Fix task and added timings for write

.gitignore

@@ -6,6 +6,11 @@ __pycache__/
 *.py[cod]
 *$py.class
 .pio
+managed_components/
+dependencies.lock
+sdkconfig
+sdkconfig.*
+!sdkconfig.defaults
 esp32/src/platform_shared/*
 !esp32/src/platform_shared/.gitkeep
 app/src/lib/platform_shared/*

CMakeLists.txt

@@ -0,0 +1,3 @@
+cmake_minimum_required(VERSION 3.16.0)
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(Spot_Micro_Leika)

app/src/lib/filesystem/chunkedTransfer.ts

@@ -15,7 +15,7 @@ import type {
 } from '$lib/platform_shared/filesystem'
 import type { Result, DataResult, ListResult, ProgressCallback } from '$lib/types/models'
 
-const MAX_CHUNK_SIZE = 2 ** 14
+const MAX_CHUNK_SIZE = 1024 * 64 // 64KB - must match ESP32 FS_MAX_CHUNK_SIZE
 
 type TimeoutId = ReturnType<typeof setTimeout>
 type CleanupFn = (() => void) | null
@@ -51,7 +51,7 @@ export class FileSystemClient {
 	private downloadListenerCleanup: CleanupFn = null
 	private completeListenerCleanup: CleanupFn = null
 	private uploadCompleteListenerCleanup: CleanupFn = null
-	private transferTimeout = 60000
+	private transferTimeout = 300000
 
 	constructor() {
 		this.setupListeners()

app/src/lib/stores/socket.ts

@@ -153,6 +153,8 @@ function createWebSocket() {
             }
 
             const { tag, msg } = decodeMessage(frame.data)
+            const key: keyof Message = (MESSAGE_TAG_TO_KEY.get(tag) ?? "") as keyof Message;
+            console.log(key + ": ", msg[key])
             if (msg.correlationResponse) {
                 const pending = pending_requests.get(msg.correlationResponse.correlationId)
                 if (pending) {

app/vite.config.ts

@@ -21,7 +21,7 @@ export default defineConfig({
     server: {
         proxy: {
             '/api': {
-                target: 'http://spot-micro.local/',
+                target: 'http://192.168.50.141/',
                 changeOrigin: true,
                 ws: true
             }

esp32/include/ap_service.h

@@ -5,8 +5,10 @@
 #include <template/stateful_persistence_pb.h>
 #include <settings/ap_settings.h>
 #include <utils/timing.h>
-#include <WiFi.h>
-#include "esp_timer.h"
+#include <wifi/wifi_idf.h>
+#include <wifi/dns_server.h>
+#include <esp_timer.h>
+#include <string>
 
 class APService : public StatefulService<APSettings> {
   public:
@@ -28,8 +30,8 @@ class APService : public StatefulService<APSettings> {
     DNSServer *_dnsServer;
 
     volatile unsigned long _lastManaged;
-    volatile boolean _reconfigureAp;
-    volatile boolean _recoveryMode = false;
+    volatile bool _reconfigureAp;
+    volatile bool _recoveryMode = false;
 
     void reconfigureAP();
     void manageAP();

esp32/include/communication/comm_base.hpp

@@ -1,10 +1,14 @@
 #pragma once
 
+#include <esp_log.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
 #include <functional>
 #include <list>
 #include <map>
 #include <type_traits>
 #include <communication/proto_helpers.h>
+#include <utils/timing.h>
 
 class CommAdapterBase {
   public:
@@ -51,7 +55,8 @@ class CommAdapterBase {
 
         pb_ostream_t stream = pb_ostream_from_buffer(buffer, out_size);
         if (!pb_encode(&stream, socket_message_Message_fields, &msg_)) {
-            ESP_LOGE("ProtoComm", "Failed to encode message (tag %d), buffer too small?", (int)tag);
+            ESP_LOGE("ProtoComm", "Failed to encode message (tag %d): %s (calc=%u, written=%u)",
+                     (int)tag, PB_GET_ERROR(&stream), out_size, stream.bytes_written);
             return;
         }
 
@@ -92,9 +97,11 @@ class CommAdapterBase {
     }
 
     void handleIncoming(const uint8_t* data, size_t len, int cid) {
+        TIME_IT(
         if (!decoder_.decode(data, len, cid)) {
             ESP_LOGE("ProtoComm", "Failed to decode incoming message from client %d", cid);
         }
+        , INCOMING_DECODE)
     }
 
     void sendPong(int cid) {

esp32/include/communication/proto_helpers.h

@@ -3,6 +3,7 @@
 #include <pb_encode.h>
 #include <pb_decode.h>
 #include <platform_shared/message.pb.h>
+#include <esp_log.h>
 #include <functional>
 #include <map>
 
@@ -71,32 +72,48 @@ class ProtoDecoder {
     bool decode(const uint8_t* data, size_t len, int clientId) {
         pb_istream_t stream = pb_istream_from_buffer(data, len);
 
-        if (!pb_decode(&stream, socket_message_Message_fields, &msg_)) {
+        // Reset message before decoding (nanopb will malloc FT_POINTER fields)
+        msg_ = socket_message_Message_init_zero;
+
+        bool success = pb_decode(&stream, socket_message_Message_fields, &msg_);
+
+        if (!success) {
+            ESP_LOGE("ProtoHelpers", "Decode failed: %s (len=%u)", PB_GET_ERROR(&stream), len);
+            pb_release(socket_message_Message_fields, &msg_);
             return false;
         }
 
+        bool handled = false;
         switch (msg_.which_message) {
             case socket_message_Message_sub_notif_tag:
                 if (subscribeHandler_) subscribeHandler_(msg_.message.sub_notif.tag, clientId);
-                return true;
+                handled = true;
+                break;
 
             case socket_message_Message_unsub_notif_tag:
                 if (unsubscribeHandler_) unsubscribeHandler_(msg_.message.unsub_notif.tag, clientId);
-                return true;
+                handled = true;
+                break;
 
             case socket_message_Message_pingmsg_tag:
                 if (pingHandler_) pingHandler_(clientId);
-                return true;
+                handled = true;
+                break;
 
             default: {
                 auto it = handlers_.find(msg_.which_message);
                 if (it != handlers_.end()) {
                     it->second(clientId);
-                    return true;
+                    handled = true;
                 }
-                return false;
+                break;
             }
         }
+
+        // Free any malloc'd FT_POINTER fields
+        pb_release(socket_message_Message_fields, &msg_);
+
+        return handled;
     }
 
   private:

esp32/include/communication/webserver.h

@@ -1,6 +1,13 @@
 #pragma once
 
+#ifndef CONFIG_HTTPD_WS_SUPPORT
+#define CONFIG_HTTPD_WS_SUPPORT 1
+#endif
+
 #include <esp_http_server.h>
+#include <esp_log.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
 #include <functional>
 #include <vector>
 #include <string>

esp32/include/communication/websocket.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <Arduino.h>
+#include <cstdint>
 #include <communication/webserver.h>
 #include <communication/comm_base.hpp>
 

esp32/include/compat/pgmspace.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#ifndef PROGMEM
+#define PROGMEM
+#endif
+
+#ifndef PGM_P
+#define PGM_P const char *
+#endif
+
+#ifndef pgm_read_byte
+#define pgm_read_byte(addr) (*(const unsigned char *)(addr))
+#endif
+
+#ifndef pgm_read_word
+#define pgm_read_word(addr) (*(const unsigned short *)(addr))
+#endif
+
+#ifndef pgm_read_dword
+#define pgm_read_dword(addr) (*(const unsigned long *)(addr))
+#endif

esp32/include/features.h

@@ -1,7 +1,6 @@
 #pragma once
 
-#include <WiFi.h>
-#include <ArduinoJson.h>
+#include <wifi/wifi_idf.h>
 #include <esp_http_server.h>
 #include "platform_shared/message.pb.h"
 

esp32/include/filesystem.h

@@ -1,29 +1,41 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <ArduinoJson.h>
-#include <LittleFS.h>
+#include <esp_littlefs.h>
+#include <esp_vfs.h>
+#include <dirent.h>
+#include <sys/stat.h>
 #include <string>
+#include <cstdio>
 #include <platform_shared/api.pb.h>
 
-#define ESP_FS LittleFS
-
-#define FS_CONFIG_DIRECTORY "/config"
-#define DEVICE_CONFIG_FILE "/config/peripheral.json"
-#define CAMERA_SETTINGS_FILE "/config/cameraSettings.pb"
-#define AP_SETTINGS_FILE "/config/apSettings.pb"
-#define MDNS_SETTINGS_FILE "/config/mdnsSettings.pb"
-#define WIFI_SETTINGS_FILE "/config/wifiSettings.pb"
-#define PERIPHERAL_SETTINGS_FILE "/config/peripheralSettings.pb"
-#define SERVO_SETTINGS_FILE "/config/servoSettings.pb"
+#define MOUNT_POINT "/"
+#define LITTLEFS_MOUNT_POINT "/littlefs"
+#define SD_MOUNT_POINT "/sdcard"
 
+#define FS_CONFIG_DIRECTORY LITTLEFS_MOUNT_POINT "/config"
+#define DEVICE_CONFIG_FILE LITTLEFS_MOUNT_POINT "/config/peripheral.pb"
+#define CAMERA_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/cameraSettings.pb"
+#define AP_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/apSettings.pb"
+#define MDNS_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/mdnsSettings.pb"
+#define WIFI_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/wifiSettings.pb"
+#define PERIPHERAL_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/peripheralSettings.pb"
+#define SERVO_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/servoSettings.pb"
 
 namespace FileSystem {
 
+bool init();
+
 void listFilesProto(const std::string &directory, api_FileEntry *entry);
 std::string listFiles(const std::string &directory, bool isRoot = true);
 bool deleteFile(const char *filename);
 bool editFile(const char *filename, const uint8_t *content, size_t size);
+bool editFile(const char *filename, const char *content);
+bool fileExists(const char *filename);
+std::string readFile(const char *filename);
+bool writeFile(const char *filename, const char *content);
+bool writeFile(const char *filename, const uint8_t *content, size_t size);
+bool mkdirRecursive(const char *path);
 
 esp_err_t getFilesProto(httpd_req_t *request);
 esp_err_t getFiles(httpd_req_t *request);

esp32/include/filesystem_ws.h

@@ -1,20 +1,27 @@
 #pragma once
 
-#include <LittleFS.h>
 #include <platform_shared/message.pb.h>
+#include <filesystem.h>
 #include <map>
 #include <string>
 #include <functional>
+#include <cstdio>
+#include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
+#include <freertos/task.h>
+#include <freertos/semphr.h>
 
-// Make sure that this aligns with socket_message.FSDownloadData.data max_size (and for upload)
-#define FS_MAX_CHUNK_SIZE 16384      // ~= 16 kb
-#define FS_TRANSFER_TIMEOUT_MS 30000 // 30 seconds
+#define FS_MAX_CHUNK_SIZE (1024 * 64)
+#define FS_TRANSFER_TIMEOUT_MS 30000
+#define FS_WRITE_QUEUE_SIZE 4
+#define FS_WRITER_TASK_STACK_SIZE 4096
+#define FS_WRITER_TASK_PRIORITY 5
 
 namespace FileSystemWS {
 
 struct DownloadState {
     std::string path;
-    File file;
+    FILE* file;
     uint32_t fileSize;
     uint32_t chunkSize;
     uint32_t totalChunks;
@@ -25,10 +32,11 @@ struct DownloadState {
 
 struct UploadState {
     std::string path;
-    File file;
+    FILE* file;
     uint32_t fileSize;
     uint32_t totalChunks;
     uint32_t chunksReceived;
+    uint32_t chunksWritten;
     uint32_t bytesReceived;
     uint32_t lastActivityTime;
     int clientId;
@@ -36,7 +44,14 @@ struct UploadState {
     std::string errorMessage;
 };
 
-// Callback type for sending messages to clients
+struct WriteRequest {
+    uint32_t transferId;
+    uint8_t* data;
+    size_t size;
+    uint32_t chunkIndex;
+    bool isLastChunk;
+};
+
 using SendMetadataCallback = std::function<void(const socket_message_FSDownloadMetadata&, int clientId)>;
 using SendCallback = std::function<void(const socket_message_FSDownloadData&, int clientId)>;
 using SendCompleteCallback = std::function<void(const socket_message_FSDownloadComplete&, int clientId)>;
@@ -45,36 +60,22 @@ using SendUploadCompleteCallback = std::function<void(const socket_message_FSUpl
 class FileSystemHandler {
   public:
     FileSystemHandler();
+    ~FileSystemHandler();
+
+    void startWriterTask();
+    void stopWriterTask();
 
-    // Set callbacks for sending streaming data
     void setSendCallbacks(SendMetadataCallback sendMetadata, SendCallback sendData, SendCompleteCallback sendComplete,
                           SendUploadCompleteCallback sendUploadComplete);
 
-    // Delete file/directory
     socket_message_FSDeleteResponse handleDelete(const socket_message_FSDeleteRequest& req);
-
-    // Create directory
     socket_message_FSMkdirResponse handleMkdir(const socket_message_FSMkdirRequest& req);
-
-    // List directory
     socket_message_FSListResponse handleList(const socket_message_FSListRequest& req);
-
-    // Streaming download - starts the download and streams all chunks
     void handleDownloadRequest(const socket_message_FSDownloadRequest& req, int clientId);
-
-    // Streaming upload - start upload session
     socket_message_FSUploadStartResponse handleUploadStart(const socket_message_FSUploadStart& req, int clientId);
-
-    // Streaming upload - receive chunk data (fire-and-forget from client)
     void handleUploadData(const socket_message_FSUploadData& req);
-
-    // Cancel transfer
     socket_message_FSCancelTransferResponse handleCancelTransfer(const socket_message_FSCancelTransfer& req);
-
-    // Cleanup expired transfers
     void cleanupExpiredTransfers();
-
-    // Process pending downloads (call from main loop)
     void processPendingDownloads();
 
   private:
@@ -82,6 +83,12 @@ class FileSystemHandler {
     std::map<uint32_t, UploadState> uploads_;
     uint32_t transferIdCounter_;
 
+    // Async writer task
+    QueueHandle_t writeQueue_;
+    TaskHandle_t writerTaskHandle_;
+    SemaphoreHandle_t uploadsMutex_;
+    volatile bool writerTaskRunning_;
+
     inline uint32_t generateTransferId() { return ++transferIdCounter_; }
 
     SendMetadataCallback sendMetadataCallback_;
@@ -91,10 +98,10 @@ class FileSystemHandler {
 
     void listDirectory(const std::string& path, socket_message_FSListResponse& response);
     bool deleteRecursive(const std::string& path);
-
     bool sendNextDownloadChunk(uint32_t transferId);
-
     void finalizeUpload(uint32_t transferId, bool success, const std::string& error = "");
+    void processWriteRequest(const WriteRequest& req);
+    static void writerTaskFunc(void* param);
 };
 
 extern FileSystemHandler fsHandler;

esp32/include/global.h

@@ -1,14 +1,15 @@
 #pragma once
 
-#include <esp32-hal.h>
+#include <sdkconfig.h>
+#include <esp_system.h>
 
-#if CONFIG_IDF_TARGET_ESP32 // ESP32/PICO-D4
+#if CONFIG_IDF_TARGET_ESP32
 #include "esp32/rom/rtc.h"
 #ifndef ESP_PLATFORM_NAME
 #define ESP_PLATFORM_NAME "ESP32"
 #endif
 #elif CONFIG_IDF_TARGET_ESP32S2
-#include "esp32/rom/rtc.h"
+#include "esp32s2/rom/rtc.h"
 #ifndef ESP_PLATFORM_NAME
 #define ESP_PLATFORM_NAME "ESP32-S2"
 #endif
@@ -26,24 +27,25 @@
 #error Target CONFIG_IDF_TARGET is not supported
 #endif
 
-#ifndef ARDUINO_VERSION
-#ifndef STRINGIFY
-#define STRINGIFY(s) #s
-#endif
-#define ARDUINO_VERSION_STR(major, minor, patch) "v" STRINGIFY(major) "." STRINGIFY(minor) "." STRINGIFY(patch)
-#define ARDUINO_VERSION \
-    ARDUINO_VERSION_STR(ESP_ARDUINO_VERSION_MAJOR, ESP_ARDUINO_VERSION_MINOR, ESP_ARDUINO_VERSION_PATCH)
-#endif
-
-/*
- * I2C software connection
- */
 #ifndef SDA_PIN
-#define SDA_PIN SDA
+#define SDA_PIN 21
 #endif
 #ifndef SCL_PIN
-#define SCL_PIN SCL
+#define SCL_PIN 22
 #endif
 #ifndef I2C_FREQUENCY
 #define I2C_FREQUENCY 100000UL
-#endif
+#endif
+
+// Optional SD card mounting via SDMMC (1-bit mode for ESP32-S3-CAM)
+// Pin definitions - override in build flags if needed
+#ifndef SD_CMD_PIN
+#define SD_CMD_PIN GPIO_NUM_38
+#endif
+#ifndef SD_CLK_PIN
+#define SD_CLK_PIN GPIO_NUM_39
+#endif
+#ifndef SD_DATA_PIN
+#define SD_DATA_PIN GPIO_NUM_40
+#endif
+

esp32/include/mdns_service.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <ESPmDNS.h>
+#include <mdns.h>
 #include <template/stateful_service.h>
 #include <template/stateful_proto_endpoint.h>
 #include <template/stateful_persistence_pb.h>
@@ -9,15 +9,6 @@
 #include <utils/timing.h>
 
 class MDNSService : public StatefulService<MDNSSettings> {
-  private:
-    FSPersistencePB<MDNSSettings> _persistence;
-    bool _started {false};
-
-    void reconfigureMDNS();
-    void startMDNS();
-    void stopMDNS();
-    void addServices();
-
   public:
     MDNSService();
     ~MDNSService();
@@ -28,4 +19,13 @@ class MDNSService : public StatefulService<MDNSSettings> {
     esp_err_t queryServices(httpd_req_t *request, api_Request *protoReq);
 
     StatefulProtoEndpoint<MDNSSettings, api_MDNSSettings> protoEndpoint;
+
+  private:
+    FSPersistencePB<MDNSSettings> _persistence;
+    bool _started {false};
+
+    void reconfigureMDNS();
+    void startMDNS();
+    void stopMDNS();
+    void addServices();
 };

esp32/include/motion_states/state.h

@@ -2,6 +2,8 @@
 
 #include <kinematics.h>
 #include <message_types.h>
+#include <utils/math_utils.h>
+#include <cstring>
 
 class MotionState {
   protected:
@@ -26,15 +28,15 @@ class MotionState {
     }
 
     void updateFeet(body_state_t& body_state, const float smoothing_factor = default_smoothing_factor) {
-        if (target_body_state.feet != body_state.feet) {
+        if (std::memcmp(target_body_state.feet, body_state.feet, sizeof(body_state.feet)) != 0) {
             body_state.updateFeet(target_body_state.feet);
         }
     }
 
   public:
     void updateImuOffsets(const float new_omega, const float new_psi) {
-        omega_offset = new_omega * RAD_TO_DEG;
-        psi_offset = new_psi * RAD_TO_DEG;
+        omega_offset = RAD_TO_DEG_F(new_omega);
+        psi_offset = RAD_TO_DEG_F(new_psi);
     }
     virtual ~MotionState() {}
 

esp32/include/peripherals/camera_service.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <WiFi.h>
 
 #include <features.h>
 #include <template/stateful_service.h>

esp32/include/peripherals/drivers/mpu6050.h

@@ -316,8 +316,7 @@ class MPU6050Driver {
             i += chunkSize;
             address += chunkSize;
 
-            if (address == 0 || address >= 256) {
-                address = 0;
+            if (address == 0) {
                 bank++;
                 setMemoryBank(bank);
             }

esp32/include/peripherals/led_service.h

@@ -1,56 +1,105 @@
 #ifndef LEDService_h
 #define LEDService_h
 
-#include <FastLED.h>
+#include <driver/rmt_tx.h>
+#include <led_strip.h>
+#include <led_strip_rmt.h>
+#include <wifi/wifi_idf.h>
+#include <utils/timing.h>
+#include <esp_log.h>
 
 #ifndef WS2812_PIN
 #define WS2812_PIN 12
 #endif
 
 #ifndef WS2812_NUM_LEDS
-#define WS2812_NUM_LEDS 1 + 12
+#define WS2812_NUM_LEDS 13
 #endif
 
-#define COLOR_ORDER GRB
-#define CHIPSET WS2811
-
 class LEDService {
   private:
-    CRGB leds[WS2812_NUM_LEDS];
-    CRGBPalette16 currentPalette;
-    TBlendType currentBlending;
-
+    led_strip_handle_t led_strip = nullptr;
     int _brightness = 255;
     int direction = 1;
+    bool initialized = false;
+
+    struct RGB {
+        uint8_t r, g, b;
+    };
+
+    RGB oceanColor = {0, 119, 190};
+    RGB forestColor = {34, 139, 34};
 
   public:
-    LEDService() {
-        FastLED.addLeds<CHIPSET, WS2812_PIN, COLOR_ORDER>(leds, WS2812_NUM_LEDS).setCorrection(TypicalLEDStrip);
-        currentPalette = OceanColors_p;
-        currentBlending = LINEARBLEND;
+    LEDService() {}
+
+    ~LEDService() {
+        if (initialized && led_strip) {
+            led_strip_del(led_strip);
+        }
+    }
+
+    void begin() {
+        if (initialized) return;
+
+        led_strip_config_t strip_config = {
+            .strip_gpio_num = WS2812_PIN,
+            .max_leds = WS2812_NUM_LEDS,
+            .led_pixel_format = LED_PIXEL_FORMAT_GRB,
+            .led_model = LED_MODEL_WS2812,
+            .flags = {.invert_out = false},
+        };
+
+        led_strip_rmt_config_t rmt_config = {
+            .clk_src = RMT_CLK_SRC_DEFAULT,
+            .resolution_hz = 10 * 1000 * 1000,
+            .mem_block_symbols = 64,
+            .flags = {.with_dma = false},
+        };
+
+        esp_err_t err = led_strip_new_rmt_device(&strip_config, &rmt_config, &led_strip);
+        if (err == ESP_OK) {
+            initialized = true;
+            led_strip_clear(led_strip);
+            ESP_LOGI("LEDService", "LED strip initialized on GPIO %d", WS2812_PIN);
+        } else {
+            ESP_LOGE("LEDService", "Failed to initialize LED strip: %s", esp_err_to_name(err));
+        }
     }
-    ~LEDService() {}
 
     void loop() {
+        if (!initialized) return;
+
         EXECUTE_EVERY_N_MS(1000 / 60, {
             if (_brightness >= 200) direction = -5;
             if (_brightness <= 50) direction = 5;
             _brightness += direction;
-            if (WiFi.isConnected()) {
-                fillFromPallette(OceanColors_p, 0);
-            } else {
-                fillFromPallette(ForestColors_p, 128);
+
+            RGB color = WiFi.isConnected() ? oceanColor : forestColor;
+
+            uint8_t r = (color.r * _brightness) / 255;
+            uint8_t g = (color.g * _brightness) / 255;
+            uint8_t b = (color.b * _brightness) / 255;
+
+            for (int i = 0; i < WS2812_NUM_LEDS; ++i) {
+                led_strip_set_pixel(led_strip, i, r, g, b);
             }
-            FastLED.show();
+            led_strip_refresh(led_strip);
         });
     }
 
-    void fillFromPallette(CRGBPalette16 colorPalette, uint8_t colorIndex) {
-        CRGB color = ColorFromPalette(colorPalette, colorIndex, _brightness, currentBlending);
+    void setColor(uint8_t r, uint8_t g, uint8_t b) {
+        if (!initialized) return;
         for (int i = 0; i < WS2812_NUM_LEDS; ++i) {
-            leds[i] = color;
+            led_strip_set_pixel(led_strip, i, r, g, b);
         }
+        led_strip_refresh(led_strip);
+    }
+
+    void clear() {
+        if (!initialized) return;
+        led_strip_clear(led_strip);
     }
 };
 
-#endif
+#endif

esp32/include/peripherals/peripherals.h

@@ -12,7 +12,9 @@
 
 #include <list>
 
+#if FT_ENABLED(USE_USS)
 #include <NewPing.h>
+#endif
 #include <peripherals/i2c_bus.h>
 #include <peripherals/imu.h>
 #include <peripherals/magnetometer.h>

esp32/include/settings/ap_settings.h

@@ -1,12 +1,11 @@
 #pragma once
 
-#include <WiFi.h>
+#include <wifi/wifi_idf.h>
+#include <wifi/dns_server.h>
 #include <template/state_result.h>
 #include <platform_shared/api.pb.h>
 #include <cstring>
 
-#include <DNSServer.h>
-
 #ifndef FACTORY_AP_PROVISION_MODE
 #define FACTORY_AP_PROVISION_MODE api_APProvisionMode_AP_MODE_DISCONNECTED
 #endif
@@ -77,11 +76,9 @@ inline APSettings APSettings_defaults() {
     return settings;
 }
 
-inline void APSettings_read(const APSettings &settings, APSettings &proto) {
-    proto = settings;
-}
+inline void APSettings_read(const APSettings &settings, APSettings &proto) { proto = settings; }
 
 inline StateUpdateResult APSettings_update(const APSettings &proto, APSettings &settings) {
     settings = proto;
     return StateUpdateResult::CHANGED;
-}
+}

esp32/include/settings/ntp_settings.h

@@ -1,4 +1,3 @@
-#include <Arduino.h>
 #include <template/state_result.h>
 #include <ArduinoJson.h>
 #include <string>

esp32/include/settings/peripherals_settings.h

@@ -7,10 +7,10 @@
  * I2C software connection
  */
 #ifndef SDA_PIN
-#define SDA_PIN SDA
+#define SDA_PIN 21
 #endif
 #ifndef SCL_PIN
-#define SCL_PIN SCL
+#define SCL_PIN 22
 #endif
 #ifndef I2C_FREQUENCY
 #define I2C_FREQUENCY 1000000UL
@@ -35,7 +35,8 @@ inline void PeripheralsConfiguration_read(const PeripheralsConfiguration& settin
     proto = settings;
 }
 
-inline StateUpdateResult PeripheralsConfiguration_update(const PeripheralsConfiguration& proto, PeripheralsConfiguration& settings) {
+inline StateUpdateResult PeripheralsConfiguration_update(const PeripheralsConfiguration& proto,
+                                                         PeripheralsConfiguration& settings) {
     settings = proto;
     return StateUpdateResult::CHANGED;
 }

esp32/include/settings/wifi_settings.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <WiFi.h>
+#include <wifi/wifi_idf.h>
 #include <template/state_result.h>
 #include <platform_shared/api.pb.h>
 #include <cstring>
@@ -42,6 +42,7 @@ inline WiFiSettings WiFiSettings_defaults() {
     strncpy(settings.hostname, FACTORY_WIFI_HOSTNAME, sizeof(settings.hostname) - 1);
     settings.priority_rssi = true;
     settings.wifi_networks_count = 0;
+    settings.selected_network = 0;
     if (strlen(FACTORY_WIFI_SSID) > 0) {
         settings.wifi_networks[0] = WiFiNetwork_defaults();
         settings.wifi_networks_count = 1;
@@ -49,9 +50,7 @@ inline WiFiSettings WiFiSettings_defaults() {
     return settings;
 }
 
-inline void WiFiSettings_read(const WiFiSettings &settings, WiFiSettings &proto) {
-    proto = settings;
-}
+inline void WiFiSettings_read(const WiFiSettings &settings, WiFiSettings &proto) { proto = settings; }
 
 inline StateUpdateResult WiFiSettings_update(const WiFiSettings &proto, WiFiSettings &settings) {
     settings = proto;

esp32/include/system_service.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include <ESPmDNS.h>
+#include <mdns.h>
 #include <esp_http_server.h>
-#include <WiFi.h>
+#include <wifi/wifi_idf.h>
 #include <filesystem.h>
 #include <global.h>
 #include <esp_timer.h>
@@ -20,7 +20,6 @@ esp_err_t handleSleep(httpd_req_t *request);
 void reset();
 void restart();
 void sleep();
-void status(JsonObject &root);
 void getAnalytics(socket_message_AnalyticsData &analytics);
 void getStaticSystemInformation(socket_message_StaticSystemInformation &info);
 

esp32/include/template/stateful_persistence.h

@@ -1,24 +1,11 @@
 #ifndef FSPersistence_h
 #define FSPersistence_h
 
-/**
- *   ESP32 SvelteKit
- *
- *   A simple, secure and extensible framework for IoT projects for ESP32 platforms
- *   with responsive Sveltekit front-end built with TailwindCSS and DaisyUI.
- *   https://github.com/theelims/ESP32-sveltekit
- *
- *   Copyright (C) 2018 - 2023 rjwats
- *   Copyright (C) 2023 theelims
- *   Copyright (C) 2025 runeharlyk
- *
- *   All Rights Reserved. This software may be modified and distributed under
- *   the terms of the LGPL v3 license. See the LICENSE file for details.
- **/
-
-#include <FS.h>
 #include <template/stateful_service.h>
 #include <filesystem.h>
+#include <ArduinoJson.h>
+#include <cstdio>
+#include <sys/stat.h>
 
 template <class T>
 class FSPersistence {
@@ -34,25 +21,18 @@ class FSPersistence {
     }
 
     void readFromFS() {
-        File settingsFile = _fs->open(_filePath, "r");
+        std::string content = FileSystem::readFile(_filePath);
 
-        if (settingsFile) {
+        if (!content.empty()) {
             JsonDocument jsonDocument;
-            DeserializationError error = deserializeJson(jsonDocument, settingsFile);
+            DeserializationError error = deserializeJson(jsonDocument, content);
             if (error == DeserializationError::Ok) {
                 JsonVariant jsonObject = jsonDocument.as<JsonVariant>();
                 _statefulService->updateWithoutPropagation(jsonObject, _stateUpdater);
-                settingsFile.close();
                 return;
             }
-            settingsFile.close();
         }
 
-        // If we reach here we have not been successful in loading the config
-        // and hard-coded defaults are now applied. The settings are then
-        // written back to the file system so the defaults persist between
-        // resets. This last step is required as in some cases defaults contain
-        // randomly generated values which would otherwise be modified on reset.
         applyDefaults();
         writeToFS();
     }
@@ -64,13 +44,10 @@ class FSPersistence {
 
         mkdirs();
 
-        File file = _fs->open(_filePath, "w");
+        std::string content;
+        serializeJson(jsonDocument, content);
 
-        if (!file) return false;
-
-        serializeJson(jsonDocument, file);
-        file.close();
-        return true;
+        return FileSystem::writeFile(_filePath, content.c_str());
     }
 
     void disableUpdateHandler() {
@@ -90,26 +67,23 @@ class FSPersistence {
     JsonStateReader<T> _stateReader;
     JsonStateUpdater<T> _stateUpdater;
     StatefulService<T> *_statefulService;
-    FS *_fs {&ESP_FS};
     const char *_filePath;
     size_t _bufferSize;
     HandlerId _updateHandlerId;
 
-    // We assume we have a _filePath with format
-    // "/directory1/directory2/filename" We create a directory for each missing
-    // parent
     void mkdirs() {
         std::string path(_filePath);
         size_t index = 0;
         while ((index = path.find('/', index + 1)) != std::string::npos) {
             std::string segment = path.substr(0, index);
-            if (!_fs->exists(segment.c_str())) _fs->mkdir(segment.c_str());
+            struct stat st;
+            if (stat(segment.c_str(), &st) != 0) {
+                FileSystem::mkdirRecursive(segment.c_str());
+            }
         }
     }
 
   protected:
-    // We assume the updater supplies sensible defaults if an empty object
-    // is supplied, this virtual function allows that to be changed.
     virtual void applyDefaults() {
         JsonDocument jsonDocument;
         JsonVariant jsonObject = jsonDocument.as<JsonVariant>();
@@ -117,4 +91,4 @@ class FSPersistence {
     }
 };
 
-#endif // end FSPersistence
+#endif

esp32/include/template/stateful_persistence_pb.h

@@ -1,29 +1,24 @@
 #pragma once
 
-#include <FS.h>
 #include <template/stateful_service.h>
 #include <template/state_result.h>
 #include <filesystem.h>
 #include <pb_encode.h>
 #include <pb_decode.h>
+#include <cstdio>
+#include <sys/stat.h>
+#include <esp_log.h>
+
+static const char *TAG_PERSISTENCE = "FSPersistencePB";
 
-/**
- * Protobuf-based filesystem persistence for StatefulService.
- *
- * @tparam T The state type (should be a nanopb-generated struct like api_APSettings)
- */
 template <class T>
 class FSPersistencePB {
   public:
-    // Formats are passed as referenced const (local variable) we want to read from, and a reference (proto) we write to
-    using ProtoStateReader = std::function<void(const T&, T&)>;
-    // Formats are passed as referenced const (new object) we read from, and a reference to the local variable we  write to
-    using ProtoStateUpdater = std::function<StateUpdateResult(const T&, T&)>;
+    using ProtoStateReader = std::function<void(const T &, T &)>;
+    using ProtoStateUpdater = std::function<StateUpdateResult(const T &, T &)>;
 
-    FSPersistencePB(ProtoStateReader stateReader, ProtoStateUpdater stateUpdater,
-                    StatefulService<T> *statefulService, const char *filePath,
-                    const pb_msgdesc_t *msgDescriptor, size_t maxSize,
-                    const T &defaultState)
+    FSPersistencePB(ProtoStateReader stateReader, ProtoStateUpdater stateUpdater, StatefulService<T> *statefulService,
+                    const char *filePath, const pb_msgdesc_t *msgDescriptor, size_t maxSize, const T &defaultState)
         : _stateReader(stateReader),
           _stateUpdater(stateUpdater),
           _statefulService(statefulService),
@@ -36,17 +31,19 @@ class FSPersistencePB {
     }
 
     void readFromFS() {
-        File file = _fs->open(_filePath, "r");
+        FILE *file = fopen(_filePath, "rb");
 
         if (file) {
-            size_t fileSize = file.size();
+            fseek(file, 0, SEEK_END);
+            size_t fileSize = ftell(file);
+            fseek(file, 0, SEEK_SET);
+
             if (fileSize > 0 && fileSize <= _maxSize) {
                 uint8_t *buffer = new uint8_t[fileSize];
-                size_t bytesRead = file.read(buffer, fileSize);
-                file.close();
+                size_t bytesRead = fread(buffer, 1, fileSize, file);
+                fclose(file);
 
                 if (bytesRead == fileSize) {
-                    // Allocate on heap to avoid stack overflow with large proto messages
                     T *protoMsg = new T();
                     *protoMsg = {};
                     pb_istream_t stream = pb_istream_from_buffer(buffer, bytesRead);
@@ -62,7 +59,7 @@ class FSPersistencePB {
                 }
                 delete[] buffer;
             } else {
-                file.close();
+                fclose(file);
             }
         }
 
@@ -74,7 +71,6 @@ class FSPersistencePB {
         uint8_t *buffer = new uint8_t[_maxSize];
         pb_ostream_t stream = pb_ostream_from_buffer(buffer, _maxSize);
 
-        // Allocate on heap to avoid stack overflow with large proto messages
         T *protoMsg = new T();
         *protoMsg = {};
         _statefulService->read([this, protoMsg](const T &state) { _stateReader(state, *protoMsg); });
@@ -89,14 +85,15 @@ class FSPersistencePB {
 
         mkdirs();
 
-        File file = _fs->open(_filePath, "w");
+        FILE *file = fopen(_filePath, "wb");
         if (!file) {
+            ESP_LOGE(TAG_PERSISTENCE, "Failed to open file for writing: %s", _filePath);
             delete[] buffer;
             return false;
         }
 
-        size_t written = file.write(buffer, stream.bytes_written);
-        file.close();
+        size_t written = fwrite(buffer, 1, stream.bytes_written, file);
+        fclose(file);
         delete[] buffer;
 
         return written == stream.bytes_written;
@@ -111,8 +108,7 @@ class FSPersistencePB {
 
     void enableUpdateHandler() {
         if (!_updateHandlerId) {
-            _updateHandlerId = _statefulService->addUpdateHandler(
-                [&](const std::string &originId) { writeToFS(); });
+            _updateHandlerId = _statefulService->addUpdateHandler([&](const std::string &originId) { writeToFS(); });
         }
     }
 
@@ -120,7 +116,6 @@ class FSPersistencePB {
     ProtoStateReader _stateReader;
     ProtoStateUpdater _stateUpdater;
     StatefulService<T> *_statefulService;
-    FS *_fs{&ESP_FS};
     const char *_filePath;
     const pb_msgdesc_t *_msgDescriptor;
     size_t _maxSize;
@@ -132,13 +127,15 @@ class FSPersistencePB {
         size_t index = 0;
         while ((index = path.find('/', index + 1)) != std::string::npos) {
             std::string segment = path.substr(0, index);
-            if (!_fs->exists(segment.c_str())) _fs->mkdir(segment.c_str());
+            struct stat st;
+            if (stat(segment.c_str(), &st) != 0) {
+                FileSystem::mkdirRecursive(segment.c_str());
+            }
         }
     }
 
   protected:
     void applyDefaults() {
-        _statefulService->updateWithoutPropagation(
-            [this](T &state) { return _stateUpdater(_defaultState, state); });
+        _statefulService->updateWithoutPropagation([this](T &state) { return _stateUpdater(_defaultState, state); });
     }
 };

esp32/include/template/stateful_service.h

@@ -1,8 +1,5 @@
 #pragma once
 
-#include <Arduino.h>
-#include <ArduinoJson.h>
-
 #include <list>
 #include <functional>
 #include <freertos/FreeRTOS.h>
@@ -11,19 +8,13 @@
 
 #include <template/state_result.h>
 
-template <typename T>
-using JsonStateUpdater = std::function<StateUpdateResult(JsonVariant &root, T &settings)>;
-
-template <typename T>
-using JsonStateReader = std::function<void(T &settings, JsonVariant &root)>;
-
 using HandlerId = size_t;
 using StateUpdateCallback = std::function<void(const std::string &originId)>;
 using StateHookCallback = std::function<void(const std::string &originId, StateUpdateResult &result)>;
 
 class HandlerBase {
   protected:
-    static inline HandlerId nextId_ = 1; // Start from 1, 0 is invalid
+    static inline HandlerId nextId_ = 1;
     HandlerId id_;
     bool allowRemove_;
 
@@ -99,31 +90,16 @@ class StatefulService {
         return result;
     }
 
-    StateUpdateResult update(JsonVariant &jsonObject, JsonStateUpdater<T> stateUpdater, const std::string &originId) {
-        lock();
-        StateUpdateResult result = stateUpdater(jsonObject, state_);
-        unlock();
-        notifyStateChange(originId, result);
-        return result;
-    }
-
-    StateUpdateResult updateWithoutPropagation(JsonVariant &jsonObject, JsonStateUpdater<T> stateUpdater) {
-        lock();
-        StateUpdateResult result = stateUpdater(jsonObject, state_);
-        unlock();
-        return result;
-    }
-
     void read(std::function<void(T &)> stateReader) {
         lock();
         stateReader(state_);
         unlock();
     }
 
-    void read(JsonVariant &jsonObject, JsonStateReader<T> stateReader) {
-        lock();
-        stateReader(state_, jsonObject);
-        unlock();
+    void read(std::function<void(const T &)> stateReader) const {
+        const_cast<StatefulService *>(this)->lock();
+        stateReader(state_);
+        const_cast<StatefulService *>(this)->unlock();
     }
 
     void callUpdateHandlers(const std::string &originId) {

esp32/include/utils/ip_address.h

@@ -0,0 +1,76 @@
+#pragma once
+
+#include <cstdint>
+#include <cstring>
+#include <string>
+#include <esp_netif.h>
+
+class IPAddress {
+  public:
+    IPAddress() : _addr {0, 0, 0, 0} {}
+
+    IPAddress(uint8_t a, uint8_t b, uint8_t c, uint8_t d) : _addr {a, b, c, d} {}
+
+    IPAddress(uint32_t addr) {
+        _addr[0] = addr & 0xFF;
+        _addr[1] = (addr >> 8) & 0xFF;
+        _addr[2] = (addr >> 16) & 0xFF;
+        _addr[3] = (addr >> 24) & 0xFF;
+    }
+
+    IPAddress(const esp_ip4_addr_t& ip4) {
+        _addr[0] = ip4.addr & 0xFF;
+        _addr[1] = (ip4.addr >> 8) & 0xFF;
+        _addr[2] = (ip4.addr >> 16) & 0xFF;
+        _addr[3] = (ip4.addr >> 24) & 0xFF;
+    }
+
+    operator uint32_t() const {
+        return static_cast<uint32_t>(_addr[0]) | (static_cast<uint32_t>(_addr[1]) << 8) |
+               (static_cast<uint32_t>(_addr[2]) << 16) | (static_cast<uint32_t>(_addr[3]) << 24);
+    }
+
+    operator esp_ip4_addr_t() const {
+        esp_ip4_addr_t ip4;
+        ip4.addr = static_cast<uint32_t>(*this);
+        return ip4;
+    }
+
+    bool operator==(const IPAddress& other) const {
+        return _addr[0] == other._addr[0] && _addr[1] == other._addr[1] && _addr[2] == other._addr[2] &&
+               _addr[3] == other._addr[3];
+    }
+
+    bool operator!=(const IPAddress& other) const { return !(*this == other); }
+
+    uint8_t operator[](int index) const { return _addr[index]; }
+
+    uint8_t& operator[](int index) { return _addr[index]; }
+
+    bool fromString(const char* str) {
+        int parts[4];
+        if (sscanf(str, "%d.%d.%d.%d", &parts[0], &parts[1], &parts[2], &parts[3]) != 4) {
+            return false;
+        }
+        for (int i = 0; i < 4; i++) {
+            if (parts[i] < 0 || parts[i] > 255) return false;
+            _addr[i] = static_cast<uint8_t>(parts[i]);
+        }
+        return true;
+    }
+
+    std::string toString() const {
+        char buf[16];
+        snprintf(buf, sizeof(buf), "%d.%d.%d.%d", _addr[0], _addr[1], _addr[2], _addr[3]);
+        return std::string(buf);
+    }
+
+    const char* c_str() const {
+        static char buf[16];
+        snprintf(buf, sizeof(buf), "%d.%d.%d.%d", _addr[0], _addr[1], _addr[2], _addr[3]);
+        return buf;
+    }
+
+  private:
+    uint8_t _addr[4];
+};

esp32/include/utils/timing.h

@@ -16,17 +16,18 @@
         }                                                                                         \
     } while (0)
 
-#define TIME_IT(code)                                                                       \
+    // Note: name must be a valid variable name too
+#define TIME_IT(code, name)                                                                       \
     {                                                                                       \
-        uint64_t time_it_start = esp_timer_get_time();                                      \
+        uint64_t time_it_start##name = esp_timer_get_time();                                      \
         code;                                                                               \
-        uint64_t time_it_elapsed = esp_timer_get_time() - time_it_start;                    \
-        if (time_it_elapsed < 1000) {                                                       \
-            ESP_LOGI("Time It", "Time elapsed: %llu microseconds", time_it_elapsed);        \
-        } else if (time_it_elapsed < 1000000) {                                             \
-            ESP_LOGI("Time It", "Time elapsed: %llu milliseconds", time_it_elapsed / 1000); \
+        uint64_t time_it_elapsed##name = esp_timer_get_time() - time_it_start##name;                    \
+        if (time_it_elapsed##name < 1000) {                                                       \
+            ESP_LOGI("Time It - " #name, "Time elapsed: %llu microseconds", time_it_elapsed##name);        \
+        } else if (time_it_elapsed##name < 1000000) {                                             \
+            ESP_LOGI("Time It - " #name, "Time elapsed: %llu milliseconds", time_it_elapsed##name / 1000); \
         } else {                                                                            \
-            ESP_LOGI("Time It", "Time elapsed: %.2f seconds", time_it_elapsed / 1000000.0); \
+            ESP_LOGI("Time It - " #name, "Time elapsed: %.2f seconds", time_it_elapsed##name / 1000000.0); \
         }                                                                                   \
     }
 

esp32/include/wifi/dns_server.h

@@ -0,0 +1,144 @@
+#pragma once
+
+#include <lwip/sockets.h>
+#include <lwip/netdb.h>
+#include <esp_log.h>
+#include <utils/ip_address.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include <string>
+#include <atomic>
+
+#define DNS_PORT 53
+#define DNS_MAX_PACKET_SIZE 512
+
+class DNSServer {
+  public:
+    DNSServer() : _socket(-1), _running(false), _task(nullptr) {}
+    ~DNSServer() { stop(); }
+
+    bool start(uint16_t port, const char* domainName, const IPAddress& resolvedIP) {
+        if (_running) return true;
+
+        _port = port;
+        _resolvedIP = resolvedIP;
+        _domainName = domainName ? domainName : "*";
+
+        _socket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+        if (_socket < 0) {
+            ESP_LOGE("DNSServer", "Failed to create socket");
+            return false;
+        }
+
+        int opt = 1;
+        setsockopt(_socket, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
+
+        struct timeval tv;
+        tv.tv_sec = 1;
+        tv.tv_usec = 0;
+        setsockopt(_socket, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+
+        struct sockaddr_in serverAddr = {};
+        serverAddr.sin_family = AF_INET;
+        serverAddr.sin_addr.s_addr = INADDR_ANY;
+        serverAddr.sin_port = htons(_port);
+
+        if (bind(_socket, (struct sockaddr*)&serverAddr, sizeof(serverAddr)) < 0) {
+            ESP_LOGE("DNSServer", "Failed to bind socket");
+            close(_socket);
+            _socket = -1;
+            return false;
+        }
+
+        _running = true;
+        xTaskCreate(dnsTask, "dns_server", 4096, this, 3, &_task);
+
+        ESP_LOGI("DNSServer", "Started on port %d, resolving to %s", _port, _resolvedIP.toString().c_str());
+        return true;
+    }
+
+    void stop() {
+        _running = false;
+        if (_task) {
+            vTaskDelay(100 / portTICK_PERIOD_MS);
+            _task = nullptr;
+        }
+        if (_socket >= 0) {
+            close(_socket);
+            _socket = -1;
+        }
+        ESP_LOGI("DNSServer", "Stopped");
+    }
+
+    void processNextRequest() {}
+
+  private:
+    static void dnsTask(void* param) {
+        DNSServer* self = static_cast<DNSServer*>(param);
+        self->run();
+        vTaskDelete(nullptr);
+    }
+
+    void run() {
+        uint8_t buffer[DNS_MAX_PACKET_SIZE];
+        struct sockaddr_in clientAddr;
+        socklen_t clientAddrLen = sizeof(clientAddr);
+
+        while (_running) {
+            int len = recvfrom(_socket, buffer, DNS_MAX_PACKET_SIZE, 0, (struct sockaddr*)&clientAddr, &clientAddrLen);
+            if (len > 0) {
+                processRequest(buffer, len, &clientAddr);
+            }
+        }
+    }
+
+    void processRequest(uint8_t* buffer, int len, struct sockaddr_in* clientAddr) {
+        if (len < 12) return;
+
+        uint16_t flags = (buffer[2] << 8) | buffer[3];
+        if ((flags & 0x8000) != 0) return;
+
+        uint8_t response[DNS_MAX_PACKET_SIZE];
+        memcpy(response, buffer, len);
+
+        response[2] = 0x81;
+        response[3] = 0x80;
+
+        response[6] = 0x00;
+        response[7] = 0x01;
+
+        int responseLen = len;
+
+        response[responseLen++] = 0xC0;
+        response[responseLen++] = 0x0C;
+
+        response[responseLen++] = 0x00;
+        response[responseLen++] = 0x01;
+
+        response[responseLen++] = 0x00;
+        response[responseLen++] = 0x01;
+
+        response[responseLen++] = 0x00;
+        response[responseLen++] = 0x00;
+        response[responseLen++] = 0x00;
+        response[responseLen++] = 0x3C;
+
+        response[responseLen++] = 0x00;
+        response[responseLen++] = 0x04;
+
+        uint32_t ip = static_cast<uint32_t>(_resolvedIP);
+        response[responseLen++] = ip & 0xFF;
+        response[responseLen++] = (ip >> 8) & 0xFF;
+        response[responseLen++] = (ip >> 16) & 0xFF;
+        response[responseLen++] = (ip >> 24) & 0xFF;
+
+        sendto(_socket, response, responseLen, 0, (struct sockaddr*)clientAddr, sizeof(*clientAddr));
+    }
+
+    int _socket;
+    uint16_t _port;
+    IPAddress _resolvedIP;
+    std::string _domainName;
+    std::atomic<bool> _running;
+    TaskHandle_t _task;
+};

esp32/include/wifi/wifi_idf.h

@@ -0,0 +1,127 @@
+#pragma once
+
+#include <esp_wifi.h>
+#include <esp_event.h>
+#include <esp_netif.h>
+#include <esp_log.h>
+#include <nvs_flash.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include <freertos/event_groups.h>
+#include <utils/ip_address.h>
+#include <string>
+#include <cstring>
+#include <functional>
+#include <vector>
+
+typedef enum {
+    WL_NO_SHIELD = 255,
+    WL_IDLE_STATUS = 0,
+    WL_NO_SSID_AVAIL = 1,
+    WL_SCAN_COMPLETED = 2,
+    WL_CONNECTED = 3,
+    WL_CONNECT_FAILED = 4,
+    WL_CONNECTION_LOST = 5,
+    WL_DISCONNECTED = 6
+} wl_status_t;
+
+typedef enum {
+    WIFI_AUTH_OPEN_IDF = 0,
+    WIFI_AUTH_WEP_IDF,
+    WIFI_AUTH_WPA_PSK_IDF,
+    WIFI_AUTH_WPA2_PSK_IDF
+} wifi_enc_type_t;
+
+using WiFiEventCb = std::function<void(int32_t event, void* event_data)>;
+
+struct WiFiEventHandler {
+    int32_t event_id;
+    WiFiEventCb callback;
+};
+
+class WiFiClass {
+  public:
+    WiFiClass();
+    ~WiFiClass();
+
+    bool init();
+
+    bool mode(wifi_mode_t mode);
+    wifi_mode_t getMode();
+
+    bool begin(const char* ssid, const char* password = nullptr, int32_t channel = 0, const uint8_t* bssid = nullptr);
+    bool disconnect(bool wifiOff = false);
+    bool reconnect();
+
+    bool config(IPAddress local_ip, IPAddress gateway, IPAddress subnet, IPAddress dns1 = IPAddress(),
+                IPAddress dns2 = IPAddress());
+    bool setHostname(const char* hostname);
+    const char* getHostname();
+
+    wl_status_t status();
+    bool isConnected();
+
+    IPAddress localIP();
+    IPAddress subnetMask();
+    IPAddress gatewayIP();
+    IPAddress dnsIP(uint8_t dns_no = 0);
+
+    std::string macAddress();
+    std::string SSID();
+    std::string BSSIDstr();
+    int32_t RSSI();
+    uint8_t channel();
+
+    int16_t scanNetworks(bool async = false);
+    int16_t scanComplete();
+    void scanDelete();
+
+    std::string SSID(uint8_t i);
+    int32_t RSSI(uint8_t i);
+    wifi_enc_type_t encryptionType(uint8_t i);
+    std::string BSSIDstr(uint8_t i);
+    int32_t channel(uint8_t i);
+    void getNetworkInfo(uint8_t i, std::string& ssid, uint8_t& encType, int32_t& rssi, uint8_t*& bssid, int32_t& ch);
+
+    bool softAP(const char* ssid, const char* password = nullptr, int channel = 1, bool ssid_hidden = false,
+                int max_connection = 4);
+    bool softAPConfig(IPAddress local_ip, IPAddress gateway, IPAddress subnet);
+    bool softAPdisconnect(bool wifiOff = false);
+    IPAddress softAPIP();
+    std::string softAPmacAddress();
+    uint8_t softAPgetStationNum();
+
+    bool setAutoReconnect(bool autoReconnect);
+    bool persistent(bool persistent);
+    bool setTxPower(int8_t power);
+
+    void onEvent(WiFiEventCb callback, int32_t event_id);
+
+  private:
+    static void eventHandler(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data);
+    void dispatchEvent(int32_t event_id, void* event_data);
+
+    esp_netif_t* _sta_netif;
+    esp_netif_t* _ap_netif;
+    bool _initialized;
+    bool _autoReconnect;
+    bool _persistent;
+    wl_status_t _status;
+    wifi_mode_t _mode;
+
+    std::string _hostname;
+    wifi_ap_record_t* _scanResult;
+    uint16_t _scanCount;
+    int16_t _scanStatus;
+
+    std::vector<WiFiEventHandler> _eventHandlers;
+
+    IPAddress _sta_static_ip;
+    IPAddress _sta_static_gw;
+    IPAddress _sta_static_sn;
+    IPAddress _sta_static_dns1;
+    IPAddress _sta_static_dns2;
+    bool _useStaticIp;
+};
+
+extern WiFiClass WiFi;

esp32/include/wifi_service.h

@@ -1,8 +1,8 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <WiFi.h>
-#include <ESPmDNS.h>
+#include <wifi/wifi_idf.h>
+#include <mdns.h>
 #include <string>
 
 #include <filesystem.h>
@@ -12,24 +12,11 @@
 #include <template/stateful_proto_endpoint.h>
 #include <settings/wifi_settings.h>
 
+#define WIFI_EVENT_STA_DISCONNECTED_IDF WIFI_EVENT_STA_DISCONNECTED
+#define WIFI_EVENT_STA_STOP_IDF WIFI_EVENT_STA_STOP
+#define IP_EVENT_STA_GOT_IP_IDF 1000
+
 class WiFiService : public StatefulService<WiFiSettings> {
-  private:
-    void onStationModeDisconnected(WiFiEvent_t event, WiFiEventInfo_t info);
-    void onStationModeStop(WiFiEvent_t event, WiFiEventInfo_t info);
-    static void onStationModeGotIP(WiFiEvent_t event, WiFiEventInfo_t info);
-
-    FSPersistencePB<WiFiSettings> _persistence;
-
-    void reconfigureWiFiConnection();
-    void manageSTA();
-    void connectToWiFi();
-    void configureNetwork(WiFiNetwork &network);
-
-    unsigned long _lastConnectionAttempt;
-    bool _stopping;
-
-    constexpr static uint16_t reconnectDelay {10000};
-
   public:
     WiFiService();
     ~WiFiService();
@@ -38,6 +25,7 @@ class WiFiService : public StatefulService<WiFiSettings> {
     void loop();
 
     void setupMDNS(const char *hostname);
+    void selectNetwork(uint32_t index);
 
     const char *getHostname() { return state().hostname; }
 
@@ -46,4 +34,20 @@ class WiFiService : public StatefulService<WiFiSettings> {
     static esp_err_t getNetworkStatus(httpd_req_t *request);
 
     StatefulProtoEndpoint<WiFiSettings, api_WifiSettings> protoEndpoint;
+
+  private:
+    void onStationModeDisconnected(int32_t event, void *event_data);
+    void onStationModeStop(int32_t event, void *event_data);
+    static void onStationModeGotIP(int32_t event, void *event_data);
+
+    FSPersistencePB<WiFiSettings> _persistence;
+
+    void reconfigureWiFiConnection();
+    void manageSTA();
+    void configureNetwork(WiFiNetwork &network);
+
+    unsigned long _lastConnectionAttempt;
+    bool _stopping;
+
+    constexpr static uint16_t reconnectDelay {10000};
 };

esp32/include/www_mount.hpp

@@ -3,3 +3,4 @@
 #include "WWWData.h"
 
 void mountStaticAssets(WebServer& s);
+void mountSpaFallback(WebServer& s);

esp32/scripts/build_app.py

@@ -114,7 +114,7 @@ def write_header():
 
     with open(output_file, "w", newline="\n") as f:
         f.write("#pragma once\n")
-        f.write("#include <Arduino.h>\n\n")
+        f.write("#include <compat/pgmspace.h>\n\n")
         f.write(
             "struct WebAsset { const char* uri; const char* mime; const uint8_t* data; uint32_t len; uint32_t etag; uint8_t gz; };\n")
         f.write(

esp32/src/CMakeLists.txt

@@ -0,0 +1,26 @@
+idf_component_register(
+    SRC_DIRS 
+        "."
+        "communication"
+        "peripherals"
+        "wifi"
+        "platform_shared"
+        "../../submodules/nanopb"
+    INCLUDE_DIRS 
+        "../include"
+        "../../submodules/nanopb"
+    REQUIRES
+        driver
+        esp_http_server
+        nvs_flash
+        esp_wifi
+        esp_event
+        esp_netif
+        mdns
+        esp_timer
+        esp_psram
+        spi_flash
+        littlefs
+        esp32-camera
+        esp-dsp
+)

esp32/src/ap_service.cpp

@@ -4,21 +4,26 @@
 static const char *TAG = "APService";
 
 APService::APService()
-    : protoEndpoint(APSettings_read, APSettings_update, this,
-                    API_REQUEST_EXTRACTOR(ap_settings, api_APSettings),
+    : protoEndpoint(APSettings_read, APSettings_update, this, API_REQUEST_EXTRACTOR(ap_settings, api_APSettings),
                     API_RESPONSE_ASSIGNER(ap_settings, api_APSettings)),
-      _persistence(APSettings_read, APSettings_update, this,
-                   AP_SETTINGS_FILE, api_APSettings_fields, api_APSettings_size,
-                   APSettings_defaults()) {
+      _persistence(APSettings_read, APSettings_update, this, AP_SETTINGS_FILE, api_APSettings_fields,
+                   api_APSettings_size, APSettings_defaults()),
+      _dnsServer(nullptr),
+      _lastManaged(0),
+      _reconfigureAp(false),
+      _recoveryMode(false) {
     addUpdateHandler([&](const std::string &originId) { reconfigureAP(); }, false);
 }
 
-APService::~APService() {}
-
-void APService::begin() {
-    _persistence.readFromFS();
+APService::~APService() {
+    if (_dnsServer) {
+        delete _dnsServer;
+        _dnsServer = nullptr;
+    }
 }
 
+void APService::begin() { _persistence.readFromFS(); }
+
 esp_err_t APService::getStatusProto(httpd_req_t *request) {
     api_Response res = api_Response_init_zero;
     res.status_code = 200;
@@ -30,15 +35,15 @@ esp_err_t APService::getStatusProto(httpd_req_t *request) {
 void APService::statusProto(api_APStatus &proto) {
     proto.status = getAPNetworkStatus();
     proto.ip_address = static_cast<uint32_t>(WiFi.softAPIP());
-    String mac = WiFi.softAPmacAddress();
+    std::string mac = WiFi.softAPmacAddress();
     strncpy(proto.mac_address, mac.c_str(), sizeof(proto.mac_address) - 1);
     proto.mac_address[sizeof(proto.mac_address) - 1] = '\0';
     proto.station_num = WiFi.softAPgetStationNum();
 }
 
 APNetworkStatus APService::getAPNetworkStatus() {
-    WiFiMode_t currentWiFiMode = WiFi.getMode();
-    bool apActive = currentWiFiMode == WIFI_AP || currentWiFiMode == WIFI_AP_STA;
+    wifi_mode_t currentWiFiMode = WiFi.getMode();
+    bool apActive = currentWiFiMode == WIFI_MODE_AP || currentWiFiMode == WIFI_MODE_APSTA;
     if (apActive && state().provision_mode != AP_MODE_ALWAYS && WiFi.status() == WL_CONNECTED) {
         return LINGERING;
     }
@@ -64,13 +69,13 @@ void APService::loop() {
 }
 
 void APService::manageAP() {
-    WiFiMode_t currentWiFiMode = WiFi.getMode();
+    wifi_mode_t currentWiFiMode = WiFi.getMode();
     if (state().provision_mode == AP_MODE_ALWAYS ||
         (state().provision_mode == AP_MODE_DISCONNECTED && WiFi.status() != WL_CONNECTED) || _recoveryMode) {
-        if (_reconfigureAp || currentWiFiMode == WIFI_OFF || currentWiFiMode == WIFI_STA) {
+        if (_reconfigureAp || currentWiFiMode == WIFI_MODE_NULL || currentWiFiMode == WIFI_MODE_STA) {
             startAP();
         }
-    } else if ((currentWiFiMode == WIFI_AP || currentWiFiMode == WIFI_AP_STA) &&
+    } else if ((currentWiFiMode == WIFI_MODE_AP || currentWiFiMode == WIFI_MODE_APSTA) &&
                (_reconfigureAp || !WiFi.softAPgetStationNum())) {
         stopAP();
     }
@@ -82,7 +87,7 @@ void APService::startAP() {
     WiFi.softAPConfig(IPAddress(state().local_ip), IPAddress(state().gateway_ip), IPAddress(state().subnet_mask));
     WiFi.softAP(state().ssid, state().password, state().channel, state().ssid_hidden, state().max_clients);
 #if CONFIG_IDF_TARGET_ESP32C3
-    WiFi.setTxPower(WIFI_POWER_8_5dBm);
+    WiFi.setTxPower(8);
 #endif
     if (!_dnsServer) {
         IPAddress apIp = WiFi.softAPIP();
@@ -103,8 +108,4 @@ void APService::stopAP() {
     WiFi.softAPdisconnect(true);
 }
 
-void APService::handleDNS() {
-    if (_dnsServer) {
-        _dnsServer->processNextRequest();
-    }
-}
+void APService::handleDNS() {}

esp32/src/communication/webserver.cpp

@@ -2,6 +2,7 @@
 #include <esp_log.h>
 #include <cstring>
 #include <algorithm>
+#include <utils/timing.h>
 
 static const char* TAG = "WebServer";
 
@@ -121,6 +122,10 @@ esp_err_t WebServer::httpHandler(httpd_req_t* req) {
 }
 
 esp_err_t WebServer::wsHandler(httpd_req_t* req) {
+    esp_err_t result;
+    httpd_ws_frame_t frame;
+    esp_err_t ret;
+    TIME_IT(
     WebServer* self = static_cast<WebServer*>(req->user_ctx);
 
     if (req->method == HTTP_GET) {
@@ -133,17 +138,21 @@ esp_err_t WebServer::wsHandler(httpd_req_t* req) {
         return ESP_OK;
     }
 
-    httpd_ws_frame_t frame;
+    
     memset(&frame, 0, sizeof(httpd_ws_frame_t));
     frame.type = HTTPD_WS_TYPE_BINARY;
 
-    esp_err_t ret = httpd_ws_recv_frame(req, &frame, 0);
+    
+    TIME_IT(
+    ret = httpd_ws_recv_frame(req, &frame, 0);
     if (ret != ESP_OK) {
         ESP_LOGE(TAG, "Failed to get frame len: %s", esp_err_to_name(ret));
         return ret;
     }
+    , FRAME_LEN)
 
     if (frame.len > 0) {
+        TIME_IT(
         frame.payload = (uint8_t*)malloc(frame.len);
         if (!frame.payload) {
             ESP_LOGE(TAG, "Failed to allocate frame payload");
@@ -156,6 +165,7 @@ esp_err_t WebServer::wsHandler(httpd_req_t* req) {
             free(frame.payload);
             return ret;
         }
+        , FRAME_RECEIVE)
     }
 
     if (frame.type == HTTPD_WS_TYPE_CLOSE) {
@@ -169,15 +179,18 @@ esp_err_t WebServer::wsHandler(httpd_req_t* req) {
         return ESP_OK;
     }
 
-    esp_err_t result = ESP_OK;
+    result = ESP_OK;
     if (self->wsFrameHandler_) {
+        TIME_IT(
         result = self->wsFrameHandler_(req, &frame);
+        , FRAME_HANDLER)
     }
 
     if (frame.payload) {
         free(frame.payload);
     }
 
+    , WS_HANDLER)
     return result;
 }
 
@@ -265,7 +278,19 @@ esp_err_t WebServer::wsSend(int sockfd, const uint8_t* data, size_t len) {
                               .type = HTTPD_WS_TYPE_BINARY,
                               .payload = const_cast<uint8_t*>(data),
                               .len = len};
-    return httpd_ws_send_frame_async(server_, sockfd, &frame);
+    xSemaphoreTake(wsMutex_, portMAX_DELAY);
+    esp_err_t ret = httpd_ws_send_frame_async(server_, sockfd, &frame);
+    xSemaphoreGive(wsMutex_);
+
+    if (ret != ESP_OK) {
+        if (httpd_ws_get_fd_info(server_, sockfd) != HTTPD_WS_CLIENT_WEBSOCKET) {
+        ESP_LOGW(TAG, "Removing disconnected client %d", sockfd);
+        removeWsClient(sockfd);
+            return ESP_ERR_INVALID_STATE;
+        } 
+    }
+
+    return ret;
 }
 
 esp_err_t WebServer::wsSendAll(const uint8_t* data, size_t len) {
@@ -278,7 +303,7 @@ esp_err_t WebServer::wsSendAll(const uint8_t* data, size_t len) {
 }
 
 esp_err_t WebServer::sendError(httpd_req_t* req, int status, const char* message) {
-    return send(req, status, (uint8_t*) message, strlen(message));
+    return send(req, status, (uint8_t*)message, strlen(message));
 }
 
 esp_err_t WebServer::sendOk(httpd_req_t* req) { return send(req, 200, nullptr, 0); }

esp32/src/communication/websocket.cpp

@@ -24,8 +24,26 @@ void Websocket::onWsClose(int sockfd) {
 }
 
 esp_err_t Websocket::onFrame(httpd_req_t* req, httpd_ws_frame_t* frame) {
+    // Handle PING - respond with PONG
+    if (frame->type == HTTPD_WS_TYPE_PING) {
+        httpd_ws_frame_t pong = {
+            .final = true,
+            .fragmented = false,
+            .type = HTTPD_WS_TYPE_PONG,
+            .payload = frame->payload,
+            .len = frame->len
+        };
+        return httpd_ws_send_frame(req, &pong);
+    }
+
+    // Ignore PONG frames
+    if (frame->type == HTTPD_WS_TYPE_PONG) {
+        return ESP_OK;
+    }
+
+    // Ignore other non-binary frames
     if (frame->type != HTTPD_WS_TYPE_BINARY) {
-        ESP_LOGW(TAG, "Expected binary frame, got type %d", frame->type);
+        ESP_LOGD(TAG, "Ignoring frame type %d", frame->type);
         return ESP_OK;
     }
 

esp32/src/filesystem.cpp

@@ -3,13 +3,18 @@
 #include <vector>
 #include <cstring>
 #include "utils/string_utils.hpp"
+#include <esp_log.h>
+#include <pb_encode.h>
+#include <pb_decode.h>
+#include "esp_vfs_fat.h"
+#include <sdmmc_cmd.h>
+#include <driver/sdmmc_host.h>
 
-static const char *TAG = "FileService";
+static const char *TAG = "FileSystem";
 
 namespace FileSystem {
 
-// Storage for dynamically allocated FileEntry arrays
-static std::vector<api_FileEntry*> allocatedEntries;
+static std::vector<api_FileEntry *> allocatedEntries;
 
 static void freeAllocatedEntries() {
     for (auto ptr : allocatedEntries) {
@@ -18,67 +23,81 @@ static void freeAllocatedEntries() {
     allocatedEntries.clear();
 }
 
-void listFilesProto(const std::string &directory, api_FileEntry *entry) {
-    File root = ESP_FS.open(directory.find("/") == 0 ? directory.c_str() : ("/" + directory).c_str());
-    if (!root.isDirectory()) {
+static void listFilesProtoRecursive(const std::string &directory, api_FileEntry *entry) {
+    DIR *dir = opendir(directory.c_str());
+    if (!dir) {
         entry->children_count = 0;
         entry->children = nullptr;
         return;
     }
 
-    // First pass: count children
-    std::vector<File> files;
-    File file = root.openNextFile();
-    while (file) {
-        files.push_back(file);
-        file = root.openNextFile();
-    }
+    std::vector<std::string> names;
+    std::vector<bool> isDirs;
+    std::vector<size_t> sizes;
 
-    if (files.empty()) {
+    struct dirent *d;
+    while ((d = readdir(dir)) != nullptr) {
+        if (strcmp(d->d_name, ".") == 0 || strcmp(d->d_name, "..") == 0) continue;
+        std::string fullPath = directory + "/" + d->d_name;
+        struct stat st;
+        if (stat(fullPath.c_str(), &st) == 0) {
+            names.push_back(d->d_name);
+            isDirs.push_back(S_ISDIR(st.st_mode));
+            sizes.push_back(st.st_size);
+        }
+    }
+    closedir(dir);
+
+    if (names.empty()) {
         entry->children_count = 0;
         entry->children = nullptr;
         return;
     }
 
-    // Allocate children array
-    entry->children_count = files.size();
-    entry->children = new api_FileEntry[files.size()];
+    entry->children_count = names.size();
+    entry->children = new api_FileEntry[names.size()];
     allocatedEntries.push_back(entry->children);
 
-    // Fill children
-    for (size_t i = 0; i < files.size(); i++) {
+    for (size_t i = 0; i < names.size(); i++) {
         api_FileEntry &child = entry->children[i];
         memset(&child, 0, sizeof(child));
 
-        std::string name = std::string(files[i].name());
-        strncpy(child.name, name.c_str(), sizeof(child.name) - 1);
+        strncpy(child.name, names[i].c_str(), sizeof(child.name) - 1);
         child.name[sizeof(child.name) - 1] = '\0';
 
-        child.is_directory = files[i].isDirectory();
+        child.is_directory = isDirs[i];
         if (child.is_directory) {
-            listFilesProto(name, &child);
+            std::string childPath = directory + "/" + names[i];
+            listFilesProtoRecursive(childPath, &child);
         } else {
-            child.size = files[i].size();
+            child.size = sizes[i];
             child.children_count = 0;
             child.children = nullptr;
         }
     }
 }
 
+void listFilesProto(const std::string &directory, api_FileEntry *entry) {
+    std::string path = directory;
+    if (path.empty() || path[0] != '/') {
+        path = "/" + directory;
+    }
+    std::string fullPath = path;
+    listFilesProtoRecursive(fullPath, entry);
+}
+
 esp_err_t getFilesProto(httpd_req_t *request) {
-    freeAllocatedEntries();  // Clean up any previous allocations
+    freeAllocatedEntries();
 
     api_Response res = api_Response_init_zero;
     res.status_code = 200;
     res.which_payload = api_Response_file_list_tag;
 
-    // Create root entry
     api_FileEntry rootEntry = api_FileEntry_init_zero;
     strncpy(rootEntry.name, "root", sizeof(rootEntry.name) - 1);
     rootEntry.is_directory = true;
-    listFilesProto("/", &rootEntry);
+    listFilesProtoRecursive(MOUNT_POINT, &rootEntry);
 
-    // Allocate entries array for FileList
     res.payload.file_list.entries_count = 1;
     res.payload.file_list.entries = new api_FileEntry[1];
     allocatedEntries.push_back(res.payload.file_list.entries);
@@ -86,28 +105,178 @@ esp_err_t getFilesProto(httpd_req_t *request) {
 
     esp_err_t result = WebServer::send(request, 200, res, api_Response_fields);
 
-    freeAllocatedEntries();  // Clean up after sending
+    freeAllocatedEntries();
     return result;
 }
 
+bool init() {
+    esp_vfs_littlefs_conf_t conf = {
+        .base_path = LITTLEFS_MOUNT_POINT,
+        .partition_label = "spiffs",
+        .format_if_mount_failed = true,
+        .dont_mount = false,
+    };
+
+    esp_err_t ret = esp_vfs_littlefs_register(&conf);
+    if (ret != ESP_OK) {
+        if (ret == ESP_FAIL) {
+            ESP_LOGE(TAG, "Failed to mount or format filesystem");
+        } else if (ret == ESP_ERR_NOT_FOUND) {
+            ESP_LOGE(TAG, "Failed to find LittleFS partition");
+        } else {
+            ESP_LOGE(TAG, "Failed to initialize LittleFS (%s)", esp_err_to_name(ret));
+        }
+        return false;
+    }
+
+    size_t total = 0, used = 0;
+    ret = esp_littlefs_info("spiffs", &total, &used);
+    if (ret == ESP_OK) {
+        ESP_LOGI(TAG, "Partition size: total: %d, used: %d", total, used);
+    }
+
+    mkdirRecursive(FS_CONFIG_DIRECTORY);
+
+    esp_vfs_fat_sdmmc_mount_config_t sd_mount_config = {
+        .format_if_mount_failed = false,
+        .max_files = 4,
+        .allocation_unit_size = 16 * 1024,
+    };
+
+    sdmmc_host_t host = SDMMC_HOST_DEFAULT();
+    host.flags = SDMMC_HOST_FLAG_1BIT;  // Use 1-bit mode
+    host.max_freq_khz = SDMMC_FREQ_DEFAULT;
+
+    sdmmc_slot_config_t slot_config = SDMMC_SLOT_CONFIG_DEFAULT();
+    slot_config.width = 1;  // 1-bit mode
+    slot_config.clk = SD_CLK_PIN;
+    slot_config.cmd = SD_CMD_PIN;
+    slot_config.d0 = SD_DATA_PIN;
+    slot_config.flags |= SDMMC_SLOT_FLAG_INTERNAL_PULLUP;
+
+    sdmmc_card_t *card = nullptr;
+    esp_err_t err = esp_vfs_fat_sdmmc_mount(SD_MOUNT_POINT, &host, &slot_config, &sd_mount_config, &card);
+    if (err != ESP_OK) {
+        if (err == ESP_FAIL) {
+            ESP_LOGW(TAG, "Failed to mount SD card filesystem");
+        } else {
+            ESP_LOGW(TAG, "SD card not present or failed to initialize (%s)", esp_err_to_name(err));
+        }
+        // Don't fail - SD card is optional
+    } else {
+        ESP_LOGI(TAG, "SD card mounted at %s", SD_MOUNT_POINT);
+        ESP_LOGI(TAG, "SD card: %s, %lluMB", card->cid.name,
+                 ((uint64_t)card->csd.capacity) * card->csd.sector_size / (1024 * 1024));
+    }
+
+    return true;
+}
+
+bool fileExists(const char *filename) {
+    struct stat st;
+    return stat(filename, &st) == 0;
+}
+
+std::string readFile(const char *filename) {
+    FILE *f = fopen(filename, "r");
+    if (!f) {
+        return "";
+    }
+
+    fseek(f, 0, SEEK_END);
+    long size = ftell(f);
+    fseek(f, 0, SEEK_SET);
+
+    std::string content;
+    content.resize(size);
+    fread(&content[0], 1, size, f);
+    fclose(f);
+
+    return content;
+}
+
+bool writeFile(const char *filename, const char *content) {
+    FILE *f = fopen(filename, "w");
+    if (!f) {
+        ESP_LOGE(TAG, "Failed to open file for writing: %s", filename);
+        return false;
+    }
+
+    size_t len = strlen(content);
+    size_t written = fwrite(content, 1, len, f);
+    fclose(f);
+
+    return written == len;
+}
+
+bool writeFile(const char *filename, const uint8_t *content, size_t size) {
+    FILE *f = fopen(filename, "wb");
+    if (!f) {
+        ESP_LOGE(TAG, "Failed to open file for writing: %s", filename);
+        return false;
+    }
+
+    size_t written = fwrite(content, 1, size, f);
+    fclose(f);
+
+    return written == size;
+}
+
+bool mkdirRecursive(const char *path) {
+    char tmp[256];
+    char *p = nullptr;
+    size_t len;
+
+    snprintf(tmp, sizeof(tmp), "%s", path);
+    len = strlen(tmp);
+    if (tmp[len - 1] == '/') {
+        tmp[len - 1] = 0;
+    }
+
+    for (p = tmp + 1; *p; p++) {
+        if (*p == '/') {
+            *p = 0;
+            struct stat st;
+            if (stat(tmp, &st) != 0) {
+                if (::mkdir(tmp, 0755) != 0) {
+                    ESP_LOGE(TAG, "Failed to create directory: %s", tmp);
+                    return false;
+                }
+            }
+            *p = '/';
+        }
+    }
+
+    struct stat st;
+    if (stat(tmp, &st) != 0) {
+        if (::mkdir(tmp, 0755) != 0) {
+            ESP_LOGE(TAG, "Failed to create directory: %s", tmp);
+            return false;
+        }
+    }
+
+    return true;
+}
+
 esp_err_t getFiles(httpd_req_t *request) {
-    std::string files = listFiles("/");
+    std::string files = listFiles(MOUNT_POINT);
     httpd_resp_set_type(request, "application/json");
     return httpd_resp_send(request, files.c_str(), files.length());
 }
 
 esp_err_t getConfigFile(httpd_req_t *request) {
     const char *uri = request->uri;
-    std::string path = "/config" + std::string(uri).substr(11);
-    if (!ESP_FS.exists(path.c_str())) {
+    std::string path = std::string(LITTLEFS_MOUNT_POINT) + "/config" + std::string(uri).substr(11);
+
+    if (!fileExists(path.c_str())) {
         return WebServer::sendError(request, 404, "File not found");
     }
-    File file = ESP_FS.open(path.c_str(), "r");
-    if (!file) {
-        return WebServer::sendError(request, 500, "Failed to open file");
+
+    std::string content = readFile(path.c_str());
+    if (content.empty()) {
+        return WebServer::sendError(request, 500, "Failed to read file");
     }
-    String content = file.readString();
-    file.close();
+
     if (ends_with(path, ".pb")) {
         httpd_resp_set_type(request, "application/x-protobuf");
     } else if (ends_with(path, ".json")) {
@@ -119,10 +288,11 @@ esp_err_t getConfigFile(httpd_req_t *request) {
 }
 
 esp_err_t handleDelete(httpd_req_t *request, const api_FileDeleteRequest &req) {
-    ESP_LOGI(TAG, "Deleting file: %s", req.path);
+    std::string fullPath = req.path;
+    ESP_LOGI(TAG, "Deleting file: %s", fullPath.c_str());
 
     api_Response res = api_Response_init_zero;
-    if (deleteFile(req.path)) {
+    if (deleteFile(fullPath.c_str())) {
         res.status_code = 200;
         res.which_payload = api_Response_empty_message_tag;
         return WebServer::send(request, 200, res, api_Response_fields);
@@ -132,10 +302,11 @@ esp_err_t handleDelete(httpd_req_t *request, const api_FileDeleteRequest &req) {
 }
 
 esp_err_t handleEdit(httpd_req_t *request, const api_FileEditRequest &req) {
-    ESP_LOGI(TAG, "Editing file: %s", req.path);
+    std::string fullPath = req.path;
+    ESP_LOGI(TAG, "Editing file: %s", fullPath.c_str());
 
     api_Response res = api_Response_init_zero;
-    if (editFile(req.path, req.content->bytes, req.content->size)) {
+    if (editFile(fullPath.c_str(), req.content->bytes, req.content->size)) {
         res.status_code = 200;
         res.which_payload = api_Response_empty_message_tag;
         return WebServer::send(request, 200, res, api_Response_fields);
@@ -144,52 +315,57 @@ esp_err_t handleEdit(httpd_req_t *request, const api_FileEditRequest &req) {
     }
 }
 
-bool deleteFile(const char *filename) { return ESP_FS.remove(filename); }
+bool deleteFile(const char *filename) { return remove(filename) == 0; }
 
 std::string listFiles(const std::string &directory, bool isRoot) {
-    File root = ESP_FS.open(directory.find("/") == 0 ? directory.c_str() : ("/" + directory).c_str());
-    if (!root.isDirectory()) return "{}";
-
-    File file = root.openNextFile();
-    if (!file) {
+    DIR *dir = opendir(directory.c_str());
+    if (!dir) {
         return isRoot ? "{ \"root\": {} }" : "{}";
     }
 
     std::string output = isRoot ? "{ \"root\": {" : "{";
+    bool first = true;
 
-    while (file) {
-        std::string name = std::string(file.name());
-        if (file.isDirectory()) {
-            output += "\"" + name + "\": " + listFiles(name, false);
-        } else {
-            output += "\"" + name + "\": " + std::to_string(file.size());
+    struct dirent *entry;
+    while ((entry = readdir(dir)) != nullptr) {
+        if (strcmp(entry->d_name, ".") == 0 || strcmp(entry->d_name, "..") == 0) {
+            continue;
         }
 
-        File next = root.openNextFile();
-        if (next) output += ", ";
-        file = next;
+        if (!first) {
+            output += ", ";
+        }
+        first = false;
+
+        std::string fullPath = directory + "/" + entry->d_name;
+        struct stat st;
+        if (stat(fullPath.c_str(), &st) == 0) {
+            if (S_ISDIR(st.st_mode)) {
+                output += "\"" + std::string(entry->d_name) + "\": " + listFiles(fullPath, false);
+            } else {
+                output += "\"" + std::string(entry->d_name) + "\": " + std::to_string(st.st_size);
+            }
+        }
     }
 
+    closedir(dir);
+
     output += "}";
     if (isRoot) output += "}";
 
     return output;
 }
 
-bool editFile(const char *filename, const uint8_t *content, size_t size) {
-    File file = ESP_FS.open(filename, FILE_WRITE);
-    if (!file) return false;
+bool editFile(const char *filename, const uint8_t *content, size_t size) { return writeFile(filename, content, size); }
 
-    file.write(content, size);
-    file.close();
-    return true;
-}
+bool editFile(const char *filename, const char *content) { return writeFile(filename, content); }
 
 esp_err_t mkdir(httpd_req_t *request, const api_FileMkdirRequest &req) {
-    ESP_LOGI(TAG, "Creating directory: %s", req.path);
+    std::string fullPath = req.path;
+    ESP_LOGI(TAG, "Creating directory: %s", fullPath.c_str());
 
     api_Response res = api_Response_init_zero;
-    if (ESP_FS.mkdir(req.path)) {
+    if (mkdirRecursive(fullPath.c_str())) {
         res.status_code = 200;
         res.which_payload = api_Response_empty_message_tag;
         return WebServer::send(request, 200, res, api_Response_fields);

esp32/src/filesystem_ws.cpp

@@ -1,9 +1,14 @@
 #include <filesystem_ws.h>
-#include <filesystem.h>
 #include <pb_encode.h>
 #include <pb_decode.h>
 #include <esp_littlefs.h>
 #include <esp_timer.h>
+#include <esp_log.h>
+#include <dirent.h>
+#include <sys/stat.h>
+#include <cstring>
+#include <cerrno>
+#include <utils/timing.h>
 
 static const char* TAG = "FileSystemWS";
 
@@ -11,7 +16,137 @@ namespace FileSystemWS {
 
 FileSystemHandler fsHandler;
 
-FileSystemHandler::FileSystemHandler() : transferIdCounter_(0) {}
+FileSystemHandler::FileSystemHandler()
+    : transferIdCounter_(0), writeQueue_(nullptr), writerTaskHandle_(nullptr), uploadsMutex_(nullptr),
+      writerTaskRunning_(false) {
+    uploadsMutex_ = xSemaphoreCreateMutex();
+}
+
+FileSystemHandler::~FileSystemHandler() {
+    stopWriterTask();
+    if (uploadsMutex_) {
+        vSemaphoreDelete(uploadsMutex_);
+    }
+}
+
+void FileSystemHandler::startWriterTask() {
+    if (writerTaskHandle_ != nullptr) {
+        return;
+    }
+
+    writeQueue_ = xQueueCreate(FS_WRITE_QUEUE_SIZE, sizeof(WriteRequest));
+    if (!writeQueue_) {
+        ESP_LOGE(TAG, "Failed to create write queue");
+        return;
+    }
+
+    writerTaskRunning_ = true;
+    BaseType_t result =
+        xTaskCreate(writerTaskFunc, "fs_writer", FS_WRITER_TASK_STACK_SIZE, this, FS_WRITER_TASK_PRIORITY, &writerTaskHandle_);
+
+    if (result != pdPASS) {
+        ESP_LOGE(TAG, "Failed to create writer task");
+        vQueueDelete(writeQueue_);
+        writeQueue_ = nullptr;
+        writerTaskRunning_ = false;
+    } else {
+        ESP_LOGI(TAG, "Writer task started");
+    }
+}
+
+void FileSystemHandler::stopWriterTask() {
+    if (!writerTaskRunning_) {
+        return;
+    }
+
+    writerTaskRunning_ = false;
+
+    // Send a poison pill to wake up the task
+    WriteRequest poison = {0, nullptr, 0, 0, false};
+    if (writeQueue_) {
+        xQueueSend(writeQueue_, &poison, portMAX_DELAY);
+    }
+
+    // Wait for task to finish
+    if (writerTaskHandle_) {
+        vTaskDelay(pdMS_TO_TICKS(100));
+        writerTaskHandle_ = nullptr;
+    }
+
+    if (writeQueue_) {
+        // Drain any remaining requests and free their data
+        WriteRequest req;
+        while (xQueueReceive(writeQueue_, &req, 0) == pdTRUE) {
+            if (req.data) {
+                free(req.data);
+            }
+        }
+        vQueueDelete(writeQueue_);
+        writeQueue_ = nullptr;
+    }
+
+    ESP_LOGI(TAG, "Writer task stopped");
+}
+
+void FileSystemHandler::writerTaskFunc(void* param) {
+    FileSystemHandler* self = static_cast<FileSystemHandler*>(param);
+    WriteRequest req;
+
+    while (self->writerTaskRunning_) {
+        if (xQueueReceive(self->writeQueue_, &req, pdMS_TO_TICKS(10)) == pdTRUE) {
+            if (req.data == nullptr) {
+                // Poison pill - exit
+                break;
+            }
+            self->processWriteRequest(req);
+            free(req.data);
+        }
+    }
+
+    vTaskDelete(nullptr);
+}
+
+void FileSystemHandler::processWriteRequest(const WriteRequest& req) {
+    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
+
+    auto it = uploads_.find(req.transferId);
+    if (it == uploads_.end()) {
+        xSemaphoreGive(uploadsMutex_);
+        return;
+    }
+
+    UploadState& state = it->second;
+
+    if (state.hasError) {
+        xSemaphoreGive(uploadsMutex_);
+        return;
+    }
+
+    size_t bytesWritten = fwrite(req.data, 1, req.size, state.file);
+
+    if (bytesWritten != req.size) {
+        state.hasError = true;
+        state.errorMessage = "Failed to write chunk";
+        xSemaphoreGive(uploadsMutex_);
+        finalizeUpload(req.transferId, false, state.errorMessage);
+        return;
+    }
+
+    state.chunksWritten++;
+    ESP_LOGD(TAG, "Async write chunk %u/%u: %u bytes", state.chunksWritten, state.totalChunks, bytesWritten);
+
+    // Periodic flush
+    if (state.chunksWritten > 0 && state.chunksWritten % 64 == 0) {
+        fflush(state.file);
+    }
+
+    bool shouldFinalize = req.isLastChunk;
+    xSemaphoreGive(uploadsMutex_);
+
+    if (shouldFinalize) {
+        finalizeUpload(req.transferId, true);
+    }
+}
 
 void FileSystemHandler::setSendCallbacks(SendMetadataCallback sendMetadata, SendCallback sendData,
                                          SendCompleteCallback sendComplete,
@@ -29,7 +164,7 @@ void FileSystemHandler::cleanupExpiredTransfers() {
     while (dlIt != downloads_.end()) {
         if (now - dlIt->second.lastActivityTime > FS_TRANSFER_TIMEOUT_MS) {
             if (dlIt->second.file) {
-                dlIt->second.file.close();
+                fclose(dlIt->second.file);
             }
             ESP_LOGW(TAG, "Download %u timed out", dlIt->first);
 
@@ -49,38 +184,50 @@ void FileSystemHandler::cleanupExpiredTransfers() {
         }
     }
 
+    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
     auto ulIt = uploads_.begin();
     while (ulIt != uploads_.end()) {
         if (now - ulIt->second.lastActivityTime > FS_TRANSFER_TIMEOUT_MS) {
             if (ulIt->second.file) {
-                ulIt->second.file.close();
+                fclose(ulIt->second.file);
+                ulIt->second.file = nullptr;
             }
-            ESP_FS.remove(ulIt->second.path.c_str());
-            ESP_LOGW(TAG, "Upload %u timed out, deleted partial file", ulIt->first);
+            std::string path = ulIt->second.path;
+            uint32_t chunksReceived = ulIt->second.chunksReceived;
+            int clientId = ulIt->second.clientId;
+            uint32_t transferId = ulIt->first;
+
+            ulIt = uploads_.erase(ulIt);
+            xSemaphoreGive(uploadsMutex_);
+
+            remove(path.c_str());
+            ESP_LOGW(TAG, "Upload %u timed out, deleted partial file", transferId);
 
             if (sendUploadCompleteCallback_) {
                 socket_message_FSUploadComplete complete = socket_message_FSUploadComplete_init_zero;
-                complete.transfer_id = ulIt->first;
+                complete.transfer_id = transferId;
                 complete.success = false;
                 strncpy(complete.error, "Transfer timed out", sizeof(complete.error) - 1);
-                complete.chunks_received = ulIt->second.chunksReceived;
-                sendUploadCompleteCallback_(complete, ulIt->second.clientId);
+                complete.chunks_received = chunksReceived;
+                sendUploadCompleteCallback_(complete, clientId);
             }
 
-            ulIt = uploads_.erase(ulIt);
+            xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
         } else {
             ++ulIt;
         }
     }
+    xSemaphoreGive(uploadsMutex_);
 }
 
 socket_message_FSDeleteResponse FileSystemHandler::handleDelete(const socket_message_FSDeleteRequest& req) {
     socket_message_FSDeleteResponse response = socket_message_FSDeleteResponse_init_zero;
 
-    std::string path(req.path);
+    std::string path = req.path;
     ESP_LOGI(TAG, "Delete request: %s", path.c_str());
 
-    if (!ESP_FS.exists(path.c_str())) {
+    struct stat st;
+    if (stat(path.c_str(), &st) != 0) {
         response.success = false;
         strncpy(response.error, "File or directory not found", sizeof(response.error) - 1);
         return response;
@@ -97,41 +244,45 @@ socket_message_FSDeleteResponse FileSystemHandler::handleDelete(const socket_mes
 }
 
 bool FileSystemHandler::deleteRecursive(const std::string& path) {
-    File file = ESP_FS.open(path.c_str());
-    if (!file) return false;
+    struct stat st;
+    if (stat(path.c_str(), &st) != 0) return false;
 
-    if (file.isDirectory()) {
-        File child = file.openNextFile();
-        while (child) {
-            std::string childPath = std::string(child.name());
-            child.close();
+    if (S_ISDIR(st.st_mode)) {
+        DIR* dir = opendir(path.c_str());
+        if (!dir) return false;
+
+        struct dirent* entry;
+        while ((entry = readdir(dir)) != nullptr) {
+            if (strcmp(entry->d_name, ".") == 0 || strcmp(entry->d_name, "..") == 0) {
+                continue;
+            }
+            std::string childPath = path + "/" + entry->d_name;
             if (!deleteRecursive(childPath)) {
-                file.close();
+                closedir(dir);
                 return false;
             }
-            child = file.openNextFile();
         }
-        file.close();
-        return ESP_FS.rmdir(path.c_str());
+        closedir(dir);
+        return rmdir(path.c_str()) == 0;
     } else {
-        file.close();
-        return ESP_FS.remove(path.c_str());
+        return remove(path.c_str()) == 0;
     }
 }
 
 socket_message_FSMkdirResponse FileSystemHandler::handleMkdir(const socket_message_FSMkdirRequest& req) {
     socket_message_FSMkdirResponse response = socket_message_FSMkdirResponse_init_zero;
 
-    std::string path(req.path);
+    std::string path = req.path;
     ESP_LOGI(TAG, "Mkdir request: %s", path.c_str());
 
-    if (ESP_FS.exists(path.c_str())) {
+    struct stat st;
+    if (stat(path.c_str(), &st) == 0) {
         response.success = false;
         strncpy(response.error, "Path already exists", sizeof(response.error) - 1);
         return response;
     }
 
-    if (ESP_FS.mkdir(path.c_str())) {
+    if (FileSystem::mkdirRecursive(path.c_str())) {
         response.success = true;
     } else {
         response.success = false;
@@ -142,32 +293,49 @@ socket_message_FSMkdirResponse FileSystemHandler::handleMkdir(const socket_messa
 }
 
 void FileSystemHandler::listDirectory(const std::string& path, socket_message_FSListResponse& response) {
-    File dir = ESP_FS.open(path.c_str());
-    if (!dir || !dir.isDirectory()) {
+
+    // Root "/" is virtual - list mount points instead
+    if (strcmp(path.c_str(), "/") == 0) {
+        strncpy(response.directories[0].name, LITTLEFS_MOUNT_POINT + 1, sizeof(response.directories[0].name) - 1);
+        strncpy(response.directories[1].name, SD_MOUNT_POINT + 1, sizeof(response.directories[1].name) - 1);
+        response.directories_count = 2;
         return;
     }
 
-    File file = dir.openNextFile();
+    DIR* dir = opendir(path.c_str());
+    if (!dir) {
+        return;
+    }
+
+    struct dirent* entry;
     int fileCount = 0;
     int dirCount = 0;
 
-    while (file && fileCount < 20 && dirCount < 20) { // Limit to match protobuf max_count
-        if (file.isDirectory()) {
+    while ((entry = readdir(dir)) != nullptr && fileCount < 20 && dirCount < 20) {
+        if (strcmp(entry->d_name, ".") == 0 || strcmp(entry->d_name, "..") == 0) {
+            continue;
+        }
+
+        std::string fullPath = path + "/" + entry->d_name;
+        struct stat st;
+        if (stat(fullPath.c_str(), &st) != 0) continue;
+
+        if (S_ISDIR(st.st_mode)) {
             if (dirCount < 20) {
-                strncpy(response.directories[dirCount].name, file.name(),
+                strncpy(response.directories[dirCount].name, entry->d_name,
                         sizeof(response.directories[dirCount].name) - 1);
                 dirCount++;
             }
         } else {
             if (fileCount < 20) {
-                strncpy(response.files[fileCount].name, file.name(), sizeof(response.files[fileCount].name) - 1);
-                response.files[fileCount].size = file.size();
+                strncpy(response.files[fileCount].name, entry->d_name, sizeof(response.files[fileCount].name) - 1);
+                response.files[fileCount].size = st.st_size;
                 fileCount++;
             }
         }
-        file = dir.openNextFile();
     }
 
+    closedir(dir);
     response.files_count = fileCount;
     response.directories_count = dirCount;
 }
@@ -175,12 +343,13 @@ void FileSystemHandler::listDirectory(const std::string& path, socket_message_FS
 socket_message_FSListResponse FileSystemHandler::handleList(const socket_message_FSListRequest& req) {
     socket_message_FSListResponse response = socket_message_FSListResponse_init_zero;
 
-    std::string path(req.path);
-    if (path.empty()) path = "/";
+    std::string path = req.path;
 
     ESP_LOGI(TAG, "List request: %s", path.c_str());
 
-    if (!ESP_FS.exists(path.c_str())) {
+    struct stat st;
+    // Make sure that path exists, or that it is a root listing
+    if (strcmp(path.c_str(), "/") != 0 && stat(path.c_str(), &st) != 0) {
         response.success = false;
         strncpy(response.error, "Path not found", sizeof(response.error) - 1);
         return response;
@@ -192,14 +361,12 @@ socket_message_FSListResponse FileSystemHandler::handleList(const socket_message
     return response;
 }
 
-// ===== STREAMING DOWNLOAD =====
-
 void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadRequest& req, int clientId) {
-    std::string path(req.path);
+    std::string path = req.path;
     ESP_LOGI(TAG, "Download request: %s", path.c_str());
 
-    // Validate file exists
-    if (!ESP_FS.exists(path.c_str())) {
+    struct stat st;
+    if (stat(path.c_str(), &st) != 0 || S_ISDIR(st.st_mode)) {
         if (sendMetadataCallback_) {
             socket_message_FSDownloadMetadata metadata = socket_message_FSDownloadMetadata_init_zero;
             metadata.success = false;
@@ -209,8 +376,8 @@ void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadReq
         return;
     }
 
-    File file = ESP_FS.open(path.c_str(), "r");
-    if (!file || file.isDirectory()) {
+    FILE* file = fopen(path.c_str(), "rb");
+    if (!file) {
         if (sendMetadataCallback_) {
             socket_message_FSDownloadMetadata metadata = socket_message_FSDownloadMetadata_init_zero;
             metadata.success = false;
@@ -220,11 +387,7 @@ void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadReq
         return;
     }
 
-    // Set file buffer size large, so we use ram to read from
-    // Set buffer size so 1 mb (static) TODO: Check that there is enough ram to do this
-    file.setBufferSize(1000000);
-
-    uint32_t fileSize = file.size();
+    uint32_t fileSize = st.st_size;
     uint32_t chunkSize = FS_MAX_CHUNK_SIZE;
     uint32_t totalChunks = (fileSize + chunkSize - 1) / chunkSize;
     if (totalChunks == 0) totalChunks = 1;
@@ -254,10 +417,8 @@ void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadReq
 
     ESP_LOGI(TAG, "Download started: %s, size=%u, chunks=%u, id=%u", path.c_str(), fileSize, totalChunks, transferId);
 
-    // Start streaming chunks immediately
     while (sendNextDownloadChunk(transferId)) {
-        // Keep sending until done or error
-        taskYIELD(); // Allow other tasks to run
+        taskYIELD();
     }
 }
 
@@ -280,7 +441,7 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
             sendCompleteCallback_(complete, state.clientId);
         }
 
-        state.file.close();
+        fclose(state.file);
         downloads_.erase(it);
         ESP_LOGI(TAG, "Download completed: %u", transferId);
         return false;
@@ -297,8 +458,28 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
         bytesToRead = state.fileSize - position;
     }
 
-    size_t bytesRead = state.file.read(data->data.bytes, bytesToRead);
+    // Allocate buffer for FT_POINTER data field
+    data->data = (pb_bytes_array_t*)malloc(PB_BYTES_ARRAY_T_ALLOCSIZE(bytesToRead));
+    if (!data->data) {
+        delete data;
+        if (sendCompleteCallback_) {
+            socket_message_FSDownloadComplete complete = socket_message_FSDownloadComplete_init_zero;
+            complete.transfer_id = transferId;
+            complete.success = false;
+            strncpy(complete.error, "Memory allocation failed", sizeof(complete.error) - 1);
+            complete.total_chunks = state.chunksSent;
+            complete.file_size = state.fileSize;
+            sendCompleteCallback_(complete, state.clientId);
+        }
+        fclose(state.file);
+        downloads_.erase(it);
+        ESP_LOGE(TAG, "Download failed - memory allocation: %u", transferId);
+        return false;
+    }
+
+    size_t bytesRead = fread(data->data->bytes, 1, bytesToRead, state.file);
     if (bytesRead == 0 && bytesToRead > 0) {
+        free(data->data);
         delete data;
         if (sendCompleteCallback_) {
             socket_message_FSDownloadComplete complete = socket_message_FSDownloadComplete_init_zero;
@@ -310,17 +491,18 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
             sendCompleteCallback_(complete, state.clientId);
         }
 
-        state.file.close();
+        fclose(state.file);
         downloads_.erase(it);
         ESP_LOGE(TAG, "Download failed - read error: %u", transferId);
         return false;
     }
-    data->data.size = bytesRead;
+    data->data->size = bytesRead;
 
     if (sendDataCallback_) {
         sendDataCallback_(*data, state.clientId);
     }
 
+    free(data->data);
     delete data;
     state.chunksSent++;
     ESP_LOGD(TAG, "Download chunk %u/%u sent: %u bytes", state.chunksSent, state.totalChunks, bytesRead);
@@ -328,44 +510,48 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
     return true;
 }
 
-// ===== STREAMING UPLOAD =====
-
 socket_message_FSUploadStartResponse FileSystemHandler::handleUploadStart(const socket_message_FSUploadStart& req,
                                                                           int clientId) {
     socket_message_FSUploadStartResponse response = socket_message_FSUploadStartResponse_init_zero;
 
-    std::string path(req.path);
+    std::string path = req.path;
     ESP_LOGI(TAG, "Upload start request: %s, size=%u, chunks=%u", path.c_str(), req.file_size, req.total_chunks);
 
-    // Check available space
-    size_t fs_total = 0, fs_used = 0;
-    esp_littlefs_info("spiffs", &fs_total, &fs_used);
-    size_t freeSpace = fs_total - fs_used;
-    if (freeSpace < req.file_size + 4096) { // 4KB safety margin
-        response.success = false;
-        strncpy(response.error, "Insufficient storage space", sizeof(response.error) - 1);
-        return response;
+    // Check available space on the target filesystem
+    if (path.find(SD_MOUNT_POINT) != 0) {
+        // LittleFS path
+        size_t fs_total = 0, fs_used = 0;
+        esp_littlefs_info("spiffs", &fs_total, &fs_used);
+        size_t freeSpace = fs_total - fs_used;
+        if (freeSpace < req.file_size + 4096) {
+            response.success = false;
+            strncpy(response.error, "Insufficient storage space", sizeof(response.error) - 1);
+            return response;
+        }
     }
+    // TODO: SD card space check skipped - FAT doesn't have a simple API for this
 
-    // Ensure parent directory exists
     size_t lastSlash = path.find_last_of('/');
     if (lastSlash != std::string::npos && lastSlash > 0) {
         std::string parentDir = path.substr(0, lastSlash);
-        if (!ESP_FS.exists(parentDir.c_str())) {
+        struct stat st;
+        if (stat(parentDir.c_str(), &st) != 0) {
             response.success = false;
             strncpy(response.error, "Parent directory does not exist", sizeof(response.error) - 1);
             return response;
         }
     }
 
-    File file = ESP_FS.open(path.c_str(), FILE_WRITE);
+    FILE* file = fopen(path.c_str(), "wb");
     if (!file) {
+        ESP_LOGE(TAG, "fopen failed for '%s': %s (errno=%d)", path.c_str(), strerror(errno), errno);
         response.success = false;
-        strncpy(response.error, "Cannot open file for writing", sizeof(response.error) - 1);
+        snprintf(response.error, sizeof(response.error) - 1, "Cannot open file: %s", strerror(errno));
         return response;
     }
 
-    file.setBufferSize(1000000);
+    // Set larger buffer for better write performance
+    setvbuf(file, nullptr, _IOFBF, 32 * 1024);
 
     uint32_t transferId = generateTransferId();
 
@@ -375,12 +561,15 @@ socket_message_FSUploadStartResponse FileSystemHandler::handleUploadStart(const
     state.fileSize = req.file_size;
     state.totalChunks = req.total_chunks;
     state.chunksReceived = 0;
+    state.chunksWritten = 0;
     state.bytesReceived = 0;
     state.lastActivityTime = esp_timer_get_time() / 1000;
     state.clientId = clientId;
     state.hasError = false;
 
+    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
     uploads_[transferId] = state;
+    xSemaphoreGive(uploadsMutex_);
 
     response.success = true;
     response.transfer_id = transferId;
@@ -393,8 +582,16 @@ socket_message_FSUploadStartResponse FileSystemHandler::handleUploadStart(const
 void FileSystemHandler::handleUploadData(const socket_message_FSUploadData& req) {
     uint32_t transferId = req.transfer_id;
 
+    // Auto-start writer task if not running
+    if (!writerTaskRunning_) {
+        startWriterTask();
+    }
+
+    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
+
     auto it = uploads_.find(transferId);
     if (it == uploads_.end()) {
+        xSemaphoreGive(uploadsMutex_);
         ESP_LOGW(TAG, "Upload data for unknown transfer: %u", transferId);
         return;
     }
@@ -402,61 +599,93 @@ void FileSystemHandler::handleUploadData(const socket_message_FSUploadData& req)
     UploadState& state = it->second;
     state.lastActivityTime = esp_timer_get_time() / 1000;
 
-    // Skip if we already have an error
     if (state.hasError) {
+        xSemaphoreGive(uploadsMutex_);
         return;
     }
 
-    // Validate chunk index (allow out-of-order but warn)
     if (req.chunk_index != state.chunksReceived) {
         ESP_LOGW(TAG, "Upload chunk out of order: expected %u, got %u", state.chunksReceived, req.chunk_index);
-        // For now, we'll accept it anyway and write sequentially
-        // A more robust implementation would buffer out-of-order chunks
     }
 
-    // Write chunk data
-    size_t bytesWritten = state.file.write(req.data.bytes, req.data.size);
-    if (bytesWritten != req.data.size) {
+    if (!req.data || req.data->size == 0) {
         state.hasError = true;
-        state.errorMessage = "Failed to write chunk";
+        state.errorMessage = "Empty or invalid data chunk";
+        xSemaphoreGive(uploadsMutex_);
         finalizeUpload(transferId, false, state.errorMessage);
         return;
     }
 
-    state.chunksReceived++;
-    state.bytesReceived += bytesWritten;
+    // Copy data for async write
+    WriteRequest writeReq;
+    writeReq.transferId = transferId;
+    writeReq.size = req.data->size;
+    writeReq.chunkIndex = req.chunk_index;
+    writeReq.data = static_cast<uint8_t*>(malloc(req.data->size));
 
-    // Flush periodically to prevent LittleFS buffer issues
-    if (state.chunksReceived > 0 && state.chunksReceived % 64 == 0) {
-        ESP_LOGD(TAG, "Flushing file at chunk %u", state.chunksReceived);
-        state.file.flush();
+    if (!writeReq.data) {
+        state.hasError = true;
+        state.errorMessage = "Memory allocation failed";
+        xSemaphoreGive(uploadsMutex_);
+        finalizeUpload(transferId, false, state.errorMessage);
+        return;
     }
 
-    ESP_LOGD(TAG, "Upload chunk %u/%u: %u bytes", state.chunksReceived, state.totalChunks, bytesWritten);
+    memcpy(writeReq.data, req.data->bytes, req.data->size);
 
-    // Check if upload is complete
-    if (state.chunksReceived >= state.totalChunks) {
-        finalizeUpload(transferId, true);
+    state.chunksReceived++;
+    state.bytesReceived += req.data->size;
+    writeReq.isLastChunk = (state.chunksReceived >= state.totalChunks);
+
+    ESP_LOGD(TAG, "Queuing chunk %u/%u: %u bytes", state.chunksReceived, state.totalChunks, req.data->size);
+
+    xSemaphoreGive(uploadsMutex_);
+
+    // Check queue is valid
+    if (!writeQueue_) {
+        ESP_LOGE(TAG, "Write queue not initialized");
+        free(writeReq.data);
+        finalizeUpload(transferId, false, "Write queue not initialized");
+        return;
+    }
+
+    // Try to queue (non-blocking) - if full, do sync write to avoid blocking HTTP server
+    if (xQueueSend(writeQueue_, &writeReq, 0) != pdTRUE) {
+        ESP_LOGD(TAG, "Queue full, doing sync write for chunk %u", writeReq.chunkIndex);
+        processWriteRequest(writeReq);
+        free(writeReq.data);
     }
 }
 
 void FileSystemHandler::finalizeUpload(uint32_t transferId, bool success, const std::string& error) {
+    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
+
     auto it = uploads_.find(transferId);
     if (it == uploads_.end()) {
+        xSemaphoreGive(uploadsMutex_);
         return;
     }
 
     UploadState& state = it->second;
 
     if (state.file) {
-        state.file.close();
+        fclose(state.file);
+        state.file = nullptr;
     }
 
+    std::string path = state.path;
+    uint32_t bytesReceived = state.bytesReceived;
+    uint32_t chunksReceived = state.chunksReceived;
+    int clientId = state.clientId;
+
+    uploads_.erase(it);
+    xSemaphoreGive(uploadsMutex_);
+
     if (!success) {
-        ESP_FS.remove(state.path.c_str());
-        ESP_LOGW(TAG, "Upload failed, deleted partial file: %s", state.path.c_str());
+        remove(path.c_str());
+        ESP_LOGW(TAG, "Upload failed, deleted partial file: %s", path.c_str());
     } else {
-        ESP_LOGI(TAG, "Upload completed: %s (%u bytes)", state.path.c_str(), state.bytesReceived);
+        ESP_LOGI(TAG, "Upload completed: %s (%u bytes)", path.c_str(), bytesReceived);
     }
 
     if (sendUploadCompleteCallback_) {
@@ -466,15 +695,11 @@ void FileSystemHandler::finalizeUpload(uint32_t transferId, bool success, const
         if (!error.empty()) {
             strncpy(complete.error, error.c_str(), sizeof(complete.error) - 1);
         }
-        complete.chunks_received = state.chunksReceived;
-        sendUploadCompleteCallback_(complete, state.clientId);
+        complete.chunks_received = chunksReceived;
+        sendUploadCompleteCallback_(complete, clientId);
     }
-
-    uploads_.erase(it);
 }
 
-// ===== TRANSFER CONTROL =====
-
 socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
     const socket_message_FSCancelTransfer& req) {
     socket_message_FSCancelTransferResponse response = socket_message_FSCancelTransferResponse_init_zero;
@@ -484,7 +709,7 @@ socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
     auto dlIt = downloads_.find(transferId);
     if (dlIt != downloads_.end()) {
         if (dlIt->second.file) {
-            dlIt->second.file.close();
+            fclose(dlIt->second.file);
         }
         downloads_.erase(dlIt);
         response.success = true;
@@ -492,20 +717,27 @@ socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
         return response;
     }
 
+    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
     auto ulIt = uploads_.find(transferId);
     if (ulIt != uploads_.end()) {
         if (ulIt->second.file) {
-            ulIt->second.file.close();
+            fclose(ulIt->second.file);
+            ulIt->second.file = nullptr;
         }
-        ESP_FS.remove(ulIt->second.path.c_str());
+        std::string path = ulIt->second.path;
         uploads_.erase(ulIt);
+        xSemaphoreGive(uploadsMutex_);
+        remove(path.c_str());
         response.success = true;
         ESP_LOGI(TAG, "Upload cancelled: %u", transferId);
         return response;
     }
+    xSemaphoreGive(uploadsMutex_);
 
     response.success = false;
     return response;
 }
 
+void FileSystemHandler::processPendingDownloads() {}
+
 } // namespace FileSystemWS

esp32/src/idf_component.yml

@@ -0,0 +1,18 @@
+dependencies:
+  idf:
+    version: ">=5.0.0"
+    
+  espressif/mdns:
+    version: "^1.3.0"
+    
+  joltwallet/littlefs:
+    version: "^1.14.0"
+    
+  espressif/esp-dsp:
+    version: "^1.4.0"
+    
+  espressif/led_strip:
+    version: "^2.5.0"
+    
+  espressif/esp32-camera:
+    version: "^2.0.0"

esp32/src/main.cpp

@@ -1,6 +1,10 @@
-#include <Arduino.h>
-#include <ESPmDNS.h>
-#include <WiFi.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include <esp_log.h>
+#include <esp_heap_caps.h>
+#include <nvs_flash.h>
+#include <wifi/wifi_idf.h>
+#include <mdns.h>
 #include <map>
 
 #include <filesystem.h>
@@ -20,7 +24,7 @@
 
 #include <www_mount.hpp>
 
-Websocket socket {server, "/api/ws"};
+Websocket wsSocket {server, "/api/ws"};
 
 Peripherals peripherals;
 ServoController servoController;
@@ -39,7 +43,9 @@ WiFiService wifiService;
 APService apService;
 
 void setupServer() {
-    server.config(50 + WWW_ASSETS_COUNT, 32768);
+    ESP_LOGI("Main", "Free heap before server: %lu, largest block: %lu",
+             esp_get_free_heap_size(), heap_caps_get_largest_free_block(MALLOC_CAP_8BIT));
+    server.config(50 + WWW_ASSETS_COUNT, 16384);
     server.listen(80);
 
     server.on("/api/system/reset", HTTP_POST,
@@ -73,42 +79,41 @@ void setupServer() {
     server.on("/api/wifi/networks", HTTP_GET, [&](httpd_req_t *request) { return wifiService.getNetworks(request); });
     server.on("/api/wifi/sta/status", HTTP_GET,
               [&](httpd_req_t *request) { return wifiService.getNetworkStatus(request); });
-	
+
     server.on("/api/ap/status", HTTP_GET, [&](httpd_req_t *request) { return apService.getStatusProto(request); });
     server.on("/api/ap/settings", HTTP_GET,
-                    [&](httpd_req_t *request) { return apService.protoEndpoint.getState(request); });
-    server.on("/api/ap/settings", HTTP_POST,
-                         [&](httpd_req_t *request, api_Request *protoReq) {
-                             return apService.protoEndpoint.handleStateUpdate(request, protoReq);
-                         });
-    
+              [&](httpd_req_t *request) { return apService.protoEndpoint.getState(request); });
+    server.on("/api/ap/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
+        return apService.protoEndpoint.handleStateUpdate(request, protoReq);
+    });
+
     server.on("/api/peripherals/settings", HTTP_GET,
               [&](httpd_req_t *request) { return peripherals.protoEndpoint.getState(request); });
-    server.on("/api/peripherals/settings", HTTP_POST,
-                   [&](httpd_req_t *request, api_Request *protoReq) {
-                       return peripherals.protoEndpoint.handleStateUpdate(request, protoReq);
-                   });
+    server.on("/api/peripherals/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
+        return peripherals.protoEndpoint.handleStateUpdate(request, protoReq);
+    });
 
 #if FT_ENABLED(USE_MDNS)
-    server.on("/api/mdns/settings", HTTP_GET, [&](httpd_req_t *request) { return mdnsService.protoEndpoint.getState(request); });
-    server.on("/api/mdns/settings", HTTP_POST,
-                   [&](httpd_req_t *request, api_Request *protoReq) {
-                       return mdnsService.protoEndpoint.handleStateUpdate(request, protoReq);
-                   });
+    server.on("/api/mdns/settings", HTTP_GET,
+              [&](httpd_req_t *request) { return mdnsService.protoEndpoint.getState(request); });
+    server.on("/api/mdns/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
+        return mdnsService.protoEndpoint.handleStateUpdate(request, protoReq);
+    });
     server.on("/api/mdns/status", HTTP_GET, [&](httpd_req_t *request) { return mdnsService.getStatus(request); });
-    server.on("/api/mdns/query", HTTP_POST,
-                   [&](httpd_req_t *request, api_Request *protoReq) {
-                       return mdnsService.queryServices(request, protoReq);
-                   });
+    server.on("/api/mdns/query", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
+        return mdnsService.queryServices(request, protoReq);
+    });
 #endif
-    
+
     server.on("/api/config/*", HTTP_GET, [](httpd_req_t *request) { return FileSystem::getConfigFile(request); });
     server.on("/api/files", HTTP_GET, [&](httpd_req_t *request) { return FileSystem::getFilesProto(request); });
     STAITC_PROTO_POST_ENDPOINT(server, "/api/files/delete", file_delete_request, FileSystem::handleDelete);
     STAITC_PROTO_POST_ENDPOINT(server, "/api/files/edit", file_edit_request, FileSystem::handleEdit);
     STAITC_PROTO_POST_ENDPOINT(server, "/api/files/mkdir", file_mkdir_request, FileSystem::mkdir);
+    wsSocket.begin();
 #if EMBED_WEBAPP
     mountStaticAssets(server);
+    mountSpaFallback(server);
 #endif
     server.on("/*", HTTP_OPTIONS, [](httpd_req_t *request) {
         httpd_resp_set_status(request, "200 OK");
@@ -123,36 +128,36 @@ void setupServer() {
 
 void setupEventSocket() {
     FileSystemWS::fsHandler.setSendCallbacks(
-        [](const socket_message_FSDownloadMetadata &metadata, int clientId) { socket.emit(metadata, clientId); },
-        [](const socket_message_FSDownloadData &data, int clientId) { socket.emit(data, clientId); },
-        [](const socket_message_FSDownloadComplete &complete, int clientId) { socket.emit(complete, clientId); },
-        [](const socket_message_FSUploadComplete &complete, int clientId) { socket.emit(complete, clientId); });
+        [](const socket_message_FSDownloadMetadata &metadata, int clientId) { wsSocket.emit(metadata, clientId); },
+        [](const socket_message_FSDownloadData &data, int clientId) { wsSocket.emit(data, clientId); },
+        [](const socket_message_FSDownloadComplete &complete, int clientId) { wsSocket.emit(complete, clientId); },
+        [](const socket_message_FSUploadComplete &complete, int clientId) { wsSocket.emit(complete, clientId); });
 
-    socket.on<socket_message_ControllerData>(
+    wsSocket.on<socket_message_ControllerData>(
         [&](const socket_message_ControllerData &data, int clientId) { motionService.handleInput(data); });
 
-    socket.on<socket_message_ModeData>([&](const socket_message_ModeData &data, int clientId) {
+    wsSocket.on<socket_message_ModeData>([&](const socket_message_ModeData &data, int clientId) {
         servoController.setMode(SERVO_CONTROL_STATE::ANGLE);
         motionService.handleMode(data);
         motionService.isActive() ? servoController.activate() : servoController.deactivate();
     });
 
-    socket.on<socket_message_WalkGaitData>(
+    wsSocket.on<socket_message_WalkGaitData>(
         [&](const socket_message_WalkGaitData &data, int clientId) { motionService.handleWalkGait(data); });
 
-    socket.on<socket_message_AnglesData>(
+    wsSocket.on<socket_message_AnglesData>(
         [&](const socket_message_AnglesData &data, int clientId) { motionService.handleAngles(data); });
 
-    socket.on<socket_message_ServoPWMData>([&](const socket_message_ServoPWMData &data, int clientId) {
+    wsSocket.on<socket_message_ServoPWMData>([&](const socket_message_ServoPWMData &data, int clientId) {
         servoController.setServoPWM(data.servo_id, data.servo_pwm);
     });
 
-    socket.on<socket_message_ServoStateData>([&](const socket_message_ServoStateData &data, int clientId) {
+    wsSocket.on<socket_message_ServoStateData>([&](const socket_message_ServoStateData &data, int clientId) {
         data.active ? servoController.activate() : servoController.deactivate();
     });
 
-    socket.on<socket_message_FSUploadData>(
-        [&](const socket_message_FSUploadData &data, int clientId) { FileSystemWS::fsHandler.handleUploadData(data); });
+    wsSocket.on<socket_message_FSUploadData>(
+        [&](const socket_message_FSUploadData &data, int clientId) { TIME_IT(FileSystemWS::fsHandler.handleUploadData(data), handle_upload) });
 
     using CorrelationHandler =
         std::function<void(const socket_message_CorrelationRequest &, socket_message_CorrelationResponse &, int)>;
@@ -225,7 +230,7 @@ void setupEventSocket() {
          }},
     };
 
-    socket.on<socket_message_CorrelationRequest>([&](const socket_message_CorrelationRequest &data, int clientId) {
+    wsSocket.on<socket_message_CorrelationRequest>([&](const socket_message_CorrelationRequest &data, int clientId) {
         auto res = new socket_message_CorrelationResponse();
         *res = socket_message_CorrelationResponse_init_default;
         res->correlation_id = data.correlation_id;
@@ -235,7 +240,7 @@ void setupEventSocket() {
         if (it != correlationHandlers.end()) {
             it->second(data, *res, clientId);
             if (res->status_code != 0) {
-                socket.emit(*res, clientId);
+                wsSocket.emit(*res, clientId);
             }
         } else {
             printf("WARNING: no handler for correlation request: %d\n", data.which_request);
@@ -248,15 +253,18 @@ void setupEventSocket() {
 void IRAM_ATTR SpotControlLoopEntry(void *) {
     ESP_LOGI("main", "Control task starting");
     TickType_t xLastWakeTime = xTaskGetTickCount();
-    const TickType_t xFrequency = 5 / portTICK_PERIOD_MS;
+    const TickType_t xFrequency = pdMS_TO_TICKS(10);
 
     peripherals.begin();
     servoController.begin();
     motionService.begin();
+#if FT_ENABLED(USE_WS2812)
+    ledService.begin();
+#endif
     peripherals.calibrateIMU();
 
     for (;;) {
-        WARN_IF_SLOW(SpotControlLoopEntry, 5);
+        WARN_IF_SLOW(SpotControlLoopEntry, 10);
         peripherals.update();
         motionService.update(&peripherals);
         servoController.setAngles(motionService.getAngles());
@@ -271,9 +279,11 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
 void IRAM_ATTR serviceLoopEntry(void *) {
     ESP_LOGI("main", "Service task starting");
 
+    WiFi.init();
     wifiService.begin();
-    MDNS.begin(APP_NAME);
-    MDNS.setInstanceName(APP_NAME);
+    mdns_init();
+    mdns_hostname_set(APP_NAME);
+    mdns_instance_name_set(APP_NAME);
     apService.begin();
 
 #if FT_ENABLED(USE_CAMERA)
@@ -281,8 +291,6 @@ void IRAM_ATTR serviceLoopEntry(void *) {
 #endif
 
     setupServer();
-
-    socket.begin();
     setupEventSocket();
 
     ESP_LOGI("main", "Service task started");
@@ -291,23 +299,23 @@ void IRAM_ATTR serviceLoopEntry(void *) {
         apService.loop();
 
         EXECUTE_EVERY_N_MS(2000, {
-            if (socket.hasSubscribers(socket_message_Message_analytics_tag)) {
+            if (wsSocket.hasSubscribers(socket_message_Message_analytics_tag)) {
                 socket_message_AnalyticsData analytics = socket_message_AnalyticsData_init_zero;
                 system_service::getAnalytics(analytics);
-                socket.emit(analytics);
+                wsSocket.emit(analytics);
             }
         });
 
         EXECUTE_EVERY_N_MS(100, {
-            if (socket.hasSubscribers(socket_message_Message_imu_tag)) {
+            if (wsSocket.hasSubscribers(socket_message_Message_imu_tag)) {
                 socket_message_IMUData imu = socket_message_IMUData_init_zero;
                 peripherals.getIMUProto(imu);
-                socket.emit(imu);
+                wsSocket.emit(imu);
             }
 
-            if (socket.hasSubscribers(socket_message_Message_rssi_tag)) {
+            if (wsSocket.hasSubscribers(socket_message_Message_rssi_tag)) {
                 socket_message_RSSIData rssi = {.rssi = WiFi.RSSI()};
-                socket.emit(rssi);
+                wsSocket.emit(rssi);
             }
         });
 
@@ -317,18 +325,23 @@ void IRAM_ATTR serviceLoopEntry(void *) {
     }
 }
 
-void setup() {
-    ESP_FS.begin();
+extern "C" void app_main(void) {
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+
+    FileSystem::init();
 
     ESP_LOGI("main", "Booting robot");
 
     feature_service::printFeatureConfiguration();
 
-    xTaskCreate(serviceLoopEntry, "Service task", 4096, nullptr, 2, nullptr);
+    xTaskCreate(serviceLoopEntry, "Service task", 8192, nullptr, 2, nullptr);
 
-    xTaskCreatePinnedToCore(SpotControlLoopEntry, "Control task", 4096, nullptr, 5, nullptr, 1);
+    xTaskCreatePinnedToCore(SpotControlLoopEntry, "Control task", 8192, nullptr, 5, nullptr, 1);
 
     ESP_LOGI("main", "Finished booting");
 }
-
-void loop() { vTaskDelete(nullptr); }

esp32/src/mdns_service.cpp

@@ -1,5 +1,6 @@
 #include <mdns_service.h>
 #include <communication/webserver.h>
+#include <esp_netif.h>
 
 static const char *TAG = "MDNSService";
 
@@ -7,9 +8,8 @@ MDNSService::MDNSService()
     : protoEndpoint(MDNSSettings_read, MDNSSettings_update, this,
                     API_REQUEST_EXTRACTOR(mdns_settings, api_MDNSSettings),
                     API_RESPONSE_ASSIGNER(mdns_settings, api_MDNSSettings)),
-      _persistence(MDNSSettings_read, MDNSSettings_update, this,
-                   MDNS_SETTINGS_FILE, api_MDNSSettings_fields, api_MDNSSettings_size,
-                   MDNSSettings_defaults()) {
+      _persistence(MDNSSettings_read, MDNSSettings_update, this, MDNS_SETTINGS_FILE, api_MDNSSettings_fields,
+                   api_MDNSSettings_size, MDNSSettings_defaults()) {
     addUpdateHandler([&](const std::string &originId) { reconfigureMDNS(); }, false);
 }
 
@@ -34,33 +34,50 @@ void MDNSService::reconfigureMDNS() {
 void MDNSService::startMDNS() {
     ESP_LOGV(TAG, "Starting MDNS with hostname: %s", state().hostname);
 
-    if (MDNS.begin(state().hostname)) {
-        _started = true;
-        MDNS.setInstanceName(state().instance);
-
-        addServices();
-
-        ESP_LOGI(TAG, "MDNS started successfully with hostname: %s", state().hostname);
-    } else {
+    esp_err_t err = mdns_init();
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to initialize MDNS: %s", esp_err_to_name(err));
         _started = false;
-        ESP_LOGE(TAG, "Failed to start MDNS");
+        return;
     }
+
+    err = mdns_hostname_set(state().hostname);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set MDNS hostname: %s", esp_err_to_name(err));
+        mdns_free();
+        _started = false;
+        return;
+    }
+
+    err = mdns_instance_name_set(state().instance);
+    if (err != ESP_OK) {
+        ESP_LOGW(TAG, "Failed to set MDNS instance name: %s", esp_err_to_name(err));
+    }
+
+    _started = true;
+    addServices();
+
+    ESP_LOGI(TAG, "MDNS started successfully with hostname: %s", state().hostname);
 }
 
 void MDNSService::stopMDNS() {
     ESP_LOGV(TAG, "Stopping MDNS");
-    MDNS.end();
+    mdns_free();
     _started = false;
 }
 
 void MDNSService::addServices() {
     for (size_t i = 0; i < state().services_count; i++) {
         const auto &service = state().services[i];
-        MDNS.addService(service.service, service.protocol, service.port);
+        esp_err_t err = mdns_service_add(nullptr, service.service, service.protocol, service.port, nullptr, 0);
+        if (err != ESP_OK) {
+            ESP_LOGW(TAG, "Failed to add service %s: %s", service.service, esp_err_to_name(err));
+            continue;
+        }
 
         for (size_t j = 0; j < service.txt_records_count; j++) {
             const auto &txt = service.txt_records[j];
-            MDNS.addServiceTxt(service.service, service.protocol, txt.key, txt.value);
+            mdns_service_txt_item_set(service.service, service.protocol, txt.key, txt.value);
         }
     }
 
@@ -68,7 +85,7 @@ void MDNSService::addServices() {
         const auto &txt = state().global_txt_records[i];
         for (size_t j = 0; j < state().services_count; j++) {
             const auto &service = state().services[j];
-            MDNS.addServiceTxt(service.service, service.protocol, txt.key, txt.value);
+            mdns_service_txt_item_set(service.service, service.protocol, txt.key, txt.value);
         }
     }
 }
@@ -103,22 +120,46 @@ esp_err_t MDNSService::queryServices(httpd_req_t *request, api_Request *protoReq
     const api_MDNSQueryRequest &queryReq = protoReq->payload.mdns_query_request;
     ESP_LOGI(TAG, "Querying for service: %s, protocol: %s", queryReq.service, queryReq.protocol);
 
-    int n = MDNS.queryService(queryReq.service, queryReq.protocol);
-    ESP_LOGI(TAG, "Found %d services", n);
+    mdns_result_t *results = nullptr;
+    esp_err_t err = mdns_query_ptr(queryReq.service, queryReq.protocol, 3000, 20, &results);
 
     api_Response response = api_Response_init_zero;
     response.which_payload = api_Response_mdns_query_response_tag;
     api_MDNSQueryResponse &queryResp = response.payload.mdns_query_response;
 
-    // Limit to max_count from options file (16)
-    size_t count = (n > 16) ? 16 : static_cast<size_t>(n);
-    queryResp.services_count = count;
-
-    for (size_t i = 0; i < count; i++) {
-        strncpy(queryResp.services[i].name, MDNS.hostname(i).c_str(), sizeof(queryResp.services[i].name) - 1);
-        strncpy(queryResp.services[i].ip, MDNS.IP(i).toString().c_str(), sizeof(queryResp.services[i].ip) - 1);
-        queryResp.services[i].port = MDNS.port(i);
+    if (err != ESP_OK) {
+        ESP_LOGW(TAG, "MDNS query failed: %s", esp_err_to_name(err));
+        queryResp.services_count = 0;
+        return WebServer::send(request, 200, response, api_Response_fields);
     }
 
+    int count = 0;
+    mdns_result_t *r = results;
+    while (r && count < 16) {
+        count++;
+        r = r->next;
+    }
+
+    ESP_LOGI(TAG, "Found %d services", count);
+
+    queryResp.services_count = count;
+    r = results;
+    size_t i = 0;
+    while (r && i < 16) {
+        if (r->hostname) {
+            strncpy(queryResp.services[i].name, r->hostname, sizeof(queryResp.services[i].name) - 1);
+        }
+        if (r->addr) {
+            char ip_str[16];
+            esp_ip4addr_ntoa(&r->addr->addr.u_addr.ip4, ip_str, sizeof(ip_str));
+            strncpy(queryResp.services[i].ip, ip_str, sizeof(queryResp.services[i].ip) - 1);
+        }
+        queryResp.services[i].port = r->port;
+        r = r->next;
+        i++;
+    }
+
+    mdns_query_results_free(results);
+
     return WebServer::send(request, 200, response, api_Response_fields);
 }

esp32/src/peripherals/camera_service.cpp

@@ -1,5 +1,6 @@
 #include <peripherals/camera_service.h>
 #include <communication/webserver.h>
+#include <esp_heap_caps.h>
 
 namespace Camera {
 
@@ -66,7 +67,7 @@ esp_err_t CameraService::begin() {
     camera_config.xclk_freq_hz = 20000000;
     camera_config.pixel_format = PIXFORMAT_JPEG;
 
-    if (psramFound()) {
+    if (heap_caps_get_total_size(MALLOC_CAP_SPIRAM) > 0) {
         camera_config.frame_size = FRAMESIZE_SVGA;
         camera_config.jpeg_quality = 10;
         camera_config.fb_location = CAMERA_FB_IN_PSRAM;
@@ -78,7 +79,7 @@ esp_err_t CameraService::begin() {
         camera_config.fb_count = 1;
     }
 
-    log_i("Initializing camera");
+    ESP_LOGI(TAG, "Initializing camera");
     esp_err_t err = esp_camera_init(&camera_config);
     if (err == ESP_OK)
         ESP_LOGI(TAG, "Camera probe successful");

esp32/src/system_service.cpp

@@ -1,5 +1,43 @@
 #include "system_service.h"
 #include <communication/webserver.h>
+#include <dirent.h>
+#include <esp_chip_info.h>
+#include <esp_flash.h>
+#include <esp_ota_ops.h>
+#include <esp_system.h>
+#include <esp_sleep.h>
+#include <soc/soc.h>
+
+#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C6
+#include <driver/temperature_sensor.h>
+
+static float temperatureRead() {
+    static temperature_sensor_handle_t temp_sensor = nullptr;
+    static bool initialized = false;
+
+    if (!initialized) {
+        temperature_sensor_config_t temp_sensor_config = {
+            .range_min = -10,
+            .range_max = 80,
+            .clk_src = TEMPERATURE_SENSOR_CLK_SRC_DEFAULT,
+        };
+        if (temperature_sensor_install(&temp_sensor_config, &temp_sensor) == ESP_OK) {
+            temperature_sensor_enable(temp_sensor);
+            initialized = true;
+        }
+    }
+
+    if (initialized && temp_sensor) {
+        float temp = 0;
+        if (temperature_sensor_get_celsius(temp_sensor, &temp) == ESP_OK) {
+            return temp;
+        }
+    }
+    return 0.0f;
+}
+#else
+static inline float temperatureRead() { return 0.0f; }
+#endif
 
 namespace system_service {
 
@@ -22,12 +60,15 @@ esp_err_t handleSleep(httpd_req_t *request) {
 
 void reset() {
     ESP_LOGI(TAG, "Resetting device");
-    File root = ESP_FS.open(FS_CONFIG_DIRECTORY);
-    File file;
-    while (file = root.openNextFile()) {
-        std::string path = file.path();
-        file.close();
-        ESP_FS.remove(path.c_str());
+    DIR *dir = opendir(FS_CONFIG_DIRECTORY);
+    if (dir) {
+        struct dirent *entry;
+        while ((entry = readdir(dir)) != nullptr) {
+            if (strcmp(entry->d_name, ".") == 0 || strcmp(entry->d_name, "..") == 0) continue;
+            std::string path = std::string(FS_CONFIG_DIRECTORY) + "/" + entry->d_name;
+            remove(path.c_str());
+        }
+        closedir(dir);
     }
     restart();
 }
@@ -37,11 +78,11 @@ void restart() {
         [](void *pvParameters) {
             for (;;) {
                 vTaskDelay(250 / portTICK_PERIOD_MS);
-                MDNS.end();
+                mdns_free();
                 vTaskDelay(100 / portTICK_PERIOD_MS);
                 WiFi.disconnect(true);
                 vTaskDelay(500 / portTICK_PERIOD_MS);
-                ESP.restart();
+                esp_restart();
             }
         },
         "Restart task", 4096, nullptr, 10, nullptr);
@@ -52,7 +93,7 @@ void sleep() {
         [](void *pvParameters) {
             for (;;) {
                 vTaskDelay(250 / portTICK_PERIOD_MS);
-                MDNS.end();
+                mdns_free();
                 vTaskDelay(100 / portTICK_PERIOD_MS);
                 WiFi.disconnect(true);
                 vTaskDelay(500 / portTICK_PERIOD_MS);
@@ -72,22 +113,97 @@ void sleep() {
     ESP_LOGI(TAG, "Setting device to sleep");
 }
 
+static const char *getChipModel() {
+    esp_chip_info_t chip_info;
+    esp_chip_info(&chip_info);
+    switch (chip_info.model) {
+        case CHIP_ESP32: return "ESP32";
+        case CHIP_ESP32S2: return "ESP32-S2";
+        case CHIP_ESP32S3: return "ESP32-S3";
+        case CHIP_ESP32C3: return "ESP32-C3";
+        case CHIP_ESP32C2: return "ESP32-C2";
+        case CHIP_ESP32C6: return "ESP32-C6";
+        case CHIP_ESP32H2: return "ESP32-H2";
+        default: return "Unknown";
+    }
+}
+
+static uint32_t getCpuFreqMHz() { return CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ; }
+
+static uint8_t getChipCores() {
+    esp_chip_info_t chip_info;
+    esp_chip_info(&chip_info);
+    return chip_info.cores;
+}
+
+static uint8_t getChipRevision() {
+    esp_chip_info_t chip_info;
+    esp_chip_info(&chip_info);
+    return chip_info.revision;
+}
+
+static uint32_t getFlashChipSize() {
+    uint32_t size = 0;
+    esp_flash_get_size(NULL, &size);
+    return size;
+}
+
+static uint32_t getFlashChipSpeed() {
+#if defined(CONFIG_ESPTOOLPY_FLASHFREQ_120M)
+    return 120000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_80M)
+    return 80000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_64M)
+    return 64000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_60M)
+    return 60000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_48M)
+    return 48000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_40M)
+    return 40000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_30M)
+    return 30000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_26M)
+    return 26000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_20M)
+    return 20000000;
+#else
+    return 80000000;
+#endif
+}
+
+static uint32_t getSketchSize() {
+    const esp_partition_t *running = esp_ota_get_running_partition();
+    if (running) {
+        return running->size;
+    }
+    return 0;
+}
+
+static uint32_t getFreeSketchSpace() {
+    const esp_partition_t *next = esp_ota_get_next_update_partition(NULL);
+    if (next) {
+        return next->size;
+    }
+    return 0;
+}
+
 void getStaticSystemInformation(socket_message_StaticSystemInformation &info) {
     size_t fs_total = 0, fs_used = 0;
     esp_littlefs_info("spiffs", &fs_total, &fs_used);
 
     info.esp_platform = (char *)ESP_PLATFORM_NAME;
     info.firmware_version = APP_VERSION;
-    info.cpu_freq_mhz = ESP.getCpuFreqMHz();
-    info.cpu_type = (char *)ESP.getChipModel();
-    info.cpu_rev = ESP.getChipRevision();
-    info.cpu_cores = ESP.getChipCores();
-    info.sketch_size = ESP.getSketchSize();
-    info.free_sketch_space = ESP.getFreeSketchSpace();
-    info.sdk_version = (char *)ESP.getSdkVersion();
-    info.arduino_version = ARDUINO_VERSION;
-    info.flash_chip_size = ESP.getFlashChipSize();
-    info.flash_chip_speed = ESP.getFlashChipSpeed();
+    info.cpu_freq_mhz = getCpuFreqMHz();
+    info.cpu_type = (char *)getChipModel();
+    info.cpu_rev = getChipRevision();
+    info.cpu_cores = getChipCores();
+    info.sketch_size = getSketchSize();
+    info.free_sketch_space = getFreeSketchSpace();
+    info.sdk_version = (char *)esp_get_idf_version();
+    info.arduino_version = "";
+    info.flash_chip_size = getFlashChipSize();
+    info.flash_chip_speed = getFlashChipSpeed();
     info.cpu_reset_reason = (char *)resetReason(esp_reset_reason());
 }
 

esp32/src/wifi/wifi_idf.cpp

@@ -0,0 +1,571 @@
+#include <wifi/wifi_idf.h>
+
+static const char* TAG = "WiFiIDF";
+
+WiFiClass WiFi;
+
+WiFiClass::WiFiClass()
+    : _sta_netif(nullptr),
+      _ap_netif(nullptr),
+      _initialized(false),
+      _autoReconnect(false),
+      _persistent(false),
+      _status(WL_DISCONNECTED),
+      _mode(WIFI_MODE_NULL),
+      _scanResult(nullptr),
+      _scanCount(0),
+      _scanStatus(-2),
+      _useStaticIp(false) {}
+
+WiFiClass::~WiFiClass() {
+    if (_scanResult) {
+        free(_scanResult);
+        _scanResult = nullptr;
+    }
+}
+
+bool WiFiClass::init() {
+    if (_initialized) return true;
+
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        nvs_flash_erase();
+        ret = nvs_flash_init();
+    }
+
+    ret = esp_netif_init();
+    if (ret != ESP_OK && ret != ESP_ERR_INVALID_STATE) {
+        ESP_LOGE(TAG, "esp_netif_init failed: %s", esp_err_to_name(ret));
+    }
+
+    ret = esp_event_loop_create_default();
+    if (ret != ESP_OK && ret != ESP_ERR_INVALID_STATE) {
+        ESP_LOGE(TAG, "Event loop create failed: %s", esp_err_to_name(ret));
+    }
+
+    _sta_netif = esp_netif_get_handle_from_ifkey("WIFI_STA_DEF");
+    if (!_sta_netif) {
+        _sta_netif = esp_netif_create_default_wifi_sta();
+    }
+
+    _ap_netif = esp_netif_get_handle_from_ifkey("WIFI_AP_DEF");
+    if (!_ap_netif) {
+        _ap_netif = esp_netif_create_default_wifi_ap();
+    }
+
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ret = esp_wifi_init(&cfg);
+    if (ret != ESP_OK && ret != ESP_ERR_INVALID_STATE) {
+        ESP_LOGE(TAG, "esp_wifi_init failed: %s", esp_err_to_name(ret));
+        return false;
+    }
+
+    esp_event_handler_instance_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &WiFiClass::eventHandler, this, nullptr);
+    esp_event_handler_instance_register(IP_EVENT, ESP_EVENT_ANY_ID, &WiFiClass::eventHandler, this, nullptr);
+
+    esp_wifi_set_storage(_persistent ? WIFI_STORAGE_FLASH : WIFI_STORAGE_RAM);
+
+    _initialized = true;
+    return true;
+}
+
+void WiFiClass::eventHandler(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data) {
+    WiFiClass* self = static_cast<WiFiClass*>(arg);
+
+    if (event_base == WIFI_EVENT) {
+        switch (event_id) {
+            case WIFI_EVENT_STA_START: ESP_LOGI(TAG, "STA Started"); break;
+            case WIFI_EVENT_STA_STOP:
+                ESP_LOGI(TAG, "STA Stopped");
+                self->_status = WL_DISCONNECTED;
+                break;
+            case WIFI_EVENT_STA_CONNECTED: ESP_LOGI(TAG, "STA Connected"); break;
+            case WIFI_EVENT_STA_DISCONNECTED: {
+                wifi_event_sta_disconnected_t* event = (wifi_event_sta_disconnected_t*)event_data;
+                ESP_LOGI(TAG, "STA Disconnected, reason: %d", event->reason);
+                self->_status = WL_DISCONNECTED;
+                if (self->_autoReconnect) {
+                    esp_wifi_connect();
+                }
+                break;
+            }
+            case WIFI_EVENT_AP_START: ESP_LOGI(TAG, "AP Started"); break;
+            case WIFI_EVENT_AP_STOP: ESP_LOGI(TAG, "AP Stopped"); break;
+            case WIFI_EVENT_AP_STACONNECTED: {
+                wifi_event_ap_staconnected_t* event = (wifi_event_ap_staconnected_t*)event_data;
+                ESP_LOGI(TAG, "Station connected, AID=%d", event->aid);
+                break;
+            }
+            case WIFI_EVENT_AP_STADISCONNECTED: {
+                wifi_event_ap_stadisconnected_t* event = (wifi_event_ap_stadisconnected_t*)event_data;
+                ESP_LOGI(TAG, "Station disconnected, AID=%d", event->aid);
+                break;
+            }
+            case WIFI_EVENT_SCAN_DONE: {
+                wifi_event_sta_scan_done_t* event = (wifi_event_sta_scan_done_t*)event_data;
+                if (event->status == 0) {
+                    self->_scanCount = event->number;
+                    if (self->_scanResult) {
+                        free(self->_scanResult);
+                    }
+                    self->_scanResult = (wifi_ap_record_t*)malloc(sizeof(wifi_ap_record_t) * self->_scanCount);
+                    if (self->_scanResult) {
+                        esp_wifi_scan_get_ap_records(&self->_scanCount, self->_scanResult);
+                    }
+                    self->_scanStatus = self->_scanCount;
+                } else {
+                    self->_scanStatus = -2;
+                }
+                break;
+            }
+        }
+        self->dispatchEvent(event_id, event_data);
+    } else if (event_base == IP_EVENT) {
+        if (event_id == IP_EVENT_STA_GOT_IP) {
+            ip_event_got_ip_t* event = (ip_event_got_ip_t*)event_data;
+            ESP_LOGI(TAG, "Got IP: " IPSTR, IP2STR(&event->ip_info.ip));
+            self->_status = WL_CONNECTED;
+            self->dispatchEvent(event_id + 1000, event_data);
+        } else if (event_id == IP_EVENT_STA_LOST_IP) {
+            ESP_LOGI(TAG, "Lost IP");
+            self->_status = WL_DISCONNECTED;
+            self->dispatchEvent(event_id + 1000, event_data);
+        }
+    }
+}
+
+void WiFiClass::dispatchEvent(int32_t event_id, void* event_data) {
+    for (auto& handler : _eventHandlers) {
+        if (handler.event_id == event_id || handler.event_id == -1) {
+            handler.callback(event_id, event_data);
+        }
+    }
+}
+
+void WiFiClass::onEvent(WiFiEventCb callback, int32_t event_id) { _eventHandlers.push_back({event_id, callback}); }
+
+bool WiFiClass::mode(wifi_mode_t m) {
+    if (!_initialized) init();
+
+    if (_mode == m) return true;
+
+    esp_err_t err;
+    if (_mode == WIFI_MODE_NULL) {
+        err = esp_wifi_set_mode(m);
+        if (err == ESP_OK) {
+            err = esp_wifi_start();
+        }
+    } else if (m == WIFI_MODE_NULL) {
+        err = esp_wifi_stop();
+    } else {
+        err = esp_wifi_set_mode(m);
+    }
+
+    if (err == ESP_OK) {
+        _mode = m;
+        return true;
+    }
+    ESP_LOGE(TAG, "Failed to set mode: %s", esp_err_to_name(err));
+    return false;
+}
+
+wifi_mode_t WiFiClass::getMode() {
+    if (!_initialized) return WIFI_MODE_NULL;
+    wifi_mode_t m;
+    if (esp_wifi_get_mode(&m) == ESP_OK) {
+        return m;
+    }
+    return WIFI_MODE_NULL;
+}
+
+bool WiFiClass::begin(const char* ssid, const char* password, int32_t channel, const uint8_t* bssid) {
+    if (!_initialized) init();
+
+    wifi_mode_t currentMode = getMode();
+    if (currentMode == WIFI_MODE_NULL || currentMode == WIFI_MODE_AP) {
+        mode(currentMode == WIFI_MODE_AP ? WIFI_MODE_APSTA : WIFI_MODE_STA);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+    }
+
+    wifi_config_t wifi_config = {};
+    strncpy((char*)wifi_config.sta.ssid, ssid, sizeof(wifi_config.sta.ssid) - 1);
+    if (password) {
+        strncpy((char*)wifi_config.sta.password, password, sizeof(wifi_config.sta.password) - 1);
+    }
+    if (channel > 0) {
+        wifi_config.sta.channel = channel;
+    }
+    if (bssid) {
+        memcpy(wifi_config.sta.bssid, bssid, 6);
+        wifi_config.sta.bssid_set = true;
+    }
+
+    wifi_config.sta.scan_method = WIFI_ALL_CHANNEL_SCAN;
+    wifi_config.sta.sort_method = WIFI_CONNECT_AP_BY_SIGNAL;
+    wifi_config.sta.threshold.authmode = password && strlen(password) > 0 ? WIFI_AUTH_WPA2_PSK : WIFI_AUTH_OPEN;
+
+    esp_err_t err = esp_wifi_set_config(WIFI_IF_STA, &wifi_config);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set STA config: %s", esp_err_to_name(err));
+        return false;
+    }
+
+    if (_useStaticIp) {
+        esp_netif_dhcpc_stop(_sta_netif);
+        esp_netif_ip_info_t ip_info = {};
+        ip_info.ip = _sta_static_ip;
+        ip_info.gw = _sta_static_gw;
+        ip_info.netmask = _sta_static_sn;
+        esp_netif_set_ip_info(_sta_netif, &ip_info);
+
+        if (static_cast<uint32_t>(_sta_static_dns1) != 0) {
+            esp_netif_dns_info_t dns;
+            dns.ip.u_addr.ip4 = _sta_static_dns1;
+            dns.ip.type = ESP_IPADDR_TYPE_V4;
+            esp_netif_set_dns_info(_sta_netif, ESP_NETIF_DNS_MAIN, &dns);
+        }
+        if (static_cast<uint32_t>(_sta_static_dns2) != 0) {
+            esp_netif_dns_info_t dns;
+            dns.ip.u_addr.ip4 = _sta_static_dns2;
+            dns.ip.type = ESP_IPADDR_TYPE_V4;
+            esp_netif_set_dns_info(_sta_netif, ESP_NETIF_DNS_BACKUP, &dns);
+        }
+    } else {
+        esp_netif_dhcpc_start(_sta_netif);
+    }
+
+    err = esp_wifi_connect();
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to connect: %s", esp_err_to_name(err));
+        return false;
+    }
+
+    return true;
+}
+
+bool WiFiClass::disconnect(bool wifiOff) {
+    esp_err_t err = esp_wifi_disconnect();
+    if (wifiOff) {
+        wifi_mode_t m = getMode();
+        if (m == WIFI_MODE_APSTA) {
+            mode(WIFI_MODE_AP);
+        } else if (m == WIFI_MODE_STA) {
+            mode(WIFI_MODE_NULL);
+        }
+    }
+    _status = WL_DISCONNECTED;
+    return err == ESP_OK;
+}
+
+bool WiFiClass::reconnect() { return esp_wifi_connect() == ESP_OK; }
+
+bool WiFiClass::config(IPAddress local_ip, IPAddress gateway, IPAddress subnet, IPAddress dns1, IPAddress dns2) {
+    _sta_static_ip = local_ip;
+    _sta_static_gw = gateway;
+    _sta_static_sn = subnet;
+    _sta_static_dns1 = dns1;
+    _sta_static_dns2 = dns2;
+    _useStaticIp = (static_cast<uint32_t>(local_ip) != 0);
+    return true;
+}
+
+bool WiFiClass::setHostname(const char* hostname) {
+    _hostname = hostname;
+    if (_sta_netif) {
+        return esp_netif_set_hostname(_sta_netif, hostname) == ESP_OK;
+    }
+    return true;
+}
+
+const char* WiFiClass::getHostname() {
+    const char* hostname = nullptr;
+    if (_sta_netif) {
+        esp_netif_get_hostname(_sta_netif, &hostname);
+    }
+    return hostname ? hostname : _hostname.c_str();
+}
+
+wl_status_t WiFiClass::status() { return _status; }
+
+bool WiFiClass::isConnected() { return _status == WL_CONNECTED; }
+
+IPAddress WiFiClass::localIP() {
+    esp_netif_ip_info_t ip_info;
+    if (_sta_netif && esp_netif_get_ip_info(_sta_netif, &ip_info) == ESP_OK) {
+        return IPAddress(ip_info.ip);
+    }
+    return IPAddress();
+}
+
+IPAddress WiFiClass::subnetMask() {
+    esp_netif_ip_info_t ip_info;
+    if (_sta_netif && esp_netif_get_ip_info(_sta_netif, &ip_info) == ESP_OK) {
+        return IPAddress(ip_info.netmask);
+    }
+    return IPAddress();
+}
+
+IPAddress WiFiClass::gatewayIP() {
+    esp_netif_ip_info_t ip_info;
+    if (_sta_netif && esp_netif_get_ip_info(_sta_netif, &ip_info) == ESP_OK) {
+        return IPAddress(ip_info.gw);
+    }
+    return IPAddress();
+}
+
+IPAddress WiFiClass::dnsIP(uint8_t dns_no) {
+    esp_netif_dns_info_t dns;
+    esp_netif_dns_type_t type = dns_no == 0 ? ESP_NETIF_DNS_MAIN : ESP_NETIF_DNS_BACKUP;
+    if (_sta_netif && esp_netif_get_dns_info(_sta_netif, type, &dns) == ESP_OK) {
+        return IPAddress(dns.ip.u_addr.ip4);
+    }
+    return IPAddress();
+}
+
+std::string WiFiClass::macAddress() {
+    uint8_t mac[6];
+    char buf[18];
+    esp_wifi_get_mac(WIFI_IF_STA, mac);
+    snprintf(buf, sizeof(buf), "%02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
+    return std::string(buf);
+}
+
+std::string WiFiClass::SSID() {
+    wifi_ap_record_t info;
+    if (esp_wifi_sta_get_ap_info(&info) == ESP_OK) {
+        return std::string((char*)info.ssid);
+    }
+    return "";
+}
+
+std::string WiFiClass::BSSIDstr() {
+    wifi_ap_record_t info;
+    if (esp_wifi_sta_get_ap_info(&info) == ESP_OK) {
+        char buf[18];
+        snprintf(buf, sizeof(buf), "%02X:%02X:%02X:%02X:%02X:%02X", info.bssid[0], info.bssid[1], info.bssid[2],
+                 info.bssid[3], info.bssid[4], info.bssid[5]);
+        return std::string(buf);
+    }
+    return "";
+}
+
+int32_t WiFiClass::RSSI() {
+    wifi_ap_record_t info;
+    if (esp_wifi_sta_get_ap_info(&info) == ESP_OK) {
+        return info.rssi;
+    }
+    return 0;
+}
+
+uint8_t WiFiClass::channel() {
+    wifi_ap_record_t info;
+    if (esp_wifi_sta_get_ap_info(&info) == ESP_OK) {
+        return info.primary;
+    }
+    return 0;
+}
+
+int16_t WiFiClass::scanNetworks(bool async) {
+    if (!_initialized) init();
+
+    wifi_mode_t currentMode = getMode();
+    if (currentMode == WIFI_MODE_NULL || currentMode == WIFI_MODE_AP) {
+        mode(currentMode == WIFI_MODE_AP ? WIFI_MODE_APSTA : WIFI_MODE_STA);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+    }
+
+    _scanStatus = -1;
+
+    wifi_scan_config_t scan_config = {};
+    scan_config.show_hidden = true;
+
+    esp_err_t err = esp_wifi_scan_start(&scan_config, !async);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Scan start failed: %s", esp_err_to_name(err));
+        _scanStatus = -2;
+        return -2;
+    }
+
+    if (!async) {
+        if (_scanResult) {
+            free(_scanResult);
+            _scanResult = nullptr;
+        }
+        esp_wifi_scan_get_ap_num(&_scanCount);
+        _scanResult = (wifi_ap_record_t*)malloc(sizeof(wifi_ap_record_t) * _scanCount);
+        if (_scanResult) {
+            esp_wifi_scan_get_ap_records(&_scanCount, _scanResult);
+        }
+        _scanStatus = _scanCount;
+        return _scanCount;
+    }
+
+    return -1;
+}
+
+int16_t WiFiClass::scanComplete() { return _scanStatus; }
+
+void WiFiClass::scanDelete() {
+    if (_scanResult) {
+        free(_scanResult);
+        _scanResult = nullptr;
+    }
+    _scanCount = 0;
+    _scanStatus = -2;
+}
+
+std::string WiFiClass::SSID(uint8_t i) {
+    if (i < _scanCount && _scanResult) {
+        return std::string((char*)_scanResult[i].ssid);
+    }
+    return "";
+}
+
+int32_t WiFiClass::RSSI(uint8_t i) {
+    if (i < _scanCount && _scanResult) {
+        return _scanResult[i].rssi;
+    }
+    return 0;
+}
+
+wifi_enc_type_t WiFiClass::encryptionType(uint8_t i) {
+    if (i < _scanCount && _scanResult) {
+        switch (_scanResult[i].authmode) {
+            case WIFI_AUTH_OPEN: return WIFI_AUTH_OPEN_IDF;
+            case WIFI_AUTH_WEP: return WIFI_AUTH_WEP_IDF;
+            case WIFI_AUTH_WPA_PSK: return WIFI_AUTH_WPA_PSK_IDF;
+            default: return WIFI_AUTH_WPA2_PSK_IDF;
+        }
+    }
+    return WIFI_AUTH_OPEN_IDF;
+}
+
+std::string WiFiClass::BSSIDstr(uint8_t i) {
+    if (i < _scanCount && _scanResult) {
+        char buf[18];
+        snprintf(buf, sizeof(buf), "%02X:%02X:%02X:%02X:%02X:%02X", _scanResult[i].bssid[0], _scanResult[i].bssid[1],
+                 _scanResult[i].bssid[2], _scanResult[i].bssid[3], _scanResult[i].bssid[4], _scanResult[i].bssid[5]);
+        return std::string(buf);
+    }
+    return "";
+}
+
+int32_t WiFiClass::channel(uint8_t i) {
+    if (i < _scanCount && _scanResult) {
+        return _scanResult[i].primary;
+    }
+    return 0;
+}
+
+void WiFiClass::getNetworkInfo(uint8_t i, std::string& ssid, uint8_t& encType, int32_t& rssi, uint8_t*& bssid,
+                               int32_t& ch) {
+    if (i < _scanCount && _scanResult) {
+        ssid = std::string((char*)_scanResult[i].ssid);
+        encType = static_cast<uint8_t>(encryptionType(i));
+        rssi = _scanResult[i].rssi;
+        bssid = _scanResult[i].bssid;
+        ch = _scanResult[i].primary;
+    }
+}
+
+bool WiFiClass::softAP(const char* ssid, const char* password, int channel, bool ssid_hidden, int max_connection) {
+    if (!_initialized) init();
+
+    wifi_mode_t currentMode = getMode();
+    if (currentMode == WIFI_MODE_NULL || currentMode == WIFI_MODE_STA) {
+        mode(currentMode == WIFI_MODE_STA ? WIFI_MODE_APSTA : WIFI_MODE_AP);
+    }
+
+    wifi_config_t wifi_config = {};
+    strncpy((char*)wifi_config.ap.ssid, ssid, sizeof(wifi_config.ap.ssid) - 1);
+    wifi_config.ap.ssid_len = strlen(ssid);
+    wifi_config.ap.channel = channel;
+    wifi_config.ap.ssid_hidden = ssid_hidden ? 1 : 0;
+    wifi_config.ap.max_connection = max_connection;
+
+    if (password && strlen(password) > 0) {
+        strncpy((char*)wifi_config.ap.password, password, sizeof(wifi_config.ap.password) - 1);
+        wifi_config.ap.authmode = WIFI_AUTH_WPA2_PSK;
+    } else {
+        wifi_config.ap.authmode = WIFI_AUTH_OPEN;
+    }
+
+    esp_err_t err = esp_wifi_set_config(WIFI_IF_AP, &wifi_config);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set AP config: %s", esp_err_to_name(err));
+        return false;
+    }
+
+    return true;
+}
+
+bool WiFiClass::softAPConfig(IPAddress local_ip, IPAddress gateway, IPAddress subnet) {
+    if (!_ap_netif) return false;
+
+    esp_netif_dhcps_stop(_ap_netif);
+
+    esp_netif_ip_info_t ip_info = {};
+    ip_info.ip = local_ip;
+    ip_info.gw = gateway;
+    ip_info.netmask = subnet;
+
+    esp_err_t err = esp_netif_set_ip_info(_ap_netif, &ip_info);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set AP IP info: %s", esp_err_to_name(err));
+        return false;
+    }
+
+    esp_netif_dhcps_start(_ap_netif);
+    return true;
+}
+
+bool WiFiClass::softAPdisconnect(bool wifiOff) {
+    wifi_mode_t m = getMode();
+    if (wifiOff) {
+        if (m == WIFI_MODE_APSTA) {
+            return mode(WIFI_MODE_STA);
+        } else if (m == WIFI_MODE_AP) {
+            return mode(WIFI_MODE_NULL);
+        }
+    }
+    return true;
+}
+
+IPAddress WiFiClass::softAPIP() {
+    esp_netif_ip_info_t ip_info;
+    if (_ap_netif && esp_netif_get_ip_info(_ap_netif, &ip_info) == ESP_OK) {
+        return IPAddress(ip_info.ip);
+    }
+    return IPAddress();
+}
+
+std::string WiFiClass::softAPmacAddress() {
+    uint8_t mac[6];
+    char buf[18];
+    esp_wifi_get_mac(WIFI_IF_AP, mac);
+    snprintf(buf, sizeof(buf), "%02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
+    return std::string(buf);
+}
+
+uint8_t WiFiClass::softAPgetStationNum() {
+    wifi_sta_list_t sta_list;
+    if (esp_wifi_ap_get_sta_list(&sta_list) == ESP_OK) {
+        return sta_list.num;
+    }
+    return 0;
+}
+
+bool WiFiClass::setAutoReconnect(bool autoReconnect) {
+    _autoReconnect = autoReconnect;
+    return true;
+}
+
+bool WiFiClass::persistent(bool persistent) {
+    _persistent = persistent;
+    if (_initialized) {
+        return esp_wifi_set_storage(persistent ? WIFI_STORAGE_FLASH : WIFI_STORAGE_RAM) == ESP_OK;
+    }
+    return true;
+}
+
+bool WiFiClass::setTxPower(int8_t power) { return esp_wifi_set_max_tx_power(power * 4) == ESP_OK; }

esp32/src/wifi_service.cpp

@@ -1,45 +1,57 @@
 #include <wifi_service.h>
 #include <communication/webserver.h>
 
+static const char *TAG = "WiFiService";
+
 WiFiService::WiFiService()
-    : _persistence(WiFiSettings_read, WiFiSettings_update, this, WIFI_SETTINGS_FILE,
-                   api_WifiSettings_fields, api_WifiSettings_size, WiFiSettings_defaults()),
-      protoEndpoint(WiFiSettings_read, WiFiSettings_update, this,
+    : protoEndpoint(WiFiSettings_read, WiFiSettings_update, this,
                     API_REQUEST_EXTRACTOR(wifi_settings, api_WifiSettings),
-                    API_RESPONSE_ASSIGNER(wifi_settings, api_WifiSettings)) {
+                    API_RESPONSE_ASSIGNER(wifi_settings, api_WifiSettings)),
+      _persistence(WiFiSettings_read, WiFiSettings_update, this, WIFI_SETTINGS_FILE, api_WifiSettings_fields,
+                   api_WifiSettings_size, WiFiSettings_defaults()),
+      _lastConnectionAttempt(0),
+      _stopping(false) {
     addUpdateHandler([&](const std::string &originId) { reconfigureWiFiConnection(); }, false);
 }
 
 WiFiService::~WiFiService() {}
 
 void WiFiService::begin() {
-    WiFi.mode(WIFI_MODE_STA);
-
     WiFi.persistent(false);
     WiFi.setAutoReconnect(false);
 
-    WiFi.onEvent(std::bind(&WiFiService::onStationModeDisconnected, this, std::placeholders::_1, std::placeholders::_2),
-                 WiFiEvent_t::ARDUINO_EVENT_WIFI_STA_DISCONNECTED);
-    WiFi.onEvent(std::bind(&WiFiService::onStationModeStop, this, std::placeholders::_1, std::placeholders::_2),
-                 WiFiEvent_t::ARDUINO_EVENT_WIFI_STA_STOP);
-
-    WiFi.onEvent(onStationModeGotIP, WiFiEvent_t::ARDUINO_EVENT_WIFI_STA_GOT_IP);
+    WiFi.onEvent([this](int32_t event, void *data) { this->onStationModeDisconnected(event, data); },
+                 WIFI_EVENT_STA_DISCONNECTED);
+    WiFi.onEvent([this](int32_t event, void *data) { this->onStationModeStop(event, data); }, WIFI_EVENT_STA_STOP);
+    WiFi.onEvent(onStationModeGotIP, IP_EVENT_STA_GOT_IP_IDF);
 
     _persistence.readFromFS();
-    reconfigureWiFiConnection();
+    _lastConnectionAttempt = 0;
 
-    if (state().wifi_networks_count == 1) {
-        configureNetwork(state().wifi_networks[0]);
-        vTaskDelay(500 / portTICK_PERIOD_MS);
+    if (state().wifi_networks_count >= 1) {
+        WiFi.mode(WIFI_MODE_STA);
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+        uint32_t idx = state().selected_network;
+        if (idx >= state().wifi_networks_count) idx = 0;
+        configureNetwork(state().wifi_networks[idx]);
     }
 }
 
 void WiFiService::reconfigureWiFiConnection() {
     _lastConnectionAttempt = 0;
-
     if (WiFi.disconnect(true)) _stopping = true;
 }
 
+void WiFiService::selectNetwork(uint32_t index) {
+    if (index >= state().wifi_networks_count) return;
+    updateWithoutPropagation([&](WiFiSettings &settings) {
+        settings.selected_network = index;
+        return StateUpdateResult::CHANGED;
+    });
+    _persistence.writeToFS();
+    reconfigureWiFiConnection();
+}
+
 void WiFiService::loop() { EXECUTE_EVERY_N_MS(reconnectDelay, manageSTA()); }
 
 esp_err_t WiFiService::handleScan(httpd_req_t *request) {
@@ -47,7 +59,6 @@ esp_err_t WiFiService::handleScan(httpd_req_t *request) {
         WiFi.scanDelete();
         WiFi.scanNetworks(true);
     }
-    // Return 202 with empty_message payload (no pointer fields to encode)
     api_Response response = api_Response_init_zero;
     response.status_code = 202;
     response.which_payload = api_Response_empty_message_tag;
@@ -57,7 +68,6 @@ esp_err_t WiFiService::handleScan(httpd_req_t *request) {
 esp_err_t WiFiService::getNetworks(httpd_req_t *request) {
     int numNetworks = WiFi.scanComplete();
     if (numNetworks == -1) {
-        // Scan in progress - return 202 with empty_message payload
         api_Response response = api_Response_init_zero;
         response.status_code = 202;
         response.which_payload = api_Response_empty_message_tag;
@@ -66,10 +76,8 @@ esp_err_t WiFiService::getNetworks(httpd_req_t *request) {
         return handleScan(request);
     }
 
-    // Limit to 20 networks max
     size_t count = (numNetworks > 20) ? 20 : static_cast<size_t>(numNetworks);
 
-    // Allocate networks array on stack (pointer type in proto)
     api_WifiNetworkScan networks[20] = {};
 
     for (size_t i = 0; i < count; i++) {
@@ -90,11 +98,13 @@ esp_err_t WiFiService::getNetworks(httpd_req_t *request) {
 }
 
 void WiFiService::setupMDNS(const char *hostname) {
-    MDNS.begin(state().hostname);
-    MDNS.setInstanceName(hostname);
-    MDNS.addService("http", "tcp", 80);
-    MDNS.addService("ws", "tcp", 80);
-    MDNS.addServiceTxt("http", "tcp", "Firmware Version", APP_VERSION);
+    mdns_init();
+    mdns_hostname_set(state().hostname);
+    mdns_instance_name_set(hostname);
+    mdns_service_add(nullptr, "_http", "_tcp", 80, nullptr, 0);
+    mdns_service_add(nullptr, "_ws", "_tcp", 80, nullptr, 0);
+    mdns_txt_item_t txtData = {"Firmware Version", APP_VERSION};
+    mdns_service_txt_set("_http", "_tcp", &txtData, 1);
 }
 
 esp_err_t WiFiService::getNetworkStatus(httpd_req_t *request) {
@@ -114,7 +124,6 @@ esp_err_t WiFiService::getNetworkStatus(httpd_req_t *request) {
         wifiStatus.channel = WiFi.channel();
         wifiStatus.subnet_mask = static_cast<uint32_t>(WiFi.subnetMask());
         wifiStatus.gateway_ip = static_cast<uint32_t>(WiFi.gatewayIP());
-
         IPAddress dnsIP1 = WiFi.dnsIP(0);
         IPAddress dnsIP2 = WiFi.dnsIP(1);
         if (dnsIP1 != IPAddress(0, 0, 0, 0)) {
@@ -130,98 +139,58 @@ esp_err_t WiFiService::getNetworkStatus(httpd_req_t *request) {
 
 void WiFiService::manageSTA() {
     if (WiFi.isConnected() || state().wifi_networks_count == 0) return;
-    if ((WiFi.getMode() & WIFI_STA) == 0) connectToWiFi();
-}
+    wifi_mode_t mode = WiFi.getMode();
+    if (mode == WIFI_MODE_NULL || mode == WIFI_MODE_AP) return;
 
-void WiFiService::connectToWiFi() {
-    int scanResult = WiFi.scanNetworks();
-    if (scanResult == WIFI_SCAN_FAILED) {
-        ESP_LOGE("WiFiSettingsService", "WiFi scan failed.");
-    } else if (scanResult == 0) {
-        ESP_LOGI("WiFiSettingsService", "No networks found.");
-    } else {
-        ESP_LOGI("WiFiSettingsService", "%d networks found.", scanResult);
+    static uint32_t startTime = 0;
+    static bool attempted = false;
 
-        WiFiNetwork *bestNetwork = nullptr;
-        int32_t bestNetworkDb = FACTORY_WIFI_RSSI_THRESHOLD;
+    if (startTime == 0) {
+        startTime = esp_timer_get_time() / 1000;
+        return;
+    }
 
-        for (int i = 0; i < scanResult; ++i) {
-            String ssid_scan;
-            int32_t rssi_scan;
-            uint8_t sec_scan;
-            uint8_t *BSSID_scan;
-            int32_t chan_scan;
+    uint32_t now = esp_timer_get_time() / 1000;
+    if (now - startTime < 3000) return;
 
-            WiFi.getNetworkInfo(i, ssid_scan, sec_scan, rssi_scan, BSSID_scan, chan_scan);
-
-            for (pb_size_t j = 0; j < state().wifi_networks_count; j++) {
-                WiFiNetwork &network = state().wifi_networks[j];
-                if (ssid_scan == network.ssid) {
-                    if (rssi_scan >= FACTORY_WIFI_RSSI_THRESHOLD) {
-                        // Network is available
-                    }
-                    if (rssi_scan > bestNetworkDb) {
-                        bestNetworkDb = rssi_scan;
-                        bestNetwork = &network;
-                    }
-                }
-            }
-        }
-
-        if (!state().priority_rssi) {
-            for (pb_size_t j = 0; j < state().wifi_networks_count; j++) {
-                WiFiNetwork &network = state().wifi_networks[j];
-                // Check if this network was found in scan
-                for (int i = 0; i < scanResult; ++i) {
-                    if (WiFi.SSID(i) == network.ssid) {
-                        ESP_LOGI("WiFiSettingsService", "Connecting to first available network: %s", network.ssid);
-                        configureNetwork(network);
-                        WiFi.scanDelete();
-                        return;
-                    }
-                }
-            }
-        } else if (bestNetwork) {
-            ESP_LOGI("WiFiSettingsService", "Connecting to strongest network: %s", bestNetwork->ssid);
-            configureNetwork(*bestNetwork);
-        } else {
-            ESP_LOGI("WiFiSettingsService", "No known networks found.");
-        }
-
-        WiFi.scanDelete();
+    if (!attempted && state().wifi_networks_count > 0) {
+        attempted = true;
+        uint32_t idx = state().selected_network;
+        if (idx >= state().wifi_networks_count) idx = 0;
+        ESP_LOGI(TAG, "Connecting to: %s", state().wifi_networks[idx].ssid);
+        configureNetwork(state().wifi_networks[idx]);
     }
 }
 
 void WiFiService::configureNetwork(WiFiNetwork &network) {
     if (network.static_ip_config) {
-        WiFi.config(IPAddress(network.local_ip), IPAddress(network.gateway_ip),
-                    IPAddress(network.subnet_mask), IPAddress(network.dns_ip_1), IPAddress(network.dns_ip_2));
+        WiFi.config(IPAddress(network.local_ip), IPAddress(network.gateway_ip), IPAddress(network.subnet_mask),
+                    IPAddress(network.dns_ip_1), IPAddress(network.dns_ip_2));
     } else {
         WiFi.config(IPAddress(0, 0, 0, 0), IPAddress(0, 0, 0, 0), IPAddress(0, 0, 0, 0));
     }
     WiFi.setHostname(state().hostname);
-
     WiFi.begin(network.ssid, network.password);
 
 #if CONFIG_IDF_TARGET_ESP32C3
-    WiFi.setTxPower(WIFI_POWER_8_5dBm);
+    WiFi.setTxPower(8);
 #endif
 }
 
-void WiFiService::onStationModeDisconnected(WiFiEvent_t event, WiFiEventInfo_t info) {
+void WiFiService::onStationModeDisconnected(int32_t event, void *event_data) {
     WiFi.disconnect(true);
-    ESP_LOGI("WiFiStatus", "WiFi Disconnected. Reason code=%d", info.wifi_sta_disconnected.reason);
+    wifi_event_sta_disconnected_t *info = static_cast<wifi_event_sta_disconnected_t *>(event_data);
+    ESP_LOGI(TAG, "WiFi Disconnected. Reason code=%d", info ? info->reason : 0);
 }
 
-void WiFiService::onStationModeStop(WiFiEvent_t event, WiFiEventInfo_t info) {
+void WiFiService::onStationModeStop(int32_t event, void *event_data) {
     if (_stopping) {
         _lastConnectionAttempt = 0;
         _stopping = false;
     }
-    ESP_LOGI("WiFiStatus", "WiFi Connected.");
+    ESP_LOGI(TAG, "WiFi STA stopped.");
 }
 
-void WiFiService::onStationModeGotIP(WiFiEvent_t event, WiFiEventInfo_t info) {
-    ESP_LOGI("WiFiStatus", "WiFi Got IP. localIP=%s, hostName=%s", WiFi.localIP().toString().c_str(),
-             WiFi.getHostname());
+void WiFiService::onStationModeGotIP(int32_t event, void *event_data) {
+    ESP_LOGI(TAG, "WiFi Got IP. localIP=%s, hostName=%s", WiFi.localIP().toString().c_str(), WiFi.getHostname());
 }

esp32/src/www_mount.cpp

@@ -1,4 +1,14 @@
 #include "www_mount.hpp"
+#include <cstring>
+
+static const WebAsset* findAsset(const char* uri) {
+    for (size_t i = 0; i < WWW_ASSETS_COUNT; i++) {
+        if (strcmp(WWW_ASSETS[i].uri, uri) == 0) {
+            return &WWW_ASSETS[i];
+        }
+    }
+    return nullptr;
+}
 
 static esp_err_t web_send(httpd_req_t* req, const WebAsset& asset) {
     httpd_resp_set_status(req, "200 OK");
@@ -7,11 +17,11 @@ static esp_err_t web_send(httpd_req_t* req, const WebAsset& asset) {
     if (WWW_OPT.add_vary) httpd_resp_set_hdr(req, "Vary", "Accept-Encoding");
 
     char cc[64];
-    snprintf(cc, sizeof(cc), "public, immutable, max-age=%u", WWW_OPT.max_age);
+    snprintf(cc, sizeof(cc), "public, immutable, max-age=%lu", (unsigned long)WWW_OPT.max_age);
     httpd_resp_set_hdr(req, "Cache-Control", cc);
 
     char et[34];
-    snprintf(et, sizeof(et), "\"%08x\"", asset.etag);
+    snprintf(et, sizeof(et), "\"%08lx\"", (unsigned long)asset.etag);
     httpd_resp_set_hdr(req, "ETag", et);
 
     return httpd_resp_send(req, (const char*)asset.data, asset.len);
@@ -23,3 +33,16 @@ void mountStaticAssets(WebServer& server) {
         server.on(a->uri, HTTP_GET, [a](httpd_req_t* req) { return web_send(req, *a); });
     }
 }
+
+void mountSpaFallback(WebServer& server) {
+    const WebAsset* indexAsset = findAsset(WWW_OPT.default_uri);
+    if (indexAsset) {
+        server.on("/*", HTTP_GET, [indexAsset](httpd_req_t* req) {
+            if (strncmp(req->uri, "/api/", 5) == 0) {
+                httpd_resp_send_err(req, HTTPD_404_NOT_FOUND, "Not found");
+                return ESP_FAIL;
+            }
+            return web_send(req, *indexAsset);
+        });
+    }
+}

platform_shared/api.proto

@@ -82,6 +82,7 @@ message WifiSettings {
     string hostname = 1;
     bool priority_rssi = 2;
     repeated WifiNetwork wifi_networks = 3; // max 5 networks
+    uint32 selected_network = 4;
 }
 
 message WifiSettingsRequest {}

platform_shared/filesystem.options

@@ -16,11 +16,11 @@ socket_message.FSListResponse.directories max_count:20
 # Streaming download messages
 socket_message.FSDownloadRequest.path max_size:256
 socket_message.FSDownloadMetadata.error max_size:128
-socket_message.FSDownloadData.data max_size:16384
+socket_message.FSDownloadData.data type:FT_POINTER
 socket_message.FSDownloadComplete.error max_size:128
 
 # Streaming upload messages
 socket_message.FSUploadStart.path max_size:256
 socket_message.FSUploadStartResponse.error max_size:128
-socket_message.FSUploadData.data max_size:16384
+socket_message.FSUploadData.data type:FT_POINTER
 socket_message.FSUploadComplete.error max_size:128

platformio.ini

@@ -40,14 +40,13 @@ build_flags=
 
 [env:esp32-wroom-camera]
 board = esp32-s3-devkitc-1
-board_build.arduino.memory_type = qio_opi 
+board_build.flash_mode = qio
 board_upload.flash_size = 8MB
 upload_speed = 921600 
 board_build.partitions = esp32/partition_table/default_8MB.csv
 build_flags =
 	${env.build_flags}
 	-DBOARD_HAS_PSRAM
-	-mfix-esp32-psram-cache-issue
 	-D USE_CAMERA=1
 	-D CAMERA_MODEL_ESP32S3_EYE=1
 	-D WS2812_PIN=48
@@ -55,6 +54,12 @@ build_flags =
 	-D USS_RIGHT_PIN=14
 	-D SDA_PIN=47
 	-D SCL_PIN=21
+    -D SD_CMD_PIN=GPIO_NUM_38
+    -D SD_CLK_PIN=GPIO_NUM_39
+    -D SD_DATA_PIN=GPIO_NUM_40
+
+
+    
 
 [env:seeed-xiao-esp32s3]
 platform = espressif32
@@ -80,12 +85,11 @@ build_flags =
 
 [env]
 platform = espressif32 @ 6.8.1
-framework = arduino
+framework = espidf
 monitor_speed = 115200
-monitor_filters = 
+monitor_filters =
+	direct
 	esp32_exception_decoder
-	default
-	colorize
 build_flags =
 	${factory_settings.build_flags}
     ${features.build_flags}
@@ -98,25 +102,27 @@ build_flags =
     -fdata-sections
     -Wl,--gc-sections
     -I submodules/nanopb
-    -Wno-missing-braces ; Added to suppress protobufs extra nested braces causing warning
+    -D PB_FIELD_32BIT=1
+    -D PB_ENABLE_MALLOC=1
+    -Wno-missing-braces
+    -Wno-format
+    -D CONFIG_HTTPD_WS_SUPPORT=1
 build_unflags = -std=gnu++11
-build_src_filter =
-    +<*>
-    +<../../submodules/nanopb/pb_*.c>
 build_src_flags = 
 	-Wformat=2
 	-Wformat-truncation
 	-Wstack-usage=4096
+	-Wno-format
 test_ignore = test_embedded
 board_build.filesystem = littlefs
+board_build.embed_txtfiles =
+board_build.sdkconfig_defaults = esp32/sdkconfig.defaults
 lib_deps = 
-	ArduinoJson@>=7.0.0
-	teckel12/NewPing@^1.9.7
-	FastLED@3.5.0
+lib_ldf_mode = deep
+lib_compat_mode = strict
 extra_scripts = 
 	pre:esp32/scripts/pre_build.py
     pre:esp32/scripts/build_app.py
-lib_compat_mode = strict
 ; debug_tool = esp-builtin
 ; debug_init_break = 
-; upload_port = COM[13] # Only use this when upload port is not correctly detected due to multiple COM ports attached.
+; upload_port = COM[13] # Only use this when upload port is not correctly detected due to multiple COM ports attached.

sdkconfig.defaults

@@ -0,0 +1,40 @@
+# HTTP Server WebSocket support
+CONFIG_HTTPD_WS_SUPPORT=y
+CONFIG_HTTPD_MAX_REQ_HDR_LEN=2048
+CONFIG_HTTPD_MAX_URI_LEN=1024
+
+# mDNS
+CONFIG_MDNS_MAX_SERVICES=10
+
+# LittleFS
+CONFIG_LITTLEFS_MAX_PARTITIONS=3
+
+#
+# ESP System Settings
+#
+# CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_80 is not set
+# CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_160 is not set
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=240
+
+# Main task stack
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192
+CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT=4096
+
+# PSRAM for S3
+CONFIG_SPIRAM=y
+CONFIG_SPIRAM_MODE_OCT=y
+CONFIG_SPIRAM_SPEED_80M=y
+
+# DSP library
+CONFIG_DSP_MAX_FFT_SIZE_4096=y
+
+# Compiler
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+
+# Partition table
+CONFIG_PARTITION_TABLE_CUSTOM=y
+
+# CONFIG_FATFS_LFN_NONE is not set
+# CONFIG_FATFS_LFN_HEAP is not set
+CONFIG_FATFS_LFN_STACK=y