                 </button>
             </div>

app/src/lib/components/GithubUpdateDialog.svelte

@@ -1,61 +1,61 @@
 <script lang="ts">
-    import { focusTrap } from 'svelte-focus-trap'
+    import { focusTrap } from 'svelte-focus-trap';
-    import { fly } from 'svelte/transition'
+    import { fly } from 'svelte/transition';
-    import { telemetry } from '$lib/stores/telemetry'
+    import { telemetry } from '$lib/stores/telemetry';
-    import { Cancel } from './icons'
+    import { Cancel } from './icons';
-    import { modals, exitBeforeEnter, onBeforeClose } from 'svelte-modals'
+    import { modals, exitBeforeEnter, onBeforeClose } from 'svelte-modals';
 
     // provided by <Modals />
     interface Props {
-        isOpen: boolean
+        isOpen: boolean;
     }
 
-    let { isOpen }: Props = $props()
+    let { isOpen }: Props = $props();
 
-    let updating = $state(true)
+    let updating = $state(true);
 
-    let progress = $state(0)
+    let progress = $state(0);
     $effect(() => {
         if ($telemetry.download_ota.status == 'progress') {
-            progress = $telemetry.download_ota.progress
+            progress = $telemetry.download_ota.progress;
         }
-    })
+    });
 
     $effect(() => {
         if ($telemetry.download_ota.status == 'error') {
-            updating = false
+            updating = false;
         }
-    })
+    });
 
-    let message = $state('Preparing ...')
+    let message = $state('Preparing ...');
 
     $effect(() => {
         if ($telemetry.download_ota.status == 'progress') {
-            message = 'Downloading ...'
+            message = 'Downloading ...';
         } else if ($telemetry.download_ota.status == 'error') {
-            message = $telemetry.download_ota.error
+            message = $telemetry.download_ota.error;
         } else if ($telemetry.download_ota.status == 'finished') {
-            message = 'Restarting ...'
+            message = 'Restarting ...';
-            progress = 0
+            progress = 0;
             // Reload page after 5 sec
             setTimeout(() => {
-                modals.closeAll()
+                modals.closeAll();
-                location.reload()
+                location.reload();
-            }, 5000)
+            }, 5000);
         }
-    })
+    });
 
     onBeforeClose(() => {
         if (updating) {
             // prevents modal from closing
-            return false
+            return false;
         } else {
-            $telemetry.download_ota.status = 'idle'
+            $telemetry.download_ota.status = 'idle';
-            $telemetry.download_ota.error = ''
+            $telemetry.download_ota.error = '';
-            $telemetry.download_ota.progress = 0
+            $telemetry.download_ota.progress = 0;
-            return true
+            return true;
         }
-    })
+    });
 </script>
 
 {#if isOpen}
@@ -89,8 +89,8 @@
                     class="btn btn-warning text-warning-content inline-flex flex-none items-center"
                     disabled={updating}
                     onclick={() => {
-                        modals.closeAll()
+                        modals.closeAll();
-                        location.reload()
+                        location.reload();
                     }}
                 >
                     <Cancel class="mr-2 h-5 w-5" /><span>Close</span></button

app/src/lib/components/InfoDialog.svelte

@@ -1,18 +1,26 @@
 <script lang="ts">
-    import { focusTrap } from 'svelte-focus-trap'
+    import { focusTrap } from 'svelte-focus-trap';
-    import { fly } from 'svelte/transition'
+    import { fly } from 'svelte/transition';
-    import { Check } from './icons'
+    import { Check } from './icons';
-    import { exitBeforeEnter, type ModalProps } from 'svelte-modals'
+    import { exitBeforeEnter } from 'svelte-modals';
+
+    // provided by <Modals />
+
+    interface Props {
+        isOpen: boolean;
+        title: string;
+        message: string;
+        onDismiss: any;
+        dismiss?: any;
+    }
 
     let {
         isOpen,
         title,
         message,
         onDismiss,
-        labels = {
+        dismiss = { label: 'Dismiss', icon: Check }
-            dismiss: { label: 'Dismiss', icon: Check }
+    }: Props = $props();
-        }
-    }: ModalProps = $props()
 </script>
 
 {#if isOpen}
@@ -35,7 +43,7 @@
                     class="btn btn-warning text-warning-content inline-flex items-center"
                     onclick={onDismiss}
                 >
-                    <labels.dismiss.icon class="mr-2 h-5 w-5" /><span>{labels.dismiss.label}</span>
+                    <dismiss.icon class="mr-2 h-5 w-5" /><span>{dismiss.label}</span>
                 </button>
             </div>
         </div>

app/src/lib/components/OrientationIndicator.svelte

@@ -1,78 +0,0 @@
-<script lang="ts">
-    import { onMount, onDestroy } from 'svelte'
-    import * as THREE from 'three'
-    import { imu } from '$lib/stores/imu'
-    import SceneBuilder from '$lib/sceneBuilder'
-
-    let canvas: HTMLCanvasElement
-    let sceneBuilder: SceneBuilder
-    let cube: THREE.Mesh
-    let targetRotation = new THREE.Euler()
-    let lastUpdateTime = 0
-    const LERP_SPEED = 5 // rotations per second
-
-    const initThreeJS = () => {
-        sceneBuilder = new SceneBuilder()
-            .addRenderer({ canvas: canvas, antialias: true, alpha: true })
-            .addPerspectiveCamera({ x: 2, y: 0, z: 2 })
-            .addOrbitControls(1, 10, false)
-            .addAmbientLight({ color: 0x404040, intensity: 0.5 })
-            .addDirectionalLight({ color: 0xffffff, intensity: 3, x: 10, y: 20, z: 7 })
-            .fillParent()
-
-        const geometry = new THREE.BoxGeometry(1, 1, 1)
-        const material = new THREE.MeshPhongMaterial({
-            color: 0x00ff00,
-            transparent: true,
-            opacity: 0.8
-        })
-        cube = new THREE.Mesh(geometry, material)
-        sceneBuilder.scene.add(cube)
-
-        sceneBuilder.addRenderCb(() => {
-            if (!cube) return
-            const currentTime = performance.now()
-            const deltaTime = (currentTime - lastUpdateTime) / 1000 // convert to seconds
-            lastUpdateTime = currentTime
-
-            const lerpFactor = Math.min(1, LERP_SPEED * deltaTime)
-            cube.rotation.x = THREE.MathUtils.lerp(cube.rotation.x, targetRotation.x, lerpFactor)
-            cube.rotation.y = THREE.MathUtils.lerp(cube.rotation.y, targetRotation.y, lerpFactor)
-            cube.rotation.z = THREE.MathUtils.lerp(cube.rotation.z, targetRotation.z, lerpFactor)
-        })
-
-        sceneBuilder.startRenderLoop()
-    }
-
-    const updateOrientation = () => {
-        if (!cube) return
-
-        const y = -$imu.x[$imu.x.length - 1] || 0
-        const x = $imu.y[$imu.y.length - 1] || 0
-        const z = -$imu.z[$imu.z.length - 1] || 0
-
-        targetRotation.set(
-            THREE.MathUtils.degToRad(x),
-            THREE.MathUtils.degToRad(y),
-            THREE.MathUtils.degToRad(z)
-        )
-    }
-
-    onMount(() => {
-        initThreeJS()
-    })
-
-    onDestroy(() => {
-        sceneBuilder?.renderer?.dispose()
-    })
-
-    $effect(() => {
-        if ($imu) {
-            updateOrientation()
-        }
-    })
-</script>
-
-<div class="h-60 w-60 border-2 border-base-300 rounded-md">
-    <canvas class="w-full h-full" bind:this={canvas}></canvas>
-</div>

app/src/lib/components/SettingsCard.svelte

@@ -1,76 +1,69 @@
 <script lang="ts">
-    import { slide } from 'svelte/transition'
+	import { slide } from 'svelte/transition';
-    import { cubicOut } from 'svelte/easing'
+	import { cubicOut } from 'svelte/easing';
-    import { Down } from './icons'
+	import { Down } from './icons';
-    interface Props {
+	interface Props {
-        open?: boolean
+		open?: boolean;
-        collapsible?: boolean
+		collapsible?: boolean;
-        icon?: import('svelte').Snippet
+		icon?: import('svelte').Snippet;
-        title?: import('svelte').Snippet
+		title?: import('svelte').Snippet;
-        children?: import('svelte').Snippet
+		children?: import('svelte').Snippet;
-        right?: import('svelte').Snippet
+	}
-    }
 
-    let {
+	let {
-        open = $bindable(true),
+		open = $bindable(true),
-        collapsible = true,
+		collapsible = true,
-        icon,
+		icon,
-        title,
+		title,
-        children,
+		children
-        right
+	}: Props = $props();
-    }: Props = $props()
 </script>
 
 {#if collapsible}
-    <div
+	<div
-        class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg"
+		class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg"
-    >
+	>
-        <div
+		<div
-            class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium"
+			class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium"
-        >
+		>
-            <span class="inline-flex items-baseline">
+			<span class="inline-flex items-baseline">
-                {@render icon?.()}
+				{@render icon?.()}
-                {@render title?.()}
+				{@render title?.()}
-            </span>
+			</span>
-            <button
+			<button
-                class="btn btn-circle btn-ghost btn-sm"
+				class="btn btn-circle btn-ghost btn-sm"
-                onclick={() => {
+				onclick={() => {
-                    open = !open
+					open = !open;
-                }}
+				}}
-            >
+			>
-                <Down
+				<Down
-                    class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {(
+					class="text-base-content h-auto w-6 transition-transform duration-300 ease-in-out {open
-                        open
+						? 'rotate-180'
-                    ) ?
+						: ''}"
-                        'rotate-180'
+				/>
-                    :   ''}"
+			</button>
-                />
+		</div>
-            </button>
+		{#if open}
-        </div>
+			<div
-        {#if open}
+				class="flex flex-col gap-2 p-4 pt-0"
-            <div
+				transition:slide|local={{ duration: 300, easing: cubicOut }}
-                class="flex flex-col gap-2 p-4 pt-0"
+			>
-                transition:slide|local={{ duration: 300, easing: cubicOut }}
+				{@render children?.()}
-            >
+			</div>
-                {@render children?.()}
+		{/if}
-            </div>
+	</div>
-        {/if}
-    </div>
 {:else}
-    <div
+	<div
-        class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg"
+		class="bg-base-200 rounded-box relative grid w-full max-w-2xl self-center overflow-hidden shadow-lg"
-    >
+	>
-        <div
+		<div class="min-h-16 w-full p-4 text-xl font-medium">
-            class="min-h-16 flex w-full items-center justify-between space-x-3 p-4 text-xl font-medium"
+			<span class="inline-flex items-baseline">
-        >
+				{@render icon?.()}
-            <span class="inline-flex items-baseline">
+				{@render title?.()}
-                {@render icon?.()}
+			</span>
-                {@render title?.()}
+		</div>
-            </span>
+		<div class="flex flex-col gap-2 p-4 pt-0">
-            {@render right?.()}
+			{@render children?.()}
-        </div>
+		</div>
-        <div class="flex flex-col gap-2 p-4 pt-0">
+	</div>
-            {@render children?.()}
-        </div>
-    </div>
 {/if}

app/src/lib/components/Spinner.svelte

@@ -1,8 +1,9 @@
 <script lang="ts">
-    import { Loader } from './icons'
+	import { Loader } from "./icons";
+
 </script>
 
 <div class="flex h-full w-full flex-col items-center justify-center p-6">
-    <Loader class="text-primary h-14 w-auto animate-spin stroke-2" />
+	<Loader class="text-primary h-14 w-auto animate-spin stroke-2" />
-    <p class="text-xl">Loading...</p>
+	<p class="text-xl">Loading...</p>
 </div>

app/src/lib/components/StatusItem.svelte

@@ -1,47 +0,0 @@
-<script lang="ts">
-    import type { ComponentType } from 'svelte'
-
-    type Variant = 'success' | 'error' | 'primary' | 'info' | 'warning'
-
-    const {
-        icon,
-        title,
-        description = '',
-        variant = 'primary',
-        class: klass = '',
-        children = null
-    } = $props<{
-        icon?: ComponentType
-        title: string
-        description?: string | number
-        variant?: Variant
-        class?: string
-        children?: () => ComponentType
-    }>()
-
-    const Icon = $derived(icon)
-
-    const variants: Record<Variant, [string, string]> = {
-        success: ['bg-success', 'text-success-content'],
-        error: ['bg-error', 'text-error-content'],
-        primary: ['bg-primary', 'text-primary-content'],
-        info: ['bg-info', 'text-info-content'],
-        warning: ['bg-warning', 'text-warning-content']
-    }
-
-    const variantKey: Variant = (variant as Variant) in variants ? (variant as Variant) : 'primary'
-    const [bgColor, textColor] = variants[variantKey]
-</script>
-
-<div class="rounded-box bg-base-100 flex items-center space-x-3 px-4 py-2 {klass}">
-    {#if icon}
-        <div class="mask mask-hexagon {bgColor} h-auto w-10 flex-none">
-            <Icon class="{textColor} h-auto w-full scale-75" />
-        </div>
-    {/if}
-    <div class="grow">
-        <div class="font-bold">{title}</div>
-        <div class="text-sm opacity-75 grow">{description}</div>
-    </div>
-    {@render children?.()}
-</div>

app/src/lib/components/Stream.svelte

@@ -1,10 +1,10 @@
 <script lang="ts">
-    import { onDestroy } from 'svelte'
+    import { onDestroy } from 'svelte';
-    import { apiLocation } from '$lib/stores'
+    import { location } from '$lib/stores';
 
-    let source = $state(`${$apiLocation}/api/camera/stream`)
+    let source = $state(`${$location}/api/camera/stream`);
 
-    onDestroy(() => (source = '#'))
+    onDestroy(() => (source = '#'));
 </script>
 
 <div class="w-full h-full">

app/src/lib/components/Toast.svelte

@@ -1,37 +1,35 @@
 <script>
-    import { flip } from 'svelte/animate'
+	import { flip } from 'svelte/animate';
-    import { fly } from 'svelte/transition'
+	import { fly } from 'svelte/transition';
-    import { notifications } from '$lib/components/toasts/notifications'
+	import { notifications } from '$lib/components/toasts/notifications';
-    import { error, info, success, warning } from './icons'
+	import { error, info, success, warning } from './icons';
 
-    /** @type {{theme?: any, icon?: any}} */
+
-    let {
+	/** @type {{theme?: any, icon?: any}} */
-        theme = {
+	let { theme = {
-            error: 'alert-error',
+		error: 'alert-error',
-            success: 'alert-success',
+		success: 'alert-success',
-            warning: 'alert-warning',
+		warning: 'alert-warning',
-            info: 'alert-info'
+		info: 'alert-info'
-        },
+	}, icon = {
-        icon = {
+		error: error,
-            error: error,
+		success: success,
-            success: success,
+		warning: warning,
-            warning: warning,
+		info: info
-            info: info
+	} } = $props();
-        }
-    } = $props()
 </script>
 
 <div class="toast toast-end mr-4">
-    {#each $notifications as notification (notification.id)}
+	{#each $notifications as notification (notification.id)}
-        {@const SvelteComponent = icon[notification.type]}
+		{@const SvelteComponent = icon[notification.type]}
-        <div
+		<div
-            animate:flip={{ duration: 400 }}
+			animate:flip={{ duration: 400 }}
-            class="alert animate-none {theme[notification.type]}"
+			class="alert animate-none {theme[notification.type]}"
-            in:fly={{ y: 100, duration: 400 }}
+			in:fly={{ y: 100, duration: 400 }}
-            out:fly={{ x: 100, duration: 400 }}
+			out:fly={{ x: 100, duration: 400 }}
-        >
+		>
-            <SvelteComponent class="h-6 w-6 shrink-0" />
+			<SvelteComponent class="h-6 w-6 shrink-0" />
-            <span>{notification.message}</span>
+			<span>{notification.message}</span>
-        </div>
+		</div>
-    {/each}
+	{/each}
 </div>

app/src/lib/components/Visualization.svelte

@@ -1,338 +1,340 @@
 <script lang="ts">
-    import { onDestroy, onMount } from 'svelte'
+  import { onDestroy, onMount } from 'svelte'
-    import {
+  import {
-        Mesh,
+    BufferGeometry,
-        MeshBasicMaterial,
+    Line,
-        type Object3D,
+    LineBasicMaterial,
-        SphereGeometry,
+    Mesh,
-        Vector3,
+    MeshBasicMaterial,
-        type Object3DEventMap,
+    Object3D,
-        Color
+    SphereGeometry,
-    } from 'three'
+    Vector3,
-    import {
+    type NormalBufferAttributes,
-        ModesEnum,
+    type Object3DEventMap
-        kinematicData,
+  } from 'three'
-        mode,
+  import {
-        model,
+    ModesEnum,
-        outControllerData,
+    kinematicData,
-        servoAnglesOut,
+    mode,
-        servoAngles,
+    model,
-        mpu,
+    outControllerData,
-        jointNames,
+    servoAnglesOut,
-        currentKinematic,
+    servoAngles,
-        walkGait,
+    mpu,
-        walkGaitToMode
+    jointNames
-    } from '$lib/stores'
+  } from '$lib/stores'
-    import { populateModelCache, throttler, getToeWorldPositions } from '$lib/utilities'
+  import { footColor, populateModelCache, throttler, toeWorldPositions } from '$lib/utilities'
-    import SceneBuilder from '$lib/sceneBuilder'
+  import SceneBuilder from '$lib/sceneBuilder'
-    import { lerp, degToRad } from 'three/src/math/MathUtils'
+  import { lerp, degToRad } from 'three/src/math/MathUtils'
-    import { GUI } from 'three/addons/libs/lil-gui.module.min.js'
+  import { GUI } from 'three/addons/libs/lil-gui.module.min.js'
-    import { type body_state_t } from '$lib/kinematic'
+  import Kinematic, { type body_state_t } from '$lib/kinematic'
-    import { BezierState, CalibrationState, IdleState, RestState, StandState } from '$lib/gait'
+  import {
-    import { radToDeg } from 'three/src/math/MathUtils.js'
+    BezierState,
-    import type { URDFRobot } from 'urdf-loader'
+    CalibrationState,
-    import { get } from 'svelte/store'
+    EightPhaseWalkState,
+    FourPhaseWalkState,
+    IdleState,
+    RestState,
+    StandState
+  } from '$lib/gait'
+  import { radToDeg } from 'three/src/math/MathUtils.js'
+  import type { URDFRobot } from 'urdf-loader'
+  import { get } from 'svelte/store'
 
-    interface Props {
+  interface Props {
-        defaultColor?: string | null
+    sky?: boolean
-        orbit?: boolean
+    orbit?: boolean
-        panel?: boolean
+    panel?: boolean
-        debug?: boolean
+    debug?: boolean
-        ground?: boolean
+    ground?: boolean
+    zoom?: number
+  }
+
+  let {
+    sky = true,
+    orbit = false,
+    panel = true,
+    debug = false,
+    ground = true,
+    zoom = 8
+  }: Props = $props()
+
+  let sceneManager = $state(new SceneBuilder())
+  let canvas: HTMLCanvasElement = $state()
+
+  let currentModelAngles: number[] = new Array(12).fill(0)
+  let modelTargetAngles: number[] = new Array(12).fill(0)
+  let gui_panel: GUI
+  let Throttler = new throttler()
+
+  let feet_trace = new Array(4).fill([])
+  let trace_lines: BufferGeometry<NormalBufferAttributes>[] = []
+  let target: Object3D<Object3DEventMap>
+
+  let target_position = { x: 0, z: 0, yaw: 0 }
+
+  let kinematic = new Kinematic()
+
+  let planners = {
+    [ModesEnum.Deactivated]: new IdleState(),
+    [ModesEnum.Idle]: new IdleState(),
+    [ModesEnum.Calibration]: new CalibrationState(),
+    [ModesEnum.Rest]: new RestState(),
+    [ModesEnum.Stand]: new StandState(),
+    [ModesEnum.Crawl]: new EightPhaseWalkState(),
+    [ModesEnum.Walk]: new BezierState()
+  }
+  let lastTick = performance.now()
+
+  const dir = [1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1]
+
+  let body_state = {
+    omega: 0,
+    phi: 0,
+    psi: 0,
+    xm: 0,
+    ym: 0.5,
+    zm: 0,
+    feet: planners[ModesEnum.Idle].default_feet_pos
+  }
+
+  let settings = {
+    'Internal kinematic': true,
+    'Robot transform controls': false,
+    'Auto orient robot': true,
+    'Trace feet': debug,
+    'Target position': false,
+    'Trace points': 30,
+    'Fix camera on robot': true,
+    'Smooth motion': true,
+    omega: 0,
+    phi: 0,
+    psi: 0,
+    xm: 0,
+    ym: 0.7,
+    zm: 0,
+    Background: 'black'
+  }
+
+  onMount(async () => {
+    await populateModelCache()
+    await createScene()
+    servoAngles.subscribe(updateAnglesFromStore)
+    if (panel) createPanel()
+  })
+
+  onDestroy(() => {
+    canvas.remove()
+    gui_panel?.destroy()
+  })
+
+  const updateAnglesFromStore = (angles: number[]) => {
+    if (sceneManager.isDragging) return
+    if (settings['Internal kinematic']) return
+    modelTargetAngles = angles
+  }
+
+  const createPanel = () => {
+    gui_panel = new GUI({ width: 310 })
+    gui_panel.close()
+    gui_panel.domElement.id = 'three-gui-panel'
+
+    const general = gui_panel.addFolder('General')
+    general.add(settings, 'Internal kinematic')
+    general.add(settings, 'Robot transform controls')
+    general.add(settings, 'Auto orient robot')
+
+    const kinematic = gui_panel.addFolder('Kinematics')
+    kinematic.add(settings, 'omega', -20, 20).onChange(updateKinematicPosition).listen()
+    kinematic.add(settings, 'phi', -30, 30).onChange(updateKinematicPosition).listen()
+    kinematic.add(settings, 'psi', -20, 15).onChange(updateKinematicPosition).listen()
+    kinematic.add(settings, 'xm', -1, 1).onChange(updateKinematicPosition).listen()
+    kinematic.add(settings, 'ym', 0, 1).onChange(updateKinematicPosition).listen()
+    kinematic.add(settings, 'zm', -1.3, 1.3).onChange(updateKinematicPosition).listen()
+
+    const visibility = gui_panel.addFolder('Visualization')
+    visibility.add(settings, 'Trace feet')
+    visibility.add(settings, 'Trace points', 1, 1000, 1)
+    visibility.add(settings, 'Target position')
+    visibility.add(settings, 'Smooth motion')
+    visibility.addColor(settings, 'Background')
+  }
+
+  const updateKinematicPosition = () => {
+    kinematicData.set([
+      settings.omega,
+      settings.phi,
+      settings.psi,
+      settings.xm,
+      settings.ym,
+      settings.zm
+    ])
+  }
+
+  const updateAngles = (name: string, angle: number) => {
+    modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI)
+    Throttler.throttle(() => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))), 100)
+  }
+
+  const createScene = async () => {
+    sceneManager
+      .addRenderer({ antialias: true, canvas, alpha: true })
+      .addPerspectiveCamera({ x: -0.5, y: 0.5, z: 1 })
+      .addOrbitControls(Math.min(zoom, 8), 30, orbit)
+      .addDirectionalLight({ x: 10, y: 20, z: 10, color: 0xffffff, intensity: 3 })
+      .addAmbientLight({ color: 0xffffff, intensity: 0.5 })
+      .addFogExp2(0xcccccc, 0.015)
+      .addModel($model)
+      .addTransformControls(sceneManager.model)
+      .fillParent()
+      .addRenderCb(render)
+      .startRenderLoop()
+
+    if (ground) sceneManager.addGroundPlane()
+
+    const geometry = new SphereGeometry(0.1, 32, 16)
+    const material = new MeshBasicMaterial({ color: 0xffff00 })
+    target = new Mesh(geometry, material)
+    sceneManager.scene.add(target)
+
+    if (debug) {
+      sceneManager.addDragControl(updateAngles)
+    }
+    if (sky) sceneManager.addSky()
+
+    for (let i = 0; i < 4; i++) {
+      const geometry = new BufferGeometry()
+      const material = new LineBasicMaterial({ color: footColor() })
+      const line = new Line(geometry, material)
+      trace_lines.push(geometry)
+      sceneManager.scene.add(line)
+    }
+  }
+
+  const renderTraceLines = (foot_positions: Vector3[]) => {
+    if (!settings['Trace feet']) {
+      if (!feet_trace.length) return
+      trace_lines.forEach((line, i) => line.setFromPoints(feet_trace[i].slice(-1)))
+      feet_trace = new Array(4).fill([])
+      return
     }
 
-    let {
+    trace_lines.forEach((line, i) => {
-        defaultColor = '#0091ff',
+      feet_trace[i].push(foot_positions[i])
-        orbit = false,
+      feet_trace[i] = feet_trace[i].slice(-settings['Trace points'])
-        panel = true,
+      line.setFromPoints(feet_trace[i])
-        debug = false,
-        ground = true
-    }: Props = $props()
-
-    let sceneManager = $state(new SceneBuilder())
-    let canvas: HTMLCanvasElement
-
-    let currentModelAngles: number[] = new Array(12).fill(0)
-    let modelTargetAngles: number[] = new Array(12).fill(0)
-    let gui_panel: GUI
-    let Throttler = new throttler()
-
-    let target: Object3D<Object3DEventMap>
-
-    let target_position = { x: 0, z: 0, yaw: 0 }
-
-    let kinematic = get(currentKinematic)
-
-    let planners = {
-        [ModesEnum.Deactivated]: new IdleState(),
-        [ModesEnum.Idle]: new IdleState(),
-        [ModesEnum.Calibration]: new CalibrationState(),
-        [ModesEnum.Rest]: new RestState(),
-        [ModesEnum.Stand]: new StandState(),
-        [ModesEnum.Walk]: new BezierState()
-    }
-    let lastTick = performance.now()
-
-    const dir = [1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1]
-
-    let body_state = {
-        omega: 0,
-        phi: 0,
-        psi: 0,
-        xm: 0,
-        ym: 0.5,
-        zm: 0,
-        feet: kinematic.getDefaultFeetPos(),
-        cumulative_x: 0,
-        cumulative_y: 0,
-        cumulative_z: 0,
-        cumulative_roll: 0,
-        cumulative_pitch: 0,
-        cumulative_yaw: 0
-    }
-
-    let settings = {
-        'Internal kinematic': true,
-        'Robot transform controls': false,
-        'Auto orient robot': true,
-        'Trace feet': debug,
-        'Target position': false,
-        'Trace points': 30,
-        'Fix camera on robot': true,
-        'Smooth motion': true,
-        omega: 0,
-        phi: 0,
-        psi: 0,
-        xm: 0,
-        ym: 0.7,
-        zm: 0,
-        Background: defaultColor
-    }
-
-    onMount(async () => {
-        await populateModelCache()
-        await createScene()
-        servoAngles.subscribe(updateAnglesFromStore)
-        walkGait.subscribe(gait => planners[ModesEnum.Walk].set_mode(walkGaitToMode(gait)))
-        if (panel) createPanel()
     })
+  }
 
-    onDestroy(() => {
+  const calculate_kinematics = () => {
-        canvas.remove()
+    if (sceneManager.isDragging || !settings['Internal kinematic']) return
-        gui_panel?.destroy()
+    const position: body_state_t = {
-    })
+      omega: settings.omega,
-
+      phi: settings.phi,
-    const updateAnglesFromStore = (angles: number[]) => {
+      psi: settings.psi,
-        if (sceneManager.isDragging) return
+      xm: settings.xm,
-        if (settings['Internal kinematic']) return
+      ym: settings.ym,
-        modelTargetAngles = angles
+      zm: settings.zm,
+      feet: body_state.feet
     }
 
-    const createPanel = () => {
+    let new_angles = kinematic.calcIK(position).map((x, i) => radToDeg(x * dir[i]))
-        gui_panel = new GUI({ width: 310 })
+    modelTargetAngles = new_angles
-        gui_panel.close()
+  }
-        gui_panel.domElement.id = 'three-gui-panel'
 
-        const general = gui_panel.addFolder('General')
+  const orient_robot = (robot: URDFRobot, toes: Vector3[]) => {
-        general.add(settings, 'Internal kinematic')
+    if (settings['Robot transform controls'] || !settings['Auto orient robot']) return
-        general.add(settings, 'Robot transform controls')
+    robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y))
-        general.add(settings, 'Auto orient robot')
 
-        const kinematic = gui_panel.addFolder('Kinematics')
+    robot.position.z = smooth(robot.position.z, -settings.xm, 0.1)
-        kinematic.add(settings, 'omega', -20, 20).onChange(updateKinematicPosition).listen()
+    robot.position.x = smooth(robot.position.x, -settings.zm, 0.1)
-        kinematic.add(settings, 'phi', -30, 30).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'psi', -20, 15).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'xm', -1, 1).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'ym', 0, 1).onChange(updateKinematicPosition).listen()
-        kinematic.add(settings, 'zm', -1.3, 1.3).onChange(updateKinematicPosition).listen()
 
-        const visibility = gui_panel.addFolder('Visualization')
+    robot.rotation.z = smooth(robot.rotation.z, degToRad(-settings.phi + $mpu.heading + 90), 0.1)
-        visibility.add(settings, 'Trace feet')
+    robot.rotation.y = smooth(robot.rotation.y, degToRad(settings.omega), 0.1)
-        visibility.add(settings, 'Trace points', 1, 1000, 1)
+    robot.rotation.x = smooth(robot.rotation.x, degToRad(settings.psi - 90), 0.1)
-        visibility.add(settings, 'Target position')
+  }
-        visibility.add(settings, 'Smooth motion')
+
-        visibility.addColor(settings, 'Background').onChange(setSceneBackground).listen()
+  const update_camera = (robot: URDFRobot) => {
+    if (!settings['Fix camera on robot']) return
+    sceneManager.orbit.target = robot.position.clone()
+  }
+
+  const smooth = (start: number, end: number, amount: number) => {
+    return settings['Smooth motion'] ? lerp(start, end, amount) : end
+  }
+
+  const update_gait = () => {
+    if (sceneManager.isDragging || !settings['Internal kinematic']) return
+    const controlData = get(outControllerData)
+    const data = {
+      stop: controlData[0],
+      lx: controlData[1],
+      ly: controlData[2],
+      rx: controlData[3],
+      ry: controlData[4],
+      h: controlData[5],
+      s: controlData[6],
+      s1: controlData[7]
+    }
+    body_state.ym = ((data.h + 127) * 0.75) / 100
+
+    let planner = planners[get(mode)]
+    const delta = performance.now() - lastTick
+    lastTick = performance.now()
+
+    body_state = planner.step(body_state, data, delta)
+
+    settings.omega = body_state.omega
+    settings.phi = body_state.phi
+    settings.psi = body_state.psi
+    settings.xm = body_state.xm
+    settings.ym = body_state.ym
+    settings.zm = body_state.zm
+  }
+
+  const update_robot_position = (robot: URDFRobot) => {
+    if (!settings['Robot transform controls']) return
+    settings.omega = radToDeg(robot.rotation.y)
+    settings.phi = radToDeg(robot.rotation.z) + $mpu.heading - 90
+    settings.psi = radToDeg(robot.rotation.x) + 90
+    settings.xm = robot.position.z * 100
+    settings.zm = -robot.position.x * 100
+  }
+
+  const updateTargetPosition = () => {
+    target.visible = settings['Target position']
+    target.position.x = smooth(target.position.x, target_position.x, 0.5)
+    target.position.z = smooth(target.position.z, target_position.z, 0.5)
+  }
+
+  const render = () => {
+    const robot = sceneManager.model
+    if (!robot) return
+
+    const toes = toeWorldPositions(robot)
+
+    renderTraceLines(toes)
+    update_camera(robot)
+    update_gait()
+    calculate_kinematics()
+    update_robot_position(robot)
+
+    sceneManager.transformControl.showX = settings['Robot transform controls']
+    sceneManager.transformControl.showY = settings['Robot transform controls']
+    sceneManager.transformControl.showZ = settings['Robot transform controls']
+
+    for (let i = 0; i < $jointNames.length; i++) {
+      currentModelAngles[i] = smooth(
+        (robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI),
+        modelTargetAngles[i],
+        0.1
+      )
+      robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]))
     }
 
-    const updateKinematicPosition = () => {
+    orient_robot(robot, toes)
-        kinematicData.set([
+    updateTargetPosition()
-            settings.omega,
+  }
-            settings.phi,
-            settings.psi,
-            settings.xm,
-            settings.ym,
-            settings.zm
-        ])
-    }
-
-    const setSceneBackground = (c: string | null) => (sceneManager.scene.background = new Color(c!))
-
-    const updateAngles = (name: string, angle: number) => {
-        modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI)
-        Throttler.throttle(
-            () => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))),
-            100
-        )
-    }
-
-    const createScene = async () => {
-        sceneManager
-            .addRenderer({ antialias: true, canvas, alpha: true })
-            .addPerspectiveCamera({ x: -0.5, y: 0.5, z: 1 })
-            .addOrbitControls(2, 20, orbit)
-            .addDirectionalLight({ x: 10, y: 20, z: 10, color: 0xffffff, intensity: 3 })
-            .addAmbientLight({ color: 0xffffff, intensity: 0.5 })
-            .addFogExp2(0xcccccc, 0.015)
-            .addModel($model as URDFRobot)
-            .addTransformControls(sceneManager.model)
-            .fillParent()
-            .addRenderCb(render)
-            .startRenderLoop()
-
-        if (ground) sceneManager.addGroundPlane()
-
-        const geometry = new SphereGeometry(0.1, 32, 16)
-        const material = new MeshBasicMaterial({ color: 0xffff00 })
-        target = new Mesh(geometry, material)
-        sceneManager.scene.add(target)
-
-        if (debug) {
-            sceneManager.addDragControl(angles => {
-                Object.entries(angles).forEach(([name, angle]) => {
-                    updateAngles(name, angle)
-                })
-            })
-        }
-        if (defaultColor) setSceneBackground(settings['Background'] || defaultColor)
-    }
-
-    const calculate_kinematics = () => {
-        if (sceneManager.isDragging || !settings['Internal kinematic']) return
-        const position: body_state_t = {
-            omega: settings.omega,
-            phi: settings.phi,
-            psi: settings.psi,
-            xm: settings.xm,
-            ym: settings.ym,
-            zm: settings.zm,
-            feet: body_state.feet,
-            cumulative_x: body_state.cumulative_x,
-            cumulative_y: body_state.cumulative_y,
-            cumulative_z: body_state.cumulative_z,
-            cumulative_roll: body_state.cumulative_roll,
-            cumulative_pitch: body_state.cumulative_pitch,
-            cumulative_yaw: body_state.cumulative_yaw
-        }
-
-        let new_angles = kinematic.calcIK(position).map((x, i) => radToDeg(x * dir[i]))
-        modelTargetAngles = new_angles
-    }
-
-    const orient_robot = (robot: URDFRobot, toes: Vector3[]) => {
-        if (settings['Robot transform controls'] || !settings['Auto orient robot']) return
-        robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y))
-
-        const cumulativeYaw = body_state.cumulative_yaw
-
-        const cosYaw = Math.cos(cumulativeYaw)
-        const sinYaw = Math.sin(cumulativeYaw)
-        const rotatedXm = settings.xm * cosYaw - settings.zm * sinYaw
-        const rotatedZm = settings.xm * sinYaw + settings.zm * cosYaw
-
-        robot.position.x = smooth(robot.position.x, -rotatedZm - body_state.cumulative_z * 1.2, 0.1)
-        robot.position.z = smooth(robot.position.z, -rotatedXm - body_state.cumulative_x * 1.2, 0.1)
-
-        const pitch = degToRad(settings.psi - 90) + body_state.cumulative_pitch
-        const roll = degToRad(settings.omega) + body_state.cumulative_roll
-
-        robot.rotation.z = smooth(
-            robot.rotation.z,
-            degToRad(-settings.phi + $mpu.heading + 90) + cumulativeYaw,
-            0.1
-        )
-        robot.rotation.y = smooth(robot.rotation.y, roll, 0.1)
-        robot.rotation.x = smooth(robot.rotation.x, pitch, 0.1)
-    }
-
-    const update_camera = (robot: URDFRobot) => {
-        if (!settings['Fix camera on robot']) return
-        sceneManager.orbit.target = robot.position.clone()
-    }
-
-    const smooth = (start: number, end: number, amount: number) => {
-        return settings['Smooth motion'] ? lerp(start, end, amount) : end
-    }
-
-    const update_gait = () => {
-        if (sceneManager.isDragging || !settings['Internal kinematic']) return
-        const controlData = get(outControllerData)
-        const data = {
-            lx: controlData[0],
-            ly: controlData[1],
-            rx: controlData[2],
-            ry: controlData[3],
-            h: controlData[4],
-            s: controlData[5],
-            s1: controlData[6]
-        }
-        body_state.ym = data.h
-
-        let planner = planners[get(mode)]
-        const delta = performance.now() - lastTick
-        lastTick = performance.now()
-
-        body_state = planner.step(body_state, data, delta)
-
-        settings.omega = body_state.omega
-        settings.phi = body_state.phi
-        settings.psi = body_state.psi
-        settings.xm = body_state.xm
-        settings.ym = body_state.ym
-        settings.zm = body_state.zm
-    }
-
-    const update_robot_position = (robot: URDFRobot) => {
-        if (!settings['Robot transform controls']) return
-        settings.omega = radToDeg(robot.rotation.y)
-        settings.phi = radToDeg(robot.rotation.z) + $mpu.heading - 90
-        settings.psi = radToDeg(robot.rotation.x) + 90
-        settings.xm = robot.position.z * 100
-        settings.zm = -robot.position.x * 100
-    }
-
-    const updateTargetPosition = () => {
-        target.visible = settings['Target position']
-        target.position.x = smooth(target.position.x, target_position.x, 0.5)
-        target.position.z = smooth(target.position.z, target_position.z, 0.5)
-    }
-
-    const render = () => {
-        const robot = sceneManager.model
-        if (!robot) return
-
-        const toes = getToeWorldPositions(robot)
-
-        update_camera(robot)
-        update_gait()
-        calculate_kinematics()
-        update_robot_position(robot)
-
-        sceneManager.transformControl.showX = settings['Robot transform controls']
-        sceneManager.transformControl.showY = settings['Robot transform controls']
-        sceneManager.transformControl.showZ = settings['Robot transform controls']
-
-        for (let i = 0; i < $jointNames.length; i++) {
-            currentModelAngles[i] = smooth(
-                (robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI),
-                modelTargetAngles[i],
-                0.1
-            )
-            robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]))
-        }
-
-        orient_robot(robot, toes)
-        updateTargetPosition()
-    }
 </script>
 
 <svelte:window onresize={sceneManager.fillParent} />

app/src/lib/components/icons/index.ts

@@ -35,9 +35,6 @@ export { default as Hamburger } from '~icons/mdi/hamburger-menu'
 export { default as FileIcon } from '~icons/mdi/file'
 export { default as FolderIcon } from '~icons/mdi/folder-outline'
 export { default as FolderOpenOutline } from '~icons/mdi/folder-open-outline'
-export { default as TrashIcon } from '~icons/mdi/trash'
-export { default as RotateCcw } from '~icons/mdi/rotate-left'
-export { default as RotateCw } from '~icons/mdi/rotate-right'
 
 export { default as Down } from '~icons/tabler/chevron-down'
 export { default as Cancel } from '~icons/tabler/x'
@@ -53,14 +50,13 @@ export { default as Power } from '~icons/tabler/power'
 export { default as MAC } from '~icons/tabler/dna-2'
 export { default as Home } from '~icons/tabler/home'
 export { default as SSID } from '~icons/tabler/router'
-export { default as DNS } from '~icons/mdi/dns'
+export { default as DNS } from '~icons/tabler/address-book'
 export { default as Gateway } from '~icons/tabler/torii'
 export { default as Subnet } from '~icons/tabler/grid-dots'
 export { default as Channel } from '~icons/tabler/antenna'
 export { default as Scan } from '~icons/tabler/radar-2'
 export { default as Add } from '~icons/tabler/circle-plus'
-export { default as Edit } from '~icons/mdi/edit'
+export { default as Edit } from '~icons/tabler/pencil'
-export { default as EditOff } from '~icons/mdi/edit-off'
 export { default as Delete } from '~icons/tabler/trash'
 
 export { default as Network } from '~icons/tabler/router'

app/src/lib/components/input/InputPassword.svelte

@@ -1,19 +1,19 @@
 <script lang="ts">
-    import { MdiEyeOffOutline, MdiEyeOutline } from '../icons'
+	import { MdiEyeOffOutline, MdiEyeOutline } from "../icons";
 
     interface Props {
-        show?: boolean
+        show?: boolean;
-        value?: string
+        value?: string;
-        id?: string
+        id?: string;
     }
 
-    let { show = $bindable(false), value = $bindable(''), id = '' }: Props = $props()
+    let { show = $bindable(false), value = $bindable(''), id = '' }: Props = $props();
     
-    let type = $derived(show ? 'text' : 'password')
+	let type = $derived(show ? 'text' : 'password');
 
-    const handleInput = (e: Event) => (value = (e.target as HTMLInputElement).value)
+	const handleInput = (e: any) => value = e.target.value
 
-    const togglePassword = () => (show = !show)
+    const togglePassword = () => show = !show
 </script>
 
 <label class="input input-bordered flex items-center gap-2">

app/src/lib/components/input/VerticalSlider.svelte

@@ -1,35 +1,34 @@
 <script lang="ts">
-    interface Props {
+  interface Props {
-        min?: number
+    min?: number
-        max?: number
+    max?: number
-        step?: number
+    step?: number
-        value?: number
+    value?: any
-        oninput?: (value: number) => void
+    oninput?: any
-    }
+  }
 
-    let {
+  let {
-        min = 0,
+    min = 0,
-        max = 100,
+    max = 100,
-        step = 1,
+    step = 1,
-        value = $bindable((max - min) / 2),
+    value = $bindable((max - min) / 2),
-        ...rest
+    ...rest
-    }: Props = $props()
+  }: Props = $props()
 </script>
 
 <input
-    type="range"
+  type="range"
-    style="writing-mode: vertical-lr; direction: rtl"
+  style="writing-mode: vertical-lr; direction: rtl"
-    class="cursor-pointer"
+  class="cursor-pointer"
-    {min}
+  {min}
-    {max}
+  {max}
-    {step}
+  {step}
-    bind:value
+  bind:value
-    {...rest}
+  {...rest} />
-/>
 
 <style>
-    input[type='range']::-webkit-slider-runnable-track {
+  input[type='range']::-webkit-slider-runnable-track {
-        background: oklch(var(--p) / 1);
+    background: oklch(var(--p) / 1);
-        border-radius: var(--rounded-box, 1rem);
+    border-radius: var(--rounded-box, 1rem);
-    }
+  }
 </style>

app/src/lib/components/input/index.ts

@@ -1,2 +1,2 @@
-export { default as PasswordInput } from './InputPassword.svelte'
+export { default as PasswordInput } from './InputPassword.svelte';
-export { default as VerticalSlider } from './VerticalSlider.svelte'
+export { default as VerticalSlider } from './VerticalSlider.svelte';

app/src/lib/components/layout/Widget.svelte

@@ -1,9 +1,9 @@
 <script lang="ts">
     interface Props {
-        children?: import('svelte').Snippet
+        children?: import('svelte').Snippet;
     }
 
-    let { children }: Props = $props()
+    let { children }: Props = $props();
 </script>
 
 <div class="box-border overflow-hidden flex-1">

app/src/lib/components/layout/WidgetContainer.svelte

@@ -1,41 +1,37 @@
 <script lang="ts">
-    import WidgetContainer from './WidgetContainer.svelte'
+	import WidgetContainer from './WidgetContainer.svelte';
-    import {
+	import { WidgetComponents, type WidgetContainerConfig, isWidgetConfig } from '$lib/stores/application';
-        WidgetComponents,
+	import Widget from './Widget.svelte';
-        type WidgetContainerConfig,
-        isWidgetConfig
-    } from '$lib/stores/application'
-    import Widget from './Widget.svelte'
 
-    interface Props {
+	interface Props {
-        container: WidgetContainerConfig
+		container: WidgetContainerConfig;
-    }
+	}
 
-    let { container }: Props = $props()
+	let { container }: Props = $props();
 </script>
 
 <div class="w-full h-full flex flex-col overflow-hidden">
-    <div
+	<div
-        class="flex w-full h-full"
+		class="flex w-full h-full"
-        class:flex-row={container.layout === 'column'}
+		class:flex-row={container.layout === 'column'}
-        class:flex-col={container.layout === 'row'}
+		class:flex-col={container.layout === 'row'}
-        class:flex-wrap={container.layout === 'wrap'}
+		class:flex-wrap={container.layout === 'wrap'}
-    >
+	>
-        {#each container.widgets as widget, index (widget.id + '-' + index)}
+		{#each container.widgets as widget, index (widget.id + '-' + index)}
-            <Widget>
+			<Widget>
-                {#if isWidgetConfig(widget)}
+				{#if isWidgetConfig(widget)}
-                    {@const SvelteComponent = WidgetComponents[widget.component]}
+					{@const SvelteComponent = WidgetComponents[widget.component]}
-                    <SvelteComponent {...widget.props} />
+					<SvelteComponent {...widget.props} />
-                {:else if widget.widgets}
+				{:else if widget.widgets}
-                    <WidgetContainer container={widget} />
+					<WidgetContainer container={widget} />
-                {/if}
+				{/if}
-            </Widget>
+			</Widget>
-            {#if index !== container.widgets.length - 1}
+			{#if index !== container.widgets.length - 1}
-                <div
+				<div
-                    class="divider bg-base-300 m-0"
+					class="divider bg-base-300 m-0"
-                    class:divider-horizontal={container.layout === 'column'}
+					class:divider-horizontal={container.layout === 'column'}
-                ></div>
+				></div>
-            {/if}
+			{/if}
-        {/each}
+		{/each}
-    </div>
+	</div>
 </div>

app/src/lib/components/menu/GithubButton.svelte

@@ -1,15 +1,15 @@
 <script lang="ts">
-    import { Github } from '../icons'
+	import { Github } from "../icons";
 
-    interface Props {
+	interface Props {
-        github: { url: string; version: string; active?: boolean; href?: string }
+		github: any;
-    }
+	}
 
-    let { github }: Props = $props()
+	let { github }: Props = $props();
 </script>
 
 {#if github.active}
-    <a href={github.href} class="btn btn-ghost" target="_blank" rel="noopener noreferrer">
+	<a href={github.href} class="btn btn-ghost" target="_blank" rel="noopener noreferrer">
         <Github class="h-5 w-5" />
     </a>
 {/if}

app/src/lib/components/menu/LogoButton.svelte

@@ -1,15 +1,14 @@
 <script>
-    import logo from '$lib/assets/logo512.png'
+	import logo from '$lib/assets/logo512.png';
-    import { resolve } from '$app/paths'
 
-    /** @type {{appName: any}} */
+	/** @type {{appName: any}} */
-    let { appName } = $props()
+	let { appName } = $props();
 </script>
 
 <a
-    href={resolve('/')}
+	href="/"
-    class="rounded-box mb-4 flex items-center hover:scale-[1.02] active:scale-[0.98]"
+	class="rounded-box mb-4 flex items-center hover:scale-[1.02] active:scale-[0.98]"
 >
-    <img src={logo} alt="Logo" class="h-12 w-12" />
+	<img src={logo} alt="Logo" class="h-12 w-12" />
-    <h1 class="px-4 text-2xl font-bold">{appName}</h1>
+	<h1 class="px-4 text-2xl font-bold">{appName}</h1>
 </a>

app/src/lib/components/menu/Menu.svelte

@@ -1,200 +1,178 @@
 <script lang="ts">
-    import { page } from '$app/state'
+  import { page } from '$app/state'
-    import { base } from '$app/paths'
+  import { useFeatureFlags } from '$lib/stores/featureFlags'
-    import { useFeatureFlags } from '$lib/stores/featureFlags'
+  import GithubButton from '../menu/GithubButton.svelte'
-    import GithubButton from '../menu/GithubButton.svelte'
+  import LogoButton from '../menu/LogoButton.svelte'
-    import LogoButton from '../menu/LogoButton.svelte'
+  import MenuList from '../menu/MenuList.svelte'
-    import MenuList from '../menu/MenuList.svelte'
+  import {
-    import {
+    Connection,
-        Connection,
+    Settings,
-        Settings,
+    MdiController,
-        MdiController,
+    Devices,
-        Devices,
+    Camera,
-        Camera,
+    Rotate3d,
-        Rotate3d,
+    MotorOutline,
-        MotorOutline,
+    Health,
-        Health,
+    Folder,
-        Folder,
+    Update,
-        Update,
+    WiFi,
-        WiFi,
+    Router,
-        Router,
+    AP,
-        AP,
+    Copyright,
-        Copyright,
+    Metrics
-        Metrics,
+  } from '$lib/components/icons'
-        DNS
+  import appEnv from 'app-env'
-    } from '$lib/components/icons'
-    import { PUBLIC_VITE_USE_HOST_NAME } from '$env/static/public'
 
-    const features = useFeatureFlags()
+  const features = useFeatureFlags()
 
-    const appName = page.data.app_name
+  const appName = page.data.app_name
 
-    const copyright = page.data.copyright
+  const copyright = page.data.copyright
 
-    const github = { href: 'https://github.com/' + page.data.github, active: true }
+  const github = { href: 'https://github.com/' + page.data.github, active: true }
 
-    import type { ComponentType } from 'svelte'
+  type menuItem = {
+    title: string
+    icon: ConstructorOfATypedSvelteComponent
+    href?: string
+    feature: boolean
+    active?: boolean
+    submenu?: menuItem[]
+  }
 
-    type menuItem = {
+  let menuItems = $state<menuItem[]>([])
-        title: string
-        icon: ComponentType
-        href?: string
-        feature: boolean
-        active?: boolean
-        submenu?: menuItem[]
-    }
 
-    function withBase(path: string) {
+  $effect(() => {
-        return `${base}${path.startsWith('/') ? path : '/' + path}`
+    menuItems = [
-    }
+      {
+        title: 'Connection',
+        icon: WiFi,
+        href: '/connection',
+        feature: !appEnv.VITE_USE_HOST_NAME
+      },
+      {
+        title: 'Controller',
+        icon: MdiController,
+        href: '/controller',
+        feature: true
+      },
+      {
+        title: 'Peripherals',
+        icon: Devices,
+        feature: true,
+        submenu: [
+          {
+            title: 'I2C',
+            icon: Connection,
+            href: '/peripherals/i2c',
+            feature: true
+          },
+          {
+            title: 'Camera',
+            icon: Camera,
+            href: '/peripherals/camera',
+            feature: $features.camera
+          },
+          {
+            title: 'Servo',
+            icon: MotorOutline,
+            href: '/peripherals/servo',
+            feature: true
+          },
+          {
+            title: 'IMU',
+            icon: Rotate3d,
+            href: '/peripherals/imu',
+            feature: $features.imu || $features.mag || $features.bmp
+          }
+        ]
+      },
+      {
+        title: 'WiFi',
+        icon: WiFi,
+        feature: true,
+        submenu: [
+          {
+            title: 'WiFi Station',
+            icon: Router,
+            href: '/wifi/sta',
+            feature: true
+          },
+          {
+            title: 'Access Point',
+            icon: AP,
+            href: '/wifi/ap',
+            feature: true
+          }
+        ]
+      },
+      {
+        title: 'System',
+        icon: Settings,
+        feature: true,
+        submenu: [
+          {
+            title: 'System Status',
+            icon: Health,
+            href: '/system/status',
+            feature: true
+          },
+          {
+            title: 'File System',
+            icon: Folder,
+            href: '/system/filesystem',
+            feature: true
+          },
+          {
+            title: 'System Metrics',
+            icon: Metrics,
+            href: '/system/metrics',
+            feature: $features.analytics
+          },
+          {
+            title: 'Firmware Update',
+            icon: Update,
+            href: '/system/update',
+            feature: $features.ota || $features.upload_firmware || $features.download_firmware
+          }
+        ]
+      }
+    ] as menuItem[]
+  })
 
-    let menuItems = $state<menuItem[]>([])
+  const { menuClicked } = $props()
 
-    $effect(() => {
+  function setActiveMenuItem(targetTitle: string) {
-        menuItems = [
+    menuItems.forEach(item => {
-            {
+      item.active = item.title === targetTitle
-                title: 'Connection',
+      item.submenu?.forEach(subItem => {
-                icon: WiFi,
+        subItem.active = subItem.title === targetTitle
-                href: withBase('/connection'),
+      })
-                feature: !PUBLIC_VITE_USE_HOST_NAME
-            },
-            {
-                title: 'Controller',
-                icon: MdiController,
-                href: withBase('/controller'),
-                feature: true
-            },
-            {
-                title: 'Peripherals',
-                icon: Devices,
-                feature: true,
-                submenu: [
-                    {
-                        title: 'I2C',
-                        icon: Connection,
-                        href: withBase('/peripherals/i2c'),
-                        feature: true
-                    },
-                    {
-                        title: 'Camera',
-                        icon: Camera,
-                        href: withBase('/peripherals/camera'),
-                        feature: $features.camera
-                    },
-                    {
-                        title: 'Servo',
-                        icon: MotorOutline,
-                        href: withBase('/peripherals/servo'),
-                        feature: true
-                    },
-                    {
-                        title: 'IMU',
-                        icon: Rotate3d,
-                        href: withBase('/peripherals/imu'),
-                        feature: $features.imu || $features.mag || $features.bmp
-                    }
-                ]
-            },
-            {
-                title: 'WiFi',
-                icon: WiFi,
-                feature: true,
-                submenu: [
-                    {
-                        title: 'WiFi Station',
-                        icon: Router,
-                        href: withBase('/wifi/sta'),
-                        feature: true
-                    },
-                    {
-                        title: 'Access Point',
-                        icon: AP,
-                        href: withBase('/wifi/ap'),
-                        feature: true
-                    },
-                    {
-                        title: 'mDNS',
-                        icon: DNS,
-                        href: withBase('/wifi/mdns'),
-                        feature: true
-                    }
-                ]
-            },
-            {
-                title: 'System',
-                icon: Settings,
-                feature: true,
-                submenu: [
-                    {
-                        title: 'System Status',
-                        icon: Health,
-                        href: withBase('/system/status'),
-                        feature: true
-                    },
-                    {
-                        title: 'File System',
-                        icon: Folder,
-                        href: withBase('/system/filesystem'),
-                        feature: true
-                    },
-                    {
-                        title: 'System Metrics',
-                        icon: Metrics,
-                        href: withBase('/system/metrics'),
-                        feature: true
-                    },
-                    {
-                        title: 'Firmware Update',
-                        icon: Update,
-                        href: withBase('/system/update'),
-                        feature:
-                            $features.ota ||
-                            $features.upload_firmware ||
-                            $features.download_firmware
-                    }
-                ]
-            }
-        ] as menuItem[]
     })
+    menuItems = menuItems
+    menuClicked()
+  }
 
-    const { menuClicked } = $props()
+  $effect(() => {
+    setActiveMenuItem(page.data.title)
+  })
 
-    function setActiveMenuItem(targetTitle: string) {
+  const updateMenu = (event: any) => {
-        menuItems.forEach(item => {
+    setActiveMenuItem(event.details)
-            item.active = item.title === targetTitle
+  }
-            item.submenu?.forEach(subItem => {
-                subItem.active = subItem.title === targetTitle
-            })
-        })
-        menuItems = menuItems
-        menuClicked()
-    }
-
-    $effect(() => {
-        setActiveMenuItem(page.data.title)
-    })
-
-    const updateMenu = (event: CustomEvent) => {
-        setActiveMenuItem(event.details)
-    }
 </script>
 
 <div class="flex h-full w-80 flex-col p-4 bg-base-200 text-base-content">
-    <LogoButton {appName} />
+  <LogoButton {appName} />
 
-    <MenuList
+  <MenuList {menuItems} select={updateMenu} class="grow flex-nowrap overflow-y-auto" level="0" />
-        {menuItems}
-        select={updateMenu}
-        class="grow flex-nowrap overflow-y-auto overflow-x-hidden"
-        level="0"
-    />
 
-    <div class="divider my-0"></div>
+  <div class="divider my-0"></div>
 
-    <div class="flex items-center justify-between">
+  <div class="flex items-center justify-between">
-        <GithubButton {github} />
+    <GithubButton {github} />
-        <div class="flex items-center justify-end text-sm gap-2">
+    <div class="flex items-center justify-end text-sm gap-2">
-            <Copyright class="h-4 w-4" />{copyright}
+      <Copyright class="h-4 w-4" />{copyright}
-        </div>
     </div>
+  </div>
 </div>

app/src/lib/components/menu/MenuList.svelte

@@ -1,56 +1,48 @@
 <script lang="ts">
-    import MenuList from './MenuList.svelte'
+  import MenuList from './MenuList.svelte'
-    import type { ComponentType } from 'svelte'
+  type MenuItem = {
+    title: string
+    icon: ConstructorOfATypedSvelteComponent
+    href?: string
+    feature: boolean
+    active?: boolean
+    submenu?: MenuItem[]
+  }
 
-    type MenuItem = {
+  let { level, menuItems, select, class: klass } = $props()
-        title: string
-        icon: ComponentType
-        href?: string
-        feature: boolean
-        active?: boolean
-        submenu?: MenuItem[]
-    }
 
-    let { level, menuItems, select, class: klass } = $props()
+  const selectMenuItem = (title: string) => {
-
+    select(title)
-    const selectMenuItem = (title: string) => {
+  }
-        select(title)
-    }
 </script>
 
-<ul class={klass + ' menu w-full'}>
+<ul class={klass + ' menu'}>
-    {#each menuItems as MenuItem[] as menuItem (menuItem.title)}
+  {#each menuItems as MenuItem[] as menuItem, i (menuItem.title)}
-        {#if menuItem.feature}
+    {#if menuItem.feature}
-            <li>
+      <li>
-                {#if menuItem.submenu}
+        {#if menuItem.submenu}
-                    <details open={menuItem.submenu.some(subItem => subItem.active)}>
+          <details open={menuItem.submenu.some(subItem => subItem.active)}>
-                        <summary class="font-bold">
+            <summary class="text-lg font-bold">
-                            <menuItem.icon class="h-6 w-6" />
+              <menuItem.icon class="h-6 w-6" />
-                            {menuItem.title}
+              {menuItem.title}
-                        </summary>
+            </summary>
-                        <div class="pl-4">
+            <div class="pl-4">
-                            <MenuList
+              <MenuList menuItems={menuItem.submenu} level={level + 1} {select} class={klass} />
-                                menuItems={menuItem.submenu}
+            </div>
-                                level={level + 1}
+          </details>
-                                {select}
+        {:else}
-                                class={klass}
+          <a
-                            />
+            href={menuItem.href}
-                        </div>
+            class="font-bold"
-                    </details>
+            class:bg-base-100={menuItem.active}
-                {:else}
+            class:text-lg={level === 0}
-                    <a
+            class:text-md={level === 1}
-                        href={menuItem.href}
+            onclick={() => selectMenuItem(menuItem.title)}>
-                        class="font-bold"
+            <menuItem.icon class="h-6 w-6" />
-                        class:bg-base-100={menuItem.active}
+            {menuItem.title}
-                        class:text-lg={level === 0}
+          </a>
-                        class:text-md={level === 1}
-                        onclick={() => selectMenuItem(menuItem.title)}
-                    >
-                        <menuItem.icon class="h-6 w-6" />
-                        {menuItem.title}
-                    </a>
-                {/if}
-            </li>
         {/if}
-    {/each}
+      </li>
+    {/if}
+  {/each}
 </ul>

app/src/lib/components/statusbar/FullscreenButton.svelte

@@ -1,8 +1,8 @@
 <script lang="ts">
-    import { isFullscreen, toggleFullscreen } from '$lib/stores'
+    import { isFullscreen, toggleFullscreen } from '$lib/stores';
-    import { MdiFullscreenExit, MdiFullscreen } from '../icons'
+	import { MdiFullscreenExit, MdiFullscreen } from '../icons';
 
-    const SvelteComponent = $derived($isFullscreen ? MdiFullscreenExit : MdiFullscreen)
+    const SvelteComponent = $derived($isFullscreen ? MdiFullscreenExit : MdiFullscreen);
 </script>
 
 <button onclick={toggleFullscreen}>

app/src/lib/components/statusbar/RSSIIndicator.svelte

@@ -1,33 +1,33 @@
 <script lang="ts">
-    import { WiFi, WiFi0, WiFi1, WiFi2, WifiOff } from '../icons'
+	import { WiFi, WiFi0, WiFi1, WiFi2, WifiOff } from "../icons";
 
-    interface Props {
+	interface Props {
-        showDBm?: boolean
+		showDBm?: boolean;
-        rssi?: number
+		rssi?: number;
-    }
+	}
 
-    let { showDBm = false, rssi = 0 }: Props = $props()
+	let { showDBm = false, rssi = 0 }: Props = $props();
 
-    const getWiFiIcon = () => {
+	const getWiFiIcon = () => {
-        if (rssi === 0) return WifiOff
+		if (rssi === 0) return WifiOff;
-        if (rssi >= -55) return WiFi
+		if (rssi >= -55) return WiFi;
-        if (rssi >= -75) return WiFi2
+		if (rssi >= -75) return WiFi2;
-        if (rssi >= -85) return WiFi1
+		if (rssi >= -85) return WiFi1;
-        return WiFi0
+		return WiFi0;
-    }
+	};
 
-    const SvelteComponent = $derived(getWiFiIcon())
+	const SvelteComponent = $derived(getWiFiIcon());
 </script>
 
 <div class="indicator">
-    <div class="tooltip tooltip-left" data-tip={rssi + ' dBm'}>
+	<div class="tooltip tooltip-left" data-tip={rssi + " dBm"}>
-        {#if showDBm}
+		{#if showDBm}
-            <span class="indicator-item indicator-start badge badge-accent badge-outline badge-xs">
+			<span class="indicator-item indicator-start badge badge-accent badge-outline badge-xs">
-                {rssi} dBm
+				{rssi} dBm
-            </span>
+			</span>
-        {/if}
+		{/if}
-        <div class="h-7 w-7">
+		<div class="h-7 w-7">
-            <SvelteComponent class="absolute inset-0 h-full w-full" />
+			<SvelteComponent class="absolute inset-0 h-full w-full" />
-        </div>
+		</div>
-    </div>
+	</div>
 </div>

app/src/lib/components/statusbar/SleepButton.svelte

@@ -1,13 +1,13 @@
 <script lang="ts">
-    import { useFeatureFlags } from '$lib/stores'
+    import { useFeatureFlags } from '$lib/stores';
-    import { modals } from 'svelte-modals'
+    import { modals } from 'svelte-modals';
-    import ConfirmDialog from '$lib/components/ConfirmDialog.svelte'
+    import ConfirmDialog from '$lib/components/ConfirmDialog.svelte';
-    import { api } from '$lib/api'
+    import { api } from '$lib/api';
-    import { Cancel, Power } from '../icons'
+    import { Cancel, Power } from '../icons';
 
-    const features = useFeatureFlags()
+    const features = useFeatureFlags();
 
-    const postSleep = async () => await api.post('/api/system/sleep')
+    const postSleep = async () => await api.post('/api/system/sleep');
 
     const confirmSleep = () => {
         modals.open(ConfirmDialog, {
@@ -18,11 +18,11 @@
                 confirm: { label: 'Switch Off', icon: Power }
             },
             onConfirm: () => {
-                modals.close()
+                modals.close();
-                postSleep()
+                postSleep();
             }
-        })
+        });
-    }
+    };
 </script>
 
 {#if $features.sleep}

app/src/lib/components/statusbar/StopButton.svelte

@@ -1,9 +1,10 @@
 <script lang="ts">
-    import { mode, modes } from '$lib/stores'
+	import { mode, modes } from "$lib/stores";
 
     const deactivate = async () => {
-        mode.set(modes.indexOf('deactivated'))
+		mode.set(modes.indexOf('deactivated'));
-    }
+	};
 </script>
 
+
 <button onclick={deactivate} class="bg-error text-white btn rounded-none">STOP</button>

app/src/lib/components/statusbar/ThemeButton.svelte

@@ -1,5 +1,5 @@
 <script lang="ts">
-    import { MdiWeatherSunny, MdiMoonAndStars } from '../icons'
+	import { MdiWeatherSunny, MdiMoonAndStars } from "../icons";
 </script>
 
 <label class="swap swap-rotate">

app/src/lib/components/statusbar/TopBar.svelte

@@ -1,18 +1,17 @@
 <script lang="ts">
-    import { Hamburger } from '../icons'
+    import {Hamburger} from '../icons'
-    import { resolve } from '$app/paths'
 </script>
 
 <div class="topbar absolute left-0 top-0 w-full z-20 flex justify-between bg-zinc-800">
-    <div class="flex gap-2 p-2">
+	<div class="flex gap-2 p-2">
-        <a href={resolve('/')}>
+        <a href="/">
-            <Hamburger class="h-8 w-8" />
+            <Hamburger class="h-8 w-8"/>
         </a>
     </div>
 </div>
 
 <style>
-    .topbar {
+	.topbar {
-        height: 50px;
+		height: 50px;
-    }
+	}
 </style>

app/src/lib/components/statusbar/UpdateIndicator.svelte

@@ -1,80 +1,80 @@
 <script lang="ts">
-    import { page } from '$app/state'
+    import { page } from '$app/state';
-    import { modals } from 'svelte-modals'
+    import { modals } from 'svelte-modals';
-    import { notifications } from '$lib/components/toasts/notifications'
+    import { notifications } from '$lib/components/toasts/notifications';
-    import ConfirmDialog from '$lib/components/ConfirmDialog.svelte'
+    import ConfirmDialog from '$lib/components/ConfirmDialog.svelte';
-    import GithubUpdateDialog from '$lib/components/GithubUpdateDialog.svelte'
+    import GithubUpdateDialog from '$lib/components/GithubUpdateDialog.svelte';
-    import { compareVersions } from 'compare-versions'
+    import { compareVersions } from 'compare-versions';
-    import { onMount } from 'svelte'
+    import { onMount } from 'svelte';
-    import { api } from '$lib/api'
+    import { api } from '$lib/api';
-    import type { GithubRelease } from '$lib/types/models'
+    import type { GithubRelease } from '$lib/types/models';
-    import { useFeatureFlags } from '$lib/stores/featureFlags'
+    import { useFeatureFlags } from '$lib/stores/featureFlags';
-    import { Cancel, CloudDown, Firmware } from '../icons'
+    import { Cancel, CloudDown, Firmware } from '../icons';
 
-    const features = useFeatureFlags()
+    const features = useFeatureFlags();
 
     interface Props {
-        update?: boolean
+        update?: boolean;
     }
 
-    let { update = $bindable(false) }: Props = $props()
+    let { update = $bindable(false) }: Props = $props();
 
-    let firmwareVersion: string = $state('')
+    let firmwareVersion: string = $state('');
-    let firmwareDownloadLink: string = $state('')
+    let firmwareDownloadLink: string = $state('');
 
     async function getGithubAPI() {
         const headers = {
             accept: 'application/vnd.github+json',
             'X-GitHub-Api-Version': '2022-11-28'
-        }
+        };
         const result = await api.get<GithubRelease>(
             `https://api.github.com/repos/${page.data.github}/releases/latest`,
             { headers }
-        )
+        );
         if (result.inner.message === '404' || result.inner.message == 'Not Found') {
-            console.warn('Error: Could not find releases in the repository')
+            console.warn('Error: Could not find releases in the repository');
-            return
+            return;
         }
         if (result.isErr()) {
-            console.error('Error:', result.inner)
+            console.error('Error:', result.inner);
-            return
+            return;
         }
 
-        const results = result.inner
+        const results = result.inner;
-        update = false
+        update = false;
-        firmwareVersion = ''
+        firmwareVersion = '';
 
-        if (compareVersions(results.tag_name, $features.firmware_version as string) === 1) {
+        if (compareVersions(results.tag_name, $features.firmware_version) === 1) {
             // iterate over assets and find the correct one
             for (let i = 0; i < results.assets.length; i++) {
                 // check if the asset is of type *.bin
                 if (
                     results.assets[i].name.includes('.bin') &&
-                    results.assets[i].name.includes($features.firmware_built_target as string)
+                    results.assets[i].name.includes($features.firmware_built_target)
                 ) {
-                    update = true
+                    update = true;
-                    firmwareVersion = results.tag_name
+                    firmwareVersion = results.tag_name;
-                    firmwareDownloadLink = results.assets[i].browser_download_url
+                    firmwareDownloadLink = results.assets[i].browser_download_url;
-                    notifications.info('Firmware update available.', 5000)
+                    notifications.info('Firmware update available.', 5000);
                 }
             }
         }
     }
 
     async function postGithubDownload(url: string) {
-        const result = await api.post('/api/downloadUpdate', { download_url: url })
+        const result = await api.post('/api/downloadUpdate', { download_url: url });
         if (result.isErr()) {
-            console.error('Error:', result.inner)
+            console.error('Error:', result.inner);
-            return
+            return;
         }
     }
 
     onMount(async () => {
         if ($features.download_firmware) {
-            await getGithubAPI()
+            await getGithubAPI();
-            setInterval(async () => await getGithubAPI(), 60 * 60 * 1000) // once per hour
+            setInterval(async () => await getGithubAPI(), 60 * 60 * 1000); // once per hour
         }
-    })
+    });
 
     function confirmGithubUpdate(url: string) {
         modals.open(ConfirmDialog, {
@@ -85,12 +85,12 @@
                 confirm: { label: 'Update', icon: CloudDown }
             },
             onConfirm: () => {
-                postGithubDownload(url)
+                postGithubDownload(url);
                 modals.open(GithubUpdateDialog, {
                     onConfirm: () => modals.closeAll()
-                })
+                });
             }
-        })
+        });
     }
 </script>
 

app/src/lib/components/statusbar/ViewSelector.svelte

@@ -1,6 +1,6 @@
 <script lang="ts">
-    import { selectedView, views } from '$lib/stores/application'
+	import { selectedView, views } from "$lib/stores/application";
-    import Selector from '../widget/Selector.svelte'
+	import Selector from "../widget/Selector.svelte";
 </script>
 
-<Selector bind:selectedOption={$selectedView} options={$views.map(v => v.name)} />
+<Selector bind:selectedOption={$selectedView} options={$views.map((v) => v.name)} />

app/src/lib/components/statusbar/statusbar.svelte

@@ -1,38 +1,38 @@
 <script lang="ts">
-    import { page } from '$app/state'
+  import { page } from '$app/state'
-    import { telemetry } from '$lib/stores/telemetry'
+  import { telemetry } from '$lib/stores/telemetry'
 
-    import RssiIndicator from '$lib/components/statusbar/RSSIIndicator.svelte'
+  import RssiIndicator from '$lib/components/statusbar/RSSIIndicator.svelte'
-    import UpdateIndicator from '$lib/components/statusbar/UpdateIndicator.svelte'
+  import UpdateIndicator from '$lib/components/statusbar/UpdateIndicator.svelte'
-    import SleepButton from './SleepButton.svelte'
+  import SleepButton from './SleepButton.svelte'
-    import ThemeButton from './ThemeButton.svelte'
+  import ThemeButton from './ThemeButton.svelte'
-    import FullscreenButton from './FullscreenButton.svelte'
+  import FullscreenButton from './FullscreenButton.svelte'
-    import StopButton from './StopButton.svelte'
+  import StopButton from './StopButton.svelte'
-    import ViewSelector from './ViewSelector.svelte'
+  import ViewSelector from './ViewSelector.svelte'
-    import { Hamburger } from '../icons'
+  import { Hamburger } from '../icons'
 </script>
 
 <div class="navbar bg-base-300 sticky top-0 z-10 h-12 min-h-fit drop-shadow-lg lg:h-16 gap-2 pr-0">
-    <div class="flex flex-1 gap-2">
+  <div class="flex flex-1 gap-2">
-        <label for="main-menu" class="btn btn-ghost btn-circle btn-sm drawer-button">
+    <label for="main-menu" class="btn btn-ghost btn-circle btn-sm drawer-button">
-            <Hamburger class="h-6 w-auto" />
+      <Hamburger class="h-6 w-auto" />
-        </label>
+    </label>
-        {#if page.data.title === 'Controller'}
+    {#if page.data.title === 'Controller'}
-            <ViewSelector />
+      <ViewSelector />
-        {:else}
+    {:else}
-            <h1 class="px-2 text-xl font-bold lg:text-2xl">{page.data.title}</h1>
+      <h1 class="px-2 text-xl font-bold lg:text-2xl">{page.data.title}</h1>
-        {/if}
+    {/if}
-    </div>
+  </div>
 
-    <UpdateIndicator />
+  <UpdateIndicator />
 
-    <FullscreenButton />
+  <FullscreenButton />
 
-    <ThemeButton />
+  <ThemeButton />
 
-    <RssiIndicator rssi={$telemetry.rssi.rssi} />
+  <RssiIndicator rssi={$telemetry.rssi.rssi} />
 
-    <SleepButton />
+  <SleepButton />
 
-    <StopButton />
+  <StopButton />
 </div>

app/src/lib/components/toasts/Toast.svelte

@@ -1,37 +1,35 @@
 <script>
-    import { flip } from 'svelte/animate'
+	import { flip } from 'svelte/animate';
-    import { fly } from 'svelte/transition'
+	import { fly } from 'svelte/transition';
-    import { notifications } from '$lib/components/toasts/notifications'
+	import { notifications } from '$lib/components/toasts/notifications';
-    import { error, info, success, warning } from '../icons'
+	import { error, info, success, warning } from '../icons';
 
-    /** @type {{theme?: any, icon?: any}} */
+
-    let {
+	/** @type {{theme?: any, icon?: any}} */
-        theme = {
+	let { theme = {
-            error: 'alert-error',
+		error: 'alert-error',
-            success: 'alert-success',
+		success: 'alert-success',
-            warning: 'alert-warning',
+		warning: 'alert-warning',
-            info: 'alert-info'
+		info: 'alert-info'
-        },
+	}, icon = {
-        icon = {
+		error: error,
-            error: error,
+		success: success,
-            success: success,
+		warning: warning,
-            warning: warning,
+		info: info
-            info: info
+	} } = $props();
-        }
-    } = $props()
 </script>
 
 <div class="toast toast-end mr-4 z-20">
-    {#each $notifications as notification (notification.id)}
+	{#each $notifications as notification (notification.id)}
-        {@const SvelteComponent = icon[notification.type]}
+		{@const SvelteComponent = icon[notification.type]}
-        <div
+		<div
-            animate:flip={{ duration: 400 }}
+			animate:flip={{ duration: 400 }}
-            class="alert animate-none {theme[notification.type]}"
+			class="alert animate-none {theme[notification.type]}"
-            in:fly={{ y: 100, duration: 400 }}
+			in:fly={{ y: 100, duration: 400 }}
-            out:fly={{ x: 100, duration: 400 }}
+			out:fly={{ x: 100, duration: 400 }}
-        >
+		>
-            <SvelteComponent class="h-6 w-6 shrink-0" />
+			<SvelteComponent class="h-6 w-6 shrink-0" />
-            <span>{notification.message}</span>
+			<span>{notification.message}</span>
-        </div>
+		</div>
-    {/each}
+	{/each}
 </div>

app/src/lib/components/toasts/notifications.ts

@@ -1,42 +1,42 @@
-import { writable } from 'svelte/store'
+import { writable, derived, type Writable } from 'svelte/store';
 
-type StateType = 'info' | 'success' | 'warning' | 'error'
+type StateType = 'info' | 'success' | 'warning' | 'error';
 
 type State = {
-    id: string
+	id: string;
-    type: StateType
+	type: StateType;
-    message: string
+	message: string;
-}
+};
 
 function createNotificationStore() {
-    const state: State[] = []
+	const state: State[] = [];
-    const notifications = writable(state)
+	const notifications = writable(state);
-    const { subscribe } = notifications
+	const { subscribe } = notifications;
 
-    function send(message: string, type: StateType = 'info', timeout: number) {
+	function send(message: string, type: StateType = 'info', timeout: number) {
-        const id = generateId()
+		const id = generateId();
-        setTimeout(() => {
+		setTimeout(() => {
-            notifications.update(state => {
+			notifications.update((state) => {
-                return state.filter(n => n.id !== id)
+				return state.filter((n) => n.id !== id);
-            })
+			});
-        }, timeout)
+		}, timeout);
-        notifications.update(state => {
+		notifications.update((state) => {
-            return [...state, { id, type, message }]
+			return [...state, { id, type, message }];
-        })
+		});
-    }
+	}
 
-    return {
+	return {
-        subscribe,
+		subscribe,
-        send,
+		send,
-        error: (msg: string, timeout: number = 4000) => send(msg, 'error', timeout),
+		error: (msg: string, timeout: number) => send(msg, 'error', timeout),
-        warning: (msg: string, timeout: number = 4000) => send(msg, 'warning', timeout),
+		warning: (msg: string, timeout: number) => send(msg, 'warning', timeout),
-        info: (msg: string, timeout: number = 4000) => send(msg, 'info', timeout),
+		info: (msg: string, timeout: number) => send(msg, 'info', timeout),
-        success: (msg: string, timeout: number = 4000) => send(msg, 'success', timeout)
+		success: (msg: string, timeout: number) => send(msg, 'success', timeout)
-    }
+	};
 }
 
 function generateId() {
-    return '_' + Math.random().toString(36).substr(2, 9)
+	return '_' + Math.random().toString(36).substr(2, 9);
 }
 
-export const notifications = createNotificationStore()
+export const notifications = createNotificationStore();

app/src/lib/components/widget/ChartWidget.svelte

@@ -1,97 +1,98 @@
 <script lang="ts">
-    import { daisyColor } from '$lib/utilities'
+	import { daisyColor } from "$lib/utilities";
-    import { Chart, registerables } from 'chart.js'
+	import { Chart, registerables } from "chart.js";
-    import { onMount } from 'svelte'
+	import { onMount } from "svelte";
-    import { cubicOut } from 'svelte/easing'
+	import { cubicOut } from "svelte/easing";
-    import { slide } from 'svelte/transition'
+	import { slide } from "svelte/transition";
 
-    let chartElement: HTMLCanvasElement
+    let chartElement: HTMLCanvasElement = $state();
-    let chart: Chart<'line', number[], number>
+	let chart: Chart;
 
-    interface Props {
+	interface Props {
-        label: string
+		label: any;
-        data: number[]
+		data: number[];
-        title: string
+		title: any;
-    }
+	}
 
-    let { label, data, title }: Props = $props()
+	let { label, data, title }: Props = $props();
 
-    Chart.register(...registerables)
+    Chart.register(...registerables);
 
     onMount(() => {
         chart = new Chart(chartElement, {
-            type: 'line',
+			type: 'line',
-            data: {
+			data: {
-                labels: data,
+				labels: data,
-                datasets: [
+				datasets: [
-                    {
+					{
-                        label,
+						label,
-                        borderColor: daisyColor('--p'),
+						borderColor: daisyColor('--p'),
-                        backgroundColor: daisyColor('--p', 50),
+						backgroundColor: daisyColor('--p', 50),
-                        borderWidth: 2,
+						borderWidth: 2,
                         data,
-                        yAxisID: 'y'
+						yAxisID: 'y'
-                    }
+					},
-                ]
+				]
-            },
+			},
-            options: {
+			options: {
-                maintainAspectRatio: false,
+				maintainAspectRatio: false,
-                responsive: true,
+				responsive: true,
-                plugins: {
+				plugins: {
-                    legend: {
+					legend: {
-                        display: true
+						display: true
-                    },
+					},
-                    tooltip: {
+					tooltip: {
-                        mode: 'index',
+						mode: 'index',
-                        intersect: false
+						intersect: false
-                    }
+					}
-                },
+				},
-                elements: {
+				elements: {
-                    point: {
+					point: {
-                        radius: 0
+						radius: 0
-                    }
+					}
-                },
+				},
-                scales: {
+				scales: {
-                    x: {
+					x: {
-                        grid: {
+						grid: {
-                            color: daisyColor('--bc', 10)
+							color: daisyColor('--bc', 10)
-                        },
+						},
-                        ticks: {
+						ticks: {
-                            color: daisyColor('--bc')
+							color: daisyColor('--bc')
-                        },
+						},
-                        display: false
+						display: false
-                    },
+					},
-                    y: {
+					y: {
-                        type: 'linear',
+						type: 'linear',
-                        title: {
+						title: {
-                            display: true,
+							display: true,
-                            text: title,
+							text: title,
-                            color: daisyColor('--bc'),
+							color: daisyColor('--bc'),
-                            font: {
+							font: {
-                                size: 16,
+								size: 16,
-                                weight: 'bold'
+								weight: 'bold'
-                            }
+							}
-                        },
+						},
-                        position: 'left',
+						position: 'left',
-                        min: 0,
+						min: 0,
-                        max: 100,
+						max: 100,
-                        grid: { color: daisyColor('--bc', 10) },
+						grid: { color: daisyColor('--bc', 10) },
-                        ticks: {
+						ticks: {
-                            color: daisyColor('--bc')
+							color: daisyColor('--bc')
-                        },
+						},
-                        border: { color: daisyColor('--bc', 10) }
+						border: { color: daisyColor('--bc', 10) }
-                    }
+					}
-                }
+				}
-            }
+			}
-        })
+		});
 
         setInterval(() => {
             chart.data.labels = data
             chart.data.datasets[0].data = data
-        }, 500)
+        }, 500);
     })
 </script>
 
+
 <div class="w-full h-full overflow-x-auto">
     <div
         class="flex w-full flex-col space-y-1 h-60"

app/src/lib/components/widget/Selector.svelte

@@ -1,12 +1,12 @@
 <script lang="ts">
     interface Props {
-        options?: string[]
+        options?: string[];
-        selectedOption?: string
+        selectedOption?: string;
-        change?: () => void
+        change: () => void;
-        [key: string]: unknown
+        [key: string]: any;
     }
 
-    let { options = [], selectedOption = $bindable(''), ...rest }: Props = $props()
+    let { options = [], selectedOption = $bindable(''), ...rest }: Props = $props();
 </script>
 
 <select

app/src/lib/gait.ts

@@ -1,31 +1,33 @@
-import { get } from 'svelte/store'
+import type { body_state_t } from './kinematic';
-import type { body_state_t } from './kinematic'
+import { fromInt8 } from './utilities';
-import { currentKinematic } from './stores/featureFlags'
+
+const { sin } = Math;
 
 export interface gait_state_t {
-    step_height: number
+    step_height: number;
-    step_x: number
+    step_x: number;
-    step_z: number
+    step_z: number;
-    step_angle: number
+    step_angle: number;
-    step_velocity: number
+    step_velocity: number;
-    step_depth: number
+    step_depth: number;
 }
 
 export interface ControllerCommand {
-    lx: number
+    stop: number;
-    ly: number
+    lx: number;
-    rx: number
+    ly: number;
-    ry: number
+    rx: number;
-    h: number
+    ry: number;
-    s: number
+    h: number;
-    s1: number
+    s: number;
+    s1: number;
 }
 
 export abstract class GaitState {
-    protected abstract name: string
+    protected abstract name: string;
 
-    protected dt = 0.02
+    protected dt = 0.02;
-    protected body_state!: body_state_t
+    protected body_state!: body_state_t;
     protected gait_state: gait_state_t = {
         step_height: 0.4,
         step_x: 0,
@@ -33,300 +35,298 @@ export abstract class GaitState {
         step_angle: 0,
         step_velocity: 1,
         step_depth: 0.002
-    }
+    };
 
     public get default_feet_pos() {
-        return get(currentKinematic).getDefaultFeetPos()
+        return [
+            [1, -1, 1, 1],
+            [1, -1, -1, 1],
+            [-1, -1, 1, 1],
+            [-1, -1, -1, 1]
+        ];
     }
 
     protected get default_height() {
-        return 0.5
+        return 0.5;
     }
 
     begin() {
-        console.log('Starting', this.name)
+        console.log('Starting', this.name);
     }
     end() {
-        console.log('Ending', this.name)
+        console.log('Ending', this.name);
     }
     step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-        this.map_command(command)
+        this.map_command(command);
-        this.body_state = body_state
+        this.body_state = body_state;
-        this.dt = dt / 1000
+        this.dt = dt / 1000;
-
+        return body_state;
-        if (body_state.cumulative_x === undefined) {
-            body_state.cumulative_x = 0
-            body_state.cumulative_y = 0
-            body_state.cumulative_z = 0
-            body_state.cumulative_roll = 0
-            body_state.cumulative_pitch = 0
-            body_state.cumulative_yaw = 0
-        }
-
-        return body_state
     }
 
     map_command(command: ControllerCommand) {
         const newCommand = {
-            step_height: 0.4 + (command.s1 + 1) / 2,
+            step_height: 0.4 + (command.s1 / 128 + 1) / 2,
-            step_x: command.ly,
+            step_x: Math.floor(fromInt8(command.ly, -1, 1) * 10) / 10,
-            step_z: -command.lx,
+            step_z: -(Math.floor(fromInt8(command.lx, -1, 1) * 10) / 10),
-            step_velocity: command.s,
+            step_velocity: command.s / 128 + 1,
-            step_angle: command.rx,
+            step_angle: command.rx / 128,
             step_depth: 0.002
-        }
+        };
 
-        this.gait_state = newCommand
+        this.gait_state = newCommand;
     }
 }
 
 export class IdleState extends GaitState {
-    protected name = 'Idle'
+    protected name = 'Idle';
-
-    step(body_state: body_state_t, command: ControllerCommand) {
-        super.step(body_state, command)
-        return body_state
-    }
 }
 
 export class CalibrationState extends GaitState {
-    protected name = 'Calibration'
+    protected name = 'Calibration';
 
-    // eslint-disable-next-line @typescript-eslint/no-unused-vars
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-    step(body_state: body_state_t, _command: ControllerCommand) {
+        body_state.omega = 0;
-        super.step(body_state, _command)
+        body_state.phi = 0;
-        body_state.omega = 0
+        body_state.psi = 0;
-        body_state.phi = 0
+        body_state.xm = 0;
-        body_state.psi = 0
+        body_state.ym = this.default_height * 10;
-        body_state.xm = 0
+        body_state.zm = 0;
-        body_state.ym = this.default_height * 10
+        body_state.feet = this.default_feet_pos;
-        body_state.zm = 0
+        return body_state;
-        body_state.feet = this.default_feet_pos
-        return body_state
     }
 }
 
 export class RestState extends GaitState {
-    protected name = 'Rest'
+    protected name = 'Rest';
 
-    // eslint-disable-next-line @typescript-eslint/no-unused-vars
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-    step(body_state: body_state_t, _command: ControllerCommand) {
+        body_state.omega = 0;
-        super.step(body_state, _command)
+        body_state.phi = 0;
-        body_state.omega = 0
+        body_state.psi = 0;
-        body_state.phi = 0
+        body_state.xm = 0;
-        body_state.psi = 0
+        body_state.ym = this.default_height / 2;
-        body_state.xm = 0
+        body_state.zm = 0;
-        body_state.ym = this.default_height / 2
+        body_state.feet = this.default_feet_pos;
-        body_state.zm = 0
+        return body_state;
-        body_state.feet = this.default_feet_pos
-        return body_state
     }
 }
 
 export class StandState extends GaitState {
-    protected name = 'Stand'
+    protected name = 'Stand';
 
-    step(body_state: body_state_t, command: ControllerCommand) {
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-        super.step(body_state, command)
+        body_state.omega = 0;
-        body_state.omega = 0
+        body_state.phi = command.rx / 8;
-        body_state.phi = command.rx * 10 * (Math.PI / 2)
+        body_state.psi = command.ry / 8;
-        body_state.psi = command.ry * 10 * (Math.PI / 2)
+        body_state.xm = command.ly / 2 / 100;
-        body_state.xm = command.ly / 4
+        body_state.zm = command.lx / 2 / 100;
-        body_state.zm = command.lx / 4
+        body_state.feet = this.default_feet_pos;
-        body_state.feet = this.default_feet_pos
+        return body_state;
-        return body_state
     }
 }
 
-export class BezierState extends GaitState {
+abstract class PhaseGaitState extends GaitState {
-    protected name = 'Bezier'
+    protected tick = 0;
-    protected phase = 0
+    protected phase = 0;
-    protected phase_num = 0
+    protected phase_time = 0;
-    protected step_length = 0
+    protected abstract num_phases: number;
-    protected stand_offset = 0.75
+    protected abstract phase_speed_factor: number;
-    protected mode: 'crawl' | 'trot' = 'trot'
+    protected abstract swing_stand_ratio: number;
-    protected speed_factor = 1
-    offset = [0, 0.5, 0.75, 0.25]
 
-    protected shift_start_pos = { x: 0, z: 0 }
+    protected contact_phases!: number[][];
-    protected shift_target_pos = { x: 0, z: 0 }
+    protected shifts!: number[][];
-    protected shift_start_time = 0
-    protected current_shift_leg = -1
-
-    protected last_body_state: body_state_t | null = null
-    protected cumulative_position = { x: 0, y: 0, z: 0 }
-    protected cumulative_orientation = { roll: 0, pitch: 0, yaw: 0 }
-
-    constructor() {
-        super()
-        this.set_mode(this.mode)
-    }
-
-    begin() {
-        super.begin()
-    }
-
-    set_mode(mode: 'crawl' | 'trot', duty?: number, order?: [number, number, number, number]) {
-        console.log('BezierState set_mode', mode)
-
-        this.mode = mode
-        if (mode === 'crawl') {
-            this.speed_factor = 0.5
-            this.stand_offset = duty ?? 0.85
-            const o = order ?? [3, 0, 2, 1]
-            const base = [0, 0.25, 0.5, 0.75]
-            const offsets = new Array(4).fill(0)
-            for (let i = 0; i < 4; i++) offsets[o[i]] = base[i]
-            this.offset = offsets
-        } else {
-            this.speed_factor = 2
-            this.stand_offset = duty ?? 0.6
-            this.offset = order ? (order.map(v => v % 1) as number[]) : [0, 0.5, 0.5, 0]
-        }
-    }
-
-    end() {
-        super.end()
-    }
 
     step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-        super.step(body_state, command, dt)
+        super.step(body_state, command, dt);
-        this.step_length = Math.sqrt(this.gait_state.step_x ** 2 + this.gait_state.step_z ** 2)
+        this.update_phase();
-        if (this.gait_state.step_x < 0) this.step_length = -this.step_length
+        this.update_body_position();
-        this.update_phase()
+        this.update_feet_positions();
-        this.update_body_position()
+        return this.body_state;
-        this.update_feet_positions()
-        this.update_cumulative_position()
-        return this.body_state
     }
 
     update_phase() {
-        const m = this.gait_state
+        this.phase_time += this.dt * this.phase_speed_factor * this.gait_state.step_velocity;
-        if (m.step_x === 0 && m.step_z === 0 && m.step_angle === 0) {
+
-            this.phase = 0
+        if (this.phase_time >= 1) {
-            return
+            this.phase += 1;
-        }
+            if (this.phase == this.num_phases) this.phase = 0;
-        this.phase += this.dt * m.step_velocity * this.speed_factor
+            this.phase_time = 0;
-        if (this.phase >= 1) {
-            this.phase_num = (this.phase_num + 1) % 2
-            this.phase = 0
         }
     }
 
     update_body_position() {
-        const m = this.gait_state
+        if (this.num_phases === 4) return;
-        const moving = m.step_x !== 0 || m.step_z !== 0 || m.step_angle !== 0
-        if (!moving) return
 
-        if (this.mode !== 'crawl') return
+        const shift = this.shifts[Math.floor(this.phase / 2)];
 
-        const { stance, swing, next_swing, time_to_lift } = this.get_leg_states()
+        this.body_state.xm += (shift[0] - this.body_state.xm) * this.dt * 4;
-
+        this.body_state.zm += (shift[2] - this.body_state.zm) * this.dt * 4;
-        if (stance.length >= 3 && swing.length === 0 && next_swing !== -1) {
-            if (this.current_shift_leg !== next_swing) {
-                this.current_shift_leg = next_swing
-                this.shift_start_pos.x = this.body_state.xm
-                this.shift_start_pos.z = this.body_state.zm
-
-                const remaining_legs = stance.filter(leg => leg !== next_swing)
-                const target = this.stance_centroid(remaining_legs)
-                this.shift_target_pos.x = target[0]
-                this.shift_target_pos.z = target[2]
-
-                this.shift_start_time = time_to_lift
-            }
-
-            const total_time = this.shift_start_time
-            const progress = total_time > 0 ? 1 - time_to_lift / total_time : 1
-            const smooth_progress = this.smoothstep01(Math.max(0, Math.min(1, progress)))
-
-            this.body_state.xm = this.lerp(
-                this.shift_start_pos.x,
-                this.shift_target_pos.x,
-                smooth_progress
-            )
-            this.body_state.zm = this.lerp(
-                this.shift_start_pos.z,
-                this.shift_target_pos.z,
-                smooth_progress
-            )
-        }
-    }
-
-    protected lerp(a: number, b: number, t: number): number {
-        return a + (b - a) * t
-    }
-
-    protected stance_centroid(legs: number[]): number[] {
-        if (legs.length === 0) return [this.body_state.xm, 0, this.body_state.zm]
-
-        let sx = 0,
-            sz = 0
-        for (const i of legs) {
-            sx += this.body_state.feet[i][0]
-            sz += this.body_state.feet[i][2]
-        }
-        return [sx / legs.length, 0, sz / legs.length]
-    }
-
-    protected get_leg_states(): {
-        stance: number[]
-        swing: number[]
-        next_swing: number
-        time_to_lift: number
-    } {
-        const stance: number[] = []
-        const swing: number[] = []
-        let next_swing = -1
-        let min_time_to_swing = Infinity
-
-        for (let i = 0; i < 4; i++) {
-            let phase = this.phase + this.offset[i]
-            if (phase >= 1) phase -= 1
-
-            if (phase <= this.stand_offset) {
-                stance.push(i)
-                const time_to_swing = this.stand_offset - phase
-                if (time_to_swing < min_time_to_swing) {
-                    min_time_to_swing = time_to_swing
-                    next_swing = i
-                }
-            } else {
-                swing.push(i)
-            }
-        }
-
-        return { stance, swing, next_swing, time_to_lift: min_time_to_swing }
-    }
-
-    protected smoothstep01(t: number): number {
-        const x = Math.max(0, Math.min(1, t))
-        return x * x * (3 - 2 * x)
     }
 
     update_feet_positions() {
-        for (let i = 0; i < 4; i++) this.body_state.feet[i] = this.update_foot_position(i)
+        for (let i = 0; i < 4; i++) {
+            this.body_state.feet[i] = this.update_foot_position(i);
+        }
     }
 
     update_foot_position(index: number): number[] {
-        let phase = this.phase + this.offset[index]
+        const contact = this.contact_phases[index][this.phase];
-        if (phase >= 1) phase -= 1
+        return contact ? this.stand(index) : this.swing(index);
-        this.body_state.feet[index][0] = this.default_feet_pos[index][0]
+    }
-        this.body_state.feet[index][1] = this.default_feet_pos[index][1]
+
-        this.body_state.feet[index][2] = this.default_feet_pos[index][2]
+    stand(index: number): number[] {
-        return phase <= this.stand_offset ?
+        const delta_pos = [
-                this.stand_controller(index, phase / this.stand_offset)
+            -this.gait_state.step_x * this.dt * this.swing_stand_ratio,
-            :   this.swing_controller(index, (phase - this.stand_offset) / (1 - this.stand_offset))
+            0,
+            -this.gait_state.step_z * this.dt * this.swing_stand_ratio
+        ];
+
+        this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
+        this.body_state.feet[index][1] = this.default_feet_pos[index][1];
+        this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
+        return this.body_state.feet[index];
+    }
+
+    swing(index: number): number[] {
+        const delta_pos = [this.gait_state.step_x * this.dt, 0, this.gait_state.step_z * this.dt];
+
+        if (this.gait_state.step_x == 0) {
+            delta_pos[0] =
+                (this.default_feet_pos[index][0] - this.body_state.feet[index][0]) * this.dt * 8;
+        }
+
+        if (this.gait_state.step_z == 0) {
+            delta_pos[2] =
+                (this.default_feet_pos[index][2] - this.body_state.feet[index][2]) * this.dt * 8;
+        }
+
+        this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
+        this.body_state.feet[index][1] =
+            this.default_feet_pos[index][1] +
+            sin(this.phase_time * Math.PI) * this.gait_state.step_height;
+        this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
+        return this.body_state.feet[index];
+    }
+}
+
+export class FourPhaseWalkState extends PhaseGaitState {
+    protected name = 'Four phase walk';
+    protected num_phases = 4;
+    protected phase_speed_factor = 6;
+    protected contact_phases = [
+        [1, 0, 1, 1],
+        [1, 1, 1, 0],
+        [1, 1, 1, 0],
+        [1, 0, 1, 1]
+    ];
+    protected swing_stand_ratio = 1 / (this.num_phases - 1);
+
+    begin() {
+        super.begin();
+    }
+
+    end() {
+        super.end();
+    }
+
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+        return super.step(body_state, command, dt);
+    }
+}
+
+export class EightPhaseWalkState extends PhaseGaitState {
+    protected name = 'Eight phase walk';
+    protected num_phases = 8;
+    protected phase_speed_factor = 4;
+    protected contact_phases = [
+        [1, 0, 1, 1, 1, 1, 1, 1],
+        [1, 1, 1, 1, 1, 0, 1, 1],
+        [1, 1, 1, 1, 1, 1, 1, 0],
+        [1, 1, 1, 0, 1, 1, 1, 1]
+    ];
+    protected shifts = [
+        [-0.05, 0, -0.2],
+        [0.3, 0, 0.2],
+        [-0.05, 0, 0.2],
+        [0.3, 0, -0.2]
+    ];
+    protected swing_stand_ratio = 1 / (this.num_phases - 1);
+
+    begin() {
+        super.begin();
+    }
+
+    end() {
+        super.end();
+    }
+
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+        return super.step(body_state, command, dt);
+    }
+}
+
+export class BezierState extends GaitState {
+    protected name = 'Bezier';
+    protected phase = 0;
+    protected phase_num = 0;
+    protected step_length: number = 0;
+    offset = [0, 0.5, 0.5, 0];
+
+    begin() {
+        super.begin();
+    }
+
+    end() {
+        super.end();
+    }
+
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+        super.step(body_state, command, dt);
+        this.step_length = Math.sqrt(this.gait_state.step_x ** 2 + this.gait_state.step_z ** 2);
+        if (this.gait_state.step_x < 0) {
+            this.step_length = -this.step_length;
+        }
+        this.update_phase();
+        this.update_feet_positions();
+        return this.body_state;
+    }
+
+    update_phase() {
+        this.phase += this.dt * this.gait_state.step_velocity * 2;
+        if (this.phase >= 1) {
+            this.phase_num += 1;
+            this.phase_num %= 2;
+            this.phase = 0;
+        }
+    }
+
+    update_feet_positions() {
+        for (let i = 0; i < 4; i++) {
+            this.body_state.feet[i] = this.update_foot_position(i);
+        }
+    }
+
+    update_foot_position(index: number): number[] {
+        let phase = this.phase + this.offset[index];
+        if (phase >= 1) {
+            phase -= 1;
+        }
+        this.body_state.feet[index][0] = this.default_feet_pos[index][0];
+        this.body_state.feet[index][1] = this.default_feet_pos[index][1];
+        this.body_state.feet[index][2] = this.default_feet_pos[index][2];
+        return phase <= 0.75 ?
+                this.stand_controller(index, phase / 0.75)
+            :   this.swing_controller(index, (phase - 0.75) / (1 - 0.75));
     }
 
     stand_controller(index: number, phase: number) {
-        const depth = this.gait_state.step_depth
+        let depth = this.gait_state.step_depth;
-        return this.controller(index, phase, stance_curve, depth)
+        return this.controller(index, phase, stance_curve, depth);
     }
 
     swing_controller(index: number, phase: number) {
-        const height = this.gait_state.step_height
+        let height = this.gait_state.step_height;
-        return this.controller(index, phase, bezier_curve, height)
+        return this.controller(index, phase, bezier_curve, height);
     }
 
     controller(
@@ -335,112 +335,69 @@ export class BezierState extends GaitState {
         controller: (length: number, angle: number, ...args: number[]) => number[],
         ...args: number[]
     ) {
-        let length = this.step_length / 2
+        let length = this.step_length / 2;
-        let angle = Math.atan2(this.gait_state.step_z, this.step_length) * 2
+        let angle = Math.atan2(this.gait_state.step_z, this.step_length) * 2;
-        const delta_pos = controller(length, angle, ...args, phase)
+        const delta_pos = controller(length, angle, ...args, phase);
 
-        length = this.gait_state.step_angle * 2
+        length = this.gait_state.step_angle * 2;
-        angle = yawArc(this.default_feet_pos[index], this.body_state.feet[index])
+        angle = yawArc(this.default_feet_pos[index], this.body_state.feet[index]);
 
-        const delta_rot = controller(length, angle, ...args, phase)
+        const delta_rot = controller(length, angle, ...args, phase);
 
-        this.body_state.feet[index][0] += delta_pos[0] + delta_rot[0] * 0.2
+        this.body_state.feet[index][0] += delta_pos[0] + delta_rot[0] * 0.2;
-        this.body_state.feet[index][2] += delta_pos[2] + delta_rot[2] * 0.2
+        this.body_state.feet[index][2] += delta_pos[2] + delta_rot[2] * 0.2;
         if (this.gait_state.step_x || this.gait_state.step_z || this.gait_state.step_angle)
-            this.body_state.feet[index][1] += delta_pos[1] + delta_rot[1] * 0.2
+            this.body_state.feet[index][1] += delta_pos[1] + delta_rot[1] * 0.2;
 
-        return this.body_state.feet[index]
+        return this.body_state.feet[index];
-    }
-
-    update_cumulative_position() {
-        if (this.last_body_state === null) {
-            this.last_body_state = { ...this.body_state }
-            this.body_state.cumulative_x = 0
-            this.body_state.cumulative_y = 0
-            this.body_state.cumulative_z = 0
-            this.body_state.cumulative_roll = 0
-            this.body_state.cumulative_pitch = 0
-            this.body_state.cumulative_yaw = 0
-            return
-        }
-
-        const m = this.gait_state
-        const moving = m.step_x !== 0 || m.step_z !== 0 || m.step_angle !== 0
-
-        if (moving) {
-            const step_displacement_x_local =
-                m.step_x * m.step_velocity * this.dt * this.speed_factor
-            const step_displacement_z_local =
-                m.step_z * m.step_velocity * this.dt * this.speed_factor
-            const step_displacement_yaw =
-                m.step_angle * m.step_velocity * this.dt * this.speed_factor
-
-            const cos_yaw = Math.cos(this.cumulative_orientation.yaw)
-            const sin_yaw = Math.sin(this.cumulative_orientation.yaw)
-            const step_displacement_x =
-                step_displacement_x_local * cos_yaw - step_displacement_z_local * sin_yaw
-            const step_displacement_z =
-                step_displacement_x_local * sin_yaw + step_displacement_z_local * cos_yaw
-
-            this.cumulative_position.x += step_displacement_x
-            this.cumulative_position.z += step_displacement_z
-            this.cumulative_orientation.yaw += step_displacement_yaw
-        }
-
-        this.body_state.cumulative_x = this.cumulative_position.x
-        this.body_state.cumulative_y = this.cumulative_position.y
-        this.body_state.cumulative_z = this.cumulative_position.z
-        this.body_state.cumulative_roll = this.cumulative_orientation.roll
-        this.body_state.cumulative_pitch = this.cumulative_orientation.pitch
-        this.body_state.cumulative_yaw = this.cumulative_orientation.yaw
-
-        this.last_body_state = { ...this.body_state }
     }
 }
 
 const stance_curve = (length: number, angle: number, depth: number, phase: number): number[] => {
-    const X_POLAR = Math.cos(angle)
+    const X_POLAR = Math.cos(angle);
-    const Y_POLAR = Math.sin(angle)
+    const Y_POLAR = Math.sin(angle);
 
-    const step = length * (1 - 2 * phase)
+    const step = length * (1 - 2 * phase);
-    const X = step * X_POLAR
+    const X = step * X_POLAR;
-    const Z = step * Y_POLAR
+    const Z = step * Y_POLAR;
-    let Y = 0
+    let Y = 0;
-    if (length !== 0) Y = -depth * Math.cos((Math.PI * (X + Y)) / (2 * length))
+
-    return [X, Y, Z]
+    if (length !== 0) {
-}
+        Y = -depth * Math.cos((Math.PI * (X + Y)) / (2 * length));
+    }
+    return [X, Y, Z];
+};
 
 const yawArc = (default_foot_pos: number[], current_foot_pos: number[]): number => {
-    const foot_mag = Math.sqrt(default_foot_pos[0] ** 2 + default_foot_pos[2] ** 2)
+    const foot_mag = Math.sqrt(default_foot_pos[0] ** 2 + default_foot_pos[2] ** 2);
-    const foot_dir = Math.atan2(default_foot_pos[2], default_foot_pos[0])
+    const foot_dir = Math.atan2(default_foot_pos[2], default_foot_pos[0]);
     const offsets = [
         current_foot_pos[0] - default_foot_pos[0],
         current_foot_pos[2] - default_foot_pos[2],
         current_foot_pos[1] - default_foot_pos[1]
-    ]
+    ];
-    const offset_mag = Math.sqrt(offsets[0] ** 2 + offsets[2] ** 2)
+    const offset_mag = Math.sqrt(offsets[0] ** 2 + offsets[2] ** 2);
-    const offset_mod = Math.atan2(offset_mag, foot_mag)
+    const offset_mod = Math.atan2(offset_mag, foot_mag);
 
-    return Math.PI / 2.0 + foot_dir + offset_mod
+    return Math.PI / 2.0 + foot_dir + offset_mod;
-}
+};
 
 const bezier_curve = (length: number, angle: number, height: number, phase: number): number[] => {
-    const control_points = get_control_points(length, angle, height)
+    const control_points = get_control_points(length, angle, height);
-    const n = control_points.length - 1
+    const n = control_points.length - 1;
 
-    const point = [0, 0, 0]
+    const point = [0, 0, 0];
     for (let i = 0; i <= n; i++) {
-        const bernstein_poly = comb(n, i) * Math.pow(phase, i) * Math.pow(1 - phase, n - i)
+        const bernstein_poly = comb(n, i) * Math.pow(phase, i) * Math.pow(1 - phase, n - i);
-        point[0] += bernstein_poly * control_points[i][0]
+        point[0] += bernstein_poly * control_points[i][0];
-        point[1] += bernstein_poly * control_points[i][1]
+        point[1] += bernstein_poly * control_points[i][1];
-        point[2] += bernstein_poly * control_points[i][2]
+        point[2] += bernstein_poly * control_points[i][2];
     }
-    return point
+    return point;
-}
+};
-
 const get_control_points = (length: number, angle: number, height: number): number[][] => {
-    const X_POLAR = Math.cos(angle)
+    const X_POLAR = Math.cos(angle);
-    const Z_POLAR = Math.sin(angle)
+    const Z_POLAR = Math.sin(angle);
 
     const STEP = [
         -length,
@@ -455,7 +412,7 @@ const get_control_points = (length: number, angle: number, height: number): numb
         length * 1.5,
         length * 1.4,
         length
-    ]
+    ];
 
     const Y = [
         0.0,
@@ -470,24 +427,26 @@ const get_control_points = (length: number, angle: number, height: number): numb
         height * 1.1,
         0.0,
         0.0
-    ]
+    ];
 
-    const control_points: number[][] = []
+    const control_points: number[][] = [];
 
     for (let i = 0; i < STEP.length; i++) {
-        const X = STEP[i] * X_POLAR
+        const X = STEP[i] * X_POLAR;
-        const Z = STEP[i] * Z_POLAR
+        const Z = STEP[i] * Z_POLAR;
-        control_points.push([X, Y[i], Z])
+        control_points.push([X, Y[i], Z]);
     }
 
-    return control_points
+    return control_points;
-}
+};
 
 const comb = (n: number, k: number): number => {
-    if (k < 0 || k > n) return 0
+    if (k < 0 || k > n) return 0;
-    if (k === 0 || k === n) return 1
+    if (k === 0 || k === n) return 1;
-    k = Math.min(k, n - k)
+    k = Math.min(k, n - k);
-    let c = 1
+    let c = 1;
-    for (let i = 0; i < k; i++) c = (c * (n - i)) / (i + 1)
+    for (let i = 0; i < k; i++) {
-    return c
+        c = (c * (n - i)) / (i + 1);
-}
+    }
+    return c;
+};

app/src/lib/kinematic.ts

@@ -1,153 +1,320 @@
+
 export interface body_state_t {
-    omega: number
+	omega: number;
-    phi: number
+	phi: number;
-    psi: number
+	psi: number;
-    xm: number
+	xm: number;
-    ym: number
+	ym: number;
-    zm: number
+	zm: number;
-    feet: number[][]
+	feet: number[][];
-    cumulative_x: number
-    cumulative_y: number
-    cumulative_z: number
-    cumulative_roll: number
-    cumulative_pitch: number
-    cumulative_yaw: number
 }
 
 export interface position {
-    x: number
+	x: number;
-    y: number
+	y: number;
-    z: number
+	z: number;
 }
 
 export interface target_position {
-    x: number
+	x: number;
-    z: number
+	z: number;
-    yaw: number
+	yaw: number;
 }
 
-export interface KinematicParams {
+const { cos, sin, atan2, sqrt } = Math;
-    coxa: number
-    coxa_offset: number
-    femur: number
-    tibia: number
-    L: number
-    W: number
-}
 
-const { cos, sin, atan2, acos, sqrt, max, min } = Math
+const DEG2RAD = 0.017453292519943;
-
-const DEG2RAD = 0.017453292519943
 
 export default class Kinematic {
-    coxa: number
+	l1: number;
-    coxa_offset: number
+	l2: number;
-    femur: number
+	l3: number;
-    tibia: number
+	l4: number;
 
-    L: number
+	L: number;
-    W: number
+	W: number;
 
-    DEG2RAD = DEG2RAD
+	DEG2RAD = DEG2RAD;
 
-    mountOffsets: number[][]
+	sHp = sin(Math.PI / 2);
+	cHp = cos(Math.PI / 2);
 
-    invMountRot = [
+	Tlf: number[][] = [];
-        [0, 0, -1],
+	Trf: number[][] = [];
-        [0, 1, 0],
+	Tlb: number[][] = [];
-        [1, 0, 0]
+	Trb: number[][] = [];
-    ]
 
-    constructor(params: KinematicParams) {
+	point_lf: number[][];
-        this.coxa = params.coxa
+	point_rf: number[][];
-        this.coxa_offset = params.coxa_offset
+	point_lb: number[][];
-        this.femur = params.femur
+	point_rb: number[][];
-        this.tibia = params.tibia
+	Ix: number[][];
-        this.L = params.L
-        this.W = params.W
 
-        this.mountOffsets = [
+	constructor() {
-            [this.L / 2, 0, this.W / 2],
+		this.l1 = 60.5 / 100;
-            [this.L / 2, 0, -this.W / 2],
+		this.l2 = 10 / 100;
-            [-this.L / 2, 0, this.W / 2],
+		this.l3 = 100.7 / 100;
-            [-this.L / 2, 0, -this.W / 2]
+		this.l4 = 118.5 / 100;
-        ]
-    }
 
-    getDefaultFeetPos(): number[][] {
+		this.L = 207.5 / 100;
-        return this.mountOffsets.map((offset, i) => {
+		this.W = 78 / 100;
-            return [offset[0], -1, offset[2] + (i % 2 === 1 ? -this.coxa : this.coxa)]
-        })
-    }
 
-    calcIK(p: body_state_t): number[] {
+		this.point_lf = [
-        const roll = p.omega * this.DEG2RAD
+			[this.cHp, 0, this.sHp, this.L / 2],
-        const pitch = p.phi * this.DEG2RAD
+			[0, 1, 0, 0],
-        const yaw = p.psi * this.DEG2RAD
+			[-this.sHp, 0, this.cHp, this.W / 2],
-        const rot = this.euler2R(roll, pitch, yaw)
+			[0, 0, 0, 1]
-        const inv_rot = [
+		];
-            [rot[0][0], rot[1][0], rot[2][0]],
-            [rot[0][1], rot[1][1], rot[2][1]],
-            [rot[0][2], rot[1][2], rot[2][2]]
-        ]
-        const inv_trans = [
-            -inv_rot[0][0] * p.xm - inv_rot[0][1] * p.ym - inv_rot[0][2] * p.zm,
-            -inv_rot[1][0] * p.xm - inv_rot[1][1] * p.ym - inv_rot[1][2] * p.zm,
-            -inv_rot[2][0] * p.xm - inv_rot[2][1] * p.ym - inv_rot[2][2] * p.zm
-        ]
-        return p.feet.flatMap((foot, i) => {
-            const [wx, wy, wz] = foot
-            const bx = inv_rot[0][0] * wx + inv_rot[0][1] * wy + inv_rot[0][2] * wz + inv_trans[0]
-            const by = inv_rot[1][0] * wx + inv_rot[1][1] * wy + inv_rot[1][2] * wz + inv_trans[1]
-            const bz = inv_rot[2][0] * wx + inv_rot[2][1] * wy + inv_rot[2][2] * wz + inv_trans[2]
 
-            const [mx, my, mz] = this.mountOffsets[i]
+		this.point_rf = [
-            const px = bx - mx,
+			[this.cHp, 0, this.sHp, this.L / 2],
-                py = by - my,
+			[0, 1, 0, 0],
-                pz = bz - mz
+			[-this.sHp, 0, this.cHp, -this.W / 2],
+			[0, 0, 0, 1]
+		];
 
-            const lx =
+		this.point_lb = [
-                this.invMountRot[0][0] * px +
+			[this.cHp, 0, this.sHp, -this.L / 2],
-                this.invMountRot[0][1] * py +
+			[0, 1, 0, 0],
-                this.invMountRot[0][2] * pz
+			[-this.sHp, 0, this.cHp, this.W / 2],
-            const ly =
+			[0, 0, 0, 1]
-                this.invMountRot[1][0] * px +
+		];
-                this.invMountRot[1][1] * py +
-                this.invMountRot[1][2] * pz
-            const lz =
-                this.invMountRot[2][0] * px +
-                this.invMountRot[2][1] * py +
-                this.invMountRot[2][2] * pz
 
-            const xLocal = i % 2 === 1 ? -lx : lx
+		this.point_rb = [
-            return this.legIK(xLocal, ly, lz)
+			[this.cHp, 0, this.sHp, -this.L / 2],
-        })
+			[0, 1, 0, 0],
-    }
+			[-this.sHp, 0, this.cHp, -this.W / 2],
+			[0, 0, 0, 1]
+		];
+		this.Ix = [
+			[-1, 0, 0, 0],
+			[0, 1, 0, 0],
+			[0, 0, 1, 0],
+			[0, 0, 0, 1]
+		];
+	}
 
-    private legIK(x: number, y: number, z: number): [number, number, number] {
+	public calcIK(body_state: body_state_t): number[] {
-        const F = sqrt(max(0, x * x + y * y - this.coxa * this.coxa))
+		this.bodyIK(body_state);
-        const G = F - this.coxa_offset
-        const H = sqrt(G * G + z * z)
-        const t1 = -atan2(y, x) - atan2(F, -this.coxa)
-        const D =
-            (H * H - this.femur * this.femur - this.tibia * this.tibia) /
-            (2 * this.femur * this.tibia)
-        const t3 = acos(max(-1, min(1, D)))
-        const t2 = atan2(z, G) - atan2(this.tibia * sin(t3), this.femur + this.tibia * cos(t3))
-        return [t1, t2, t3]
-    }
 
-    private euler2R(roll: number, pitch: number, yaw: number): number[][] {
+		return [
-        const cr = cos(roll),
+			...this.legIK(this.multiplyVector(this.inverse(this.Tlf), body_state.feet[0])),
-            sr = sin(roll)
+			...this.legIK(
-        const cp = cos(pitch),
+				this.multiplyVector(
-            sp = sin(pitch)
+					this.Ix,
-        const cy = cos(yaw),
+					this.multiplyVector(this.inverse(this.Trf), body_state.feet[1])
-            sy = sin(yaw)
+				)
-        return [
+			),
-            [cp * cy, -cp * sy, sp],
+			...this.legIK(this.multiplyVector(this.inverse(this.Tlb), body_state.feet[2])),
-            [sr * sp * cy + sy * cr, -sr * sp * sy + cr * cy, -sr * cp],
+			...this.legIK(
-            [sr * sy - sp * cr * cy, sr * cy + sp * sy * cr, cr * cp]
+				this.multiplyVector(
-        ]
+					this.Ix,
-    }
+					this.multiplyVector(this.inverse(this.Trb), body_state.feet[3])
+				)
+			)
+		];
+	}
+
+	bodyIK(p: body_state_t) {
+		const cos_omega = cos(p.omega * this.DEG2RAD);
+		const sin_omega = sin(p.omega * this.DEG2RAD);
+		const cos_phi = cos(p.phi * this.DEG2RAD);
+		const sin_phi = sin(p.phi * this.DEG2RAD);
+		const cos_psi = cos(p.psi * this.DEG2RAD);
+		const sin_psi = sin(p.psi * this.DEG2RAD);
+
+		const Tm: number[][] = [
+			[cos_phi * cos_psi, -sin_psi * cos_phi, sin_phi, p.xm],
+			[
+				sin_omega * sin_phi * cos_psi + sin_psi * cos_omega,
+				-sin_omega * sin_phi * sin_psi + cos_omega * cos_psi,
+				-sin_omega * cos_phi,
+				p.ym
+			],
+			[
+				sin_omega * sin_psi - sin_phi * cos_omega * cos_psi,
+				sin_omega * cos_psi + sin_phi * sin_psi * cos_omega,
+				cos_omega * cos_phi,
+				p.zm
+			],
+			[0, 0, 0, 1]
+		];
+
+		this.Tlf = this.matrixMultiply(Tm, this.point_lf);
+		this.Trf = this.matrixMultiply(Tm, this.point_rf);
+		this.Tlb = this.matrixMultiply(Tm, this.point_lb);
+		this.Trb = this.matrixMultiply(Tm, this.point_rb);
+	}
+
+	public legIK(point: number[]): number[] {
+		const [x, y, z] = point;
+
+		let F = sqrt(x ** 2 + y ** 2 - this.l1 ** 2);
+		if (isNaN(F)) F = this.l1;
+
+		const G = F - this.l2;
+		const H = sqrt(G ** 2 + z ** 2);
+
+		const theta1 = -atan2(y, x) - atan2(F, -this.l1);
+		const D = (H ** 2 - this.l3 ** 2 - this.l4 ** 2) / (2 * this.l3 * this.l4);
+		let theta3 = atan2(sqrt(1 - D ** 2), D);
+		if (isNaN(theta3)) theta3 = 0;
+
+		const theta2 = atan2(z, G) - atan2(this.l4 * sin(theta3), this.l3 + this.l4 * cos(theta3));
+
+		return [theta1, theta2, theta3];
+	}
+
+	matrixMultiply(a: number[][], b: number[][]): number[][] {
+		const result: number[][] = [];
+
+		for (let i = 0; i < a.length; i++) {
+			const row: number[] = [];
+
+			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: number[][], vector: number[]): number[] {
+		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;
+	}
+
+	private inverse(matrix: number[][]): number[][] {
+		const det = this.determinant(matrix);
+		const adjugate = this.adjugate(matrix);
+		const scalar = 1 / det;
+		const inverse: number[][] = [];
+
+		for (let i = 0; i < matrix.length; i++) {
+			const row: number[] = [];
+
+			for (let j = 0; j < matrix[i].length; j++) {
+				row.push(adjugate[i][j] * scalar);
+			}
+
+			inverse.push(row);
+		}
+
+		return inverse;
+	}
+
+	private determinant(matrix: number[][]): number {
+		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: number[][] = [];
+
+			for (let j = 1; j < matrix.length; j++) {
+				const row: number[] = [];
+
+				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;
+	}
+
+	private adjugate(matrix: number[][]): number[][] {
+		if (matrix.length !== matrix[0].length) {
+			throw new Error('The matrix is not square.');
+		}
+
+		const adjugate: number[][] = [];
+
+		for (let i = 0; i < matrix.length; i++) {
+			const row: number[] = [];
+
+			for (let j = 0; j < matrix[i].length; j++) {
+				const sign = (i + j) % 2 === 0 ? 1 : -1;
+				const subMatrix: number[][] = [];
+
+				for (let k = 0; k < matrix.length; k++) {
+					if (k !== i) {
+						const subRow: number[] = [];
+
+						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);
+	}
+
+	private transpose(matrix: number[][]): number[][] {
+		const transposed: number[][] = [];
+
+		for (let i = 0; i < matrix.length; i++) {
+			const row: number[] = [];
+
+			for (let j = 0; j < matrix[i].length; j++) {
+				row.push(matrix[j][i]);
+			}
+
+			transposed.push(row);
+		}
+
+		return transposed;
+	}
 }
+

app/src/lib/sceneBuilder.ts

@@ -1,348 +1,379 @@
 import {
-    Mesh,
+  Mesh,
-    PerspectiveCamera,
+  PerspectiveCamera,
-    PlaneGeometry,
+  PlaneGeometry,
-    Scene,
+  Scene,
-    WebGLRenderer,
+  WebGLRenderer,
-    AmbientLight,
+  AmbientLight,
-    DirectionalLight,
+  DirectionalLight,
-    PCFSoftShadowMap,
+  PCFSoftShadowMap,
-    type GridHelper,
+  type GridHelper,
-    ArrowHelper,
+  ArrowHelper,
-    Vector3,
+  Vector3,
-    FogExp2,
+  FogExp2,
-    CanvasTexture,
+  CanvasTexture,
-    type ColorRepresentation,
+  type ColorRepresentation,
-    type WebGLRendererParameters,
+  type WebGLRendererParameters,
-    MeshPhongMaterial,
+  MeshPhongMaterial,
-    EquirectangularReflectionMapping,
+  EquirectangularReflectionMapping,
-    ACESFilmicToneMapping,
+  ACESFilmicToneMapping,
-    Group,
+  MathUtils,
-    MeshBasicMaterial,
+  Group,
-    RepeatWrapping,
+  MeshBasicMaterial,
-    Object3D
+  RepeatWrapping
 } from 'three'
+import { Sky } from 'three/addons/objects/Sky.js'
 import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'
 import { TransformControls } from 'three/examples/jsm/controls/TransformControls'
 import { Reflector } from 'three/examples/jsm/objects/Reflector.js'
 import { type URDFJoint, type URDFMimicJoint, type URDFRobot } from 'urdf-loader'
 import { PointerURDFDragControls } from 'urdf-loader/src/URDFDragControls'
+import { sunCalculator } from './utilities/position-utilities'
 
 export const addScene = () => new Scene()
 
 interface position {
-    x?: number
+  x?: number
-    y?: number
+  y?: number
-    z?: number
+  z?: number
 }
 
 interface light {
-    color?: ColorRepresentation
+  color?: ColorRepresentation
-    intensity?: number
+  intensity?: number
 }
 
 interface arrowOptions {
-    origin: position
+  origin: position
-    direction: position
+  direction: position
-    length?: number
+  length?: number
-    color?: ColorRepresentation
+  color?: ColorRepresentation
 }
 
 type directionalLight = position & light
 
 export default class SceneBuilder {
-    public scene: Scene
+  public scene: Scene
-    public camera!: PerspectiveCamera
+  public camera!: PerspectiveCamera
-    public ground!: Mesh
+  public ground!: Mesh
-    public renderer!: WebGLRenderer
+  public renderer!: WebGLRenderer
-    public orbit: OrbitControls
+  public orbit: OrbitControls
-    public callback: (() => void) | undefined
+  public callback: Function | undefined
-    public gridHelper!: GridHelper
+  public gridHelper!: GridHelper
-    public model!: URDFRobot
+  public model!: URDFRobot
-    public liveStreamTexture!: CanvasTexture
+  public liveStreamTexture!: CanvasTexture
-    private fog!: FogExp2
+  private fog!: FogExp2
-    private isLoaded: boolean = false
+  private isLoaded: boolean = false
-    public isDragging: boolean = false
+  public isDragging: boolean = false
-    transformControl: TransformControls
+  highlightMaterial: any
-    public modelGroup!: Group
+  sky!: Sky
+  transformControl: TransformControls
+  public modelGroup!: Group
 
-    constructor() {
+  constructor() {
-        this.scene = new Scene()
+    this.scene = new Scene()
-        if (this.scene.environment?.mapping) {
+    if (this.scene.environment?.mapping) {
-            this.scene.environment.mapping = EquirectangularReflectionMapping
+      this.scene.environment.mapping = EquirectangularReflectionMapping
+    }
+    return this
+  }
+
+  public addRenderer = (parameters?: WebGLRendererParameters) => {
+    this.renderer = new WebGLRenderer(parameters)
+    this.renderer.outputColorSpace = 'srgb'
+    this.renderer.shadowMap.enabled = true
+    this.renderer.shadowMap.type = PCFSoftShadowMap
+    this.renderer.toneMapping = ACESFilmicToneMapping
+    this.renderer.toneMappingExposure = 0.85
+    if (!parameters?.canvas) document.body.appendChild(this.renderer.domElement)
+    return this
+  }
+
+  public addSky = () => {
+    this.sky = new Sky()
+    this.sky.scale.setScalar(450000)
+    this.scene.add(this.sky)
+    const effectController = {
+      turbidity: 10,
+      rayleigh: 3,
+      mieCoefficient: 0.005,
+      mieDirectionalG: 0.7,
+      elevation: sunCalculator.calculateSunElevation(),
+      azimuth: 200,
+      exposure: this.renderer.toneMappingExposure
+    }
+    const uniforms = this.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 ?? 2.7, options.z ?? 0)
+    this.scene.add(this.camera)
+    return this
+  }
+
+  public addGroundPlane = (options?: position) => {
+    const checkerboardTexture = this.createCheckerboardTexture(1024, 2)
+    checkerboardTexture.wrapS = RepeatWrapping
+    checkerboardTexture.wrapT = RepeatWrapping
+    checkerboardTexture.repeat.set(100, 100)
+    const checkerboardMat = new MeshBasicMaterial({
+      map: checkerboardTexture,
+      opacity: 0.1,
+      transparent: true
+    })
+
+    const plane = new PlaneGeometry(400, 400)
+
+    this.ground = new Mesh(plane, checkerboardMat)
+    this.ground.rotation.x = -Math.PI / 2
+    this.ground.position.set(options?.x ?? 0, options?.y ?? 0.01, options?.z ?? 0)
+    this.ground.receiveShadow = true
+    this.scene.add(this.ground)
+
+    const mirror = new Reflector(plane, {
+      clipBias: 0.003,
+      textureWidth: window.innerWidth * window.devicePixelRatio,
+      textureHeight: window.innerHeight * window.devicePixelRatio,
+      color: 0x00bfff
+    })
+    mirror.rotateX(-Math.PI / 2)
+    this.scene.add(mirror)
+
+    return this
+  }
+
+  public addOrbitControls = (minDistance: number, maxDistance: number, autoRotate = true) => {
+    this.orbit = new OrbitControls(this.camera, this.renderer.domElement)
+    this.orbit.minDistance = 5
+    this.orbit.maxDistance = maxDistance
+    this.orbit.autoRotate = autoRotate
+    this.orbit.update()
+    return this
+  }
+
+  public addAmbientLight = (options: light) => {
+    const ambientLight = new AmbientLight(options.color, options.intensity)
+    this.scene.add(ambientLight)
+    return this
+  }
+
+  public addDirectionalLight = (options: directionalLight) => {
+    const directionalLight = new DirectionalLight(options.color, options.intensity)
+    directionalLight.castShadow = true
+    directionalLight.shadow.camera.top = 10
+    directionalLight.shadow.camera.bottom = -10
+    directionalLight.shadow.camera.right = 10
+    directionalLight.shadow.camera.left = -10
+    directionalLight.shadow.mapSize.set(4096, 4096)
+
+    directionalLight.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0)
+    this.scene.add(directionalLight)
+    return this
+  }
+
+  private createCheckerboardTexture = (size: number, squares: number) => {
+    const canvas = document.createElement('canvas')
+    canvas.width = size
+    canvas.height = size
+    const context = canvas.getContext('2d')
+
+    const squareSize = size / squares
+
+    for (let y = 0; y < squares; y++) {
+      for (let x = 0; x < squares; x++) {
+        context!.fillStyle = (x + y) % 2 === 0 ? '#ffffff' : '#000000'
+        context!.fillRect(x * squareSize, y * squareSize, squareSize, squareSize)
+      }
+    }
+
+    const texture = new CanvasTexture(canvas)
+    texture.wrapS = texture.wrapT = RepeatWrapping
+    texture.anisotropy = 16
+    return texture
+  }
+
+  public addFogExp2 = (color: ColorRepresentation, density?: number) => {
+    this.scene.fog = new FogExp2(color, density)
+    return this
+  }
+
+  public fillParent = () => {
+    const parentElement = this.renderer.domElement.parentElement
+    if (parentElement) {
+      const width = parentElement.clientWidth
+      const height = parentElement.clientHeight
+      this.handleResize(width, height)
+    }
+    return this
+  }
+
+  public handleResize = (width = window.innerWidth, height = window.innerHeight) => {
+    this.renderer.setSize(width, height)
+    this.renderer.setPixelRatio(window.devicePixelRatio)
+    this.camera.aspect = width / height
+    this.camera.updateProjectionMatrix()
+    return this
+  }
+
+  public addRenderCb = (callback: Function) => {
+    this.callback = callback
+    return this
+  }
+
+  public startRenderLoop = () => {
+    this.renderer.setAnimationLoop(() => {
+      this.renderer.render(this.scene, this.camera)
+      this.orbit.update()
+      this.handleRobotShadow()
+      if (this.callback) this.callback()
+      if (!this.liveStreamTexture) return
+    })
+    return this
+  }
+
+  public addArrowHelper = (options?: arrowOptions) => {
+    const dir = new Vector3(
+      options?.direction.x ?? 0,
+      options?.direction.y ?? 0,
+      options?.direction.z ?? 0
+    )
+    const origin = new Vector3(
+      options?.origin.x ?? 0,
+      options?.origin.y ?? 0,
+      options?.origin.z ?? 0
+    )
+    const arrowHelper = new ArrowHelper(
+      dir,
+      origin,
+      options?.length ?? 1.5,
+      options?.color ?? 0xff0000
+    )
+    this.scene.add(arrowHelper)
+    return this
+  }
+
+  private setJointValue(jointName: string, angle: number) {
+    if (!this.model) return
+    if (!this.model.joints[jointName]) return
+    this.model.joints[jointName].setJointValue(angle)
+  }
+
+  isJoint = (j: URDFJoint) => j.isURDFJoint && j.jointType !== 'fixed'
+
+  highlightLinkGeometry = (m: URDFMimicJoint, revert: boolean, material: MeshPhongMaterial) => {
+    const traverse = (c: any) => {
+      if (c.type === 'Mesh') {
+        if (revert) {
+          c.material = c.__origMaterial
+          delete c.__origMaterial
+        } else {
+          c.__origMaterial = c.material
+          c.material = material
         }
-        return this
+      }
-    }
 
-    public addRenderer = (parameters?: WebGLRendererParameters) => {
+      if (c === m || !this.isJoint(c)) {
-        this.renderer = new WebGLRenderer(parameters)
+        for (let i = 0; i < c.children.length; i++) {
-        this.renderer.outputColorSpace = 'srgb'
+          const child = c.children[i]
-        this.renderer.shadowMap.enabled = true
+          if (!child.isURDFCollider) {
-        this.renderer.shadowMap.type = PCFSoftShadowMap
+            traverse(c.children[i])
-        this.renderer.toneMapping = ACESFilmicToneMapping
+          }
-        this.renderer.toneMappingExposure = 0.85
-        if (!parameters?.canvas) document.body.appendChild(this.renderer.domElement)
-        return this
-    }
-
-    public addPerspectiveCamera = (options: position) => {
-        this.camera = new PerspectiveCamera()
-        this.camera.position.set(options.x ?? 0, options.y ?? 2.7, options.z ?? 0)
-        this.scene.add(this.camera)
-        return this
-    }
-
-    public addGroundPlane = (options?: position) => {
-        const checkerboardTexture = this.createCheckerboardTexture(1024, 2)
-        checkerboardTexture.wrapS = RepeatWrapping
-        checkerboardTexture.wrapT = RepeatWrapping
-        checkerboardTexture.repeat.set(100, 100)
-        const checkerboardMat = new MeshBasicMaterial({
-            map: checkerboardTexture,
-            opacity: 0.1,
-            transparent: true
-        })
-
-        const plane = new PlaneGeometry(400, 400)
-
-        this.ground = new Mesh(plane, checkerboardMat)
-        this.ground.rotation.x = -Math.PI / 2
-        this.ground.position.set(options?.x ?? 0, options?.y ?? 0.01, options?.z ?? 0)
-        this.ground.receiveShadow = true
-        this.scene.add(this.ground)
-
-        const mirror = new Reflector(plane, {
-            clipBias: 0.003,
-            textureWidth: window.innerWidth * window.devicePixelRatio,
-            textureHeight: window.innerHeight * window.devicePixelRatio,
-            color: 0x00bfff
-        })
-        mirror.rotateX(-Math.PI / 2)
-        this.scene.add(mirror)
-
-        return this
-    }
-
-    public addOrbitControls = (minDistance: number, maxDistance: number, autoRotate = true) => {
-        this.orbit = new OrbitControls(this.camera, this.renderer.domElement)
-        this.orbit.minDistance = minDistance + (maxDistance - minDistance) / 2
-        this.orbit.maxDistance = maxDistance
-        this.orbit.autoRotate = autoRotate
-        this.orbit.update()
-        this.orbit.minDistance = minDistance
-        return this
-    }
-
-    public addAmbientLight = (options: light) => {
-        const ambientLight = new AmbientLight(options.color, options.intensity)
-        this.scene.add(ambientLight)
-        return this
-    }
-
-    public addDirectionalLight = (options: directionalLight) => {
-        const directionalLight = new DirectionalLight(options.color, options.intensity)
-        directionalLight.castShadow = true
-        directionalLight.shadow.camera.top = 10
-        directionalLight.shadow.camera.bottom = -10
-        directionalLight.shadow.camera.right = 10
-        directionalLight.shadow.camera.left = -10
-        directionalLight.shadow.mapSize.set(4096, 4096)
-
-        directionalLight.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0)
-        this.scene.add(directionalLight)
-        return this
-    }
-
-    private createCheckerboardTexture = (size: number, squares: number) => {
-        const canvas = document.createElement('canvas')
-        canvas.width = size
-        canvas.height = size
-        const context = canvas.getContext('2d')
-
-        const squareSize = size / squares
-
-        for (let y = 0; y < squares; y++) {
-            for (let x = 0; x < squares; x++) {
-                context!.fillStyle = (x + y) % 2 === 0 ? '#ffffff' : '#000000'
-                context!.fillRect(x * squareSize, y * squareSize, squareSize, squareSize)
-            }
         }
-
+      }
-        const texture = new CanvasTexture(canvas)
-        texture.wrapS = texture.wrapT = RepeatWrapping
-        texture.anisotropy = 16
-        return texture
     }
+    traverse(m)
+  }
 
-    public addFogExp2 = (color: ColorRepresentation, density?: number) => {
+  public addTransformControls = (model: any) => {
-        this.scene.fog = new FogExp2(color, density)
+    this.transformControl = new TransformControls(this.camera, this.renderer.domElement)
-        return this
+    this.transformControl.addEventListener('dragging-changed', (event: any) => {
+      this.orbit.enabled = !event.value
+      this.isDragging = !event.value
+    })
+    this.transformControl.attach(model)
+    this.scene.add(this.transformControl)
+    this.transformControl.setMode('rotate')
+    return this
+  }
+
+  public addModel = (model: any) => {
+    this.modelGroup = new Group()
+    this.modelGroup.add(model)
+    this.model = model
+    this.scene.add(this.modelGroup)
+    return this
+  }
+
+  public addDragControl = (updateAngle: any) => {
+    const highlightColor = '#FFFFFF'
+    const highlightMaterial = new MeshPhongMaterial({
+      shininess: 10,
+      color: highlightColor,
+      emissive: highlightColor,
+      emissiveIntensity: 0.9
+    })
+
+    const dragControls = new PointerURDFDragControls(
+      this.scene,
+      this.camera,
+      this.renderer.domElement
+    )
+    dragControls.updateJoint = (joint: URDFMimicJoint, angle: number) => {
+      this.setJointValue(joint.name, angle)
+      updateAngle(joint.name, angle)
     }
-
+    dragControls.onDragStart = () => {
-    public fillParent = () => {
+      this.orbit.enabled = false
-        const parentElement = this.renderer.domElement.parentElement
+      this.isDragging = true
-        if (parentElement) {
-            const width = parentElement.clientWidth
-            const height = parentElement.clientHeight
-            this.handleResize(width, height)
-        }
-        return this
     }
-
+    dragControls.onDragEnd = () => {
-    public handleResize = (width = window.innerWidth, height = window.innerHeight) => {
+      this.orbit.enabled = true
-        this.renderer.setSize(width, height)
+      this.isDragging = false
-        this.renderer.setPixelRatio(window.devicePixelRatio)
-        this.camera.aspect = width / height
-        this.camera.updateProjectionMatrix()
-        return this
     }
+    dragControls.onHover = (joint: URDFMimicJoint) =>
+      this.highlightLinkGeometry(joint, false, highlightMaterial)
+    dragControls.onUnhover = (joint: URDFMimicJoint) =>
+      this.highlightLinkGeometry(joint, true, highlightMaterial)
 
-    public addRenderCb = (callback: () => void) => {
+    this.renderer.domElement.addEventListener(
-        this.callback = callback
+      'touchstart',
-        return this
+      data => dragControls._mouseDown(data.touches[0]),
-    }
+      { passive: true }
+    )
+    this.renderer.domElement.addEventListener(
+      'touchmove',
+      data => dragControls._mouseMove(data.touches[0]),
+      { passive: true }
+    )
+    this.renderer.domElement.addEventListener(
+      'touchend',
+      data => dragControls._mouseUp(data.touches[0]),
+      { passive: true }
+    )
+    return this
+  }
 
-    public startRenderLoop = () => {
+  public toggleFog = () => {
-        this.renderer.setAnimationLoop(() => {
+    this.scene.fog = this.scene.fog ? null : this.fog
-            this.renderer.render(this.scene, this.camera)
+  }
-            this.orbit.update()
-            this.handleRobotShadow()
-            if (this.callback) this.callback()
-            if (!this.liveStreamTexture) return
-        })
-        return this
-    }
 
-    public addArrowHelper = (options?: arrowOptions) => {
+  private handleRobotShadow = () => {
-        const dir = new Vector3(
+    if (this.isLoaded) return
-            options?.direction.x ?? 0,
+    const intervalId = setInterval(() => this.model?.traverse(c => (c.castShadow = true)), 10)
-            options?.direction.y ?? 0,
+    setTimeout(() => clearInterval(intervalId), 1000)
-            options?.direction.z ?? 0
+    this.isLoaded = true
-        )
+  }
-        const origin = new Vector3(
-            options?.origin.x ?? 0,
-            options?.origin.y ?? 0,
-            options?.origin.z ?? 0
-        )
-        const arrowHelper = new ArrowHelper(
-            dir,
-            origin,
-            options?.length ?? 1.5,
-            options?.color ?? 0xff0000
-        )
-        this.scene.add(arrowHelper)
-        return this
-    }
-
-    private setJointValue(jointName: string, angle: number) {
-        if (!this.model) return
-        if (!this.model.joints[jointName]) return
-        this.model.joints[jointName].setJointValue(angle)
-    }
-
-    isJoint = (j: URDFJoint) => j.isURDFJoint && j.jointType !== 'fixed'
-
-    highlightLinkGeometry = (m: URDFMimicJoint, revert: boolean, material: MeshPhongMaterial) => {
-        const traverse = (c: Object3D) => {
-            if (c.type === 'Mesh') {
-                if (revert) {
-                    c.material = c.__origMaterial
-                    delete c.__origMaterial
-                } else {
-                    c.__origMaterial = c.material
-                    c.material = material
-                }
-            }
-
-            if (c === m || !this.isJoint(c)) {
-                for (let i = 0; i < c.children.length; i++) {
-                    const child = c.children[i]
-                    if (!child.isURDFCollider) {
-                        traverse(c.children[i])
-                    }
-                }
-            }
-        }
-        traverse(m)
-    }
-
-    public addTransformControls = (model: Object3D) => {
-        this.transformControl = new TransformControls(this.camera, this.renderer.domElement)
-        this.transformControl.addEventListener('dragging-changed', (event: { value: boolean }) => {
-            this.orbit.enabled = !event.value
-            this.isDragging = !event.value
-        })
-        this.transformControl.attach(model)
-        this.scene.add(this.transformControl)
-        this.transformControl.setMode('rotate')
-        return this
-    }
-
-    public addModel = (model: URDFRobot) => {
-        this.modelGroup = new Group()
-        this.modelGroup.add(model)
-        this.model = model
-        this.scene.add(this.modelGroup)
-        return this
-    }
-
-    public addDragControl = (updateAngle: (angles: Record<string, number>) => void) => {
-        const highlightColor = '#FFFFFF'
-        const highlightMaterial = new MeshPhongMaterial({
-            shininess: 10,
-            color: highlightColor,
-            emissive: highlightColor,
-            emissiveIntensity: 0.9
-        })
-
-        const dragControls = new PointerURDFDragControls(
-            this.scene,
-            this.camera,
-            this.renderer.domElement
-        )
-        dragControls.updateJoint = (joint: URDFMimicJoint, angle: number) => {
-            this.setJointValue(joint.name, angle)
-            updateAngle({ [joint.name]: angle })
-        }
-        dragControls.onDragStart = () => {
-            this.orbit.enabled = false
-            this.isDragging = true
-        }
-        dragControls.onDragEnd = () => {
-            this.orbit.enabled = true
-            this.isDragging = false
-        }
-        dragControls.onHover = (joint: URDFMimicJoint) =>
-            this.highlightLinkGeometry(joint, false, highlightMaterial)
-        dragControls.onUnhover = (joint: URDFMimicJoint) =>
-            this.highlightLinkGeometry(joint, true, highlightMaterial)
-
-        this.renderer.domElement.addEventListener(
-            'touchstart',
-            data => dragControls._mouseDown(data.touches[0]),
-            { passive: true }
-        )
-        this.renderer.domElement.addEventListener(
-            'touchmove',
-            data => dragControls._mouseMove(data.touches[0]),
-            { passive: true }
-        )
-        this.renderer.domElement.addEventListener(
-            'touchend',
-            data => dragControls._mouseUp(data.touches[0]),
-            { passive: true }
-        )
-        return this
-    }
-
-    public toggleFog = () => {
-        this.scene.fog = this.scene.fog ? null : this.fog
-    }
-
-    private handleRobotShadow = () => {
-        if (this.isLoaded) return
-        const intervalId = setInterval(() => this.model?.traverse(c => (c.castShadow = true)), 10)
-        setTimeout(() => clearInterval(intervalId), 1000)
-        this.isLoaded = true
-    }
 }

app/src/lib/services/file-service.ts

@@ -1,53 +1,54 @@
-import { Result } from '$lib/utilities/result'
+import { Result } from '$lib/utilities/result';
-import { browser } from '$app/environment'
+import { browser } from '$app/environment';
 
 class FileService {
-    private dbPromise: Promise<Result<IDBDatabase, string>> | null =
+	private dbPromise: Promise<Result<IDBDatabase, string>> | null = browser
-        browser ? this.openDatabase() : null
+		? this.openDatabase()
+		: null;
 
-    private async openDatabase(): Promise<Result<IDBDatabase, string>> {
+	private async openDatabase(): Promise<Result<IDBDatabase, string>> {
-        return new Promise(resolve => {
+		return new Promise((resolve) => {
-            const request = indexedDB.open('fileStorageDB', 1)
+			const request = indexedDB.open('fileStorageDB', 1);
 
-            request.onupgradeneeded = () => {
+			request.onupgradeneeded = () => {
-                request.result.createObjectStore('files')
+				request.result.createObjectStore('files');
-            }
+			};
-            request.onsuccess = () => resolve(Result.ok(request.result))
+			request.onsuccess = () => resolve(Result.ok(request.result));
-            request.onerror = () => resolve(Result.err('Error opening database'))
+			request.onerror = () => resolve(Result.err('Error opening database'));
-        })
+		});
-    }
+	}
 
-    private async getStore(mode: IDBTransactionMode): Promise<Result<IDBObjectStore, string>> {
+	private async getStore(mode: IDBTransactionMode): Promise<Result<IDBObjectStore, string>> {
-        if (!browser || !this.dbPromise)
+		if (!browser || !this.dbPromise)
-            return Result.err('Not running in browser or DB not initialized')
+			return Result.err('Not running in browser or DB not initialized');
-        const dbResult = await this.dbPromise
+		const dbResult = await this.dbPromise;
-        if (dbResult.isErr()) return Result.err('Database not initialized')
+		if (dbResult.isErr()) return Result.err('Database not initialized');
-        const store = dbResult.inner.transaction('files', mode).objectStore('files')
+		const store = dbResult.inner.transaction('files', mode).objectStore('files');
-        return Result.ok(store)
+		return Result.ok(store);
-    }
+	}
 
-    public async saveFile(key: string, file: Uint8Array): Promise<Result<IDBValidKey, string>> {
+	public async saveFile(key: string, file: Uint8Array): Promise<Result<IDBValidKey, string>> {
-        const storeResult = await this.getStore('readwrite')
+		const storeResult = await this.getStore('readwrite');
-        if (storeResult.isErr()) return Result.err('Failed to access store')
+		if (storeResult.isErr()) return Result.err('Failed to access store');
 
-        return new Promise(resolve => {
+		return new Promise((resolve) => {
-            const request = storeResult.inner.put(file, key)
+			const request = storeResult.inner.put(file, key);
-            request.onsuccess = () => resolve(Result.ok(request.result))
+			request.onsuccess = () => resolve(Result.ok(request.result));
-            request.onerror = () => resolve(Result.err('Failed to save file'))
+			request.onerror = () => resolve(Result.err('Failed to save file'));
-        })
+		});
-    }
+	}
 
-    public async getFile(key: string): Promise<Result<Uint8Array | undefined, string>> {
+	public async getFile(key: string): Promise<Result<Uint8Array | undefined, string>> {
-        const storeResult = await this.getStore('readonly')
+		const storeResult = await this.getStore('readonly');
-        if (storeResult.isErr()) return Result.err('Failed to access store')
+		if (storeResult.isErr()) return Result.err('Failed to access store');
 
-        return new Promise(resolve => {
+		return new Promise((resolve) => {
-            const request = storeResult.inner.get(key)
+			const request = storeResult.inner.get(key);
-            request.onsuccess = () =>
+			request.onsuccess = () =>
-                resolve(request.result ? Result.ok(request.result) : Result.err('File not found'))
+				resolve(request.result ? Result.ok(request.result) : Result.err('File not found'));
-            request.onerror = () => resolve(Result.err('Failed to retrieve file'))
+			request.onerror = () => resolve(Result.err('Failed to retrieve file'));
-        })
+		});
-    }
+	}
 }
 
-export default browser ? new FileService() : null
+export default browser ? new FileService() : null;

app/src/lib/services/index.ts

@@ -1,2 +1,2 @@
-export { default as fileService } from './file-service'
+export { default as fileService } from './file-service';
-export { default as resultService } from './result-service'
+export { default as resultService } from './result-service';

app/src/lib/services/result-service.ts

@@ -1,19 +1,19 @@
-import { errorLogs, latestErrorLog } from '$lib/stores'
+import { errorLogs, latestErrorLog } from '$lib/stores';
-import type { Result } from '$lib/utilities'
+import type { Result } from '$lib/utilities';
 
 class ResultService {
-    public handleResult(result: Result<unknown, string>, tag?: string) {
+	public handleResult(result: Result<unknown, string>, tag?: string) {
-        if (result.isErr()) {
+		if (result.isErr()) {
-            const errorLogEntry = { tag, message: result.inner, exception: result.exception }
+			const errorLogEntry = { tag, message: result.inner, exception: result.exception };
-            latestErrorLog.set(errorLogEntry)
+			latestErrorLog.set(errorLogEntry);
-            errorLogs.update(entries => {
+			errorLogs.update((entries) => {
-                entries.push(errorLogEntry)
+				entries.push(errorLogEntry);
-                return entries
+				return entries;
-            })
+			});
-        }
+		}
 
-        return result
+		return result;
-    }
+	}
 }
 
-export default new ResultService()
+export default new ResultService();

app/src/lib/stores/analytics.ts

@@ -1,69 +1,55 @@
-import { type Analytics } from '$lib/types/models'
+import { type Analytics } from '$lib/types/models';
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
 
-const analytics_data = {
+let analytics_data = {
-    uptime: <number[]>[],
+	uptime: <number[]>[],
-    free_heap: <number[]>[],
+	free_heap: <number[]>[],
-    total_heap: <number[]>[],
+	total_heap: <number[]>[],
-    used_heap: <number[]>[],
+	used_heap: <number[]>[],
-    min_free_heap: <number[]>[],
+	min_free_heap: <number[]>[],
-    max_alloc_heap: <number[]>[],
+	max_alloc_heap: <number[]>[],
-    fs_used: <number[]>[],
+	fs_used: <number[]>[],
-    fs_total: <number[]>[],
+	fs_total: <number[]>[],
-    core_temp: <number[]>[],
+	core_temp: <number[]>[],
-    cpu0_usage: <number[]>[],
+	cpu0_usage: <number[]>[],
-    cpu1_usage: <number[]>[],
+	cpu1_usage: <number[]>[],
-    cpu_usage: <number[]>[]
+	cpu_usage: <number[]>[]
-}
+};
 
-const maxAnalyticsData = 100
+const maxAnalyticsData = 100;
 
 function createAnalytics() {
-    const { subscribe, update } = writable(analytics_data)
+	const { subscribe, update } = writable(analytics_data);
 
-    return {
+	return {
-        subscribe,
+		subscribe,
-        addData: (content: Analytics) => {
+		addData: (content: Analytics) => {
-            update(analytics_data => ({
+			update((analytics_data) => ({
-                ...analytics_data,
+				...analytics_data,
-                uptime: [...analytics_data.uptime, content.uptime].slice(-maxAnalyticsData),
+				uptime: [...analytics_data.uptime, content.uptime].slice(-maxAnalyticsData),
-                free_heap: [...analytics_data.free_heap, content.free_heap / 1000].slice(
+				free_heap: [...analytics_data.free_heap, content.free_heap / 1000].slice(-maxAnalyticsData),
-                    -maxAnalyticsData
+				total_heap: [...analytics_data.total_heap, content.total_heap / 1000].slice(
-                ),
+					-maxAnalyticsData
-                total_heap: [...analytics_data.total_heap, content.total_heap / 1000].slice(
+				),
-                    -maxAnalyticsData
+				used_heap: [
-                ),
+					...analytics_data.used_heap,
-                used_heap: [
+					(content.total_heap - content.free_heap) / 1000
-                    ...analytics_data.used_heap,
+				].slice(-maxAnalyticsData),
-                    (content.total_heap - content.free_heap) / 1000
+				min_free_heap: [...analytics_data.min_free_heap, content.min_free_heap / 1000].slice(
-                ].slice(-maxAnalyticsData),
+					-maxAnalyticsData
-                min_free_heap: [
+				),
-                    ...analytics_data.min_free_heap,
+				max_alloc_heap: [...analytics_data.max_alloc_heap, content.max_alloc_heap / 1000].slice(
-                    content.min_free_heap / 1000
+					-maxAnalyticsData
-                ].slice(-maxAnalyticsData),
+				),
-                max_alloc_heap: [
+				fs_used: [...analytics_data.fs_used, content.fs_used / 1000].slice(-maxAnalyticsData),
-                    ...analytics_data.max_alloc_heap,
+				fs_total: [...analytics_data.fs_total, content.fs_total / 1000].slice(-maxAnalyticsData),
-                    content.max_alloc_heap / 1000
+				core_temp: [...analytics_data.core_temp, content.core_temp].slice(-maxAnalyticsData),
-                ].slice(-maxAnalyticsData),
+				cpu0_usage: [...analytics_data.cpu0_usage, content.cpu0_usage].slice(-maxAnalyticsData),
-                fs_used: [...analytics_data.fs_used, content.fs_used / 1000].slice(
+				cpu1_usage: [...analytics_data.cpu1_usage, content.cpu1_usage].slice(-maxAnalyticsData),
-                    -maxAnalyticsData
+				cpu_usage: [...analytics_data.cpu_usage, content.cpu_usage].slice(-maxAnalyticsData)
-                ),
+			}));
-                fs_total: [...analytics_data.fs_total, content.fs_total / 1000].slice(
+		}
-                    -maxAnalyticsData
+	};
-                ),
-                core_temp: [...analytics_data.core_temp, content.core_temp].slice(
-                    -maxAnalyticsData
-                ),
-                cpu0_usage: [...analytics_data.cpu0_usage, content.cpu0_usage].slice(
-                    -maxAnalyticsData
-                ),
-                cpu1_usage: [...analytics_data.cpu1_usage, content.cpu1_usage].slice(
-                    -maxAnalyticsData
-                ),
-                cpu_usage: [...analytics_data.cpu_usage, content.cpu_usage].slice(-maxAnalyticsData)
-            }))
-        }
-    }
 }
 
-export const analytics = createAnalytics()
+export const analytics = createAnalytics();

app/src/lib/stores/application.ts

@@ -1,67 +1,67 @@
-import { persistentStore } from '$lib/utilities'
+import { persistentStore } from '$lib/utilities';
-import { get, type Writable } from 'svelte/store'
+import { get, type Writable } from 'svelte/store';
 
-import Visualization from '$lib/components/Visualization.svelte'
+import Visualization from '$lib/components/Visualization.svelte';
-import Stream from '$lib/components/Stream.svelte'
+import Stream from '$lib/components/Stream.svelte';
-import ChartWidget from '$lib/components/widget/ChartWidget.svelte'
+import ChartWidget from '$lib/components/widget/ChartWidget.svelte';
 
 export interface WidgetConfig {
-    id: string | number
+	id: string | number;
-    component: keyof typeof WidgetComponents
+	component: keyof typeof WidgetComponents;
-    props?: Record<string, unknown>
+	props?: Record<string, any>;
 }
 
 export interface WidgetContainerConfig {
-    id: string | number
+	id: string | number;
-    layout?: 'row' | 'column' | 'wrap'
+	layout?: 'row' | 'column' | 'wrap';
-    header?: string
+	header?: string;
-    widgets: Array<WidgetConfig | WidgetContainerConfig>
+	widgets: Array<WidgetConfig | WidgetContainerConfig>;
 }
 
 export const isWidgetConfig = (
-    widget: WidgetConfig | WidgetContainerConfig
+	widget: WidgetConfig | WidgetContainerConfig
-): widget is WidgetConfig => 'component' in widget
+): widget is WidgetConfig => 'component' in widget;
 
 export const WidgetComponents = {
-    Visualization,
+	Visualization,
-    Stream,
+	Stream,
-    ChartWidget
+	ChartWidget
-}
+};
 
 interface View {
-    name: string
+	name: string;
-    content: WidgetContainerConfig
+	content: WidgetContainerConfig;
 }
 
 const defaultViews: View[] = [
-    {
+	{
-        name: '3D representation',
+		name: 'Stream',
-        content: {
+		content: {
-            id: 'root',
+			id: 'root',
-            layout: 'column',
+			layout: 'column',
-            widgets: [{ id: 2, component: 'Visualization', props: { debug: true } }]
+			widgets: [{ id: 2, component: 'Stream' }]
-        }
+		}
-    },
+	},
-    {
+	{
-        name: 'Stream',
+		name: '3D representation',
-        content: {
+		content: {
-            id: 'root',
+			id: 'root',
-            layout: 'column',
+			layout: 'column',
-            widgets: [{ id: 2, component: 'Stream' }]
+			widgets: [{ id: 2, component: 'Visualization', props: { debug: true } }]
-        }
+		}
-    },
+	},
-    {
+	{
-        name: 'Split screen',
+		name: 'Split screen',
-        content: {
+		content: {
-            id: 'root',
+			id: 'root',
-            widgets: [
+			widgets: [
-                { id: 2, component: 'Stream' },
+				{ id: 2, component: 'Stream' },
-                { id: 2, component: 'Visualization', props: { debug: true } }
+				{ id: 2, component: 'Visualization', props: { debug: true } }
-            ]
+			]
-        }
+		}
-    }
+	}
-]
+];
 
-export const views: Writable<View[]> = persistentStore('views', defaultViews)
+export const views: Writable<View[]> = persistentStore('views', defaultViews);
 
-export const selectedView = persistentStore('selected_view', get(views)[0].name)
+export const selectedView = persistentStore('selected_view', get(views)[0].name);

app/src/lib/stores/featureFlags.ts

@@ -1,64 +1,20 @@
-import { api } from '$lib/api'
+import { api } from '$lib/api';
-import { notifications } from '$lib/components/toasts/notifications'
+import { notifications } from '$lib/components/toasts/notifications';
-import Kinematic from '$lib/kinematic'
+import { writable, type Writable } from 'svelte/store';
-import { persistentStore } from '$lib/utilities'
-import { derived, type Writable } from 'svelte/store'
-import { resolve } from '$app/paths'
 
-let featureFlagsStore: Writable<Record<string, boolean | string>>
+let featureFlagsStore: Writable<Record<string, boolean>>;
 
 export function useFeatureFlags() {
-    if (!featureFlagsStore) {
+	if (!featureFlagsStore) {
-        featureFlagsStore = persistentStore<Record<string, boolean | string>>('FeatureFlags', {})
+		featureFlagsStore = writable<Record<string, boolean>>({});
 
-        api.get<Record<string, boolean>>('/api/features').then(result => {
+		api.get<Record<string, boolean>>('/api/features').then((result) => {
-            if (result.isOk()) featureFlagsStore.set(result.inner)
+			if (result.isOk()) featureFlagsStore.set(result.inner);
-            else {
+			else {
-                notifications.error('Feature flag could not be fetched', 2500)
+				notifications.error('Feature flag could not be fetched', 2500);
-            }
+			}
-        })
+		});
-    }
+	}
 
-    return featureFlagsStore
+	return featureFlagsStore;
 }
-
-const base = resolve('/')
-
-export const variants = {
-    SPOTMICRO_ESP32: {
-        model: `${base}spot_micro.urdf.xacro`,
-        stl: `${base}stl.zip`,
-        kinematics: {
-            coxa: 60.5 / 100,
-            coxa_offset: 10 / 100,
-            femur: 111.7 / 100,
-            tibia: 118.5 / 100,
-            L: 207.5 / 100,
-            W: 78 / 100
-        }
-    },
-    SPOTMICRO_YERTLE: {
-        model: `${base}yertle.URDF`,
-        stl: `${base}URDF.zip`,
-        kinematics: {
-            coxa: 35 / 100,
-            coxa_offset: 0 / 100,
-            femur: 130 / 100,
-            tibia: 130 / 100,
-            L: 240 / 100,
-            W: 78 / 100
-        }
-    }
-}
-
-export const currentVariant = derived(useFeatureFlags(), $flagStore => {
-    const variantFlag = $flagStore['variant'] as string
-    return variantFlag && variants[variantFlag as keyof typeof variants] ?
-            variants[variantFlag as keyof typeof variants]
-        :   variants.SPOTMICRO_ESP32
-})
-
-export const currentKinematic = derived(
-    currentVariant,
-    $variant => new Kinematic($variant.kinematics)
-)

app/src/lib/stores/fullscreen.ts

@@ -1,24 +1,24 @@
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
 
-export const isFullscreen = writable(false)
+export const isFullscreen = writable(false);
 
 export function toggleFullscreen() {
-    isFullscreen.update(state => {
+	isFullscreen.update((state) => {
-        !state ? document.documentElement.requestFullscreen() : document.exitFullscreen()
+		!state ? document.documentElement.requestFullscreen() : document.exitFullscreen();
-        return !state
+		return !state;
-    })
+	});
 }
 
 export function enterFullscreen() {
-    if (!document.fullscreenElement) {
+	if (!document.fullscreenElement) {
-        document.documentElement.requestFullscreen()
+		document.documentElement.requestFullscreen();
-        isFullscreen.set(true)
+		isFullscreen.set(true);
-    }
+	}
 }
 
 export function exitFullscreen() {
-    if (document.fullscreenElement) {
+	if (document.fullscreenElement) {
-        document.exitFullscreen()
+		document.exitFullscreen();
-        isFullscreen.set(false)
+		isFullscreen.set(false);
-    }
+	}
 }

app/src/lib/stores/gamepad.ts

@@ -1,87 +0,0 @@
-import { readable, derived } from 'svelte/store'
-
-export type GamepadState = {
-    available: boolean
-    gamepads: Gamepad[]
-}
-
-const DEADZONE = 0.15
-const dz = (x: number) => {
-    const a = Math.abs(x)
-    if (a < DEADZONE) return 0
-    return ((a - DEADZONE) / (1 - DEADZONE)) * Math.sign(x)
-}
-
-let raf = 0
-let running = false
-
-export const gamepads = readable<GamepadState>({ available: false, gamepads: [] }, set => {
-    const update = () => {
-        const pads = navigator.getGamepads?.() ?? []
-        const list = Array.from(pads)
-            .map(p => p || null)
-            .filter(Boolean) as Gamepad[]
-        set({ available: 'getGamepads' in navigator, gamepads: list })
-        raf = requestAnimationFrame(update)
-    }
-
-    const onConnect = () => update()
-    const onDisconnect = () => update()
-    const onVis = () => {
-        if (document.hidden) {
-            running = false
-            cancelAnimationFrame(raf)
-        } else if (!running) {
-            running = true
-            raf = requestAnimationFrame(update)
-        }
-    }
-
-    window.addEventListener('gamepadconnected', onConnect)
-    window.addEventListener('gamepaddisconnected', onDisconnect)
-    document.addEventListener('visibilitychange', onVis)
-
-    running = true
-    raf = requestAnimationFrame(update)
-
-    return () => {
-        running = false
-        cancelAnimationFrame(raf)
-        window.removeEventListener('gamepadconnected', onConnect)
-        window.removeEventListener('gamepaddisconnected', onDisconnect)
-        document.removeEventListener('visibilitychange', onVis)
-    }
-})
-
-export const gamepad = derived(gamepads, s =>
-    s.available && s.gamepads.length ? s.gamepads[0] : null
-)
-
-export const hasGamepad = derived(gamepads, s => s.available && s.gamepads.length > 0)
-
-export const gamepadAxes = derived(gamepad, g => (g ? g.axes.map(dz) : [0, 0, 0, 0]))
-
-type ButtonEdge = { pressed: boolean; value: number; justPressed: boolean; justReleased: boolean }
-const prev = new Map<number, { pressed: boolean; value: number }[]>()
-
-export const gamepadButtons = derived(gamepad, g => g?.buttons ?? [])
-
-export const gamepadButtonsEdges = derived(gamepad, g => {
-    if (!g) return [] as ButtonEdge[]
-    const p = prev.get(g.index) || []
-    const out = g.buttons.map((b, i): ButtonEdge => {
-        const pr = p[i] || { pressed: false, value: 0 }
-        const pressed = !!b.pressed || b.value > 0.5
-        return {
-            pressed,
-            value: b.value,
-            justPressed: pressed && !pr.pressed,
-            justReleased: !pressed && pr.pressed
-        }
-    })
-    prev.set(
-        g.index,
-        out.map(x => ({ pressed: x.pressed, value: x.value }))
-    )
-    return out
-})

app/src/lib/stores/imu.ts

@@ -1,7 +1,7 @@
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
-import type { IMUMsg } from '$lib/types/models'
+import type { IMU } from '$lib/types/models';
 
-const maxIMUData = 100
+const maxIMUData = 100;
 
 export const imu = (() => {
     const { subscribe, update } = writable({
@@ -12,29 +12,16 @@ export const imu = (() => {
         altitude: [] as number[],
         pressure: [] as number[],
         bmp_temp: [] as number[]
-    })
+    });
 
-    const addData = (content: IMUMsg) => {
+    const addData = (content: IMU) => {
         update(data => {
-            if (content.imu && content.imu[4]) {
+            (Object.keys(content) as (keyof IMU)[]).forEach(key => {
-                data.x = [...data.x, content.imu[0]].slice(-maxIMUData)
+                data[key] = [...data[key], content[key]].slice(-maxIMUData);
-                data.y = [...data.y, content.imu[1]].slice(-maxIMUData)
+            });
-                data.z = [...data.z, content.imu[2]].slice(-maxIMUData)
+            return data;
-            }
+        });
+    };
 
-            if (content.mag && content.mag[4]) {
+    return { subscribe, addData };
-                data.heading = [...data.heading, content.mag[3]].slice(-maxIMUData)
+})();
-            }
-
-            if (content.bmp && content.bmp[3]) {
-                data.pressure = [...data.pressure, content.bmp[0]].slice(-maxIMUData)
-                data.altitude = [...data.altitude, content.bmp[1]].slice(-maxIMUData)
-                data.bmp_temp = [...data.bmp_temp, content.bmp[2]].slice(-maxIMUData)
-            }
-
-            return data
-        })
-    }
-
-    return { subscribe, addData }
-})()

app/src/lib/stores/index.ts

@@ -1,9 +1,9 @@
-export * from './socket-store'
+export * from './socket-store';
-export * from './logging-store'
+export * from './logging-store';
-export * from './model-store'
+export * from './model-store';
-export * from './socket'
+export * from './socket';
-export * from './fullscreen'
+export * from './fullscreen';
-export * from './telemetry'
+export * from './telemetry';
-export * from './analytics'
+export * from './analytics';
-export * from './featureFlags'
+export * from './featureFlags';
-export * from './location-store'
+export * from './location-store';

app/src/lib/stores/location-store.ts

@@ -1,6 +1,5 @@
-import { persistentStore } from '$lib/utilities'
+import { persistentStore } from '$lib/utilities';
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
-import { PUBLIC_VITE_USE_HOST_NAME } from '$env/static/public'
+import appEnv from 'app-env';
 
-export const apiLocation =
+export const location = appEnv.VITE_USE_HOST_NAME ? writable('') : persistentStore('location', '');
-    PUBLIC_VITE_USE_HOST_NAME ? writable('') : persistentStore('location', '')

app/src/lib/stores/logging-store.ts

@@ -1,11 +1,11 @@
-import { writable, type Writable } from 'svelte/store'
+import { writable, type Writable } from 'svelte/store';
 
 export interface errorLog {
-    message: unknown
+	message: unknown;
-    tag?: string
+	tag?: string;
-    exception?: unknown
+	exception?: unknown;
 }
 
-export const latestErrorLog: Writable<errorLog> = writable()
+export const latestErrorLog: Writable<errorLog> = writable();
 
-export const errorLogs: Writable<errorLog[]> = writable([])
+export const errorLogs: Writable<errorLog[]> = writable([]);

app/src/lib/stores/model-store.ts

@@ -1,54 +1,45 @@
-import type { ControllerInput } from '$lib/types/models'
+import type { ControllerInput } from '$lib/types/models';
-import { persistentStore } from '$lib/utilities/svelte-utilities'
+import { persistentStore } from '$lib/utilities/svelte-utilities';
-import { writable, type Writable } from 'svelte/store'
+import { writable, type Writable } from 'svelte/store';
 
-export const emulateModel = writable(true)
+export const emulateModel = writable(true);
 
-export const jointNames = persistentStore('joint_names', <string[]>[])
+export const jointNames = persistentStore('joint_names', <string[]>[]);
 
-export const model = writable()
+export const model = writable();
 
-export const modes = ['deactivated', 'idle', 'calibration', 'rest', 'stand', 'walk'] as const
+export const modes = [
+	'deactivated',
+	'idle',
+	'calibration',
+	'rest',
+	'stand',
+	'crawl',
+	'walk'
+] as const;
 
-export type Modes = (typeof modes)[number]
+export type Modes = (typeof modes)[number];
 
 export enum ModesEnum {
-    Deactivated = 0,
+	Deactivated,
-    Idle = 1,
+	Idle,
-    Calibration = 2,
+	Calibration,
-    Rest = 3,
+	Rest,
-    Stand = 4,
+	Stand,
-    Walk = 5
+	Crawl,
+	Walk
 }
 
-export enum WalkGaits {
+export const mode: Writable<ModesEnum> = writable(ModesEnum.Deactivated);
-    Trot = 0,
-    Crawl = 1
-}
 
-export const walkGaits = ['trot', 'crawl'] as const
+export const outControllerData = writable([0, 0, 0, 0, 0, 1, 0]);
 
-export const walkGaitLabels: Record<WalkGaits, string> = {
+export const kinematicData = writable([0, 0, 0, 0, 1, 0]);
-    [WalkGaits.Trot]: 'Trot',
-    [WalkGaits.Crawl]: 'Crawl'
-}
-
-export const walkGaitToMode = (gait: WalkGaits): 'trot' | 'crawl' => {
-    return gait === WalkGaits.Trot ? 'trot' : 'crawl'
-}
-
-export const mode: Writable<ModesEnum> = writable(ModesEnum.Deactivated)
-
-export const walkGait: Writable<WalkGaits> = writable(WalkGaits.Trot)
-
-export const outControllerData = writable([0, 0, 0, 0, 0, 1, 0])
-
-export const kinematicData = writable([0, 0, 0, 0, 1, 0])
 
 export const input: Writable<ControllerInput> = writable({
-    left: { x: 0, y: 0 },
+	left: { x: 0, y: 0 },
-    right: { x: 0, y: 0 },
+	right: { x: 0, y: 0 },
-    height: 0.5,
+	height: 50,
-    speed: 0.5,
+	speed: 50,
-    s1: 0.05
+	s1: 50
-})
+});

app/src/lib/stores/orientation.ts

@@ -0,0 +1,27 @@
+import { readable } from 'svelte/store';
+
+export const heading = readable(0, (set) => {
+	const updateHeading = (e: any) => {
+		let alpha;
+		if (e.webkitCompassHeading) alpha = e.webkitCompassHeading;
+		else if (e.alpha) alpha = e.alpha;
+		else {
+			let q = e.target.quaternion;
+			alpha =
+				Math.atan2(2 * q[0] * q[1] + 2 * q[2] * q[3], 1 - 2 * q[1] * q[1] - 2 * q[2] * q[2]) *
+				(180 / Math.PI);
+			if (alpha < 0) alpha += 360;
+		}
+		set(alpha);
+	};
+	if ('AbsoluteOrientationSensor' in window) {
+		var sensor = new window.AbsoluteOrientationSensor({ frequency: 60 }) as any;
+		sensor.addEventListener('reading', updateHeading);
+		sensor.start();
+	} else if (window.DeviceMotionEvent) window.addEventListener('deviceorientation', updateHeading);
+
+	return () => {
+		if ('AbsoluteOrientationSensor' in window) sensor.removeEventListener('reading', updateHeading);
+		window.addEventListener('deviceorientation', updateHeading);
+	};
+});

app/src/lib/stores/socket-store.ts

@@ -1,27 +1,27 @@
-import { writable, type Writable } from 'svelte/store'
+import { writable, type Writable } from 'svelte/store';
-import { type angles } from '$lib/types/models'
+import { type angles } from '$lib/types/models';
 
 export const servoAnglesOut: Writable<number[]> = writable([
-    0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90
+	0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90
-])
+]);
 export const servoAngles: Writable<number[]> = writable([
-    0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90
+	0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90
-])
+]);
-export const logs = writable([] as string[])
+export const logs = writable([] as string[]);
-export const mpu = writable({ heading: 0 })
+export const mpu = writable({ heading: 0 });
-export const sonar = writable([0, 0])
+export const sonar = writable([0, 0]);
-export const distances = writable({})
+export const distances = writable({});
 
 export interface socketDataCollection {
-    angles: Writable<angles>
+	angles: Writable<angles>;
-    logs: Writable<string[]>
+	logs: Writable<string[]>;
-    mpu: Writable<unknown>
+	mpu: Writable<unknown>;
-    distances: Writable<unknown>
+	distances: Writable<unknown>;
 }
 
 export const socketData = {
-    angles: servoAngles,
+	angles: servoAngles,
-    logs,
+	logs,
-    mpu,
+	mpu,
-    distances
+	distances
-}
+};

app/src/lib/stores/socket.ts

@@ -1,160 +1,122 @@
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
-import { encode, decode } from '@msgpack/msgpack'
 
-const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const
+const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const;
-type SocketEvent = (typeof socketEvents)[number]
+type SocketEvent = (typeof socketEvents)[number];
-
-type SocketMessage = [number, string?, unknown?]
-
-let useBinary = false
-
-const decodeMessage = (data: string | ArrayBuffer): SocketMessage | null => {
-    useBinary = data instanceof ArrayBuffer
-
-    try {
-        if (useBinary) {
-            return decode(new Uint8Array(data as ArrayBuffer)) as SocketMessage
-        }
-        return JSON.parse(data as string)
-    } catch (error) {
-        console.error(`Could not decode data: ${new Uint8Array(data as ArrayBuffer)} - ${error}`)
-    }
-    return null
-}
-
-const encodeMessage = (data: unknown) => {
-    try {
-        return useBinary ? encode(data) : JSON.stringify(data)
-    } catch (error) {
-        console.error(`Could not encode data: ${data} - ${error}`)
-    }
-}
 
 function createWebSocket() {
-    const listeners = new Map<string, Set<(data?: unknown) => void>>()
+	let listeners = new Map<string, Set<(data?: unknown) => void>>();
-    const { subscribe, set } = writable(false)
+	const { subscribe, set } = writable(false);
-    const reconnectTimeoutTime = 5000
+	const reconnectTimeoutTime = 5000;
-    let unresponsiveTimeoutId: ReturnType<typeof setTimeout>
+	let unresponsiveTimeoutId: number;
-    let reconnectTimeoutId: ReturnType<typeof setTimeout>
+	let reconnectTimeoutId: number;
-    let ws: WebSocket
+	let ws: WebSocket;
-    let socketUrl: string | URL
+	let socketUrl: string | URL;
 
-    function init(url: string | URL) {
+	function init(url: string | URL) {
-        socketUrl = url
+		socketUrl = url;
-        connect()
+		connect();
-    }
+	}
 
-    function disconnect(reason: SocketEvent, event?: Event) {
+	function disconnect(reason: SocketEvent, event?: Event) {
-        ws.close()
+		ws.close();
-        set(false)
+		set(false);
-        clearTimeout(unresponsiveTimeoutId)
+		clearTimeout(unresponsiveTimeoutId);
-        clearTimeout(reconnectTimeoutId)
+		clearTimeout(reconnectTimeoutId);
-        listeners.get(reason)?.forEach(listener => listener(event))
+		listeners.get(reason)?.forEach((listener) => listener(event));
-        reconnectTimeoutId = setTimeout(connect, reconnectTimeoutTime)
+		reconnectTimeoutId = setTimeout(connect, reconnectTimeoutTime);
-    }
+	}
 
-    function connect() {
+	function connect() {
-        ws = new WebSocket(socketUrl)
+		ws = new WebSocket(socketUrl);
-        ws.binaryType = 'arraybuffer'
+		ws.onopen = (ev) => {
-        ws.onopen = ev => {
+			set(true);
-            ping()
+			clearTimeout(reconnectTimeoutId);
-            useBinary = true
+			listeners.get('open')?.forEach((listener) => listener(ev));
-            ping()
+			for (const event of listeners.keys()) {
-            set(true)
+				if (socketEvents.includes(event as SocketEvent)) continue;
-            clearTimeout(reconnectTimeoutId)
+				subscribeToEvent(event);
-            listeners.get('open')?.forEach(listener => listener(ev))
+			}
-            for (const event of listeners.keys()) {
+		};
-                if (socketEvents.includes(event as SocketEvent)) continue
+		ws.onmessage = (message) => {
-                subscribeToEvent(event)
+			resetUnresponsiveCheck();
-            }
+			let data = message.data;
-        }
+			if (data instanceof ArrayBuffer) {
-        ws.onmessage = frame => {
+				listeners.get('binary')?.forEach((listener) => listener(data));
-            resetUnresponsiveCheck()
+				return;
-            const message = decodeMessage(frame.data)
+			}
-            if (!message) return
+			data = data.substring(1);
-            const [, event, payload = undefined] = message
-            if (event) listeners.get(event)?.forEach(listener => listener(payload))
-        }
-        ws.onerror = ev => disconnect('error', ev)
-        ws.onclose = ev => disconnect('close', ev)
-    }
 
-    function unsubscribe(event: string, listener?: (data: unknown) => void) {
+			if (!data) return;
-        const eventListeners = listeners.get(event)
-        if (!eventListeners) return
 
-        if (!eventListeners.size) {
+			let event = data.substring(data.indexOf('/') + 1, data.indexOf('['));
-            unsubscribeToEvent(event)
+			let payload = data.substring(data.indexOf('[') + 1, data.lastIndexOf(']'));
-        }
-        if (listener) {
-            eventListeners?.delete(listener)
-        } else {
-            listeners.delete(event)
-        }
-    }
 
-    function resetUnresponsiveCheck() {
+			try {
-        clearTimeout(unresponsiveTimeoutId)
+				payload = JSON.parse(payload);
-        unresponsiveTimeoutId = setTimeout(() => disconnect('unresponsive'), reconnectTimeoutTime)
+			} catch (error) {}
-    }
+			if (event) listeners.get(event)?.forEach((listener) => listener(payload));
+		};
+		ws.onerror = (ev) => disconnect('error', ev);
+		ws.onclose = (ev) => disconnect('close', ev);
+	}
 
-    function sendEvent(event: string, data: unknown) {
+	function unsubscribe(event: string, listener?: (data: any) => void) {
-        if (!ws || ws.readyState !== WebSocket.OPEN) return
+		let eventListeners = listeners.get(event);
-        send([2, event, data])
+		if (!eventListeners) return;
-    }
 
-    function unsubscribeToEvent(event: string) {
+		if (!eventListeners.size) {
-        if (!ws || ws.readyState !== WebSocket.OPEN) return
+			unsubscribeToEvent(event);
-        send([1, event])
+		}
-    }
+		if (listener) {
+			eventListeners?.delete(listener);
+		} else {
+			listeners.delete(event);
+		}
+	}
 
-    function subscribeToEvent(event: string) {
+	function resetUnresponsiveCheck() {
-        if (!ws || ws.readyState !== WebSocket.OPEN) return
+		clearTimeout(unresponsiveTimeoutId);
-        send([0, event])
+		unresponsiveTimeoutId = setTimeout(() => disconnect('unresponsive'), reconnectTimeoutTime);
-    }
+	}
 
-    function send(data: unknown) {
+	function sendEvent(event: string, data: unknown) {
-        if (!ws || ws.readyState !== WebSocket.OPEN) return
+		if (!ws || ws.readyState !== WebSocket.OPEN) return;
-        const serialized = encodeMessage(data)
+		ws.send(`2/${event}[${JSON.stringify(data)}]`);
-        if (!serialized) {
+	}
-            console.error('Could not serialize data:', data)
-            return
-        }
-        ws.send(serialized)
-    }
 
-    function ping() {
+	function unsubscribeToEvent(event: string) {
-        const serialized = encodeMessage([4])
+		if (!ws || ws.readyState !== WebSocket.OPEN) return;
-        if (!serialized) {
+		ws.send('1/' + event);
-            console.error('Could not serialize message')
+	}
-            return
-        }
-        ws.send(serialized)
-    }
 
-    return {
+	function subscribeToEvent(event: string) {
-        subscribe,
+		if (!ws || ws.readyState !== WebSocket.OPEN) return;
-        sendEvent,
+		ws.send('0/' + event);
-        init,
+	}
-        on: <T>(event: string, listener: (data: T) => void): (() => void) => {
-            let eventListeners = listeners.get(event)
-            if (!eventListeners) {
-                if (!socketEvents.includes(event as SocketEvent)) {
-                    subscribeToEvent(event)
-                }
-                eventListeners = new Set()
-                listeners.set(event, eventListeners)
-            }
-            eventListeners.add(listener as (data: unknown) => void)
 
-            return () => {
+	return {
-                unsubscribe(event, listener as (data: unknown) => void)
+		subscribe,
-            }
+		sendEvent,
-        },
+		init,
-        off: <T>(event: string, listener?: (data: T) => void) => {
+		on: <T>(event: string, listener: (data: T) => void): (() => void) => {
-            unsubscribe(event, listener as (data: unknown) => void)
+			let eventListeners = listeners.get(event);
-        }
+			if (!eventListeners) {
-    }
+				if (!socketEvents.includes(event as SocketEvent)) {
+					subscribeToEvent(event);
+				}
+				eventListeners = new Set();
+				listeners.set(event, eventListeners);
+			}
+			eventListeners.add(listener as (data: any) => void);
+
+			return () => {
+				unsubscribe(event, listener);
+			};
+		},
+		off: (event: string, listener?: (data: any) => void) => {
+			unsubscribe(event, listener);
+		}
+	};
 }
 
-export const socket = createWebSocket()
+export const socket = createWebSocket();

app/src/lib/stores/telemetry.ts

@@ -1,7 +1,7 @@
-import type { DownloadOTA } from '$lib/types/models'
+import type { DownloadOTA } from '$lib/types/models';
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
 
-const telemetry_data = {
+let telemetry_data = {
     rssi: {
         rssi: 0
     },
@@ -10,10 +10,10 @@ const telemetry_data = {
         progress: 0,
         error: ''
     }
-}
+};
 
 function createTelemetry() {
-    const { subscribe, update } = writable(telemetry_data)
+    const { subscribe, set, update } = writable(telemetry_data);
 
     return {
         subscribe,
@@ -21,15 +21,15 @@ function createTelemetry() {
             update(telemetry_data => ({
                 ...telemetry_data,
                 rssi: { rssi: data }
-            }))
+            }));
         },
         setDownloadOTA: (data: DownloadOTA) => {
             update(telemetry_data => ({
                 ...telemetry_data,
                 download_ota: { status: data.status, progress: data.progress, error: data.error }
-            }))
+            }));
         }
-    }
+    };
 }
 
-export const telemetry = createTelemetry()
+export const telemetry = createTelemetry();

app/src/lib/types/mathutils.d.ts

@@ -1,17 +1,17 @@
 declare module 'three/src/math/MathUtils' {
-    export function generateUUID(): string
+	export function generateUUID(): string;
-    export function clamp(value: number, min: number, max: number): number
+	export function clamp(value: number, min: number, max: number): number;
-    export function euclideanModulo(n: number, m: number): number
+	export function euclideanModulo(n: number, m: number): number;
-    export function mapLinear(x: number, a1: number, a2: number, b1: number, b2: number): number
+	export function mapLinear(x: number, a1: number, a2: number, b1: number, b2: number): number;
-    export function lerp(x: number, y: number, t: number): number
+	export function lerp(x: number, y: number, t: number): number;
-    export function smoothstep(x: number, min: number, max: number): number
+	export function smoothstep(x: number, min: number, max: number): number;
-    export function smootherstep(x: number, min: number, max: number): number
+	export function smootherstep(x: number, min: number, max: number): number;
-    export function randInt(low: number, high: number): number
+	export function randInt(low: number, high: number): number;
-    export function randFloat(low: number, high: number): number
+	export function randFloat(low: number, high: number): number;
-    export function randFloatSpread(range: number): number
+	export function randFloatSpread(range: number): number;
-    export function degToRad(degrees: number): number
+	export function degToRad(degrees: number): number;
-    export function radToDeg(radians: number): number
+	export function radToDeg(radians: number): number;
-    export function isPowerOfTwo(value: number): boolean
+	export function isPowerOfTwo(value: number): boolean;
-    export function ceilPowerOfTwo(value: number): number
+	export function ceilPowerOfTwo(value: number): number;
-    export function floorPowerOfTwo(value: number): number
+	export function floorPowerOfTwo(value: number): number;
 }

app/src/lib/types/models.ts

@@ -1,245 +1,178 @@
-export enum MessageTopic {
+export type vector = { x: number; y: number };
-    imu = 'imu',
-    mode = 'mode',
-    input = 'input',
-    analytics = 'analytics',
-    position = 'position',
-    angles = 'angles',
-    i2cScan = 'i2cScan',
-    peripheralSettings = 'peripheralSettings',
-    otastatus = 'otastatus',
-    gait = 'walk_gait',
-    servoState = 'servoState',
-    servoPWM = 'servoPWM',
-    WiFiSettings = 'WiFiSettings',
-    sonar = 'sonar',
-    rssi = 'rssi'
-}
-
-export type vector = { x: number; y: number }
 
 export interface ControllerInput {
-    left: vector
+    left: vector;
-    right: vector
+    right: vector;
-    height: number
+    height: number;
-    speed: number
+    speed: number;
-    s1: number
+    s1: number;
 }
 
 export type GithubRelease = {
-    message: string
+    message: string;
-    tag_name: string
+    tag_name: string;
     assets: Array<{
-        name: string
+        name: string;
-        browser_download_url: string
+        browser_download_url: string;
-    }>
+    }>;
-}
+};
 
-export type angles = number[] | Int16Array
+export type angles = number[] | Int16Array;
 
 export type WifiStatus = {
-    status: number
+    status: number;
-    local_ip: string
+    local_ip: string;
-    mac_address: string
+    mac_address: string;
-    rssi: number
+    rssi: number;
-    ssid: string
+    ssid: string;
-    bssid: string
+    bssid: string;
-    channel: number
+    channel: number;
-    subnet_mask: string
+    subnet_mask: string;
-    gateway_ip: string
+    gateway_ip: string;
-    dns_ip_1: string
+    dns_ip_1: string;
-    dns_ip_2?: string
+    dns_ip_2?: string;
-}
+};
 
 export type WifiSettings = {
-    hostname: string
+    hostname: string;
-    priority_RSSI: boolean
+    priority_RSSI: boolean;
-    wifi_networks: KnownNetworkItem[]
+    wifi_networks: KnownNetworkItem[];
-}
+};
 
 export type NetworkList = {
-    networks: NetworkItem[]
+    networks: NetworkItem[];
-}
+};
 
 export type KnownNetworkItem = {
-    ssid: string
+    ssid: string;
-    password: string
+    password: string;
-    static_ip_config: boolean
+    static_ip_config: boolean;
-    local_ip?: string
+    local_ip?: string;
-    subnet_mask?: string
+    subnet_mask?: string;
-    gateway_ip?: string
+    gateway_ip?: string;
-    dns_ip_1?: string
+    dns_ip_1?: string;
-    dns_ip_2?: string
+    dns_ip_2?: string;
-}
+};
 
 export type NetworkItem = {
-    rssi: number
+    rssi: number;
-    ssid: string
+    ssid: string;
-    bssid: string
+    bssid: string;
-    channel: number
+    channel: number;
-    encryption_type: number
+    encryption_type: number;
-}
+};
 
 export type ApStatus = {
-    status: number
+    status: number;
-    ip_address: string
+    ip_address: string;
-    mac_address: string
+    mac_address: string;
-    station_num: number
+    station_num: number;
-}
+};
 
 export type ApSettings = {
-    provision_mode: number
+    provision_mode: number;
-    ssid: string
+    ssid: string;
-    password: string
+    password: string;
-    channel: number
+    channel: number;
-    ssid_hidden: boolean
+    ssid_hidden: boolean;
-    max_clients: number
+    max_clients: number;
-    local_ip: string
+    local_ip: string;
-    gateway_ip: string
+    gateway_ip: string;
-    subnet_mask: string
+    subnet_mask: string;
-}
+};
 
 export type DownloadOTA = {
-    status: string
+    status: string;
-    progress: number
+    progress: number;
-    error: string
+    error: string;
-}
+};
 
 export type Analytics = {
-    max_alloc_heap: number
+    max_alloc_heap: number;
-    psram_size: number
+    psram_size: number;
-    free_psram: number
+    free_psram: number;
-    free_heap: number
+    free_heap: number;
-    total_heap: number
+    total_heap: number;
-    min_free_heap: number
+    min_free_heap: number;
-    core_temp: number
+    core_temp: number;
-    fs_total: number
+    fs_total: number;
-    fs_used: number
+    fs_used: number;
-    uptime: number
+    uptime: number;
-    cpu0_usage: number
+    cpu0_usage: number;
-    cpu1_usage: number
+    cpu1_usage: number;
-    cpu_usage: number
+    cpu_usage: number;
-}
+};
 
 export type Rssi = {
-    rssi: number
+    rssi: number;
-    ssid: string
+    ssid: string;
-}
+};
 
 export type StaticSystemInformation = {
-    esp_platform: string
+    esp_platform: string;
-    firmware_version: string
+    firmware_version: string;
-    cpu_freq_mhz: number
+    cpu_freq_mhz: number;
-    cpu_type: string
+    cpu_type: string;
-    cpu_rev: number
+    cpu_rev: number;
-    cpu_cores: number
+    cpu_cores: number;
-    sketch_size: number
+    sketch_size: number;
-    free_sketch_space: number
+    free_sketch_space: number;
-    sdk_version: string
+    sdk_version: string;
-    arduino_version: string
+    arduino_version: string;
-    flash_chip_size: number
+    flash_chip_size: number;
-    flash_chip_speed: number
+    flash_chip_speed: number;
-    cpu_reset_reason: string
+    cpu_reset_reason: string;
-}
+};
 
-export type SystemInformation = Analytics & StaticSystemInformation
+export type SystemInformation = Analytics & StaticSystemInformation;
 
 export type IMU = {
-    x: number
+    x: number;
-    y: number
+    y: number;
-    z: number
+    z: number;
-    heading: number
+    heading: number;
-    altitude: number
+    altitude: number;
-    bmp_temp: number
+    bmp_temp: number;
-    pressure: number
+    pressure: number;
-}
+};
-
-export type IMUMsg = {
-    imu: [number, number, number, number, boolean]
-    mag: [number, number, number, number, boolean]
-    bmp: [number, number, number, boolean]
-}
 
 export interface I2CDevice {
-    address: number
+    address: number;
-    part_number: string
+    part_number: string;
-    name: string
+    name: string;
-}
-
-export type PinConfig = {
-    pin: number
-    mode: string
-    type: string
-    role: string
-}
-
-export type PeripheralsConfiguration = {
-    sda: number
-    scl: number
-    frequency: number
-    pins: PinConfig[]
 }
 
 export type CameraSettings = {
-    framesize: number
+    framesize: number;
-    quality: number
+    quality: number;
-    brightness: number
+    brightness: number;
-    contrast: number
+    contrast: number;
-    saturation: number
+    saturation: number;
-    sharpness: number
+    sharpness: number;
-    denoise: number
+    denoise: number;
-    special_effect: number
+    special_effect: number;
-    wb_mode: number
+    wb_mode: number;
-    vflip: boolean
+    vflip: boolean;
-    hmirror: boolean
+    hmirror: boolean;
-}
+};
 
-export type File = number
+export type File = number;
 
 export interface Directory {
-    [key: string]: File | Directory
+    [key: string]: File | Directory;
 }
 
 export type Servo = {
-    name: string
+    name: string;
-    channel: number
+    channel: number;
-    inverted: boolean
+    inverted: boolean;
-    angle: number
+    angle: number;
-    center_angle: number
+    center_angle: number;
-}
+};
 
 export type ServoConfiguration = {
-    is_active: boolean
+    is_active: boolean;
-    servo_pwm_frequency: number
+    servo_pwm_frequency: number;
-    servo_oscillator_frequency: number
+    servo_oscillator_frequency: number;
-    servos: Servo[]
+    servos: Servo[];
-}
+};
-
-export interface MDNSServiceQuery {
-    services: MDNSServiceItem[]
-}
-
-export interface MDNSServiceItem {
-    ip: string
-    port: number
-    name: string
-}
-
-export interface MDNSService {
-    service: string
-    protocol: string
-    port: number
-}
-
-export interface MDNSTxtRecord {
-    key: string
-    value: string
-}
-
-export interface MDNSStatus {
-    started: boolean
-    hostname: string
-    instance: string
-    services: MDNSService[]
-    global_txt_records: MDNSTxtRecord[]
-}

app/src/lib/types/uzip.d.ts

@@ -1,14 +1,14 @@
 declare module 'uzip' {
-    interface UZIP {
+	interface UZIP {
-        parse(data: Uint8Array | ArrayBuffer): Record<string, Uint8Array>
+		parse(data: Uint8Array | ArrayBuffer): any;
-        compress(data: Record<string, Uint8Array>): Uint8Array | ArrayBuffer
+		compress(data: any): Uint8Array | ArrayBuffer;
-        compressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer
+		compressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer;
-        decompress(data: Uint8Array | ArrayBuffer): Record<string, Uint8Array>
+		decompress(data: Uint8Array | ArrayBuffer): any;
-        decompressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer
+		decompressRaw(data: Uint8Array | ArrayBuffer): Uint8Array | ArrayBuffer;
-        encode(data: Record<string, Uint8Array>): Uint8Array | ArrayBuffer
+		encode(data: any): Uint8Array | ArrayBuffer;
-        decode(data: Uint8Array | ArrayBuffer): Record<string, Uint8Array>
+		decode(data: Uint8Array | ArrayBuffer): any;
-    }
+	}
 
-    const uzip: UZIP
+	const uzip: UZIP;
-    export default uzip
+	export default uzip;
 }

app/src/lib/utilities/buffer-utilities.ts

@@ -1,15 +1,15 @@
 export class throttler {
-    private _throttlePause: boolean
+	private _throttlePause: boolean;
-    constructor() {
+	constructor() {
-        this._throttlePause = false
+		this._throttlePause = false;
-    }
+	}
-    throttle = (callback: () => void, time: number) => {
+	throttle = (callback: Function, time: number) => {
-        if (this._throttlePause) return
+		if (this._throttlePause) return;
 
-        this._throttlePause = true
+		this._throttlePause = true;
-        setTimeout(() => {
+		setTimeout(() => {
-            callback()
+			callback();
-            this._throttlePause = false
+			this._throttlePause = false;
-        }, time)
+		}, time);
-    }
+	};
 }

app/src/lib/utilities/color-utilities.ts

@@ -1,6 +1,4 @@
 export const daisyColor = (name: string, opacity: number = 100) => {
-    const color = getComputedStyle(document.documentElement).getPropertyValue(name).trim()
+	const color = getComputedStyle(document.documentElement).getPropertyValue(name);
-    if (opacity >= 100) return color
+	return `oklch(${color} / ${opacity}%)`;
-    const alpha = Math.min(Math.max(opacity, 0), 100) / 100
+};
-    return `${color.replace(/(\/\s*\d+(\.\d+)?\))|\)$/, '')} / ${alpha})`
-}

app/src/lib/utilities/index.ts

@@ -1,8 +1,9 @@
-export * from './result'
+export * from './result';
-export * from './string-utilities'
+export * from './string-utilities';
-export * from './svelte-utilities'
+export * from './svelte-utilities';
-export * from './math-utilities'
+export * from './math-utilities';
-export * from './buffer-utilities'
+export * from './buffer-utilities';
-export * from './model-utilities'
+export * from './model-utilities';
-export * from './string-utilities'
+export * from './position-utilities';
-export * from './color-utilities'
+export * from './string-utilities';
+export * from './color-utilities';

app/src/lib/utilities/math-utilities.ts

@@ -1,18 +1,18 @@
 export const toUint8 = (number: number, min: number, max: number) => {
-    number = Math.max(min, Math.min(max, number))
+	number = Math.max(min, Math.min(max, number));
-    const scaled = ((number - min) / (max - min)) * 255
+	let scaled = ((number - min) / (max - min)) * 255;
-    return Math.round(scaled) & 0xff
+	return Math.round(scaled) & 0xff;
-}
+};
 
 export const toInt8 = (number: number, min: number, max: number) => {
-    number = Math.max(min, Math.min(max, number))
+	number = Math.max(min, Math.min(max, number));
-    const scaled = ((number - min) / (max - min)) * 255 - 128
+	let scaled = ((number - min) / (max - min)) * 255 - 128;
-    return Math.max(-128, Math.min(127, Math.round(scaled))) | 0
+	return Math.max(-128, Math.min(127, Math.round(scaled))) | 0;
-}
+};
 
 export const fromInt8 = (int8: number, min: number, max: number) => {
-    int8 = Math.max(-128, Math.min(127, int8))
+	int8 = Math.max(-128, Math.min(127, int8));
-    const scaled = (int8 + 128) / 255
+	const scaled = (int8 + 128) / 255;
-    const number = scaled * (max - min) + min
+	const number = scaled * (max - min) + min;
-    return number
+	return number;
-}
+};

app/src/lib/utilities/model-utilities.ts

@@ -1,96 +1,89 @@
-import { Color, LoaderUtils, Vector3 } from 'three'
+import { Color, LoaderUtils, Vector3 } from 'three';
-import URDFLoader, { type URDFRobot } from 'urdf-loader'
+import URDFLoader, { type URDFRobot } from 'urdf-loader';
-import { XacroLoader } from 'xacro-parser'
+import { XacroLoader } from 'xacro-parser';
-import { Result } from '$lib/utilities'
+import { Result } from '$lib/utilities';
-import { currentVariant, jointNames, model } from '$lib/stores'
+import { jointNames, model } from '$lib/stores';
-import uzip from 'uzip'
+import uzip from 'uzip';
-import { fileService } from '$lib/services'
+import { fileService } from '$lib/services';
-import { get } from 'svelte/store'
-import { resolve } from '$app/paths'
 
-let model_xml: XMLDocument
+let model_xml: XMLDocument;
 
 export const populateModelCache = async () => {
-    await cacheModelFiles()
+	await cacheModelFiles();
-    const modelRes = await loadModel(get(currentVariant).model)
+	const modelRes = await loadModelAsync('/spot_micro.urdf.xacro');
-    if (modelRes.isOk()) {
+	if (modelRes.isOk()) {
-        const [urdf, JOINT_NAME] = modelRes.inner
+		const [urdf, JOINT_NAME] = modelRes.inner;
-        jointNames.set(JOINT_NAME)
+		jointNames.set(JOINT_NAME);
-        model.set(urdf)
+		model.set(urdf);
-    } else {
+	} else {
-        console.error(modelRes.inner, { exception: modelRes.exception })
+		console.error(modelRes.inner, { exception: modelRes.exception });
-    }
+	}
-}
+};
 
 export const cacheModelFiles = async () => {
-    const data = await fetch(get(currentVariant).stl)
+	let data = await fetch('/stl.zip');
 
-    const files = uzip.parse(await data.arrayBuffer())
+	var files = uzip.parse(await data.arrayBuffer());
 
-    for (const [path, data] of Object.entries(files) as [path: string, data: Uint8Array][]) {
+	for (const [path, data] of Object.entries(files) as [path: string, data: Uint8Array][]) {
-        const normalizedPath = path.startsWith('/') ? path : '/' + path
+		const url = new URL(path, window.location.href);
-        const resolvedUrl = resolve(normalizedPath as any)
+		fileService.saveFile(url.toString(), data);
-        fileService?.saveFile(resolvedUrl, data)
+	}
-        fileService?.saveFile(normalizedPath, data)
+};
-    }
-}
 
-export const loadModel = async (url: string): Promise<Result<[URDFRobot, string[]], string>> => {
+export const loadModelAsync = async (
-    const urdfLoader = new URDFLoader()
+	url: string
+): Promise<Result<[URDFRobot, string[]], string>> => {
+	return new Promise((resolve, reject) => {
+		const xacroLoader = new XacroLoader();
+		const urdfLoader = new URDFLoader();
+		urdfLoader.workingPath = LoaderUtils.extractUrlBase(url);
 
-    let xml =
+		xacroLoader.load(
-        url.endsWith('.xacro') ? await loadXacro(url) : await fetch(url).then(res => res.text())
+			url,
+			async (xml) => {
+				model_xml = xml;
+				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]);
 
-    if (typeof xml === 'string') {
+					resolve(Result.ok([model, joints]));
-        xml = new window.DOMParser().parseFromString(xml, 'text/xml')
+				} catch (error) {
-    }
+					resolve(Result.err('Failed to load model', error));
+				}
+			},
+			(error) => resolve(Result.err('Failed to load model', error))
+		);
+	});
+};
 
-    return new Promise(resolve => {
+export const toeWorldPositions = (robot: URDFRobot) => {
-        model_xml = xml
+	const toe_positions: Vector3[] = [];
-        try {
+	robot.traverse((child) => {
-            const model = urdfLoader.parse(xml)
+		if (child.name.includes('toe') && !child.name.includes('_link')) {
-            setupRobot(model)
+			const worldPosition = new Vector3();
-            const joints = Object.entries(model.joints)
+			child.getWorldPosition(worldPosition);
-                .filter(joint => joint[1].jointType !== 'fixed')
+			toe_positions.push(worldPosition);
-                .map(joint => joint[0])
+		}
+	});
+	return toe_positions;
+};
 
-            resolve(Result.ok([model, joints]))
+export const footColor = () => {
-        } catch (error) {
+	const colorElem = model_xml.querySelector('material[name=foot_color] > color') as Element;
-            resolve(Result.err('Failed to load model', error))
+	const colorAttrStr = colorElem.getAttribute('rgba') as string;
-        }
+	const colorStr = colorAttrStr
-    })
+		.split(' ')
-}
+		.slice(0, 3)
+		.map((val) => Math.floor(+val * 255))
+		.join(', ');
 
-const loadXacro = async (url: string): Promise<XMLDocument> =>
+	return new Color(`rgb(${colorStr})`);
-    new Promise((resolve, reject) => {
+};
-        new XacroLoader().load(url, resolve, reject)
-    })
-
-function setupRobot(robot: URDFRobot) {
-    robot.rotation.x = -Math.PI / 2
-    robot.rotation.z = Math.PI / 2
-    robot.scale.setScalar(10)
-    robot.traverse(c => (c.castShadow = true))
-    robot.updateMatrixWorld(true)
-}
-
-export function getToeWorldPositions(robot: URDFRobot): Vector3[] {
-    const toes: Vector3[] = []
-    robot.traverse(c => {
-        if (c.name.includes('toe') && !c.name.includes('_link'))
-            toes.push(c.getWorldPosition(new Vector3()))
-    })
-    return toes
-}
-
-export const extractFootColor = () => {
-    const colorElem = model_xml.querySelector('material[name=foot_color] > color') as Element
-    const colorAttrStr = colorElem.getAttribute('rgba') as string
-    const colorStr = colorAttrStr
-        .split(' ')
-        .slice(0, 3)
-        .map(val => Math.floor(+val * 255))
-        .join(', ')
-
-    return new Color(`rgb(${colorStr})`)
-}

app/src/lib/utilities/position-utilities.ts

@@ -0,0 +1,84 @@
+class SunCalculator {
+	calculateSunElevation(lat: number = 55, lon: number = 12) {
+		const now = new Date();
+		const JD = this.getJulianDate(now);
+		const solarDec = this.getSolarDeclination(JD);
+		const solarTime = this.getSolarTime(now, lon);
+
+		const hourAngle = (solarTime - 12) * 15;
+		const elevation = Math.asin(
+			Math.sin(this.degToRad(lat)) * Math.sin(solarDec) +
+				Math.cos(this.degToRad(lat)) * Math.cos(solarDec) * Math.cos(this.degToRad(hourAngle))
+		);
+
+		return this.radToDeg(elevation);
+	}
+
+	getJulianDate(date: Date) {
+		const Y = date.getUTCFullYear();
+		const M = date.getUTCMonth() + 1;
+		const D =
+			date.getUTCDate() +
+			date.getUTCHours() / 24 +
+			date.getUTCMinutes() / 1440 +
+			date.getUTCSeconds() / 86400;
+		const A = Math.floor((14 - M) / 12);
+		const Y1 = Y + 4800 - A;
+		const M1 = M + 12 * A - 3;
+		return (
+			D +
+			Math.floor((153 * M1 + 2) / 5) +
+			365 * Y1 +
+			Math.floor(Y1 / 4) -
+			Math.floor(Y1 / 100) +
+			Math.floor(Y1 / 400) -
+			32045
+		);
+	}
+
+	getSolarDeclination(JulianDate: number) {
+		const n = JulianDate - 2451545;
+		const L = (280.46 + 0.9856474 * n) % 360;
+		const g = this.degToRad((357.528 + 0.9856003 * n) % 360);
+		const lambda = this.degToRad(L + 1.915 * Math.sin(g) + 0.02 * Math.sin(2 * g));
+		return Math.asin(Math.sin(lambda) * Math.sin(this.degToRad(23.44)));
+	}
+
+	getSolarTime(date: Date, lon: number) {
+		const EoT = this.getEquationOfTime(date);
+		const offset = date.getTimezoneOffset() / 60;
+		const standardMeridian = Math.round(lon / 15) * 15;
+		const solarTime =
+			date.getUTCHours() +
+			(date.getUTCMinutes() + (4 * (standardMeridian - lon) + EoT)) / 60 -
+			offset;
+		return (solarTime + 24) % 24;
+	}
+
+	getEquationOfTime(date: Date) {
+		const JD = this.getJulianDate(date);
+		const n = JD - 2451545;
+		const g = this.degToRad((357.528 + 0.9856003 * n) % 360);
+		const q = this.degToRad((280.46 + 0.9856474 * n) % 360);
+		return (
+			4 *
+			this.radToDeg(
+				0.000075 +
+					0.001868 * Math.cos(q) -
+					0.032077 * Math.sin(g) -
+					0.014615 * Math.cos(2 * q) -
+					0.040849 * Math.sin(2 * g)
+			)
+		);
+	}
+
+	degToRad(deg: number) {
+		return deg * (Math.PI / 180);
+	}
+
+	radToDeg(rad: number) {
+		return rad * (180 / Math.PI);
+	}
+}
+
+export const sunCalculator = new SunCalculator();

app/src/lib/utilities/result/err.ts

@@ -1,42 +1,42 @@
 export class Err<T, U> {
-    #inner: T
+	#inner: T;
-    #exception?: U
+	#exception?: U;
 
-    constructor(inner: T, exception?: U) {
+	constructor(inner: T, exception?: U) {
-        this.#inner = inner
+		this.#inner = inner;
-        this.#exception = exception
+		this.#exception = exception;
-    }
+	}
 
-    get inner(): T {
+	get inner(): T {
-        return this.#inner
+		return this.#inner;
-    }
+	}
 
-    get exception(): U | undefined {
+	get exception(): U | undefined {
-        return this.#exception
+		return this.#exception;
-    }
+	}
 
-    /**
+	/**
-     * Type guard for `Ok`
+	 * Type guard for `Ok`
-     * @returns `true` if `Ok`; `false` if `Err`
+	 * @returns `true` if `Ok`; `false` if `Err`
-     */
+	 */
-    isOk(): false {
+	isOk(): false {
-        return false
+		return false;
-    }
+	}
 
-    /**
+	/**
-     * Type guard for `Err`
+	 * Type guard for `Err`
-     * @returns `true` if `Err`; `false` if `Ok`
+	 * @returns `true` if `Err`; `false` if `Ok`
-     */
+	 */
-    isErr(): this is Err<T, U> {
+	isErr(): this is Err<T, U> {
-        return true
+		return true;
-    }
+	}
 
-    /**
+	/**
-     * Create an `Err`
+	 * Create an `Err`
-     * @param inner
+	 * @param inner
-     * @returns `Err(inner)`
+	 * @returns `Err(inner)`
-     */
+	 */
-    static new<E, F>(inner: E, exception: F): Err<E, F> {
+	static new<E, F>(inner: E, exception: F): Err<E, F> {
-        return new Err<E, F>(inner, exception)
+		return new Err<E, F>(inner, exception);
-    }
+	}
 }

app/src/lib/utilities/result/index.ts

@@ -1,3 +1,3 @@
-export * from './err'
+export * from './err';
-export * from './ok'
+export * from './ok';
-export * from './result'
+export * from './result';

app/src/lib/utilities/result/ok.ts

@@ -1,44 +1,44 @@
 export class Ok<T> {
-    #inner: T
+	#inner: T;
 
-    constructor(inner: T) {
+	constructor(inner: T) {
-        this.#inner = inner
+		this.#inner = inner;
-    }
+	}
 
-    get inner(): T {
+	get inner(): T {
-        return this.#inner
+		return this.#inner;
-    }
+	}
 
-    /**
+	/**
-     * Type guard for `Ok`
+	 * Type guard for `Ok`
-     * @returns `true` if `Ok`; `false` if `Err`
+	 * @returns `true` if `Ok`; `false` if `Err`
-     */
+	 */
-    isOk(): this is Ok<T> {
+	isOk(): this is Ok<T> {
-        return true
+		return true;
-    }
+	}
 
-    /**
+	/**
-     * Type guard for `Err`
+	 * Type guard for `Err`
-     * @returns `true` if `Err`; `false` if `Ok`
+	 * @returns `true` if `Err`; `false` if `Ok`
-     */
+	 */
-    isErr(): false {
+	isErr(): false {
-        return false
+		return false;
-    }
+	}
 
-    /**
+	/**
-     * Create an `Ok`
+	 * Create an `Ok`
-     * @param inner
+	 * @param inner
-     * @returns `Ok(inner)`
+	 * @returns `Ok(inner)`
-     */
+	 */
-    static new<T>(inner: T): Ok<T> {
+	static new<T>(inner: T): Ok<T> {
-        return new Ok<T>(inner)
+		return new Ok<T>(inner);
-    }
+	}
 
-    /**
+	/**
-     * Create an empty `Ok`
+	 * Create an empty `Ok`
-     * @returns `Ok(void)`
+	 * @returns `Ok(void)`
-     */
+	 */
-    static void(): Ok<void> {
+	static void(): Ok<void> {
-        return new Ok(undefined)
+		return new Ok(undefined);
-    }
+	}
 }

app/src/lib/utilities/result/result.ts

@@ -1,20 +1,20 @@
-import { Err } from './err'
+import { Err } from './err';
-import { Ok } from './ok'
+import { Ok } from './ok';
 
-export type Result<T = unknown, E = unknown, F = unknown> = Ok<T> | Err<E, F>
+export type Result<T = unknown, E = unknown, F = unknown> = Ok<T> | Err<E, F>;
 
-export const Result = {
+export namespace Result {
-    /**
+	/**
-     * @returns `Ok<T>`
+	 * @returns `Ok<T>`
-     */
+	 */
-    ok<T = unknown>(value: T) {
+	export function ok<T = unknown>(value: T) {
-        return Ok.new(value)
+		return Ok.new(value);
-    },
+	}
 
-    /**
+	/**
-     * @returns `Err<E, F>`
+	 * @returns `Err<E, F>`
-     */
+	 */
-    err<E = unknown, F = unknown>(error: E, exception?: F) {
+	export function err<E = unknown, F = unknown>(error: E, exception?: F) {
-        return Err.new(error, exception)
+		return Err.new(error, exception);
-    }
+	}
 }

app/src/lib/utilities/string-utilities.ts

@@ -1,47 +1,36 @@
 export const humanFileSize = (size: number): string => {
-    const units = ['B', 'kB', 'MB', 'GB', 'TB']
+	const units = ['B', 'kB', 'MB', 'GB', 'TB'];
-    const i = size == 0 ? 0 : Math.floor(Math.log(size) / Math.log(1024))
+	var i = size == 0 ? 0 : Math.floor(Math.log(size) / Math.log(1024));
-    return Number((size / Math.pow(1024, i)).toFixed(2)) * 1 + units[i]
+	return Number((size / Math.pow(1024, i)).toFixed(2)) * 1 + units[i];
-}
+};
 
 export const capitalize = (str: string): string => {
-    return str.charAt(0).toUpperCase() + str.slice(1).toLowerCase()
+	return str.charAt(0).toUpperCase() + str.slice(1).toLowerCase();
-}
+};
 
 export const convertSeconds = (seconds: number) => {
-    // Calculate the number of seconds, minutes, hours, and days
+	// Calculate the number of seconds, minutes, hours, and days
-    let minutes = Math.floor(seconds / 60)
+	let minutes = Math.floor(seconds / 60);
-    let hours = Math.floor(minutes / 60)
+	let hours = Math.floor(minutes / 60);
-    const days = Math.floor(hours / 24)
+	let days = Math.floor(hours / 24);
 
-    // Calculate the remaining hours, minutes, and seconds
+	// Calculate the remaining hours, minutes, and seconds
-    hours = hours % 24
+	hours = hours % 24;
-    minutes = minutes % 60
+	minutes = minutes % 60;
-    seconds = seconds % 60
+	seconds = seconds % 60;
 
-    // Create the formatted string
+	// Create the formatted string
-    let result = ''
+	let result = '';
-    if (days > 0) {
+	if (days > 0) {
-        result += days + ' day' + (days > 1 ? 's' : '') + ' '
+		result += days + ' day' + (days > 1 ? 's' : '') + ' ';
-    }
+	}
-    if (hours > 0) {
+	if (hours > 0) {
-        result += hours + ' hour' + (hours > 1 ? 's' : '') + ' '
+		result += hours + ' hour' + (hours > 1 ? 's' : '') + ' ';
-    }
+	}
-    if (minutes > 0) {
+	if (minutes > 0) {
-        result += minutes + ' minute' + (minutes > 1 ? 's' : '') + ' '
+		result += minutes + ' minute' + (minutes > 1 ? 's' : '') + ' ';
-    }
+	}
-    result += seconds + ' second' + (seconds > 1 ? 's' : '')
+	result += seconds + ' second' + (seconds > 1 ? 's' : '');
 
-    return result
+	return result;
-}
+};
-
-export const compareIp = (ip1: string, ip2: string) => {
-    const ip1Parts = ip1.split('.').map(Number)
-    const ip2Parts = ip2.split('.').map(Number)
-    for (let i = 0; i < 4; i++) {
-        if (ip1Parts[i] !== ip2Parts[i]) {
-            return ip1Parts[i] > ip2Parts[i] ? 1 : -1
-        }
-    }
-    return 0
-}

app/src/lib/utilities/svelte-utilities.ts

@@ -1,16 +1,16 @@
-import { writable } from 'svelte/store'
+import { writable } from 'svelte/store';
-import { browser } from '$app/environment'
+import { browser } from '$app/environment';
 
 export const persistentStore = <T>(key: string, initialValue: T) => {
-    const savedValue = browser ? localStorage.getItem(key) : null
+	const savedValue = browser ? localStorage.getItem(key) : null;
-    const data: T = savedValue !== null ? JSON.parse(savedValue) : initialValue
+	const data: T = savedValue !== null ? JSON.parse(savedValue) : initialValue;
-    const store = writable<T>()
+	const store = writable<T>();
 
-    store.subscribe(value => {
+	store.subscribe(value => {
-        if (browser) localStorage.setItem(key, JSON.stringify(value))
+		if (browser) localStorage.setItem(key, JSON.stringify(value));
-    })
+	});
 
-    store.set(data)
+	store.set(data);
 
-    return store
+	return store;
-}
+};

app/src/routes/+error.svelte

@@ -1,9 +1,15 @@
 <script lang="ts">
-    import { page } from '$app/state'
+    import { goto } from '$app/navigation';
-    import { resolve } from '$app/paths'
+    import { onMount } from 'svelte';
+
+    onMount(() => {
+        setTimeout(() => {
+            goto('/');
+        }, 3000);
+    });
 </script>
 
 <div class="flex justify-center items-center w-full h-full">
-    <h1>{page.status} {page.error?.message}</h1>
+    <h1 class="text-4xl">404 - Page not found</h1>
-    <span>Go to <a class="btn btn-primary" href={resolve('/')}>Home page</a></span>
+    <p>You will be redirected to the home page in 3 seconds</p>
 </div>

app/src/routes/+layout.svelte

@@ -1,130 +1,125 @@
 <script lang="ts">
-    import { onDestroy, onMount } from 'svelte'
+  import { onDestroy, onMount } from 'svelte'
-    import { page } from '$app/state'
+  import { page } from '$app/state'
-    import { Modals, modals } from 'svelte-modals'
+  import { Modals, modals } from 'svelte-modals'
-    import Toast from '$lib/components/toasts/Toast.svelte'
+  import Toast from '$lib/components/toasts/Toast.svelte'
-    import { notifications } from '$lib/components/toasts/notifications'
+  import { notifications } from '$lib/components/toasts/notifications'
-    import { fade } from 'svelte/transition'
+  import { fade } from 'svelte/transition'
-    import '../app.css'
+  import '../app.css'
-    import Menu from '../lib/components/menu/Menu.svelte'
+  import Menu from '../lib/components/menu/Menu.svelte'
-    import Statusbar from '../lib/components/statusbar/statusbar.svelte'
+  import Statusbar from '../lib/components/statusbar/statusbar.svelte'
-    import {
+  import {
-        telemetry,
+    telemetry,
-        analytics,
+    analytics,
-        ModesEnum,
+    ModesEnum,
-        kinematicData,
+    kinematicData,
-        mode,
+    mode,
-        outControllerData,
+    outControllerData,
-        servoAngles,
+    servoAngles,
-        servoAnglesOut,
+    servoAnglesOut,
-        socket,
+    socket,
-        apiLocation,
+    location,
-        useFeatureFlags,
+    useFeatureFlags
-        walkGait
+  } from '$lib/stores'
-    } from '$lib/stores'
+  import type { Analytics, DownloadOTA } from '$lib/types/models'
-    import { type Analytics, type DownloadOTA } from '$lib/types/models'
+  interface Props {
-    import { MessageTopic } from '$lib/types/models'
+    children?: import('svelte').Snippet
+  }
 
-    interface Props {
+  let { children }: Props = $props()
-        children?: import('svelte').Snippet
-    }
 
-    let { children }: Props = $props()
+  const features = useFeatureFlags()
 
-    const features = useFeatureFlags()
+  onMount(async () => {
+    const ws = $location ? $location : window.location.host
+    socket.init(`ws://${ws}/api/ws/events`)
 
-    onMount(async () => {
+    addEventListeners()
-        const ws = $apiLocation ? $apiLocation : window.location.host
-        socket.init(`ws://${ws}/api/ws`)
 
-        addEventListeners()
+    outControllerData.subscribe(data => socket.sendEvent('input', { data }))
+    mode.subscribe(data => socket.sendEvent('mode', { data }))
+    servoAnglesOut.subscribe(data => socket.sendEvent('angles', { data }))
+    kinematicData.subscribe(data => socket.sendEvent('position', { data }))
+  })
 
-        outControllerData.subscribe(data => socket.sendEvent(MessageTopic.input, data))
+  onDestroy(() => {
-        mode.subscribe(data => socket.sendEvent(MessageTopic.mode, data))
+    removeEventListeners()
-        walkGait.subscribe(data => socket.sendEvent(MessageTopic.gait, data))
+  })
-        servoAnglesOut.subscribe(data => socket.sendEvent(MessageTopic.angles, data))
+
-        kinematicData.subscribe(data => socket.sendEvent(MessageTopic.position, data))
+  const addEventListeners = () => {
+    socket.on('open', handleOpen)
+    socket.on('close', handleClose)
+    socket.on('error', handleError)
+    socket.on('rssi', handleNetworkStatus)
+    socket.on('mode', (data: ModesEnum) => mode.set(data))
+    socket.on('analytics', handleAnalytics)
+    socket.on('angles', (angles: number[]) => {
+      if (angles.length) servoAngles.set(angles)
     })
-
+    features.subscribe(data => {
-    onDestroy(() => {
+      if (data?.download_firmware) socket.on('otastatus', handleOAT)
-        removeEventListeners()
+      if (data?.sonar) socket.on('sonar', data => console.log(data))
     })
+  }
 
-    const addEventListeners = () => {
+  const removeEventListeners = () => {
-        socket.on('open', handleOpen)
+    socket.off('analytics', handleAnalytics)
-        socket.on('close', handleClose)
+    socket.off('open', handleOpen)
-        socket.on('error', handleError)
+    socket.off('close', handleClose)
-        socket.on(MessageTopic.rssi, handleNetworkStatus)
+    socket.off('rssi', handleNetworkStatus)
-        socket.on(MessageTopic.mode, (data: ModesEnum) => mode.set(data))
+    socket.off('otastatus', handleOAT)
-        socket.on(MessageTopic.analytics, handleAnalytics)
+  }
-        socket.on(MessageTopic.angles, (angles: number[]) => {
-            if (angles.length) servoAngles.set(angles)
-        })
-        features.subscribe(data => {
-            if (data?.download_firmware) socket.on(MessageTopic.otastatus, handleOAT)
-            if (data?.sonar) socket.on(MessageTopic.sonar, data => console.log(data))
-        })
-    }
 
-    const removeEventListeners = () => {
+  const handleOpen = () => {
-        socket.off(MessageTopic.analytics, handleAnalytics)
+    notifications.success('Connection to device established', 5000)
-        socket.off('open', handleOpen)
+  }
-        socket.off('close', handleClose)
-        socket.off(MessageTopic.rssi, handleNetworkStatus)
-        socket.off(MessageTopic.otastatus, handleOAT)
-    }
 
-    const handleOpen = () => {
+  const handleClose = () => {
-        notifications.success('Connection to device established', 5000)
+    notifications.error('Connection to device lost', 5000)
-    }
+    telemetry.setRSSI(0)
+  }
 
-    const handleClose = () => {
+  const handleError = (data: any) => console.error(data)
-        notifications.error('Connection to device lost', 5000)
-        telemetry.setRSSI(0)
-    }
 
-    const handleError = (data: unknown) => console.error(data)
+  const handleAnalytics = (data: Analytics) => analytics.addData(data)
 
-    const handleAnalytics = (data: Analytics) => analytics.addData(data)
+  const handleNetworkStatus = (data: number) => telemetry.setRSSI(data)
 
-    const handleNetworkStatus = (data: number) => telemetry.setRSSI(data)
+  const handleOAT = (data: DownloadOTA) => telemetry.setDownloadOTA(data)
 
-    const handleOAT = (data: DownloadOTA) => telemetry.setDownloadOTA(data)
+  let menuOpen = $state(false)
-
-    let menuOpen = $state(false)
 </script>
 
 <svelte:head>
-    <title>{page.data.title}</title>
+  <title>{page.data.title}</title>
 </svelte:head>
 
-<div class="drawer">
+<div class="drawer h-screen">
-    <input id="main-menu" type="checkbox" class="drawer-toggle" bind:checked={menuOpen} />
+  <input id="main-menu" type="checkbox" class="drawer-toggle" bind:checked={menuOpen} />
-    <div class="drawer-content flex flex-col">
+  <div class="drawer-content flex flex-col">
-        <!-- Status bar content here -->
+    <!-- Status bar content here -->
-        <Statusbar />
+    <Statusbar />
 
-        <!-- Main page content here -->
+    <!-- Main page content here -->
-        {@render children?.()}
+    {@render children?.()}
-    </div>
+  </div>
-    <!-- Side Navigation -->
+  <!-- Side Navigation -->
-    <div class="drawer-side z-30 shadow-lg">
+  <div class="drawer-side z-30 shadow-lg">
-        <label for="main-menu" class="drawer-overlay"></label>
+    <label for="main-menu" class="drawer-overlay"></label>
-        <Menu menuClicked={() => (menuOpen = false)} />
+    <Menu menuClicked={() => (menuOpen = false)} />
-    </div>
+  </div>
 </div>
 
 <Modals>
-    {#snippet backdrop()}
+  <!-- svelte-ignore a11y_click_events_have_key_events -->
-        <div
+  <!-- svelte-ignore a11y_no_static_element_interactions -->
-            class="fixed inset-0 z-40 max-h-full max-w-full bg-black/20 backdrop-blur-sm"
+  {#snippet backdrop()}
-            transition:fade
+    <div
-            onclick={modals.closeAll}
+      class="fixed inset-0 z-40 max-h-full max-w-full bg-black/20 backdrop-blur-sm"
-            onkeydown={e => e.key === 'Escape' && modals.closeAll()}
+      transition:fade
-            role="button"
+      onclick={modals.closeAll}>
-            tabindex="0"
+    </div>
-        ></div>
+  {/snippet}
-    {/snippet}
 </Modals>
 
 <Toast />

app/src/routes/+layout.ts

@@ -1,34 +1,22 @@
-export const prerender = true
+export const prerender = false;
-export const ssr = false
+export const ssr = false;
 
 const registerFetchIntercept = async () => {
-    const { fetch: originalFetch } = window
+	const { fetch: originalFetch } = window;
-    const fileService = (await import('$lib/services/file-service')).default
+	const fileService = (await import('$lib/services/file-service')).default;
-    window.fetch = async (resource, config) => {
+	window.fetch = async (resource, config) => {
-        const url = resource instanceof Request ? resource.url : resource.toString()
+		let url = resource instanceof Request ? resource.url : resource.toString();
-
+		let file = await fileService.getFile(url);
-        let file = await fileService?.getFile(url)
+		return file.isOk() ? new Response(file.inner) : originalFetch(resource, config);
-        if (file?.isOk() && file.inner) return new Response(new Uint8Array(file.inner))
+	};
-
+};
-        if (url.startsWith('http')) {
-            try {
-                const urlObj = new URL(url)
-                const pathOnly = urlObj.pathname
-                file = await fileService?.getFile(pathOnly)
-                if (file?.isOk() && file.inner) return new Response(new Uint8Array(file.inner))
-            } catch {}
-        }
-
-        return originalFetch(resource, config)
-    }
-}
 
 export const load = async () => {
-    await registerFetchIntercept()
+	await registerFetchIntercept();
-    return {
+	return {
-        title: 'Spot micro controller',
+		title: 'Spot micro controller',
-        github: 'runeharlyk/SpotMicroESP32-Leika',
+		github: 'runeharlyk/SpotMicroESP32-Leika',
-        app_name: 'Spot Micro Controller',
+		app_name: 'Spot Micro Controller',
-        copyright: '2025 Rune Harlyk'
+		copyright: '2024 Rune Harlyk'
-    }
+	};
-}
+};

app/src/routes/+page.svelte

@@ -1,30 +1,29 @@
 <script lang="ts">
-    import { goto } from '$app/navigation'
+  import { goto } from '$app/navigation'
-    import Visualization from '$lib/components/Visualization.svelte'
+  import Visualization from '$lib/components/Visualization.svelte'
-    import { socket } from '$lib/stores'
+  import { socket } from '$lib/stores'
-    import { onMount } from 'svelte'
+  import { onMount } from 'svelte'
-    import { resolve } from '$app/paths'
 
-    onMount(() => {
+  onMount(() => {
-        socket.subscribe(isConnected => {
+    socket.subscribe(isConnected => {
-            if (isConnected) {
+      if (isConnected) {
-                goto(resolve('/controller'))
+        goto('/controller')
-            }
+      }
-        })
     })
+  })
 </script>
 
-<div class="hero bg-base-100 h-screen">
+<div class="w-full h-full flex justify-center items-center">
-    <div class="card md:card-side bg-base-200 shadow-2xl flex justify-center items-center">
+  <div class="h-full flex flex-col">
-        <div class="w-64 h-64">
+    <div class="grow-3 w-80 relative">
-            <Visualization defaultColor={null} orbit panel={false} ground={false} />
+      <Visualization sky={false} orbit panel={false} ground={false} zoom={8} />
-        </div>
+      <div class="absolute bottom-0 w-full h-40 bg-gradient-to-t from-base-100 to-transparent">
-        <div class="card-body w-80">
+      </div>
-            <h2 class="card-title text-center text-2xl">Begin you journey</h2>
-            <p class="py-6 text-center"></p>
-            <a class="btn btn-primary" href={resolve($socket ? '/controller' : '/connection')}>
-                Add Robot Dog
-            </a>
-        </div>
     </div>
+    <div class="grow-3 flex justify-center">
+      <a class="btn btn-primary rounded-full" href={$socket ? '/controller' : '/connection'}>
+        Add Robot Dog
+      </a>
+    </div>
+  </div>
 </div>

app/src/routes/connection/+page.svelte

@@ -1,7 +1,7 @@
 <script lang="ts">
-    import Connection from './Connection.svelte'
+	import Connection from './Connection.svelte';
 </script>
 
 <div class="mx-0 my-1 flex flex-col space-y-4 sm:mx-8 sm:my-8">
-    <Connection />
+	<Connection />
 </div>

app/src/routes/connection/+page.ts

@@ -1,7 +1,7 @@
-import type { PageLoad } from './$types'
+import type { PageLoad } from './$types';
 
 export const load = (async () => {
-    return {
+	return {
-        title: 'Connection'
+		title: 'Connection'
-    }
+	};
-}) satisfies PageLoad
+}) satisfies PageLoad;

app/src/routes/connection/Connection.svelte

@@ -1,25 +1,27 @@
 <script lang="ts">
-    import SettingsCard from '$lib/components/SettingsCard.svelte'
+    import SettingsCard from '$lib/components/SettingsCard.svelte';
-    import { WiFi } from '$lib/components/icons'
+    import { WiFi } from '$lib/components/icons';
-    import { apiLocation, socket } from '$lib/stores'
+    import { location, socket, useFeatureFlags } from '$lib/stores';
+
+    const features = useFeatureFlags();
 
     const update = () => {
-        const ws = $apiLocation ? $apiLocation : window.location.host
+        const ws = $location ? $location : window.location.host;
-        socket.init(`ws://${ws}/api/ws/events`)
+        socket.init(`ws://${ws}/api/ws/events`);
-    }
+    };
 </script>
 
 <SettingsCard collapsible={false}>
     {#snippet icon()}
-        <WiFi class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
+        <WiFi  class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
     {/snippet}
     {#snippet title()}
-        <span>Connection</span>
+        <span >Connection</span>
     {/snippet}
 
     <div class="flex">
         <label class="label w-32" for="server">Address:</label>
-        <input class="input" bind:value={$apiLocation} />
+        <input class="input" bind:value={$location} />
     </div>
 
     <button class="btn btn-primary" onclick={update}>Update</button>

app/src/routes/controller/+page.svelte

@@ -1,26 +1,26 @@
 <script lang="ts">
-    import Controls from './Controls.svelte'
+    import Controls from './Controls.svelte';
-    import WidgetContainer from '$lib/components/layout/WidgetContainer.svelte'
+    import WidgetContainer from '$lib/components/layout/WidgetContainer.svelte';
-    import { selectedView, views } from '$lib/stores/application'
+    import { selectedView, views } from '$lib/stores/application';
-    import { onMount } from 'svelte'
+    import { onMount } from 'svelte';
-    import { mpu, socket } from '$lib/stores'
+    import { mpu, socket } from '$lib/stores';
-    import { imu } from '$lib/stores/imu'
+    import { imu } from '$lib/stores/imu';
-    import { MessageTopic, type IMU } from '$lib/types/models'
+    import type { IMU } from '$lib/types/models';
 
-    let layout = $derived($views.find(v => v.name === $selectedView)!)
+    let layout = $derived($views.find(v => v.name === $selectedView)!);
 
     onMount(() => {
-        socket.on(MessageTopic.imu, (data: IMU) => {
+        socket.on('imu', (data: IMU) => {
-            imu.addData(data)
+            imu.addData(data);
             if (data.heading)
                 mpu.update(mpuData => {
-                    mpuData.heading = data.heading
+                    mpuData.heading = data.heading;
-                    console.log(data.heading)
+                    console.log(data.heading);
 
-                    return mpuData
+                    return mpuData;
-                })
+                });
-        })
+        });
-    })
+    });
 </script>
 
 <div class="absolute top-0 select-none w-screen h-screen">

app/src/routes/controller/+page.ts

@@ -1,3 +1,3 @@
 export const load = async () => {
-    return { title: 'Controller' }
+	return { title: 'Controller' };
-}
+};

app/src/routes/controller/Controls.svelte

@@ -1,225 +1,150 @@
 <script lang="ts">
-    import nipplejs from 'nipplejs'
+  import nipplejs from 'nipplejs'
-    import { onMount } from 'svelte'
+  import { onMount } from 'svelte'
-    import { capitalize, throttler } from '$lib/utilities'
+  import { capitalize, throttler, toInt8 } from '$lib/utilities'
-    import {
+  import { input, outControllerData, mode, modes, type Modes, ModesEnum } from '$lib/stores'
-        input,
+  import type { vector } from '$lib/types/models'
-        outControllerData,
+  import { VerticalSlider } from '$lib/components/input'
-        mode,
-        modes,
-        type Modes,
-        ModesEnum,
-        WalkGaits,
-        walkGait,
-        walkGaitLabels
-    } from '$lib/stores'
-    import type { vector } from '$lib/types/models'
-    import { VerticalSlider } from '$lib/components/input'
-    import { gamepadAxes, gamepadButtonsEdges, hasGamepad } from '$lib/stores/gamepad'
-    import { notifications } from '$lib/components/toasts/notifications'
 
-    let throttle = new throttler()
+  let throttle = new throttler()
-    let left: nipplejs.JoystickManager
+  let left: nipplejs.JoystickManager
-    let right: nipplejs.JoystickManager
+  let right: nipplejs.JoystickManager
 
-    let throttle_timing = 40
+  let throttle_timing = 40
-    let data = new Array(7)
+  let data = new Array(8)
 
-    $effect(() => {
+  onMount(() => {
-        if ($hasGamepad) {
+    left = nipplejs.create({
-            notifications.success('🎮 Gamepad connected', 3000)
+      zone: document.getElementById('left') as HTMLElement,
-        }
+      color: '#15191e80',
+      dynamicPage: true,
+      mode: 'static',
+      restOpacity: 1
     })
 
-    $effect(() => {
+    right = nipplejs.create({
-        handleJoyMove('left', { x: $gamepadAxes[0], y: -$gamepadAxes[1] })
+      zone: document.getElementById('right') as HTMLElement,
-        handleJoyMove('right', { x: $gamepadAxes[2], y: $gamepadAxes[3] })
+      color: '#15191e80',
+      dynamicPage: true,
+      mode: 'static',
+      restOpacity: 1
     })
 
-    $effect(() => {
+    left.on('move', (_, data) => handleJoyMove('left', data.vector))
-        if (!$hasGamepad) return
+    left.on('end', (_, __) => handleJoyMove('left', { x: 0, y: 0 }))
-        const b = $gamepadButtonsEdges
+    right.on('move', (_, data) => handleJoyMove('right', data.vector))
-        if (!b.length) return
+    right.on('end', (_, __) => handleJoyMove('right', { x: 0, y: 0 }))
-        if (b[0]?.justPressed) mode.set(5)
+  })
-        if (b[1]?.justPressed) mode.set(4)
+
-        if (b[2]?.justPressed) mode.set(3)
+  const handleJoyMove = (key: 'left' | 'right', data: vector) => {
-        if (b[3]?.justPressed) mode.set(0)
+    input.update(inputData => {
-        if (b[12]?.justPressed)
+      inputData[key] = data
-            input.update(inputData => {
+      return inputData
-                inputData['height'] = Math.min(inputData.height + 0.1, 1)
-                return inputData
-            })
-        if (b[13]?.justPressed)
-            input.update(inputData => {
-                inputData['height'] = Math.min(inputData.height - 0.1, 1)
-                return inputData
-            })
     })
+    throttle.throttle(updateData, throttle_timing)
+  }
 
-    onMount(() => {
+  const updateData = () => {
-        left = nipplejs.create({
+    data[0] = 0
-            zone: document.getElementById('left') as HTMLElement,
+    data[1] = toInt8($input.left.x, -1, 1)
-            color: '#15191e80',
+    data[2] = toInt8($input.left.y, -1, 1)
-            dynamicPage: true,
+    data[3] = toInt8($input.right.x, -1, 1)
-            mode: 'static',
+    data[4] = toInt8($input.right.y, -1, 1)
-            restOpacity: 1
+    data[5] = toInt8($input.height, 0, 100)
-        })
+    data[6] = toInt8($input.speed, 0, 100)
+    data[7] = toInt8($input.s1, 0, 100)
 
-        right = nipplejs.create({
+    outControllerData.set(data)
-            zone: document.getElementById('right') as HTMLElement,
+  }
-            color: '#15191e80',
-            dynamicPage: true,
-            mode: 'static',
-            restOpacity: 1
-        })
 
-        left.on('move', (_, data) => handleJoyMove('left', data.vector))
+  const handleKeyup = (event: KeyboardEvent) => {
-        left.on('end', () => handleJoyMove('left', { x: 0, y: 0 }))
+    const down = event.type === 'keydown'
-        right.on('move', (_, data) => handleJoyMove('right', data.vector))
+    input.update(data => {
-        right.on('end', () => handleJoyMove('right', { x: 0, y: 0 }))
+      if (event.key === 'w') data.left.y = down ? 1 : 0
+      if (event.key === 'a') data.left.x = down ? 1 : 0
+      if (event.key === 's') data.left.y = down ? -1 : 0
+      if (event.key === 'd') data.left.x = down ? -1 : 0
+      return data
     })
+    throttle.throttle(updateData, throttle_timing)
+  }
 
-    const handleJoyMove = (key: 'left' | 'right', data: vector) => {
+  const handleRange = (event: Event, key: 'speed' | 'height' | 's1') => {
-        input.update(inputData => {
+    const value: number = event.target?.value
-            inputData[key] = data
-            return inputData
-        })
-        throttle.throttle(updateData, throttle_timing)
-    }
 
-    const updateData = () => {
+    input.update(inputData => {
-        data[0] = $input.left.x
+      inputData[key] = value
-        data[1] = $input.left.y
+      return inputData
-        data[2] = $input.right.x
+    })
-        data[3] = $input.right.y
+    throttle.throttle(updateData, throttle_timing)
-        data[4] = $input.height
+  }
-        data[5] = $input.speed
-        data[6] = $input.s1
 
-        outControllerData.set(data)
+  const changeMode = (modeValue: Modes) => {
-    }
+    mode.set(modes.indexOf(modeValue))
-
+  }
-    const handleKeyup = (event: KeyboardEvent) => {
-        const down = event.type === 'keydown'
-        input.update(data => {
-            if (event.key === 'w') data.left.y = down ? 1 : 0
-            if (event.key === 'a') data.left.x = down ? -1 : 0
-            if (event.key === 's') data.left.y = down ? -1 : 0
-            if (event.key === 'd') data.left.x = down ? 1 : 0
-            if (event.key === 'ArrowLeft') data.right.x = down ? 1 : 0
-            if (event.key === 'ArrowRight') data.right.x = down ? -1 : 0
-            return data
-        })
-        throttle.throttle(updateData, throttle_timing)
-    }
-
-    const handleRange = (event: Event, key: 'speed' | 'height' | 's1') => {
-        const value: number = Number((event.target as HTMLInputElement).value)
-
-        input.update(inputData => {
-            inputData[key] = value
-            return inputData
-        })
-        throttle.throttle(updateData, throttle_timing)
-    }
-
-    const changeMode = (modeValue: Modes) => {
-        mode.set(modes.indexOf(modeValue))
-    }
-
-    const changeWalkGait = (walkGaitValue: WalkGaits) => {
-        walkGait.set(walkGaitValue)
-    }
 </script>
 
 <div class="absolute top-0 left-0 w-screen h-screen">
-    <div class="absolute top-0 left-0 h-full w-full flex portrait:hidden">
+  <div class="absolute top-0 left-0 h-full w-full flex portrait:hidden">
-        <div id="left" class="flex w-60 items-center justify-end"></div>
+    <div id="left" class="flex w-60 items-center justify-end"></div>
-        <div class="flex-1"></div>
+    <div class="flex-1"></div>
-        <div id="right" class="flex w-60 items-center"></div>
+    <div id="right" class="flex w-60 items-center"></div>
+  </div>
+  <div class="absolute bottom-0 right-0 p-4 z-10 gap-2 flex-col hidden lg:flex">
+    <div class="flex justify-center w-full">
+      <kbd class="kbd">W</kbd>
     </div>
-    <div class="absolute bottom-0 right-0 p-4 z-10 gap-2 flex-col hidden lg:flex">
+    <div class="flex justify-center gap-2 w-full">
-        <div class="flex justify-center w-full">
+      <kbd class="kbd">A</kbd>
-            <kbd class="kbd">W</kbd>
+      <kbd class="kbd">S</kbd>
-        </div>
+      <kbd class="kbd">D</kbd>
-        <div class="flex justify-center gap-2 w-full">
-            <kbd class="kbd">A</kbd>
-            <kbd class="kbd">S</kbd>
-            <kbd class="kbd">D</kbd>
-        </div>
-        <div class="flex justify-center w-full"></div>
     </div>
-    <div class="absolute bottom-0 z-10 flex items-end">
+    <div class="flex justify-center w-full"></div>
-        <div
+  </div>
-            class="flex items-center flex-col bg-base-300 bg-opacity-50 p-3 pb-2 gap-2 rounded-tr-xl"
+  <div class="absolute bottom-0 z-10 flex items-end">
-        >
+    <div class="flex items-center flex-col bg-base-300 bg-opacity-50 p-3 pb-2 gap-2 rounded-tr-xl">
-            <VerticalSlider
+      <VerticalSlider min={0} max={100} oninput={(e: Event) => handleRange(e, 'height')} />
-                min={0}
+      <label for="height">Ht</label>
-                max={1}
+    </div>
-                step={0.01}
+    <div
-                oninput={(e: Event) => handleRange(e, 'height')}
+      class="flex items-end gap-4 bg-base-300 bg-opacity-50 h-min rounded-tr-xl pl-0 p-3 portrait:hidden">
-            />
+      <div class="join">
-            <label for="height">Ht</label>
+        {#each modes as modeValue}
-        </div>
+          <button
-        <div
+            class="btn join-item"
-            class="flex items-end gap-4 bg-base-300 bg-opacity-50 h-min rounded-tr-xl pl-0 p-3 portrait:hidden"
+            class:btn-primary={$mode === modes.indexOf(modeValue)}
-        >
+            onclick={() => changeMode(modeValue)}>
-            <div class="join">
+            {capitalize(modeValue)}
-                {#each modes as modeValue}
+          </button>
-                    <button
+        {/each}
-                        class="btn join-item"
+      </div>
-                        class:btn-primary={$mode === modes.indexOf(modeValue)}
-                        onclick={() => changeMode(modeValue)}
-                    >
-                        {capitalize(modeValue)}
-                    </button>
-                {/each}
-            </div>
 
-            {#if $mode === ModesEnum.Walk}
+      {#if $mode === ModesEnum.Walk || $mode === ModesEnum.Crawl}
-                <div class="join">
+        <div class="flex gap-4">
-                    {#each Object.values(WalkGaits) as gaitValue}
+          <div>
-                        {#if typeof gaitValue === 'number'}
+            <label for="s1">S1</label>
-                            <button
+            <input
-                                class="btn join-item btn-sm"
+              type="range"
-                                class:btn-secondary={$walkGait === gaitValue}
+              name="s1"
-                                onclick={() => changeWalkGait(gaitValue)}
+              min="0"
-                            >
+              max="100"
-                                {walkGaitLabels[gaitValue]}
+              oninput={e => handleRange(e, 's1')}
-                            </button>
+              class="range range-sm range-primary" />
-                        {/if}
+          </div>
-                    {/each}
+          <div>
-                </div>
+            <label for="speed">Speed</label>
-
+            <input
-                <div class="flex gap-4">
+              type="range"
-                    <div>
+              name="speed"
-                        <label for="s1">S1</label>
+              min="0"
-                        <input
+              max="100"
-                            type="range"
+              oninput={e => handleRange(e, 'speed')}
-                            name="s1"
+              class="range range-sm range-primary" />
-                            min="0"
+          </div>
-                            step="0.01"
-                            max="1"
-                            oninput={e => handleRange(e, 's1')}
-                            class="range range-sm range-primary"
-                        />
-                    </div>
-                    <div>
-                        <label for="speed">Speed</label>
-                        <input
-                            type="range"
-                            name="speed"
-                            min="0"
-                            step="0.01"
-                            max="1"
-                            oninput={e => handleRange(e, 'speed')}
-                            class="range range-sm range-primary"
-                        />
-                    </div>
-                </div>
-            {/if}
         </div>
+      {/if}
     </div>
+  </div>
 </div>
 
 <svelte:window onkeyup={handleKeyup} onkeydown={handleKeyup} />

app/src/routes/peripherals/+page.ts

@@ -1,8 +1,7 @@
-import type { PageLoad } from './$types'
+import type { PageLoad } from './$types';
-import { goto } from '$app/navigation'
+import { goto } from '$app/navigation';
-import { resolve } from '$app/paths'
 
 export const load = (async () => {
-    goto(resolve('/'))
+	goto('/');
-    return
+	return;
-}) satisfies PageLoad
+}) satisfies PageLoad;

app/src/routes/peripherals/camera/+page.svelte

@@ -1,7 +1,7 @@
 <script lang="ts">
-    import Camera from './Camera.svelte'
+	import Camera from './Camera.svelte';
 </script>
 
 <div class="mx-0 my-1 flex flex-col space-y-4 sm:mx-8 sm:my-8">
-    <Camera />
+	<Camera />
 </div>