add icm to imt feature list

.gitignore

@@ -6,11 +6,6 @@ __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/*

.vscode/settings.json

@@ -13,7 +13,7 @@
     },
     "editor.tabSize": 4,
     "editor.detectIndentation": false,
-    "cmake.sourceDirectory": "C:/data/repos/Hardware/Spot_Micro_Leika",
+    "cmake.sourceDirectory": "C:/data/repos/Hardware/Spot Micro - Leika/.pio/libdeps/esp32cam/esp32-camera",
     "cSpell.words": [
       "Adafruit",
       "IRAM",

CMakeLists.txt

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

app/src/routes/peripherals/imu/imu.svelte

@@ -245,6 +245,10 @@
             angleChart.update('none')
         }
 
+        if ($features.mag) {
+            updateChartData(magnetometerChart, $imu.heading)
+        }
+
         if ($features.bmp && tempChart && altitudeChart) {
             updateChartData(
                 tempChart,

boards/esp32p4_dev.json

@@ -1,33 +0,0 @@
-{
-  "build": {
-    "core": "esp32",
-    "extra_flags": [
-      "-DBOARD_HAS_PSRAM"
-    ],
-    "f_cpu": "360000000L",
-    "f_flash": "80000000L",
-    "f_psram": "200000000L",
-    "flash_mode": "qio",
-    "mcu": "esp32p4",
-    "variant": "esp32p4"
-  },
-  "connectivity": [
-    "wifi"
-  ],
-  "debug": {
-    "openocd_target": "esp32p4.cfg"
-  },
-  "frameworks": [
-    "espidf"
-  ],
-  "name": "ESP32-P4 Dev Board (32MB PSRAM + 32MB Flash, C6 coprocessor)",
-  "upload": {
-    "flash_size": "32MB",
-    "maximum_ram_size": 786432,
-    "maximum_size": 33554432,
-    "require_upload_port": true,
-    "speed": 1500000
-  },
-  "url": "https://docs.espressif.com/projects/esp-dev-kits/en/latest/esp32p4/",
-  "vendor": "Espressif"
-}

esp32/features.ini

@@ -13,6 +13,8 @@ build_flags =
   -D USE_HMC5883=0
   -D USE_BMP180=0
   -D USE_MPU6050=0
+  -D USE_ICM20948=1
+  -D USE_ICM20948_SPIMODE=0
   -D USE_WS2812=1
   -D USE_BNO055=0
   -D USE_USS=0

esp32/include/ap_service.h

@@ -1,17 +1,14 @@
 #pragma once
 
-#include <esp_http_server.h>
-#include <eventbus.hpp>
+#include <template/stateful_service.h>
+#include <template/stateful_proto_endpoint.h>
+#include <template/stateful_persistence_pb.h>
 #include <settings/ap_settings.h>
 #include <utils/timing.h>
-#include <wifi/wifi_idf.h>
-#include <wifi/dns_server.h>
-#include <esp_timer.h>
-#include <string>
+#include <WiFi.h>
+#include "esp_timer.h"
 
-class WebServer;
-
-class APService {
+class APService : public StatefulService<APSettings> {
   public:
     APService();
     ~APService();
@@ -24,16 +21,15 @@ class APService {
     void statusProto(api_APStatus &proto);
     APNetworkStatus getAPNetworkStatus();
 
-    void registerRoutes(WebServer &server);
+    StatefulProtoEndpoint<APSettings, api_APSettings> protoEndpoint;
 
   private:
-    APSettings _settings {};
-    SubscriptionHandle _settingsHandle;
+    FSPersistencePB<APSettings> _persistence;
     DNSServer *_dnsServer;
 
     volatile unsigned long _lastManaged;
-    volatile bool _reconfigureAp;
-    volatile bool _recoveryMode = false;
+    volatile boolean _reconfigureAp;
+    volatile boolean _recoveryMode = false;
 
     void reconfigureAP();
     void manageAP();

esp32/include/communication/comm_base.hpp

@@ -1,14 +1,10 @@
 #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 <eventbus.hpp>
 
 class CommAdapterBase {
   public:
@@ -36,11 +32,6 @@ class CommAdapterBase {
         decoder_.on<T>(handler);
     }
 
-    template <typename T>
-    void forward() {
-        decoder_.on<T>([](const T& data, int) { EventBus::instance().publish(data); });
-    }
-
     template <typename T>
     void emit(const T& data, int clientId = -1) {
         constexpr pb_size_t tag = MessageTraits<T>::tag;
@@ -53,7 +44,8 @@ class CommAdapterBase {
         size_t out_size;
         pb_get_encoded_size(&out_size, socket_message_Message_fields, &msg_);
         uint8_t* buffer = pb_heap_enc_buf;
-        if (out_size > sizeof(pb_heap_enc_buf)) {
+        if (out_size > sizeof(pb_heap_enc_buf)) { // If the encoded size exceeds our buffer size, we needs to malloc a
+                                                  // buffer of a proper size
             buffer = (uint8_t*)malloc(out_size);
         }
 

esp32/include/communication/webserver.h

@@ -1,13 +1,6 @@
 #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>
@@ -15,7 +8,7 @@
 #include <pb_encode.h>
 #include <pb_decode.h>
 #include <platform_shared/api.pb.h>
-#include <eventbus.hpp>
+#include <freertos/semphr.h>
 
 using HttpGetHandler = std::function<esp_err_t(httpd_req_t*)>;
 using HttpPostHandler = std::function<esp_err_t(httpd_req_t*, api_Request*)>;
@@ -23,21 +16,16 @@ using WsFrameHandler = std::function<esp_err_t(httpd_req_t*, httpd_ws_frame_t*)>
 using WsOpenHandler = std::function<void(httpd_req_t*)>;
 using WsCloseHandler = std::function<void(int)>;
 
-#define PROTO_ROUTE(server_ref, uri, field_name, proto_type)               \
-    (server_ref)                                                           \
-        .protoRoute<proto_type>(                                           \
-            uri,                                                           \
-            [](const api_Request& req, proto_type& out) -> bool {          \
-                if (req.which_payload == api_Request_##field_name##_tag) { \
-                    out = req.payload.field_name;                          \
-                    return true;                                           \
-                }                                                          \
-                return false;                                              \
-            },                                                             \
-            [](api_Response& res, const proto_type& data) {                \
-                res.which_payload = api_Response_##field_name##_tag;       \
-                res.payload.field_name = data;                             \
-            })
+// Macro to register a proto endpoint that extracts a specific payload type
+// Usage: STAITC_PROTO_POST_ENDPOINT(server, "/api/files/delete", file_delete_request, FileSystem::handleDelete)
+// Handler signature: esp_err_t handleDelete(httpd_req_t* req, const api_FileDeleteRequest& payload)
+#define STAITC_PROTO_POST_ENDPOINT(server_ref, uri, payload_type, handler) \
+    (server_ref).on(uri, HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) { \
+        if (protoReq->which_payload != api_Request_##payload_type##_tag) { \
+            return WebServer::sendError(request, 400, "Invalid request payload"); \
+        } \
+        return handler(request, protoReq->payload.payload_type); \
+    })
 
 struct HttpRoute {
     std::string uri;
@@ -59,36 +47,6 @@ class WebServer {
     void on(const char* uri, httpd_method_t method, HttpGetHandler handler);
     void on(const char* uri, httpd_method_t method, HttpPostHandler handler);
 
-    template <typename ProtoT>
-    void protoRoute(const char* uri, std::function<bool(const api_Request&, ProtoT&)> extractor,
-                    std::function<void(api_Response&, const ProtoT&)> assigner) {
-        on(uri, HTTP_GET, [assigner](httpd_req_t* req) {
-            auto* res = new api_Response();
-            *res = api_Response_init_zero;
-            res->status_code = 200;
-            ProtoT current = EventBus::instance().peek<ProtoT>();
-            assigner(*res, current);
-            esp_err_t ret = WebServer::send(req, 200, *res, api_Response_fields);
-            delete res;
-            return ret;
-        });
-        on(uri, HTTP_POST, [extractor, assigner](httpd_req_t* req, api_Request* protoReq) {
-            ProtoT msg = {};
-            if (!extractor(*protoReq, msg)) {
-                return sendError(req, 400, "Invalid request type");
-            }
-            EventBus::instance().publish(msg);
-            auto* res = new api_Response();
-            *res = api_Response_init_zero;
-            res->status_code = 200;
-            ProtoT current = EventBus::instance().peek<ProtoT>();
-            assigner(*res, current);
-            esp_err_t ret = WebServer::send(req, 200, *res, api_Response_fields);
-            delete res;
-            return ret;
-        });
-    }
-
     void onWsFrame(WsFrameHandler handler);
     void onWsOpen(WsOpenHandler handler);
     void onWsClose(WsCloseHandler handler);

esp32/include/communication/websocket.h

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

esp32/include/compat/pgmspace.h

@@ -1,21 +0,0 @@
-#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/event_storage_manager.hpp

@@ -1,50 +0,0 @@
-#pragma once
-
-#include <proto_event_storage.hpp>
-#include <platform_shared/api.pb.h>
-#include <peripherals/servo_controller.h>
-#include <settings/wifi_settings.h>
-#include <settings/ap_settings.h>
-#include <settings/mdns_settings.h>
-#include <settings/peripherals_settings.h>
-#include <settings/camera_settings.h>
-#include <features.h>
-
-class EventStorageManager {
-  public:
-    void initialize() {
-        _servoStorage.begin();
-        _wifiStorage.begin();
-        _apStorage.begin();
-        _peripheralStorage.begin();
-#if FT_ENABLED(USE_MDNS)
-        _mdnsStorage.begin();
-#endif
-#if FT_ENABLED(USE_CAMERA) && USE_DVP_CAMERA
-        _cameraStorage.begin();
-#endif
-    }
-
-  private:
-    ProtoEventStorage<api_ServoSettings, ServoSettings_defaults> _servoStorage {
-        SERVO_SETTINGS_FILE, api_ServoSettings_fields, api_ServoSettings_size, 1000};
-
-    ProtoEventStorage<api_WifiSettings, WiFiSettings_defaults> _wifiStorage {
-        WIFI_SETTINGS_FILE, api_WifiSettings_fields, api_WifiSettings_size, 1000};
-
-    ProtoEventStorage<api_APSettings, APSettings_defaults> _apStorage {AP_SETTINGS_FILE, api_APSettings_fields,
-                                                                       api_APSettings_size, 1000};
-
-    ProtoEventStorage<api_PeripheralSettings, PeripheralsConfiguration_defaults> _peripheralStorage {
-        PERIPHERAL_SETTINGS_FILE, api_PeripheralSettings_fields, api_PeripheralSettings_size, 500};
-
-#if FT_ENABLED(USE_MDNS)
-    ProtoEventStorage<api_MDNSSettings, MDNSSettings_defaults> _mdnsStorage {
-        MDNS_SETTINGS_FILE, api_MDNSSettings_fields, api_MDNSSettings_size, 1000};
-#endif
-
-#if FT_ENABLED(USE_CAMERA) && USE_DVP_CAMERA
-    ProtoEventStorage<api_CameraSettings, CameraSettings_defaults> _cameraStorage {
-        CAMERA_SETTINGS_FILE, api_CameraSettings_fields, api_CameraSettings_size, 1000};
-#endif
-};

esp32/include/event_types.h

@@ -1,5 +0,0 @@
-#pragma once
-
-#include <cstdint>
-
-struct SystemReadyEvent {};

esp32/include/eventbus.hpp

@@ -1,166 +0,0 @@
-#pragma once
-
-#include <freertos/FreeRTOS.h>
-#include <freertos/semphr.h>
-#include <functional>
-#include <list>
-#include <map>
-#include <cstdint>
-
-class EventBus;
-
-class SubscriptionHandle {
-  public:
-    SubscriptionHandle() = default;
-
-    ~SubscriptionHandle() { unsubscribe(); }
-
-    SubscriptionHandle(SubscriptionHandle&& other) noexcept
-        : typeId_(other.typeId_), handlerId_(other.handlerId_), bus_(other.bus_) {
-        other.bus_ = nullptr;
-    }
-
-    SubscriptionHandle& operator=(SubscriptionHandle&& other) noexcept {
-        if (this != &other) {
-            unsubscribe();
-            typeId_ = other.typeId_;
-            handlerId_ = other.handlerId_;
-            bus_ = other.bus_;
-            other.bus_ = nullptr;
-        }
-        return *this;
-    }
-
-    SubscriptionHandle(const SubscriptionHandle&) = delete;
-    SubscriptionHandle& operator=(const SubscriptionHandle&) = delete;
-
-    void unsubscribe();
-
-  private:
-    friend class EventBus;
-    using TypeId = const void*;
-
-    SubscriptionHandle(TypeId typeId, uint32_t handlerId, EventBus* bus)
-        : typeId_(typeId), handlerId_(handlerId), bus_(bus) {}
-
-    TypeId typeId_ = nullptr;
-    uint32_t handlerId_ = 0;
-    EventBus* bus_ = nullptr;
-};
-
-class EventBus {
-  public:
-    using TypeId = const void*;
-
-    template <typename T>
-    static TypeId typeId() {
-        static const char id = 0;
-        return &id;
-    }
-
-    static EventBus& instance() {
-        static EventBus bus;
-        return bus;
-    }
-
-    template <typename T>
-    SubscriptionHandle subscribe(std::function<void(const T&)> callback) {
-        xSemaphoreTake(mutex_, portMAX_DELAY);
-        auto id = typeId<T>();
-        uint32_t hid = nextHandlerId_++;
-        handlers_[id].push_back(
-            {hid, [cb = std::move(callback)](const void* data) { cb(*static_cast<const T*>(data)); }});
-        xSemaphoreGive(mutex_);
-        return SubscriptionHandle(id, hid, this);
-    }
-
-    template <typename T>
-    void publish(const T& event) {
-        xSemaphoreTake(mutex_, portMAX_DELAY);
-
-        auto id = typeId<T>();
-        auto& entry = cache_[id];
-        if (entry.data) {
-            *static_cast<T*>(entry.data) = event;
-        } else {
-            entry.data = new T(event);
-            entry.deleter = [](void* p) { delete static_cast<T*>(p); };
-        }
-
-        auto it = handlers_.find(id);
-        if (it == handlers_.end()) {
-            xSemaphoreGive(mutex_);
-            return;
-        }
-        auto snapshot = it->second;
-        xSemaphoreGive(mutex_);
-
-        for (auto& handler : snapshot) {
-            handler.callback(&event);
-        }
-    }
-
-    template <typename T>
-    bool has() {
-        xSemaphoreTake(mutex_, portMAX_DELAY);
-        auto it = cache_.find(typeId<T>());
-        bool result = it != cache_.end() && it->second.data != nullptr;
-        xSemaphoreGive(mutex_);
-        return result;
-    }
-
-    template <typename T>
-    T peek() {
-        xSemaphoreTake(mutex_, portMAX_DELAY);
-        auto it = cache_.find(typeId<T>());
-        T result = (it != cache_.end() && it->second.data) ? *static_cast<const T*>(it->second.data) : T {};
-        xSemaphoreGive(mutex_);
-        return result;
-    }
-
-  private:
-    friend class SubscriptionHandle;
-
-    EventBus() { mutex_ = xSemaphoreCreateMutex(); }
-
-    ~EventBus() {
-        for (auto& [id, entry] : cache_) {
-            if (entry.deleter) entry.deleter(entry.data);
-        }
-        vSemaphoreDelete(mutex_);
-    }
-
-    EventBus(const EventBus&) = delete;
-    EventBus& operator=(const EventBus&) = delete;
-
-    void removeHandler(TypeId typeId, uint32_t handlerId) {
-        xSemaphoreTake(mutex_, portMAX_DELAY);
-        auto it = handlers_.find(typeId);
-        if (it != handlers_.end()) {
-            it->second.remove_if([handlerId](const Handler& h) { return h.id == handlerId; });
-        }
-        xSemaphoreGive(mutex_);
-    }
-
-    struct Handler {
-        uint32_t id;
-        std::function<void(const void*)> callback;
-    };
-
-    struct CacheEntry {
-        void* data = nullptr;
-        void (*deleter)(void*) = nullptr;
-    };
-
-    SemaphoreHandle_t mutex_;
-    uint32_t nextHandlerId_ = 1;
-    std::map<TypeId, std::list<Handler>> handlers_;
-    std::map<TypeId, CacheEntry> cache_;
-};
-
-inline void SubscriptionHandle::unsubscribe() {
-    if (bus_) {
-        bus_->removeHandler(typeId_, handlerId_);
-        bus_ = nullptr;
-    }
-}

esp32/include/features.h

@@ -1,7 +1,7 @@
 #pragma once
 
-#include <sdkconfig.h>
-#include <wifi/wifi_idf.h>
+#include <WiFi.h>
+#include <ArduinoJson.h>
 #include <esp_http_server.h>
 #include "platform_shared/message.pb.h"
 
@@ -19,6 +19,15 @@
 #define USE_BNO055 1
 #endif
 
+// ESP32 IMU off by default
+#ifndef USE_ICM20948
+#define USE_ICM20948 0
+#endif
+#ifndef USE_ICM20948_SPIMODE // I2C on by default
+#define USE_ICM20948_SPIMODE 0
+#endif
+
+// ESP32 magnetometer on by default
 #ifndef USE_HMC5883
 #define USE_HMC5883 0
 #endif

esp32/include/filesystem.h

@@ -1,43 +1,29 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <esp_littlefs.h>
-#include <esp_vfs.h>
-#include <dirent.h>
-#include <sys/stat.h>
+#include <ArduinoJson.h>
+#include <LittleFS.h>
 #include <string>
-#include <cstdio>
 #include <platform_shared/api.pb.h>
 
-class WebServer;
+#define ESP_FS LittleFS
 
-#define MOUNT_POINT "/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 FS_CONFIG_DIRECTORY MOUNT_POINT "/config"
-#define DEVICE_CONFIG_FILE MOUNT_POINT "/config/peripheral.pb"
-#define CAMERA_SETTINGS_FILE MOUNT_POINT "/config/cameraSettings.pb"
-#define AP_SETTINGS_FILE MOUNT_POINT "/config/apSettings.pb"
-#define MDNS_SETTINGS_FILE MOUNT_POINT "/config/mdnsSettings.pb"
-#define WIFI_SETTINGS_FILE MOUNT_POINT "/config/wifiSettings.pb"
-#define PERIPHERAL_SETTINGS_FILE MOUNT_POINT "/config/peripheralSettings.pb"
-#define SERVO_SETTINGS_FILE 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);
-
-void registerRoutes(WebServer &server);
 
 esp_err_t getFilesProto(httpd_req_t *request);
 esp_err_t getFiles(httpd_req_t *request);

esp32/include/filesystem_ws.h

@@ -1,21 +1,20 @@
 #pragma once
 
+#include <LittleFS.h>
 #include <platform_shared/message.pb.h>
-#include <eventbus.hpp>
-#include <filesystem.h>
 #include <map>
 #include <string>
 #include <functional>
-#include <cstdio>
 
-#define FS_MAX_CHUNK_SIZE 16384
-#define FS_TRANSFER_TIMEOUT_MS 30000
+// 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
 
 namespace FileSystemWS {
 
 struct DownloadState {
     std::string path;
-    FILE* file;
+    File file;
     uint32_t fileSize;
     uint32_t chunkSize;
     uint32_t totalChunks;
@@ -26,7 +25,7 @@ struct DownloadState {
 
 struct UploadState {
     std::string path;
-    FILE* file;
+    File file;
     uint32_t fileSize;
     uint32_t totalChunks;
     uint32_t chunksReceived;
@@ -37,6 +36,7 @@ struct UploadState {
     std::string errorMessage;
 };
 
+// Callback type for sending messages to clients
 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)>;
@@ -46,18 +46,35 @@ class FileSystemHandler {
   public:
     FileSystemHandler();
 
-    void begin();
+    // 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:
@@ -74,10 +91,10 @@ 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 = "");
 
-    SubscriptionHandle uploadHandle_;
+    bool sendNextDownloadChunk(uint32_t transferId);
+
+    void finalizeUpload(uint32_t transferId, bool success, const std::string& error = "");
 };
 
 extern FileSystemHandler fsHandler;

esp32/include/global.h

@@ -1,15 +1,14 @@
 #pragma once
 
-#include <sdkconfig.h>
-#include <esp_system.h>
+#include <esp32-hal.h>
 
-#if CONFIG_IDF_TARGET_ESP32
+#if CONFIG_IDF_TARGET_ESP32 // ESP32/PICO-D4
 #include "esp32/rom/rtc.h"
 #ifndef ESP_PLATFORM_NAME
 #define ESP_PLATFORM_NAME "ESP32"
 #endif
 #elif CONFIG_IDF_TARGET_ESP32S2
-#include "esp32s2/rom/rtc.h"
+#include "esp32/rom/rtc.h"
 #ifndef ESP_PLATFORM_NAME
 #define ESP_PLATFORM_NAME "ESP32-S2"
 #endif
@@ -23,39 +22,28 @@
 #ifndef ESP_PLATFORM_NAME
 #define ESP_PLATFORM_NAME "ESP32-S3"
 #endif
-#elif CONFIG_IDF_TARGET_ESP32C6
-#include "esp32c6/rom/rtc.h"
-#ifndef ESP_PLATFORM_NAME
-#define ESP_PLATFORM_NAME "ESP32-C6"
-#endif
-#elif CONFIG_IDF_TARGET_ESP32P4
-#include "esp32p4/rom/rtc.h"
-#ifndef ESP_PLATFORM_NAME
-#define ESP_PLATFORM_NAME "ESP32-P4"
-#endif
-#define ESP32P4_USES_C6_COPROCESSOR 1
 #else
 #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
  */
-#if CONFIG_IDF_TARGET_ESP32P4
 #ifndef SDA_PIN
-#define SDA_PIN 7
+#define SDA_PIN SDA
 #endif
 #ifndef SCL_PIN
-#define SCL_PIN 8
-#endif
-#else
-#ifndef SDA_PIN
-#define SDA_PIN 21
-#endif
-#ifndef SCL_PIN
-#define SCL_PIN 22
-#endif
+#define SCL_PIN SCL
 #endif
 #ifndef I2C_FREQUENCY
-#define I2C_FREQUENCY 1000000UL
-#endif
+#define I2C_FREQUENCY 100000UL
+#endif

esp32/include/mdns_service.h

@@ -1,14 +1,23 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <mdns.h>
-#include <eventbus.hpp>
+#include <ESPmDNS.h>
+#include <template/stateful_service.h>
+#include <template/stateful_proto_endpoint.h>
+#include <template/stateful_persistence_pb.h>
 #include <settings/mdns_settings.h>
 #include <utils/timing.h>
 
-class WebServer;
+class MDNSService : public StatefulService<MDNSSettings> {
+  private:
+    FSPersistencePB<MDNSSettings> _persistence;
+    bool _started {false};
+
+    void reconfigureMDNS();
+    void startMDNS();
+    void stopMDNS();
+    void addServices();
 
-class MDNSService {
   public:
     MDNSService();
     ~MDNSService();
@@ -18,15 +27,5 @@ class MDNSService {
     esp_err_t getStatus(httpd_req_t *request);
     esp_err_t queryServices(httpd_req_t *request, api_Request *protoReq);
 
-    void registerRoutes(WebServer &server);
-
-  private:
-    MDNSSettings _settings {};
-    SubscriptionHandle _settingsHandle;
-    bool _started {false};
-
-    void reconfigureMDNS();
-    void startMDNS();
-    void stopMDNS();
-    void addServices();
+    StatefulProtoEndpoint<MDNSSettings, api_MDNSSettings> protoEndpoint;
 };

esp32/include/motion.h

@@ -14,7 +14,6 @@
 #include <motion_states/stand_state.h>
 #include <motion_states/rest_state.h>
 #include <message_types.h>
-#include <eventbus.hpp>
 
 enum class MOTION_STATE { DEACTIVATED, IDLE, CALIBRATION, REST, STAND, WALK };
 
@@ -63,10 +62,6 @@ class MotionService {
     float dir[12] = {1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1};
 
     int64_t lastUpdate = esp_timer_get_time();
-
-    SubscriptionHandle controllerHandle_;
-    SubscriptionHandle walkGaitHandle_;
-    SubscriptionHandle anglesHandle_;
 };
 
 #endif

esp32/include/motion_states/state.h

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

esp32/include/motion_states/walk_state.h

@@ -2,7 +2,6 @@
 
 #include <motion_states/state.h>
 #include <utils/math_utils.h>
-#include <algorithm>
 #include <array>
 #include <functional>
 

esp32/include/peripherals/barometer.h

@@ -13,7 +13,7 @@ struct BarometerMsg {
 
 class Barometer : public SensorBase<BarometerMsg> {
   public:
-    bool initialize() override {
+    bool initialize(void* _) {
         _msg.success = _bmp.begin();
         if (_msg.success) {
             ESP_LOGI("BMP", "BMP180 initialized successfully");

esp32/include/peripherals/camera_service.h

@@ -1,31 +1,30 @@
 #pragma once
 
 #include <esp_http_server.h>
+#include <WiFi.h>
 
 #include <features.h>
-#include <eventbus.hpp>
+#include <template/stateful_service.h>
+#include <template/stateful_proto_endpoint.h>
+#include <template/stateful_persistence_pb.h>
 
 #include <settings/camera_settings.h>
 
-class WebServer;
-
 namespace Camera {
 
-#define USE_DVP_CAMERA (USE_CAMERA && !CONFIG_IDF_TARGET_ESP32P4)
-#define USE_CSI_CAMERA (USE_CAMERA && CONFIG_IDF_TARGET_ESP32P4)
-
-#if USE_DVP_CAMERA
 #include <esp_camera.h>
-#include <peripherals/camera_pins.h>
 
-camera_fb_t *safe_camera_fb_get();
-sensor_t *safe_sensor_get();
-void safe_sensor_return();
+#if USE_CAMERA
+#include <peripherals/camera_pins.h>
 #endif
 
 #define PART_BOUNDARY "frame"
 
-class CameraService {
+camera_fb_t *safe_camera_fb_get();
+sensor_t *safe_sensor_get();
+void safe_sensor_return();
+
+class CameraService : public StatefulService<CameraSettings> {
   public:
     CameraService();
 
@@ -34,13 +33,10 @@ class CameraService {
     esp_err_t cameraStill(httpd_req_t *request);
     esp_err_t cameraStream(httpd_req_t *request);
 
-    void registerRoutes(WebServer &server);
+    StatefulProtoEndpoint<CameraSettings, api_CameraSettings> protoEndpoint;
 
-#if USE_DVP_CAMERA
   private:
-    CameraSettings _settings {};
-    SubscriptionHandle _settingsHandle;
+    FSPersistencePB<CameraSettings> _persistence;
     void updateCamera();
-#endif
 };
 } // namespace Camera

esp32/include/peripherals/drivers/mpu6050.h

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

esp32/include/peripherals/i2c_bus.h

@@ -1,12 +1,11 @@
 #pragma once
 
-#include <driver/i2c_master.h>
+#include <driver/i2c.h>
 #include <esp_log.h>
 #include <freertos/FreeRTOS.h>
 #include <freertos/semphr.h>
 #include <functional>
 #include <vector>
-#include <cstring>
 
 class I2CBus {
   public:
@@ -25,17 +24,30 @@ class I2CBus {
         _scl = scl;
         _freq = freq;
 
-        i2c_master_bus_config_t bus_cfg = {};
-        bus_cfg.i2c_port = port;
-        bus_cfg.sda_io_num = sda;
-        bus_cfg.scl_io_num = scl;
-        bus_cfg.clk_source = I2C_CLK_SRC_DEFAULT;
-        bus_cfg.glitch_ignore_cnt = 7;
-        bus_cfg.flags.enable_internal_pullup = true;
+        i2c_config_t conf = {};
+        conf.mode = I2C_MODE_MASTER;
+        conf.sda_io_num = sda;
+        conf.scl_io_num = scl;
+        conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
+        conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
+        conf.master.clk_speed = freq;
 
-        esp_err_t err = i2c_new_master_bus(&bus_cfg, &_bus);
+        esp_err_t err = i2c_param_config(_port, &conf);
         if (err != ESP_OK) {
-            ESP_LOGE(TAG, "i2c_new_master_bus failed: %s", esp_err_to_name(err));
+            ESP_LOGE(TAG, "i2c_param_config failed: %s", esp_err_to_name(err));
+            return err;
+        }
+
+        err = i2c_driver_install(_port, I2C_MODE_MASTER, 0, 0, 0);
+        if (err == ESP_ERR_INVALID_STATE) {
+            ESP_LOGW(TAG, "I2C driver already installed for port %d, reconfiguring", _port);
+            i2c_driver_delete(_port);
+            err = i2c_param_config(_port, &conf);
+            if (err != ESP_OK) return err;
+            err = i2c_driver_install(_port, I2C_MODE_MASTER, 0, 0, 0);
+        }
+        if (err != ESP_OK) {
+            ESP_LOGE(TAG, "i2c_driver_install failed: %s", esp_err_to_name(err));
             return err;
         }
 
@@ -45,51 +57,73 @@ class I2CBus {
 
     void end() {
         if (_initialized) {
-            if (_dev) {
-                i2c_master_bus_rm_device(_dev);
-                _dev = NULL;
-                _dev_addr = 0xFF;
-            }
-            i2c_del_master_bus(_bus);
-            _bus = NULL;
+            i2c_driver_delete(_port);
             _initialized = false;
         }
     }
 
     bool isInitialized() const { return _initialized; }
 
-    i2c_master_bus_handle_t busHandle() const { return _bus; }
-
     esp_err_t writeBytes(uint8_t addr, const uint8_t* data, size_t len) {
         if (!_initialized) return ESP_ERR_INVALID_STATE;
-        esp_err_t err = ensureDevice(addr);
-        if (err != ESP_OK) return err;
-        return i2c_master_transmit(_dev, data, len, pdMS_TO_TICKS(100));
+
+        i2c_cmd_handle_t cmd = i2c_cmd_link_create();
+        i2c_master_start(cmd);
+        i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_WRITE, true);
+        if (len > 0 && data != nullptr) {
+            i2c_master_write(cmd, data, len, true);
+        }
+        i2c_master_stop(cmd);
+        esp_err_t ret = i2c_master_cmd_begin(_port, cmd, pdMS_TO_TICKS(100));
+        i2c_cmd_link_delete(cmd);
+        return ret;
     }
 
     esp_err_t writeReg(uint8_t addr, uint8_t reg, const uint8_t* data, size_t len) {
         if (!_initialized) return ESP_ERR_INVALID_STATE;
-        esp_err_t err = ensureDevice(addr);
-        if (err != ESP_OK) return err;
 
-        uint8_t buf[len + 1];
-        buf[0] = reg;
+        i2c_cmd_handle_t cmd = i2c_cmd_link_create();
+        i2c_master_start(cmd);
+        i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_WRITE, true);
+        i2c_master_write_byte(cmd, reg, true);
         if (len > 0 && data != nullptr) {
-            memcpy(buf + 1, data, len);
+            i2c_master_write(cmd, data, len, true);
         }
-        return i2c_master_transmit(_dev, buf, len + 1, pdMS_TO_TICKS(100));
+        i2c_master_stop(cmd);
+        esp_err_t ret = i2c_master_cmd_begin(_port, cmd, pdMS_TO_TICKS(100));
+        i2c_cmd_link_delete(cmd);
+        return ret;
     }
 
     esp_err_t readReg(uint8_t addr, uint8_t reg, uint8_t* data, size_t len) {
         if (!_initialized) return ESP_ERR_INVALID_STATE;
-        esp_err_t err = ensureDevice(addr);
-        if (err != ESP_OK) return err;
-        return i2c_master_transmit_receive(_dev, &reg, 1, data, len, pdMS_TO_TICKS(100));
+
+        i2c_cmd_handle_t cmd = i2c_cmd_link_create();
+        i2c_master_start(cmd);
+        i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_WRITE, true);
+        i2c_master_write_byte(cmd, reg, true);
+        i2c_master_start(cmd);
+        i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_READ, true);
+        if (len > 1) {
+            i2c_master_read(cmd, data, len - 1, I2C_MASTER_ACK);
+        }
+        i2c_master_read_byte(cmd, data + len - 1, I2C_MASTER_NACK);
+        i2c_master_stop(cmd);
+        esp_err_t ret = i2c_master_cmd_begin(_port, cmd, pdMS_TO_TICKS(100));
+        i2c_cmd_link_delete(cmd);
+        return ret;
     }
 
     bool probe(uint8_t addr) {
         if (!_initialized) return false;
-        return i2c_master_probe(_bus, addr, pdMS_TO_TICKS(50)) == ESP_OK;
+
+        i2c_cmd_handle_t cmd = i2c_cmd_link_create();
+        i2c_master_start(cmd);
+        i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_WRITE, true);
+        i2c_master_stop(cmd);
+        esp_err_t ret = i2c_master_cmd_begin(_port, cmd, pdMS_TO_TICKS(50));
+        i2c_cmd_link_delete(cmd);
+        return ret == ESP_OK;
     }
 
     std::vector<uint8_t> scan(uint8_t lower = 1, uint8_t upper = 127) {
@@ -123,23 +157,4 @@ class I2CBus {
     gpio_num_t _scl = GPIO_NUM_NC;
     uint32_t _freq = 100000;
     bool _initialized = false;
-
-    i2c_master_bus_handle_t _bus = NULL;
-    i2c_master_dev_handle_t _dev = NULL;
-    uint8_t _dev_addr = 0xFF;
-
-    esp_err_t ensureDevice(uint8_t addr) {
-        if (_dev && _dev_addr == addr) return ESP_OK;
-        if (_dev) {
-            i2c_master_bus_rm_device(_dev);
-            _dev = NULL;
-        }
-        i2c_device_config_t dev_cfg = {};
-        dev_cfg.dev_addr_length = I2C_ADDR_BIT_LEN_7;
-        dev_cfg.device_address = addr;
-        dev_cfg.scl_speed_hz = _freq;
-        esp_err_t err = i2c_master_bus_add_device(_bus, &dev_cfg, &_dev);
-        if (err == ESP_OK) _dev_addr = addr;
-        return err;
-    }
 };

esp32/include/peripherals/imu.h

@@ -4,6 +4,10 @@
 #include <features.h>
 #include <peripherals/sensor.hpp>
 
+#if FT_ENABLED(USE_ICM20948)
+#include "ICM_20948.h"
+#endif
+
 #if FT_ENABLED(USE_MPU6050)
 #include <peripherals/drivers/mpu6050.h>
 #endif
@@ -20,7 +24,7 @@ struct IMUAnglesMsg {
 
 class IMU : public SensorBase<IMUAnglesMsg> {
   public:
-    bool initialize() override {
+    bool initialize(void* _arg = nullptr) override {
 #if FT_ENABLED(USE_MPU6050)
         _msg.success = _imu.begin();
         if (!_msg.success) {
@@ -35,13 +39,43 @@ class IMU : public SensorBase<IMUAnglesMsg> {
             ESP_LOGE("IMU", "BNO055 initialization failed");
             return false;
         }
-        ESP_LOGI("IMU", "BNO055 initialized successfully");
+#endif
+#if FT_ENABLED(USE_ICM20948)
+    #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
+        #define ICM_20948_USE_DMP // TODO: Move to features.ini
+        SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1); // TODO: Move to global spi start
+        _imu = (ICM_20948_SPI*)_arg;
+        #ifndef ICM20948_ALIVE
+        #define ICM20948_ALIVE
+        _imu->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode");
+        _imu->initializeDMP();
+        #endif
+    #else
+        _imu = (ICM_20948_I2C*)_arg;
+        #ifndef ICM20948_ALIVE
+        #define ICM20948_ALIVE
+        _imu->begin(Wire, 1, 0xFF); ESP_LOGI("IMU", "Beginning ICM20948 in I2C mode");
+        #endif
+        
+    #endif
+    if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: begin failed"); return false; }
+    
+    _imu->setSampleMode((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Continuous);
+    if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: set sample failed"); return false; }
+    
+    ICM_20948_fss_t myFSS;
+    myFSS.a = gpm2;
+    myFSS.g = dps250;
+    _imu->setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS);
+    if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: set full scale failed"); return false; }
+    // TODO: Setup low pass filter config
+    _msg.success = true;
 #endif
         return _msg.success;
     }
 
     bool update() override {
-        if (!_msg.success) return false;
+        //if (!_msg.success) return false;
 #if FT_ENABLED(USE_MPU6050)
         if (!_imu.update()) return false;
         _msg.rpy[0] = _imu.getYaw();
@@ -49,11 +83,22 @@ class IMU : public SensorBase<IMUAnglesMsg> {
         _msg.rpy[2] = _imu.getRoll();
         _msg.temperature = _imu.getTemperature();
 #endif
+#if FT_ENABLED(USE_ICM20948)
+          
+        #ifndef ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
+        #define ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
+        if (_imu->dataReady())
+        {
+            _imu->getAGMT();
+        } else {
+            return false;
+        }
+        #endif
+        _msg.rpy[0] = _imu->accX();
+        _msg.rpy[1] = _imu->accY();
+        _msg.rpy[2] = _imu->accZ();
+#endif
 #if FT_ENABLED(USE_BNO055)
-        if (!_imu.update()) return false;
-        _msg.rpy[0] = _imu.getHeading();
-        _msg.rpy[1] = _imu.getPitch();
-        _msg.rpy[2] = _imu.getRoll();
 #endif
         return true;
     }
@@ -88,4 +133,12 @@ class IMU : public SensorBase<IMUAnglesMsg> {
 #if FT_ENABLED(USE_BNO055)
     BNO055Driver _imu;
 #endif
+#if FT_ENABLED(USE_ICM20948)
+    #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
+        ICM_20948_SPI* _imu;
+    #else
+        //#define WIRE_PORT Wire 
+        ICM_20948_I2C* _imu;
+    #endif
+#endif
 };

esp32/include/peripherals/led_service.h

@@ -1,110 +1,56 @@
 #ifndef LEDService_h
 #define LEDService_h
 
-#include <sdkconfig.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>
+#include <FastLED.h>
 
 #ifndef WS2812_PIN
-#if CONFIG_IDF_TARGET_ESP32P4
-#define WS2812_PIN 27
-#else
 #define WS2812_PIN 12
 #endif
-#endif
 
 #ifndef WS2812_NUM_LEDS
-#define WS2812_NUM_LEDS 13
+#define WS2812_NUM_LEDS 1 + 12
 #endif
 
+#define COLOR_ORDER GRB
+#define CHIPSET WS2811
+
 class LEDService {
   private:
-    led_strip_handle_t led_strip = nullptr;
+    CRGB leds[WS2812_NUM_LEDS];
+    CRGBPalette16 currentPalette;
+    TBlendType currentBlending;
+
     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() {}
-
-    ~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() {
+        FastLED.addLeds<CHIPSET, WS2812_PIN, COLOR_ORDER>(leds, WS2812_NUM_LEDS).setCorrection(TypicalLEDStrip);
+        currentPalette = OceanColors_p;
+        currentBlending = LINEARBLEND;
     }
+    ~LEDService() {}
 
     void loop() {
-        if (!initialized) return;
-
         EXECUTE_EVERY_N_MS(1000 / 60, {
             if (_brightness >= 200) direction = -5;
             if (_brightness <= 50) direction = 5;
             _brightness += direction;
-
-            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);
+            if (WiFi.isConnected()) {
+                fillFromPallette(OceanColors_p, 0);
+            } else {
+                fillFromPallette(ForestColors_p, 128);
             }
-            led_strip_refresh(led_strip);
+            FastLED.show();
         });
     }
 
-    void setColor(uint8_t r, uint8_t g, uint8_t b) {
-        if (!initialized) return;
+    void fillFromPallette(CRGBPalette16 colorPalette, uint8_t colorIndex) {
+        CRGB color = ColorFromPalette(colorPalette, colorIndex, _brightness, currentBlending);
         for (int i = 0; i < WS2812_NUM_LEDS; ++i) {
-            led_strip_set_pixel(led_strip, i, r, g, b);
+            leds[i] = color;
         }
-        led_strip_refresh(led_strip);
-    }
-
-    void clear() {
-        if (!initialized) return;
-        led_strip_clear(led_strip);
     }
 };
 
-#endif
+#endif

esp32/include/peripherals/magnetometer.h

@@ -12,23 +12,63 @@ struct MagnetometerMsg {
 
 class Magnetometer : public SensorBase<MagnetometerMsg> {
   public:
-    bool initialize() override {
-        _msg.success = _mag.begin();
-        if (_msg.success) {
-            ESP_LOGI("MAG", "HMC5883L initialized successfully");
-        } else {
-            ESP_LOGE("MAG", "HMC5883L initialization failed");
-        }
+    bool initialize(void* _arg) override {
+        #if FT_ENABLED(USE_ICM20948)
+            #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
+                SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1);
+                _mag = (ICM_20948_SPI*)_arg;
+                #ifndef ICM20948_ALIVE
+                #define ICM20948_ALIVE
+                _imu->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("Magnetometer", "Beginning ICM20948 in SPI mode");
+                #endif
+            #else
+                _mag = (ICM_20948_I2C*)_arg;
+                #ifndef ICM20948_ALIVE
+                #define ICM20948_ALIVE
+                if (!_mag->isConnected()) { _mag->begin(Wire, 1, 0xFF); ESP_LOGI("Magnetometer", "Beginning ICM20948 in I2C mode"); }
+                #endif
+                
+            #endif
+            if (_mag->status != ICM_20948_Stat_Ok){ return false; }
+            
+            _mag->startupMagnetometer();
+            if (_mag->status != ICM_20948_Stat_Ok){ return false; }
+            _msg.success = true;
+        #elif FT_ENABLED(USE_HMC5883)
+            _msg.success = _mag.begin();
+        #endif
         return _msg.success;
     }
 
     bool update() override {
         if (!_msg.success) return false;
-        if (!_mag.update()) return false;
-        _msg.rpy[0] = _mag.getMagX();
-        _msg.rpy[1] = _mag.getMagY();
-        _msg.rpy[2] = _mag.getMagZ();
-        _msg.heading = _mag.getHeading();
+        #if FT_ENABLED(USE_ICM20948)
+        #ifndef ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
+        #define ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
+        if (_imu->dataReady())
+        { 
+            _imu->getAGMT();
+        } else {
+            return false;
+        }
+        #endif
+        _msg.rpy[0] = _mag->magX();
+        _msg.rpy[1] = _mag->magY();
+        _msg.rpy[2] = _mag->magZ();
+
+        #elif FT_ENABLED(USE_HMC5883)
+            sensors_event_t event;
+            bool updated = _mag.getEvent(&event);
+            if (!updated) return false;
+            _msg.rpy[0] = event.magnetic.x;
+            _msg.rpy[1] = event.magnetic.y;
+            _msg.rpy[2] = event.magnetic.z;
+        #endif
+        _msg.heading = atan2(_msg.rpy[1], _msg.rpy[0]); // atan2(y, x)
+        _msg.heading += declinationAngle;
+        if (_msg.heading < 0) _msg.heading += 2 * PI;
+        if (_msg.heading > 2 * PI) _msg.heading -= 2 * PI;
+        _msg.heading *= 180 / M_PI;
         return true;
     }
 
@@ -38,5 +78,18 @@ class Magnetometer : public SensorBase<MagnetometerMsg> {
     float getHeading() { return _msg.heading; }
 
   private:
-    HMC5883LDriver _mag;
+    
+    #if FT_ENABLED(USE_ICM20948)
+        #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
+            #define SPI_PORT SPI // TODO in periphearals_seetings.h
+            #define CS_PIN 2 
+            ICM_20948_SPI* _mag;
+        #else
+            //#define WIRE_PORT Wire 
+            ICM_20948_I2C* _mag;
+        #endif
+    #elif FT_ENABLED(USE_HMC5883)
+        Adafruit_HMC5883_Unified _mag {12345};
+    #endif
+    const float declinationAngle = 0.22;
 };

esp32/include/peripherals/peripherals.h

@@ -1,6 +1,8 @@
 #pragma once
 
-#include <eventbus.hpp>
+#include <template/stateful_persistence_pb.h>
+#include <template/stateful_service.h>
+#include <template/stateful_proto_endpoint.h>
 #include <utils/math_utils.h>
 #include <utils/timing.h>
 #include <filesystem.h>
@@ -10,18 +12,19 @@
 
 #include <list>
 
-#if FT_ENABLED(USE_USS)
 #include <NewPing.h>
-#endif
 #include <peripherals/i2c_bus.h>
 #include <peripherals/imu.h>
 #include <peripherals/magnetometer.h>
 #include <peripherals/barometer.h>
 #include <peripherals/gesture.h>
 
+/*
+ * Ultrasonic Sensor Settings
+ */
 #define MAX_DISTANCE 200
 
-class Peripherals {
+class Peripherals : public StatefulService<PeripheralsConfiguration> {
   public:
     Peripherals();
 
@@ -37,14 +40,21 @@ class Peripherals {
     void getIMUProto(socket_message_IMUData &data);
     void getSettingsProto(socket_message_PeripheralSettingsData &data);
 
+    /* IMU FUNCTIONS */
     bool readImu();
+
     bool readMag();
+
     bool readBMP();
+
     bool readGesture();
+
     void readSonar();
 
     float angleX();
+
     float angleY();
+
     float angleZ();
 
     gesture_t takeGesture();
@@ -54,18 +64,20 @@ class Peripherals {
 
     bool calibrateIMU();
 
+    StatefulProtoEndpoint<PeripheralsConfiguration, api_PeripheralSettings> protoEndpoint;
+
   private:
-    PeripheralsConfiguration _settings {};
-    SubscriptionHandle _settingsHandle;
+    FSPersistencePB<PeripheralsConfiguration> _persistence;
 
     SemaphoreHandle_t _accessMutex;
     inline void beginTransaction() { xSemaphoreTakeRecursive(_accessMutex, portMAX_DELAY); }
+
     inline void endTransaction() { xSemaphoreGiveRecursive(_accessMutex); }
 
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
     IMU _imu;
 #endif
-#if FT_ENABLED(USE_HMC5883)
+#if FT_ENABLED(USE_HMC5883) || FT_ENABLED(USE_ICM20948)
     Magnetometer _mag;
 #endif
 #if FT_ENABLED(USE_BMP180)
@@ -83,4 +95,4 @@ class Peripherals {
 
     std::list<uint8_t> addressList;
     bool i2c_active = false;
-};
+};

esp32/include/peripherals/sensor.hpp

@@ -3,7 +3,7 @@
 template <class T>
 class SensorBase {
   public:
-    virtual bool initialize() = 0;
+    virtual bool initialize(void* _arg) = 0;
     virtual bool update() = 0;
     virtual bool isActive() { return _msg.success; }
 

esp32/include/peripherals/servo_controller.h

@@ -2,10 +2,11 @@
 #define ServoController_h
 
 #include <peripherals/drivers/pca9685.h>
-#include <eventbus.hpp>
+#include <template/stateful_persistence_pb.h>
+#include <template/stateful_proto_endpoint.h>
+#include <template/stateful_service.h>
 #include <utils/math_utils.h>
 #include <platform_shared/api.pb.h>
-#include <platform_shared/message.pb.h>
 
 #ifndef FACTORY_SERVO_PWM_FREQUENCY
 #define FACTORY_SERVO_PWM_FREQUENCY 50
@@ -23,28 +24,41 @@ inline ServoSettings ServoSettings_defaults() {
     ServoSettings settings = {};
     settings.servos_count = 12;
     const api_Servo defaults[12] = {
-        {306, -1, 0, 2.0f, "Servo1"}, {306, 1, -45, 2.0f, "Servo2"},  {306, 1, 90, 2.0f, "Servo3"},
-        {306, -1, 0, 2.0f, "Servo4"}, {306, -1, 45, 2.0f, "Servo5"},  {306, -1, -90, 2.0f, "Servo6"},
-        {306, 1, 0, 2.0f, "Servo7"},  {306, 1, -45, 2.0f, "Servo8"},  {306, 1, 90, 2.0f, "Servo9"},
-        {306, 1, 0, 2.0f, "Servo10"}, {306, -1, 45, 2.0f, "Servo11"}, {306, -1, -90, 2.0f, "Servo12"}};
+        {306, -1, 0, 2.0f, "Servo1"},   {306, 1, -45, 2.0f, "Servo2"},
+        {306, 1, 90, 2.0f, "Servo3"}, {306, -1, 0, 2.0f, "Servo4"},
+        {306, -1, 45, 2.0f, "Servo5"}, {306, -1, -90, 2.0f, "Servo6"},
+        {306, 1, 0, 2.0f, "Servo7"},   {306, 1, -45, 2.0f, "Servo8"},
+        {306, 1, 90, 2.0f, "Servo9"}, {306, 1, 0, 2.0f, "Servo10"},
+        {306, -1, 45, 2.0f, "Servo11"}, {306, -1, -90, 2.0f, "Servo12"}
+    };
     for (int i = 0; i < 12; i++) {
         settings.servos[i] = defaults[i];
     }
     return settings;
 }
 
-class ServoController {
-  public:
-    void begin() {
-        _settings = EventBus::instance().peek<ServoSettings>();
-        initializePCA();
+inline void ServoSettings_read(const ServoSettings &settings, ServoSettings &proto) {
+    proto = settings;
+}
 
-        _settingsHandle =
-            EventBus::instance().subscribe<ServoSettings>([this](const ServoSettings& s) { _settings = s; });
-        servoPwmHandle_ = EventBus::instance().subscribe<socket_message_ServoPWMData>(
-            [this](const socket_message_ServoPWMData& data) { setServoPWM(data.servo_id, data.servo_pwm); });
-        servoStateHandle_ = EventBus::instance().subscribe<socket_message_ServoStateData>(
-            [this](const socket_message_ServoStateData& data) { data.active ? activate() : deactivate(); });
+inline StateUpdateResult ServoSettings_update(const ServoSettings &proto, ServoSettings &settings) {
+    settings = proto;
+    return StateUpdateResult::CHANGED;
+}
+
+class ServoController : public StatefulService<ServoSettings> {
+  public:
+    ServoController()
+        : protoEndpoint(ServoSettings_read, ServoSettings_update, this,
+                        API_REQUEST_EXTRACTOR(servo_settings, ServoSettings),
+                        API_RESPONSE_ASSIGNER(servo_settings, ServoSettings)),
+          _persistence(ServoSettings_read, ServoSettings_update, this,
+                       SERVO_SETTINGS_FILE, api_ServoSettings_fields, api_ServoSettings_size,
+                       ServoSettings_defaults()) {}
+
+    void begin() {
+        _persistence.readFromFS();
+        initializePCA();
     }
 
     void pcaWrite(int index, int value) {
@@ -95,7 +109,7 @@ class ServoController {
         uint16_t pwms[12];
         for (int i = 0; i < 12; i++) {
             angles[i] = lerp(angles[i], target_angles[i], 0.1);
-            auto& servo = _settings.servos[i];
+            auto &servo = state().servos[i];
             float angle = servo.direction * angles[i] + servo.center_angle;
             uint16_t pwm = angle * servo.conversion + servo.center_pwm;
             pwms[i] = pwm = std::clamp<uint16_t>(pwm, 125, 600);
@@ -107,6 +121,8 @@ class ServoController {
         if (control_state == SERVO_CONTROL_STATE::ANGLE) calculatePWM();
     }
 
+    StatefulProtoEndpoint<ServoSettings, ServoSettings> protoEndpoint;
+
   private:
     void initializePCA() {
         _pca.begin();
@@ -114,8 +130,8 @@ class ServoController {
         _pca.setPWMFreq(FACTORY_SERVO_PWM_FREQUENCY);
         _pca.sleep();
     }
+    FSPersistencePB<ServoSettings> _persistence;
 
-    ServoSettings _settings {};
     PCA9685Driver _pca;
 
     SERVO_CONTROL_STATE control_state = SERVO_CONTROL_STATE::DEACTIVATED;
@@ -123,10 +139,6 @@ class ServoController {
     bool is_active {false};
     float angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
     float target_angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
-
-    SubscriptionHandle _settingsHandle;
-    SubscriptionHandle servoPwmHandle_;
-    SubscriptionHandle servoStateHandle_;
 };
 
 #endif

esp32/include/proto_event_storage.hpp

@@ -1,113 +0,0 @@
-#pragma once
-
-#include <eventbus.hpp>
-#include <pb_encode.h>
-#include <pb_decode.h>
-#include <esp_timer.h>
-#include <esp_log.h>
-#include <cstdio>
-#include <memory>
-
-template <typename ProtoMsg, ProtoMsg (*DefaultsFn)()>
-class ProtoEventStorage {
-  public:
-    ProtoEventStorage(const char* filename, const pb_msgdesc_t* descriptor, size_t maxSize, uint32_t debounceMs = 1000)
-        : _filename(filename), _descriptor(descriptor), _maxSize(maxSize), _debounceMs(debounceMs) {}
-
-    void begin() {
-        ProtoMsg loaded {};
-        loadOrDefault(loaded);
-        EventBus::instance().publish(loaded);
-
-        esp_timer_create_args_t timerArgs {};
-        timerArgs.callback = timerCallback;
-        timerArgs.arg = this;
-        timerArgs.dispatch_method = ESP_TIMER_TASK;
-        timerArgs.name = _filename;
-        esp_timer_create(&timerArgs, &_timer);
-
-        _handle = EventBus::instance().subscribe<ProtoMsg>([this](const ProtoMsg& msg) {
-            _pending = msg;
-            esp_timer_stop(_timer);
-            esp_timer_start_once(_timer, static_cast<uint64_t>(_debounceMs) * 1000);
-        });
-    }
-
-  private:
-    const char* _filename;
-    const pb_msgdesc_t* _descriptor;
-    size_t _maxSize;
-    uint32_t _debounceMs;
-    SubscriptionHandle _handle;
-    ProtoMsg _pending {};
-    esp_timer_handle_t _timer = nullptr;
-
-    static void timerCallback(void* arg) {
-        auto* self = static_cast<ProtoEventStorage*>(arg);
-        self->save(self->_pending);
-    }
-
-    void loadOrDefault(ProtoMsg& outMsg) {
-        FILE* file = fopen(_filename, "rb");
-        if (!file) {
-            ESP_LOGI("ProtoStorage", "No file %s, using defaults", _filename);
-            outMsg = DefaultsFn();
-            return;
-        }
-
-        fseek(file, 0, SEEK_END);
-        long tellResult = ftell(file);
-        fseek(file, 0, SEEK_SET);
-        if (tellResult < 0) {
-            ESP_LOGE("ProtoStorage", "ftell failed for %s", _filename);
-            fclose(file);
-            outMsg = DefaultsFn();
-            return;
-        }
-        size_t size = static_cast<size_t>(tellResult);
-
-        if (size == 0 || size > _maxSize) {
-            ESP_LOGW("ProtoStorage", "Invalid size %zu for %s (max %zu)", size, _filename, _maxSize);
-            fclose(file);
-            outMsg = DefaultsFn();
-            return;
-        }
-
-        auto buffer = std::make_unique<uint8_t[]>(size);
-        size_t read = fread(buffer.get(), 1, size, file);
-        fclose(file);
-        if (read != size) {
-            ESP_LOGE("ProtoStorage", "Read %zu/%zu from %s", read, size, _filename);
-            outMsg = DefaultsFn();
-            return;
-        }
-
-        pb_istream_t stream = pb_istream_from_buffer(buffer.get(), size);
-        if (!pb_decode(&stream, _descriptor, &outMsg)) {
-            ESP_LOGE("ProtoStorage", "Decode failed for %s", _filename);
-            outMsg = DefaultsFn();
-        }
-    }
-
-    void save(const ProtoMsg& msg) {
-        auto buffer = std::make_unique<uint8_t[]>(_maxSize);
-        pb_ostream_t stream = pb_ostream_from_buffer(buffer.get(), _maxSize);
-
-        if (!pb_encode(&stream, _descriptor, &msg)) {
-            ESP_LOGE("ProtoStorage", "Encode failed for %s", _filename);
-            return;
-        }
-
-        FILE* file = fopen(_filename, "wb");
-        if (!file) {
-            ESP_LOGE("ProtoStorage", "Open write failed for %s", _filename);
-            return;
-        }
-
-        size_t written = fwrite(buffer.get(), 1, stream.bytes_written, file);
-        fclose(file);
-        if (written != stream.bytes_written) {
-            ESP_LOGE("ProtoStorage", "Write failed for %s (%zu/%zu)", _filename, written, stream.bytes_written);
-        }
-    }
-};

esp32/include/settings/ap_settings.h

@@ -1,10 +1,12 @@
 #pragma once
 
-#include <wifi/wifi_idf.h>
-#include <wifi/dns_server.h>
+#include <WiFi.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
@@ -74,3 +76,12 @@ inline APSettings APSettings_defaults() {
     settings.subnet_mask = parseIPv4(FACTORY_AP_SUBNET_MASK);
     return 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/camera_settings.h

@@ -1,20 +1,15 @@
 #pragma once
 
-#include <sdkconfig.h>
+#include <template/state_result.h>
 #include <platform_shared/api.pb.h>
-
-#if !CONFIG_IDF_TARGET_ESP32P4
 #include <esp_camera.h>
-#else
-#define PIXFORMAT_JPEG 0
-#define FRAMESIZE_VGA 0
-#define GAINCEILING_2X 0
-#endif
 
 namespace Camera {
 
+// Use proto type directly as settings type
 using CameraSettings = api_CameraSettings;
 
+// Default factory settings
 inline CameraSettings CameraSettings_defaults() {
     CameraSettings settings = api_CameraSettings_init_zero;
     settings.pixformat = PIXFORMAT_JPEG;
@@ -50,4 +45,14 @@ inline CameraSettings CameraSettings_defaults() {
     return settings;
 }
 
+// Proto read/update are identity functions since type is the same
+inline void CameraSettings_read(const CameraSettings& settings, CameraSettings& proto) {
+    proto = settings;
+}
+
+inline StateUpdateResult CameraSettings_update(const CameraSettings& proto, CameraSettings& settings) {
+    settings = proto;
+    return StateUpdateResult::CHANGED;
+}
+
 } // namespace Camera

esp32/include/settings/mdns_settings.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <template/state_result.h>
 #include <platform_shared/api.pb.h>
 #include <string>
 #include <cstring>
@@ -12,30 +13,45 @@
 #define FACTORY_MDNS_INSTANCE "ESP32 Device"
 #endif
 
+// Use proto types directly
 using MDNSTxtRecord = api_MDNSTxtRecord;
 using MDNSServiceDef = api_MDNSServiceDef;
 using MDNSSettings = api_MDNSSettings;
 using MDNSStatus = api_MDNSStatus;
 
+// Default factory settings
 inline MDNSSettings MDNSSettings_defaults() {
     MDNSSettings settings = api_MDNSSettings_init_zero;
     strncpy(settings.hostname, FACTORY_MDNS_HOSTNAME, sizeof(settings.hostname) - 1);
     strncpy(settings.instance, FACTORY_MDNS_INSTANCE, sizeof(settings.instance) - 1);
 
+    // Default HTTP service
     settings.services_count = 2;
     strncpy(settings.services[0].service, "http", sizeof(settings.services[0].service) - 1);
     strncpy(settings.services[0].protocol, "tcp", sizeof(settings.services[0].protocol) - 1);
     settings.services[0].port = 80;
     settings.services[0].txt_records_count = 0;
 
+    // Default WS service
     strncpy(settings.services[1].service, "ws", sizeof(settings.services[1].service) - 1);
     strncpy(settings.services[1].protocol, "tcp", sizeof(settings.services[1].protocol) - 1);
     settings.services[1].port = 80;
     settings.services[1].txt_records_count = 0;
 
+    // Default global txt record
     settings.global_txt_records_count = 1;
     strncpy(settings.global_txt_records[0].key, "Firmware Version", sizeof(settings.global_txt_records[0].key) - 1);
     strncpy(settings.global_txt_records[0].value, APP_VERSION, sizeof(settings.global_txt_records[0].value) - 1);
 
     return settings;
 }
+
+// Proto read/update are identity functions since type is the same
+inline void MDNSSettings_read(const MDNSSettings& settings, MDNSSettings& proto) {
+    proto = settings;
+}
+
+inline StateUpdateResult MDNSSettings_update(const MDNSSettings& proto, MDNSSettings& settings) {
+    settings = proto;
+    return StateUpdateResult::CHANGED;
+}

esp32/include/settings/ntp_settings.h

@@ -1,3 +1,5 @@
+#include <Arduino.h>
+#include <template/state_result.h>
 #include <ArduinoJson.h>
 #include <string>
 
@@ -31,10 +33,11 @@ class NTPSettings {
         root["tz_format"] = settings.tzFormat.c_str();
     }
 
-    static void update(JsonVariant &root, NTPSettings &settings) {
+    static StateUpdateResult update(JsonVariant &root, NTPSettings &settings) {
         settings.enabled = root["enabled"] | FACTORY_NTP_ENABLED;
         settings.server = root["server"] | FACTORY_NTP_SERVER;
         settings.tzLabel = root["tz_label"] | FACTORY_NTP_TIME_ZONE_LABEL;
         settings.tzFormat = root["tz_format"] | FACTORY_NTP_TIME_ZONE_FORMAT;
+        return StateUpdateResult::CHANGED;
     }
 };

esp32/include/settings/peripherals_settings.h

@@ -1,12 +1,26 @@
 #pragma once
 
-#include <sdkconfig.h>
+#include <template/state_result.h>
 #include <platform_shared/api.pb.h>
-#include <global.h>
 
+/*
+ * I2C software connection
+ */
+#ifndef SDA_PIN
+#define SDA_PIN SDA
+#endif
+#ifndef SCL_PIN
+#define SCL_PIN SCL
+#endif
+#ifndef I2C_FREQUENCY
+#define I2C_FREQUENCY 400000UL
+#endif
+
+// Use proto types directly
 using PinConfig = api_PinConfig;
 using PeripheralsConfiguration = api_PeripheralSettings;
 
+// Default factory settings
 inline PeripheralsConfiguration PeripheralsConfiguration_defaults() {
     PeripheralsConfiguration settings = api_PeripheralSettings_init_zero;
     settings.sda = SDA_PIN;
@@ -15,3 +29,13 @@ inline PeripheralsConfiguration PeripheralsConfiguration_defaults() {
     settings.pins_count = 0;
     return settings;
 }
+
+// Proto read/update are identity functions since type is the same
+inline void PeripheralsConfiguration_read(const PeripheralsConfiguration& settings, PeripheralsConfiguration& proto) {
+    proto = settings;
+}
+
+inline StateUpdateResult PeripheralsConfiguration_update(const PeripheralsConfiguration& proto, PeripheralsConfiguration& settings) {
+    settings = proto;
+    return StateUpdateResult::CHANGED;
+}

esp32/include/settings/wifi_settings.h

@@ -1,6 +1,7 @@
 #pragma once
 
-#include <wifi/wifi_idf.h>
+#include <WiFi.h>
+#include <template/state_result.h>
 #include <platform_shared/api.pb.h>
 #include <cstring>
 
@@ -41,10 +42,18 @@ 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;
     }
     return settings;
 }
+
+inline void WiFiSettings_read(const WiFiSettings &settings, WiFiSettings &proto) {
+    proto = settings;
+}
+
+inline StateUpdateResult WiFiSettings_update(const WiFiSettings &proto, WiFiSettings &settings) {
+    settings = proto;
+    return StateUpdateResult::CHANGED;
+}

esp32/include/system_service.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include <mdns.h>
+#include <ESPmDNS.h>
 #include <esp_http_server.h>
-#include <wifi/wifi_idf.h>
+#include <WiFi.h>
 #include <filesystem.h>
 #include <global.h>
 #include <esp_timer.h>
@@ -12,18 +12,15 @@
 
 #include "platform_shared/message.pb.h"
 
-class WebServer;
-
 namespace system_service {
 esp_err_t handleReset(httpd_req_t *request);
 esp_err_t handleRestart(httpd_req_t *request);
 esp_err_t handleSleep(httpd_req_t *request);
 
-void registerRoutes(WebServer &server);
-
 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/state_result.h

@@ -0,0 +1,7 @@
+#pragma once
+
+enum class StateUpdateResult {
+    CHANGED = 0, // The update changed the state and propagation should take place if required
+    UNCHANGED,   // The state was unchanged, propagation should not take place
+    ERROR        // There was a problem updating the state, propagation should not take place
+};

esp32/include/template/stateful_endpoint.h

@@ -0,0 +1,47 @@
+#pragma once
+
+#include <esp_http_server.h>
+#include <ArduinoJson.h>
+#include <template/stateful_service.h>
+#include <communication/webserver.h>
+
+#include <functional>
+
+#define HTTP_ENDPOINT_ORIGIN_ID "http"
+#define HTTPS_ENDPOINT_ORIGIN_ID "https"
+
+template <class T>
+class StatefulHttpEndpoint {
+  protected:
+    JsonStateReader<T> _stateReader;
+    JsonStateUpdater<T> _stateUpdater;
+    StatefulService<T> *_statefulService;
+
+  public:
+    StatefulHttpEndpoint(JsonStateReader<T> stateReader, JsonStateUpdater<T> stateUpdater,
+                         StatefulService<T> *statefulService)
+        : _stateReader(stateReader), _stateUpdater(stateUpdater), _statefulService(statefulService) {}
+
+    esp_err_t handleStateUpdate(httpd_req_t *request, JsonVariant &json) {
+        JsonVariant jsonObject = json.as<JsonVariant>();
+        StateUpdateResult outcome = _statefulService->updateWithoutPropagation(jsonObject, _stateUpdater);
+
+        if (outcome == StateUpdateResult::ERROR) {
+            return WebServer::sendError(request, 400, "Invalid state");
+        } else if ((outcome == StateUpdateResult::CHANGED)) {
+            _statefulService->callUpdateHandlers(HTTP_ENDPOINT_ORIGIN_ID);
+        }
+
+        JsonDocument doc;
+        JsonVariant root = doc.to<JsonVariant>();
+        _statefulService->read(root, _stateReader);
+        return WebServer::sendJson(request, 200, doc);
+    }
+
+    esp_err_t getState(httpd_req_t *request) {
+        JsonDocument doc;
+        JsonVariant root = doc.to<JsonVariant>();
+        _statefulService->read(root, _stateReader);
+        return WebServer::sendJson(request, 200, doc);
+    }
+};

esp32/include/template/stateful_persistence.h

@@ -0,0 +1,120 @@
+#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>
+
+template <class T>
+class FSPersistence {
+  public:
+    FSPersistence(JsonStateReader<T> stateReader, JsonStateUpdater<T> stateUpdater, StatefulService<T> *statefulService,
+                  const char *filePath)
+        : _stateReader(stateReader),
+          _stateUpdater(stateUpdater),
+          _statefulService(statefulService),
+          _filePath(filePath),
+          _updateHandlerId(0) {
+        enableUpdateHandler();
+    }
+
+    void readFromFS() {
+        File settingsFile = _fs->open(_filePath, "r");
+
+        if (settingsFile) {
+            JsonDocument jsonDocument;
+            DeserializationError error = deserializeJson(jsonDocument, settingsFile);
+            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();
+    }
+
+    bool writeToFS() {
+        JsonDocument jsonDocument;
+        JsonVariant jsonObject = jsonDocument.to<JsonVariant>();
+        _statefulService->read(jsonObject, _stateReader);
+
+        mkdirs();
+
+        File file = _fs->open(_filePath, "w");
+
+        if (!file) return false;
+
+        serializeJson(jsonDocument, file);
+        file.close();
+        return true;
+    }
+
+    void disableUpdateHandler() {
+        if (_updateHandlerId) {
+            _statefulService->removeUpdateHandler(_updateHandlerId);
+            _updateHandlerId = 0;
+        }
+    }
+
+    void enableUpdateHandler() {
+        if (!_updateHandlerId) {
+            _updateHandlerId = _statefulService->addUpdateHandler([&](const std::string &originId) { writeToFS(); });
+        }
+    }
+
+  private:
+    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());
+        }
+    }
+
+  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>();
+        _statefulService->updateWithoutPropagation(jsonObject, _stateUpdater);
+    }
+};
+
+#endif // end FSPersistence

esp32/include/template/stateful_persistence_pb.h

@@ -0,0 +1,144 @@
+#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>
+
+/**
+ * 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&)>;
+
+    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),
+          _filePath(filePath),
+          _msgDescriptor(msgDescriptor),
+          _maxSize(maxSize),
+          _defaultState(defaultState),
+          _updateHandlerId(0) {
+        enableUpdateHandler();
+    }
+
+    void readFromFS() {
+        File file = _fs->open(_filePath, "r");
+
+        if (file) {
+            size_t fileSize = file.size();
+            if (fileSize > 0 && fileSize <= _maxSize) {
+                uint8_t *buffer = new uint8_t[fileSize];
+                size_t bytesRead = file.read(buffer, fileSize);
+                file.close();
+
+                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);
+
+                    if (pb_decode(&stream, _msgDescriptor, protoMsg)) {
+                        _statefulService->updateWithoutPropagation(
+                            [this, protoMsg](T &state) { return _stateUpdater(*protoMsg, state); });
+                        delete protoMsg;
+                        delete[] buffer;
+                        return;
+                    }
+                    delete protoMsg;
+                }
+                delete[] buffer;
+            } else {
+                file.close();
+            }
+        }
+
+        applyDefaults();
+        writeToFS();
+    }
+
+    bool writeToFS() {
+        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); });
+
+        bool encodeSuccess = pb_encode(&stream, _msgDescriptor, protoMsg);
+        delete protoMsg;
+
+        if (!encodeSuccess) {
+            delete[] buffer;
+            return false;
+        }
+
+        mkdirs();
+
+        File file = _fs->open(_filePath, "w");
+        if (!file) {
+            delete[] buffer;
+            return false;
+        }
+
+        size_t written = file.write(buffer, stream.bytes_written);
+        file.close();
+        delete[] buffer;
+
+        return written == stream.bytes_written;
+    }
+
+    void disableUpdateHandler() {
+        if (_updateHandlerId) {
+            _statefulService->removeUpdateHandler(_updateHandlerId);
+            _updateHandlerId = 0;
+        }
+    }
+
+    void enableUpdateHandler() {
+        if (!_updateHandlerId) {
+            _updateHandlerId = _statefulService->addUpdateHandler(
+                [&](const std::string &originId) { writeToFS(); });
+        }
+    }
+
+  private:
+    ProtoStateReader _stateReader;
+    ProtoStateUpdater _stateUpdater;
+    StatefulService<T> *_statefulService;
+    FS *_fs{&ESP_FS};
+    const char *_filePath;
+    const pb_msgdesc_t *_msgDescriptor;
+    size_t _maxSize;
+    T _defaultState;
+    HandlerId _updateHandlerId;
+
+    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());
+        }
+    }
+
+  protected:
+    void applyDefaults() {
+        _statefulService->updateWithoutPropagation(
+            [this](T &state) { return _stateUpdater(_defaultState, state); });
+    }
+};

esp32/include/template/stateful_proto_endpoint.h

@@ -0,0 +1,135 @@
+#pragma once
+
+#include <esp_http_server.h>
+#include <template/stateful_service.h>
+#include <communication/webserver.h>
+#include <platform_shared/api.pb.h>
+#include <pb_encode.h>
+#include <pb_decode.h>
+
+#include <functional>
+
+#define PROTO_ENDPOINT_ORIGIN_ID "proto"
+
+/**
+ * A stateful HTTP endpoint that uses protobuf encoding with api::Request/Response wrappers.
+ *
+ * @tparam T The internal state type (e.g., APSettings C++ class)
+ * @tparam ProtoT The protobuf message type within the oneof (e.g., api_APSettings)
+ *
+ * The endpoint receives api::Request, extracts the specific payload from the oneof,
+ * and returns api::Response with the updated state.
+ */
+template <class T, class ProtoT>
+class StatefulProtoEndpoint {
+  public:
+    /** Converts internal state to protobuf message for responses */
+    // 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&, ProtoT&)>;
+    /** Converts incoming protobuf message to internal state */
+    // 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 ProtoT&, T&)>;
+    /** Extracts the specific proto type from Request oneof */
+    using RequestExtractor = std::function<bool(const api_Request&, ProtoT&)>;
+    /** Assigns the specific proto type to Response oneof */
+    using ResponseAssigner = std::function<void(api_Response&, const ProtoT&)>;
+
+  protected:
+    ProtoStateReader _stateReader;
+    ProtoStateUpdater _stateUpdater;
+    StatefulService<T>* _statefulService;
+    RequestExtractor _requestExtractor;
+    ResponseAssigner _responseAssigner;
+
+  public:
+    /**
+     * Constructor for wrapped proto endpoint
+     * @param stateReader Converts internal state to proto
+     * @param stateUpdater Converts proto to internal state
+     * @param statefulService The stateful service to manage
+     * @param requestExtractor Extracts specific type from Request oneof
+     * @param responseAssigner Assigns specific type to Response oneof
+     */
+    StatefulProtoEndpoint(ProtoStateReader stateReader, ProtoStateUpdater stateUpdater,
+                          StatefulService<T>* statefulService,
+                          RequestExtractor requestExtractor, ResponseAssigner responseAssigner)
+        : _stateReader(stateReader),
+          _stateUpdater(stateUpdater),
+          _statefulService(statefulService),
+          _requestExtractor(requestExtractor),
+          _responseAssigner(responseAssigner) {}
+
+    /**
+     * Handles POST requests: extracts payload from pre-decoded Request, updates state, returns Response
+     */
+    esp_err_t handleStateUpdate(httpd_req_t* httpReq, api_Request* protoReq) {
+        ProtoT protoMsg = {};
+        if (!_requestExtractor(*protoReq, protoMsg)) {
+            return sendErrorResponse(httpReq, 400, "Invalid request type");
+        }
+
+        StateUpdateResult outcome = _statefulService->update(
+            [this, &protoMsg](T& settings) { return _stateUpdater(protoMsg, settings); }, PROTO_ENDPOINT_ORIGIN_ID);
+
+        if (outcome == StateUpdateResult::ERROR) {
+            return sendErrorResponse(httpReq, 400, "Invalid state");
+        }
+
+        return sendStateResponse(httpReq, 200);
+    }
+
+    /**
+     * Handles GET requests: reads current state and returns it as Response
+     */
+    esp_err_t getState(httpd_req_t* request) {
+        return sendStateResponse(request, 200);
+    }
+
+  private:
+    /** Sends current state wrapped in Response */
+    esp_err_t sendStateResponse(httpd_req_t* request, uint32_t statusCode) {
+        api_Response res = api_Response_init_zero;
+        res.status_code = statusCode;
+
+        ProtoT protoState = {};
+        _statefulService->read([this, &protoState](const T& settings) { _stateReader(settings, protoState); });
+        _responseAssigner(res, protoState);
+
+        return WebServer::send(request, 200, res, api_Response_fields);
+    }
+
+    /** Sends error wrapped in Response */
+    esp_err_t sendErrorResponse(httpd_req_t* request, uint32_t statusCode, const char* message) {
+        api_Response res = api_Response_init_zero;
+        res.status_code = statusCode;
+        res.error_message = (char*)message;
+        return WebServer::send(request, statusCode == 200 ? 200 : 400, res, api_Response_fields);
+    }
+};
+
+// =============================================================================
+// Helper macros for defining request extractors and response assigners
+// =============================================================================
+
+/**
+ * Creates a request extractor lambda for a specific payload type
+ * Usage: API_REQUEST_EXTRACTOR(ap_settings, api_APSettings)
+ */
+#define API_REQUEST_EXTRACTOR(field_name, proto_type)                              \
+    [](const api_Request& req, proto_type& out) -> bool {                          \
+        if (req.which_payload == api_Request_##field_name##_tag) {                 \
+            out = req.payload.field_name;                                          \
+            return true;                                                           \
+        }                                                                          \
+        return false;                                                              \
+    }
+
+/**
+ * Creates a response assigner lambda for a specific payload type
+ * Usage: API_RESPONSE_ASSIGNER(ap_settings, api_APSettings)
+ */
+#define API_RESPONSE_ASSIGNER(field_name, proto_type)                              \
+    [](api_Response& res, const proto_type& data) {                                \
+        res.which_payload = api_Response_##field_name##_tag;                       \
+        res.payload.field_name = data;                                             \
+    }

esp32/include/template/stateful_service.h

@@ -0,0 +1,159 @@
+#pragma once
+
+#include <Arduino.h>
+#include <ArduinoJson.h>
+
+#include <list>
+#include <functional>
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+#include <string>
+
+#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
+    HandlerId id_;
+    bool allowRemove_;
+
+    HandlerBase(bool allowRemove) : id_(nextId_++), allowRemove_(allowRemove) {}
+
+  public:
+    HandlerId getId() const { return id_; }
+    bool isRemovable() const { return allowRemove_; }
+};
+
+class UpdateHandler : public HandlerBase {
+    StateUpdateCallback callback_;
+
+  public:
+    UpdateHandler(StateUpdateCallback callback, bool allowRemove)
+        : HandlerBase(allowRemove), callback_(std::move(callback)) {}
+
+    void invoke(const std::string &originId) const { callback_(originId); }
+};
+
+class HookHandler : public HandlerBase {
+    StateHookCallback callback_;
+
+  public:
+    HookHandler(StateHookCallback callback, bool allowRemove)
+        : HandlerBase(allowRemove), callback_(std::move(callback)) {}
+
+    void invoke(const std::string &originId, StateUpdateResult &result) const { callback_(originId, result); }
+};
+
+template <class T>
+class StatefulService {
+  public:
+    template <typename... Args>
+    StatefulService(Args &&...args) : state_(std::forward<Args>(args)...), mutex_(xSemaphoreCreateRecursiveMutex()) {}
+
+    HandlerId addUpdateHandler(StateUpdateCallback callback, bool allowRemove = true) {
+        if (!callback) return 0;
+
+        updateHandlers_.emplace_back(std::move(callback), allowRemove);
+        return updateHandlers_.back().getId();
+    }
+
+    void removeUpdateHandler(HandlerId id) {
+        updateHandlers_.remove_if(
+            [id](const UpdateHandler &handler) { return handler.isRemovable() && handler.getId() == id; });
+    }
+
+    HandlerId addHookHandler(StateHookCallback callback, bool allowRemove = true) {
+        if (!callback) return 0;
+
+        hookHandlers_.emplace_back(std::move(callback), allowRemove);
+        return hookHandlers_.back().getId();
+    }
+
+    void removeHookHandler(HandlerId id) {
+        hookHandlers_.remove_if(
+            [id](const HookHandler &handler) { return handler.isRemovable() && handler.getId() == id; });
+    }
+
+    StateUpdateResult update(std::function<StateUpdateResult(T &)> stateUpdater, const std::string &originId) {
+        lock();
+        StateUpdateResult result = stateUpdater(state_);
+        unlock();
+        notifyStateChange(originId, result);
+        return result;
+    }
+
+    StateUpdateResult updateWithoutPropagation(std::function<StateUpdateResult(T &)> stateUpdater) {
+        lock();
+        StateUpdateResult result = stateUpdater(state_);
+        unlock();
+        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 callUpdateHandlers(const std::string &originId) {
+        for (const UpdateHandler &updateHandler : updateHandlers_) {
+            updateHandler.invoke(originId);
+        }
+    }
+
+    void callHookHandlers(const std::string &originId, StateUpdateResult &result) {
+        for (const HookHandler &hookHandler : hookHandlers_) {
+            hookHandler.invoke(originId, result);
+        }
+    }
+
+    T &state() { return state_; }
+
+  private:
+    T state_;
+
+    inline void lock() { xSemaphoreTakeRecursive(mutex_, portMAX_DELAY); }
+    inline void unlock() { xSemaphoreGiveRecursive(mutex_); }
+
+    void notifyStateChange(const std::string &originId, StateUpdateResult &result) {
+        callHookHandlers(originId, result);
+        if (result == StateUpdateResult::CHANGED) {
+            callUpdateHandlers(originId);
+        }
+    }
+
+    SemaphoreHandle_t mutex_;
+    std::list<UpdateHandler> updateHandlers_;
+    std::list<HookHandler> hookHandlers_;
+};

esp32/include/utils/ip_address.h

@@ -1,76 +0,0 @@
-#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

@@ -40,6 +40,51 @@
         last_time = esp_timer_get_time() / 1000;                             \
     }
 
+#define CALLS_PER_SECOND_TIMED_START_TICK(name, function)                        \
+    static uint64_t name##_##function##_start = 0;                           \
+    static uint64_t name##_##function##_total_time = 0;                      \
+    static uint64_t name##_##function##_call_count = 0;                      \
+    name##_##function##_start = esp_timer_get_time();
+
+#define CALLS_PER_SECOND_TIMED_END_TICK(name, function)                          \
+    name##_##function##_total_time += (esp_timer_get_time() - name##_##function##_start); \
+    name##_##function##_call_count++;
+
+#define CALLS_PER_SECOND_TIMED_CALL(name, function, call)                        \
+    static uint64_t name##_##function##_total_time = 0;                          \
+    static uint64_t name##_##function##_call_count = 0;                          \
+    do {                                                                         \
+        uint64_t name##_##function##_start = esp_timer_get_time();               \
+        call;                                                                    \
+        name##_##function##_total_time += (esp_timer_get_time() - name##_##function##_start); \
+        name##_##function##_call_count++;                                        \
+    } while (0)
+
+#define CALLS_PER_SECOND_TIMED_FUNC_PRINT(name, function)                        \
+    if (name##_##function##_call_count > 0) {                                    \
+        uint64_t avg = name##_##function##_total_time / name##_##function##_call_count; \
+        if (avg < 1000) {                                                        \
+            ESP_LOGI("Timing", "  %s: %llu us (avg over %llu calls)",            \
+                     #function, avg, name##_##function##_call_count);            \
+        } else {                                                                 \
+            ESP_LOGI("Timing", "  %s: %llu ms (avg over %llu calls)",            \
+                     #function, avg / 1000, name##_##function##_call_count);     \
+        }                                                                        \
+        name##_##function##_total_time = 0;                                      \
+        name##_##function##_call_count = 0;                                      \
+    }
+
+#define CALLS_PER_SECOND_TIMED(name, ...)                                        \
+    do {                                                                         \
+        static uint64_t name##_last_print = 0;                                   \
+        uint64_t name##_current_time = esp_timer_get_time() / 1000;              \
+        if (name##_current_time - name##_last_print >= 1000) {                   \
+            ESP_LOGI("Timing", "=== %s Average Timings ===", #name);             \
+            __VA_ARGS__                                                          \
+            name##_last_print = name##_current_time;                             \
+        }                                                                        \
+    } while (0)
+
 #define WARN_IF_SLOW(name, period_ms)                                                                    \
     static uint64_t name##_slow_count = 0;                                                               \
     static uint64_t name##_slow_last_time = 0;                                                           \

esp32/include/wifi/dns_server.h

@@ -1,144 +0,0 @@
-#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

@@ -1,127 +0,0 @@
-#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

@@ -1,22 +1,35 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <wifi/wifi_idf.h>
-#include <mdns.h>
+#include <WiFi.h>
+#include <ESPmDNS.h>
 #include <string>
 
 #include <filesystem.h>
 #include <utils/timing.h>
-#include <eventbus.hpp>
+#include <template/stateful_service.h>
+#include <template/stateful_persistence_pb.h>
+#include <template/stateful_proto_endpoint.h>
 #include <settings/wifi_settings.h>
 
-class WebServer;
+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);
 
-#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
+    FSPersistencePB<WiFiSettings> _persistence;
+
+    void reconfigureWiFiConnection();
+    void manageSTA();
+    void connectToWiFi();
+    void configureNetwork(WiFiNetwork &network);
+
+    unsigned long _lastConnectionAttempt;
+    bool _stopping;
+
+    constexpr static uint16_t reconnectDelay {10000};
 
-class WiFiService {
   public:
     WiFiService();
     ~WiFiService();
@@ -25,30 +38,12 @@ class WiFiService {
     void loop();
 
     void setupMDNS(const char *hostname);
-    void selectNetwork(uint32_t index);
 
-    const char *getHostname() { return _settings.hostname; }
+    const char *getHostname() { return state().hostname; }
 
     static esp_err_t handleScan(httpd_req_t *request);
     static esp_err_t getNetworks(httpd_req_t *request);
     static esp_err_t getNetworkStatus(httpd_req_t *request);
 
-    void registerRoutes(WebServer &server);
-
-  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);
-
-    WiFiSettings _settings {};
-    SubscriptionHandle _settingsHandle;
-
-    void reconfigureWiFiConnection();
-    void manageSTA();
-    void configureNetwork(WiFiNetwork &network);
-
-    unsigned long _lastConnectionAttempt;
-    bool _stopping;
-
-    constexpr static uint16_t reconnectDelay {10000};
+    StatefulProtoEndpoint<WiFiSettings, api_WifiSettings> protoEndpoint;
 };

esp32/include/www_mount.hpp

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

esp32/partition_table/default_32MB.csv

@@ -1,8 +0,0 @@
-# Name,   Type, SubType, Offset,   Size, Flags
-# 32MB Flash partition table for ESP32-P4
-nvs,      data, nvs,     0x9000,   0x5000,
-otadata,  data, ota,     0xe000,   0x2000,
-app0,     app,  ota_0,   0x10000,  0xC80000,
-app1,     app,  ota_1,   0xC90000, 0xC80000,
-spiffs,   data, spiffs,  0x1910000,0x6E0000,
-coredump, data, coredump,0x1FF0000,0x10000,

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 <compat/pgmspace.h>\n\n")
+        f.write("#include <Arduino.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

@@ -1,36 +0,0 @@
-set(COMPONENT_REQUIRES
-    driver
-    esp_driver_i2c
-    esp_http_server
-    nvs_flash
-    esp_wifi
-    esp_event
-    esp_netif
-    mdns
-    esp_timer
-    esp_psram
-    spi_flash
-    littlefs
-    esp-dsp
-)
-
-if(IDF_TARGET STREQUAL "esp32p4")
-    list(APPEND COMPONENT_REQUIRES esp_wifi_remote esp_hosted esp_driver_cam esp_driver_isp esp_driver_jpeg espressif__esp_sccb_intf espressif__esp_cam_sensor)
-else()
-    list(APPEND COMPONENT_REQUIRES esp32-camera)
-endif()
-
-idf_component_register(
-    SRC_DIRS 
-        "."
-        "communication"
-        "peripherals"
-        "wifi"
-        "platform_shared"
-        "../../submodules/nanopb"
-    INCLUDE_DIRS 
-        "../include"
-        "../../submodules/nanopb"
-    REQUIRES
-        ${COMPONENT_REQUIRES}
-)

esp32/src/ap_service.cpp

@@ -3,25 +3,20 @@
 
 static const char *TAG = "APService";
 
-APService::APService() : _dnsServer(nullptr), _lastManaged(0), _reconfigureAp(false), _recoveryMode(false) {}
-
-APService::~APService() {
-    if (_dnsServer) {
-        delete _dnsServer;
-        _dnsServer = nullptr;
-    }
+APService::APService()
+    : 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()) {
+    addUpdateHandler([&](const std::string &originId) { reconfigureAP(); }, false);
 }
 
+APService::~APService() {}
+
 void APService::begin() {
-    _settings = EventBus::instance().peek<APSettings>();
-    _settingsHandle = EventBus::instance().subscribe<APSettings>([this](const APSettings &s) {
-        _settings = s;
-        reconfigureAP();
-    });
-}
-
-void APService::registerRoutes(WebServer &s) {
-    s.on("/api/ap/status", HTTP_GET, [this](httpd_req_t *request) { return getStatusProto(request); });
+    _persistence.readFromFS();
 }
 
 esp_err_t APService::getStatusProto(httpd_req_t *request) {
@@ -35,16 +30,16 @@ 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());
-    std::string mac = WiFi.softAPmacAddress();
+    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() {
-    wifi_mode_t currentWiFiMode = WiFi.getMode();
-    bool apActive = currentWiFiMode == WIFI_MODE_AP || currentWiFiMode == WIFI_MODE_APSTA;
-    if (apActive && _settings.provision_mode != AP_MODE_ALWAYS && WiFi.status() == WL_CONNECTED) {
+    WiFiMode_t currentWiFiMode = WiFi.getMode();
+    bool apActive = currentWiFiMode == WIFI_AP || currentWiFiMode == WIFI_AP_STA;
+    if (apActive && state().provision_mode != AP_MODE_ALWAYS && WiFi.status() == WL_CONNECTED) {
         return LINGERING;
     }
     return apActive ? ACTIVE : INACTIVE;
@@ -69,13 +64,13 @@ void APService::loop() {
 }
 
 void APService::manageAP() {
-    wifi_mode_t currentWiFiMode = WiFi.getMode();
-    if (_settings.provision_mode == AP_MODE_ALWAYS ||
-        (_settings.provision_mode == AP_MODE_DISCONNECTED && WiFi.status() != WL_CONNECTED) || _recoveryMode) {
-        if (_reconfigureAp || currentWiFiMode == WIFI_MODE_NULL || currentWiFiMode == WIFI_MODE_STA) {
+    WiFiMode_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) {
             startAP();
         }
-    } else if ((currentWiFiMode == WIFI_MODE_AP || currentWiFiMode == WIFI_MODE_APSTA) &&
+    } else if ((currentWiFiMode == WIFI_AP || currentWiFiMode == WIFI_AP_STA) &&
                (_reconfigureAp || !WiFi.softAPgetStationNum())) {
         stopAP();
     }
@@ -83,11 +78,11 @@ void APService::manageAP() {
 }
 
 void APService::startAP() {
-    ESP_LOGI(TAG, "Starting software access point: %s", _settings.ssid);
-    WiFi.softAPConfig(IPAddress(_settings.local_ip), IPAddress(_settings.gateway_ip), IPAddress(_settings.subnet_mask));
-    WiFi.softAP(_settings.ssid, _settings.password, _settings.channel, _settings.ssid_hidden, _settings.max_clients);
+    ESP_LOGI(TAG, "Starting software access point: %s", state().ssid);
+    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(8);
+    WiFi.setTxPower(WIFI_POWER_8_5dBm);
 #endif
     if (!_dnsServer) {
         IPAddress apIp = WiFi.softAPIP();
@@ -108,4 +103,8 @@ void APService::stopAP() {
     WiFi.softAPdisconnect(true);
 }
 
-void APService::handleDNS() {}
+void APService::handleDNS() {
+    if (_dnsServer) {
+        _dnsServer->processNextRequest();
+    }
+}

esp32/src/communication/webserver.cpp

@@ -278,7 +278,7 @@ 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/features.cpp

@@ -10,11 +10,14 @@ void printFeatureConfiguration() {
     ESP_LOGI("Features", "USE_CAMERA: %s", USE_CAMERA ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_MOTION: %s", USE_MOTION ? "enabled" : "disabled");
 
+    ESP_LOGI("Features", "USE_ICM20948: %s", USE_ICM20948 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_BNO055: %s", USE_BNO055 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_MPU6050: %s", USE_MPU6050 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_HMC5883: %s", USE_HMC5883 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_BMP180: %s", USE_BMP180 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_USS: %s", USE_USS ? "enabled" : "disabled");
+    ESP_LOGI("Features", "USE_PAJ7620U2: %s", USE_PAJ7620U2 ? "enabled" : "disabled");
+    
 
     ESP_LOGI("Features", "USE_PCA9685: %s", USE_PCA9685 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_WS2812: %s", USE_WS2812 ? "enabled" : "disabled");
@@ -27,8 +30,8 @@ void printFeatureConfiguration() {
 
 void features_request(const socket_message_FeaturesDataRequest& fd_req, socket_message_FeaturesDataResponse& fd_res) {
     fd_res.camera = USE_CAMERA ? true : false;
-    fd_res.imu = (USE_MPU6050 || USE_BNO055) ? true : false;
-    fd_res.mag = (USE_HMC5883 || USE_BNO055) ? true : false;
+    fd_res.imu = (USE_MPU6050 || USE_BNO055 || USE_ICM20948) ? true : false;
+    fd_res.mag = (USE_HMC5883 || USE_BNO055 || USE_ICM20948) ? true : false;
     fd_res.bmp = USE_BMP180 ? true : false;
     fd_res.sonar = USE_USS ? true : false;
     fd_res.servo = USE_PCA9685 ? true : false;

esp32/src/filesystem.cpp

@@ -3,38 +3,13 @@
 #include <vector>
 #include <cstring>
 #include "utils/string_utils.hpp"
-#include <esp_log.h>
-#include <pb_encode.h>
-#include <pb_decode.h>
 
-static const char *TAG = "FileSystem";
+static const char *TAG = "FileService";
 
 namespace FileSystem {
 
-void registerRoutes(WebServer &s) {
-    s.on("/api/config/*", HTTP_GET, [](httpd_req_t *request) { return getConfigFile(request); });
-    s.on("/api/files", HTTP_GET, [](httpd_req_t *request) { return getFilesProto(request); });
-    s.on("/api/files/delete", HTTP_POST, [](httpd_req_t *request, api_Request *protoReq) {
-        if (protoReq->which_payload != api_Request_file_delete_request_tag) {
-            return WebServer::sendError(request, 400, "Invalid request payload");
-        }
-        return handleDelete(request, protoReq->payload.file_delete_request);
-    });
-    s.on("/api/files/edit", HTTP_POST, [](httpd_req_t *request, api_Request *protoReq) {
-        if (protoReq->which_payload != api_Request_file_edit_request_tag) {
-            return WebServer::sendError(request, 400, "Invalid request payload");
-        }
-        return handleEdit(request, protoReq->payload.file_edit_request);
-    });
-    s.on("/api/files/mkdir", HTTP_POST, [](httpd_req_t *request, api_Request *protoReq) {
-        if (protoReq->which_payload != api_Request_file_mkdir_request_tag) {
-            return WebServer::sendError(request, 400, "Invalid request payload");
-        }
-        return mkdir(request, protoReq->payload.file_mkdir_request);
-    });
-}
-
-static std::vector<api_FileEntry *> allocatedEntries;
+// Storage for dynamically allocated FileEntry arrays
+static std::vector<api_FileEntry*> allocatedEntries;
 
 static void freeAllocatedEntries() {
     for (auto ptr : allocatedEntries) {
@@ -43,81 +18,67 @@ static void freeAllocatedEntries() {
     allocatedEntries.clear();
 }
 
-static void listFilesProtoRecursive(const std::string &directory, api_FileEntry *entry) {
-    DIR *dir = opendir(directory.c_str());
-    if (!dir) {
+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()) {
         entry->children_count = 0;
         entry->children = nullptr;
         return;
     }
 
-    std::vector<std::string> names;
-    std::vector<bool> isDirs;
-    std::vector<size_t> sizes;
-
-    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);
-        }
+    // First pass: count children
+    std::vector<File> files;
+    File file = root.openNextFile();
+    while (file) {
+        files.push_back(file);
+        file = root.openNextFile();
     }
-    closedir(dir);
 
-    if (names.empty()) {
+    if (files.empty()) {
         entry->children_count = 0;
         entry->children = nullptr;
         return;
     }
 
-    entry->children_count = names.size();
-    entry->children = new api_FileEntry[names.size()];
+    // Allocate children array
+    entry->children_count = files.size();
+    entry->children = new api_FileEntry[files.size()];
     allocatedEntries.push_back(entry->children);
 
-    for (size_t i = 0; i < names.size(); i++) {
+    // Fill children
+    for (size_t i = 0; i < files.size(); i++) {
         api_FileEntry &child = entry->children[i];
         memset(&child, 0, sizeof(child));
 
-        strncpy(child.name, names[i].c_str(), sizeof(child.name) - 1);
+        std::string name = std::string(files[i].name());
+        strncpy(child.name, name.c_str(), sizeof(child.name) - 1);
         child.name[sizeof(child.name) - 1] = '\0';
 
-        child.is_directory = isDirs[i];
+        child.is_directory = files[i].isDirectory();
         if (child.is_directory) {
-            std::string childPath = directory + "/" + names[i];
-            listFilesProtoRecursive(childPath, &child);
+            listFilesProto(name, &child);
         } else {
-            child.size = sizes[i];
+            child.size = files[i].size();
             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 = std::string(MOUNT_POINT) + path;
-    listFilesProtoRecursive(fullPath, entry);
-}
-
 esp_err_t getFilesProto(httpd_req_t *request) {
-    freeAllocatedEntries();
+    freeAllocatedEntries();  // Clean up any previous allocations
 
     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;
-    listFilesProtoRecursive(MOUNT_POINT, &rootEntry);
+    listFilesProto("/", &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);
@@ -125,146 +86,28 @@ esp_err_t getFilesProto(httpd_req_t *request) {
 
     esp_err_t result = WebServer::send(request, 200, res, api_Response_fields);
 
-    freeAllocatedEntries();
+    freeAllocatedEntries();  // Clean up after sending
     return result;
 }
 
-bool init() {
-    esp_vfs_littlefs_conf_t conf = {
-        .base_path = 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);
-
-    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(MOUNT_POINT);
+    std::string files = listFiles("/");
     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 = std::string(MOUNT_POINT) + "/config" + std::string(uri).substr(11);
-
-    if (!fileExists(path.c_str())) {
+    std::string path = "/config" + std::string(uri).substr(11);
+    if (!ESP_FS.exists(path.c_str())) {
         return WebServer::sendError(request, 404, "File not found");
     }
-
-    std::string content = readFile(path.c_str());
-    if (content.empty()) {
-        return WebServer::sendError(request, 500, "Failed to read file");
+    File file = ESP_FS.open(path.c_str(), "r");
+    if (!file) {
+        return WebServer::sendError(request, 500, "Failed to open 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")) {
@@ -276,11 +119,10 @@ esp_err_t getConfigFile(httpd_req_t *request) {
 }
 
 esp_err_t handleDelete(httpd_req_t *request, const api_FileDeleteRequest &req) {
-    std::string fullPath = std::string(MOUNT_POINT) + req.path;
-    ESP_LOGI(TAG, "Deleting file: %s", fullPath.c_str());
+    ESP_LOGI(TAG, "Deleting file: %s", req.path);
 
     api_Response res = api_Response_init_zero;
-    if (deleteFile(fullPath.c_str())) {
+    if (deleteFile(req.path)) {
         res.status_code = 200;
         res.which_payload = api_Response_empty_message_tag;
         return WebServer::send(request, 200, res, api_Response_fields);
@@ -290,11 +132,10 @@ esp_err_t handleDelete(httpd_req_t *request, const api_FileDeleteRequest &req) {
 }
 
 esp_err_t handleEdit(httpd_req_t *request, const api_FileEditRequest &req) {
-    std::string fullPath = std::string(MOUNT_POINT) + req.path;
-    ESP_LOGI(TAG, "Editing file: %s", fullPath.c_str());
+    ESP_LOGI(TAG, "Editing file: %s", req.path);
 
     api_Response res = api_Response_init_zero;
-    if (editFile(fullPath.c_str(), req.content->bytes, req.content->size)) {
+    if (editFile(req.path, 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);
@@ -303,57 +144,52 @@ esp_err_t handleEdit(httpd_req_t *request, const api_FileEditRequest &req) {
     }
 }
 
-bool deleteFile(const char *filename) { return remove(filename) == 0; }
+bool deleteFile(const char *filename) { return ESP_FS.remove(filename); }
 
 std::string listFiles(const std::string &directory, bool isRoot) {
-    DIR *dir = opendir(directory.c_str());
-    if (!dir) {
+    File root = ESP_FS.open(directory.find("/") == 0 ? directory.c_str() : ("/" + directory).c_str());
+    if (!root.isDirectory()) return "{}";
+
+    File file = root.openNextFile();
+    if (!file) {
         return isRoot ? "{ \"root\": {} }" : "{}";
     }
 
     std::string output = isRoot ? "{ \"root\": {" : "{";
-    bool first = true;
 
-    struct dirent *entry;
-    while ((entry = readdir(dir)) != nullptr) {
-        if (strcmp(entry->d_name, ".") == 0 || strcmp(entry->d_name, "..") == 0) {
-            continue;
+    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());
         }
 
-        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);
-            }
-        }
+        File next = root.openNextFile();
+        if (next) output += ", ";
+        file = next;
     }
 
-    closedir(dir);
-
     output += "}";
     if (isRoot) output += "}";
 
     return output;
 }
 
-bool editFile(const char *filename, const uint8_t *content, size_t size) { return writeFile(filename, content, size); }
+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 char *content) { return writeFile(filename, content); }
+    file.write(content, size);
+    file.close();
+    return true;
+}
 
 esp_err_t mkdir(httpd_req_t *request, const api_FileMkdirRequest &req) {
-    std::string fullPath = std::string(MOUNT_POINT) + req.path;
-    ESP_LOGI(TAG, "Creating directory: %s", fullPath.c_str());
+    ESP_LOGI(TAG, "Creating directory: %s", req.path);
 
     api_Response res = api_Response_init_zero;
-    if (mkdirRecursive(fullPath.c_str())) {
+    if (ESP_FS.mkdir(req.path)) {
         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

@@ -1,12 +1,9 @@
 #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>
 
 static const char* TAG = "FileSystemWS";
 
@@ -16,11 +13,6 @@ FileSystemHandler fsHandler;
 
 FileSystemHandler::FileSystemHandler() : transferIdCounter_(0) {}
 
-void FileSystemHandler::begin() {
-    uploadHandle_ = EventBus::instance().subscribe<socket_message_FSUploadData>(
-        [this](const socket_message_FSUploadData& data) { handleUploadData(data); });
-}
-
 void FileSystemHandler::setSendCallbacks(SendMetadataCallback sendMetadata, SendCallback sendData,
                                          SendCompleteCallback sendComplete,
                                          SendUploadCompleteCallback sendUploadComplete) {
@@ -37,7 +29,7 @@ void FileSystemHandler::cleanupExpiredTransfers() {
     while (dlIt != downloads_.end()) {
         if (now - dlIt->second.lastActivityTime > FS_TRANSFER_TIMEOUT_MS) {
             if (dlIt->second.file) {
-                fclose(dlIt->second.file);
+                dlIt->second.file.close();
             }
             ESP_LOGW(TAG, "Download %u timed out", dlIt->first);
 
@@ -61,9 +53,9 @@ void FileSystemHandler::cleanupExpiredTransfers() {
     while (ulIt != uploads_.end()) {
         if (now - ulIt->second.lastActivityTime > FS_TRANSFER_TIMEOUT_MS) {
             if (ulIt->second.file) {
-                fclose(ulIt->second.file);
+                ulIt->second.file.close();
             }
-            remove(ulIt->second.path.c_str());
+            ESP_FS.remove(ulIt->second.path.c_str());
             ESP_LOGW(TAG, "Upload %u timed out, deleted partial file", ulIt->first);
 
             if (sendUploadCompleteCallback_) {
@@ -85,11 +77,10 @@ void FileSystemHandler::cleanupExpiredTransfers() {
 socket_message_FSDeleteResponse FileSystemHandler::handleDelete(const socket_message_FSDeleteRequest& req) {
     socket_message_FSDeleteResponse response = socket_message_FSDeleteResponse_init_zero;
 
-    std::string path = std::string(MOUNT_POINT) + req.path;
+    std::string path(req.path);
     ESP_LOGI(TAG, "Delete request: %s", path.c_str());
 
-    struct stat st;
-    if (stat(path.c_str(), &st) != 0) {
+    if (!ESP_FS.exists(path.c_str())) {
         response.success = false;
         strncpy(response.error, "File or directory not found", sizeof(response.error) - 1);
         return response;
@@ -106,45 +97,41 @@ socket_message_FSDeleteResponse FileSystemHandler::handleDelete(const socket_mes
 }
 
 bool FileSystemHandler::deleteRecursive(const std::string& path) {
-    struct stat st;
-    if (stat(path.c_str(), &st) != 0) return false;
+    File file = ESP_FS.open(path.c_str());
+    if (!file) return false;
 
-    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 (file.isDirectory()) {
+        File child = file.openNextFile();
+        while (child) {
+            std::string childPath = std::string(child.name());
+            child.close();
             if (!deleteRecursive(childPath)) {
-                closedir(dir);
+                file.close();
                 return false;
             }
+            child = file.openNextFile();
         }
-        closedir(dir);
-        return rmdir(path.c_str()) == 0;
+        file.close();
+        return ESP_FS.rmdir(path.c_str());
     } else {
-        return remove(path.c_str()) == 0;
+        file.close();
+        return ESP_FS.remove(path.c_str());
     }
 }
 
 socket_message_FSMkdirResponse FileSystemHandler::handleMkdir(const socket_message_FSMkdirRequest& req) {
     socket_message_FSMkdirResponse response = socket_message_FSMkdirResponse_init_zero;
 
-    std::string path = std::string(MOUNT_POINT) + req.path;
+    std::string path(req.path);
     ESP_LOGI(TAG, "Mkdir request: %s", path.c_str());
 
-    struct stat st;
-    if (stat(path.c_str(), &st) == 0) {
+    if (ESP_FS.exists(path.c_str())) {
         response.success = false;
         strncpy(response.error, "Path already exists", sizeof(response.error) - 1);
         return response;
     }
 
-    if (FileSystem::mkdirRecursive(path.c_str())) {
+    if (ESP_FS.mkdir(path.c_str())) {
         response.success = true;
     } else {
         response.success = false;
@@ -155,40 +142,32 @@ socket_message_FSMkdirResponse FileSystemHandler::handleMkdir(const socket_messa
 }
 
 void FileSystemHandler::listDirectory(const std::string& path, socket_message_FSListResponse& response) {
-    DIR* dir = opendir(path.c_str());
-    if (!dir) {
+    File dir = ESP_FS.open(path.c_str());
+    if (!dir || !dir.isDirectory()) {
         return;
     }
 
-    struct dirent* entry;
+    File file = dir.openNextFile();
     int fileCount = 0;
     int dirCount = 0;
 
-    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)) {
+    while (file && fileCount < 20 && dirCount < 20) { // Limit to match protobuf max_count
+        if (file.isDirectory()) {
             if (dirCount < 20) {
-                strncpy(response.directories[dirCount].name, entry->d_name,
+                strncpy(response.directories[dirCount].name, file.name(),
                         sizeof(response.directories[dirCount].name) - 1);
                 dirCount++;
             }
         } else {
             if (fileCount < 20) {
-                strncpy(response.files[fileCount].name, entry->d_name, sizeof(response.files[fileCount].name) - 1);
-                response.files[fileCount].size = st.st_size;
+                strncpy(response.files[fileCount].name, file.name(), sizeof(response.files[fileCount].name) - 1);
+                response.files[fileCount].size = file.size();
                 fileCount++;
             }
         }
+        file = dir.openNextFile();
     }
 
-    closedir(dir);
     response.files_count = fileCount;
     response.directories_count = dirCount;
 }
@@ -196,15 +175,12 @@ 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 = std::string(MOUNT_POINT);
-    if (strlen(req.path) > 0 && req.path[0] != '\0') {
-        path += req.path;
-    }
+    std::string path(req.path);
+    if (path.empty()) path = "/";
 
     ESP_LOGI(TAG, "List request: %s", path.c_str());
 
-    struct stat st;
-    if (stat(path.c_str(), &st) != 0) {
+    if (!ESP_FS.exists(path.c_str())) {
         response.success = false;
         strncpy(response.error, "Path not found", sizeof(response.error) - 1);
         return response;
@@ -216,12 +192,14 @@ 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 = std::string(MOUNT_POINT) + req.path;
+    std::string path(req.path);
     ESP_LOGI(TAG, "Download request: %s", path.c_str());
 
-    struct stat st;
-    if (stat(path.c_str(), &st) != 0 || S_ISDIR(st.st_mode)) {
+    // Validate file exists
+    if (!ESP_FS.exists(path.c_str())) {
         if (sendMetadataCallback_) {
             socket_message_FSDownloadMetadata metadata = socket_message_FSDownloadMetadata_init_zero;
             metadata.success = false;
@@ -231,8 +209,8 @@ void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadReq
         return;
     }
 
-    FILE* file = fopen(path.c_str(), "rb");
-    if (!file) {
+    File file = ESP_FS.open(path.c_str(), "r");
+    if (!file || file.isDirectory()) {
         if (sendMetadataCallback_) {
             socket_message_FSDownloadMetadata metadata = socket_message_FSDownloadMetadata_init_zero;
             metadata.success = false;
@@ -242,7 +220,11 @@ void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadReq
         return;
     }
 
-    uint32_t fileSize = st.st_size;
+    // 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 chunkSize = FS_MAX_CHUNK_SIZE;
     uint32_t totalChunks = (fileSize + chunkSize - 1) / chunkSize;
     if (totalChunks == 0) totalChunks = 1;
@@ -272,8 +254,10 @@ 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)) {
-        taskYIELD();
+        // Keep sending until done or error
+        taskYIELD(); // Allow other tasks to run
     }
 }
 
@@ -296,7 +280,7 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
             sendCompleteCallback_(complete, state.clientId);
         }
 
-        fclose(state.file);
+        state.file.close();
         downloads_.erase(it);
         ESP_LOGI(TAG, "Download completed: %u", transferId);
         return false;
@@ -313,7 +297,7 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
         bytesToRead = state.fileSize - position;
     }
 
-    size_t bytesRead = fread(data->data.bytes, 1, bytesToRead, state.file);
+    size_t bytesRead = state.file.read(data->data.bytes, bytesToRead);
     if (bytesRead == 0 && bytesToRead > 0) {
         delete data;
         if (sendCompleteCallback_) {
@@ -326,7 +310,7 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
             sendCompleteCallback_(complete, state.clientId);
         }
 
-        fclose(state.file);
+        state.file.close();
         downloads_.erase(it);
         ESP_LOGE(TAG, "Download failed - read error: %u", transferId);
         return false;
@@ -344,40 +328,45 @@ 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 = std::string(MOUNT_POINT) + 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) {
+    if (freeSpace < req.file_size + 4096) { // 4KB safety margin
         response.success = false;
         strncpy(response.error, "Insufficient storage space", sizeof(response.error) - 1);
         return response;
     }
 
+    // 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);
-        struct stat st;
-        if (stat(parentDir.c_str(), &st) != 0) {
+        if (!ESP_FS.exists(parentDir.c_str())) {
             response.success = false;
             strncpy(response.error, "Parent directory does not exist", sizeof(response.error) - 1);
             return response;
         }
     }
 
-    FILE* file = fopen(path.c_str(), "wb");
+    File file = ESP_FS.open(path.c_str(), FILE_WRITE);
     if (!file) {
         response.success = false;
         strncpy(response.error, "Cannot open file for writing", sizeof(response.error) - 1);
         return response;
     }
 
+    file.setBufferSize(1000000);
+
     uint32_t transferId = generateTransferId();
 
     UploadState state;
@@ -413,15 +402,20 @@ 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) {
         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
     }
 
-    size_t bytesWritten = fwrite(req.data.bytes, 1, req.data.size, state.file);
+    // Write chunk data
+    size_t bytesWritten = state.file.write(req.data.bytes, req.data.size);
     if (bytesWritten != req.data.size) {
         state.hasError = true;
         state.errorMessage = "Failed to write chunk";
@@ -432,13 +426,15 @@ void FileSystemHandler::handleUploadData(const socket_message_FSUploadData& req)
     state.chunksReceived++;
     state.bytesReceived += bytesWritten;
 
+    // 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);
-        fflush(state.file);
+        state.file.flush();
     }
 
     ESP_LOGD(TAG, "Upload chunk %u/%u: %u bytes", state.chunksReceived, state.totalChunks, bytesWritten);
 
+    // Check if upload is complete
     if (state.chunksReceived >= state.totalChunks) {
         finalizeUpload(transferId, true);
     }
@@ -453,11 +449,11 @@ void FileSystemHandler::finalizeUpload(uint32_t transferId, bool success, const
     UploadState& state = it->second;
 
     if (state.file) {
-        fclose(state.file);
+        state.file.close();
     }
 
     if (!success) {
-        remove(state.path.c_str());
+        ESP_FS.remove(state.path.c_str());
         ESP_LOGW(TAG, "Upload failed, deleted partial file: %s", state.path.c_str());
     } else {
         ESP_LOGI(TAG, "Upload completed: %s (%u bytes)", state.path.c_str(), state.bytesReceived);
@@ -477,6 +473,8 @@ void FileSystemHandler::finalizeUpload(uint32_t transferId, bool success, const
     uploads_.erase(it);
 }
 
+// ===== TRANSFER CONTROL =====
+
 socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
     const socket_message_FSCancelTransfer& req) {
     socket_message_FSCancelTransferResponse response = socket_message_FSCancelTransferResponse_init_zero;
@@ -486,7 +484,7 @@ socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
     auto dlIt = downloads_.find(transferId);
     if (dlIt != downloads_.end()) {
         if (dlIt->second.file) {
-            fclose(dlIt->second.file);
+            dlIt->second.file.close();
         }
         downloads_.erase(dlIt);
         response.success = true;
@@ -497,9 +495,9 @@ socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
     auto ulIt = uploads_.find(transferId);
     if (ulIt != uploads_.end()) {
         if (ulIt->second.file) {
-            fclose(ulIt->second.file);
+            ulIt->second.file.close();
         }
-        remove(ulIt->second.path.c_str());
+        ESP_FS.remove(ulIt->second.path.c_str());
         uploads_.erase(ulIt);
         response.success = true;
         ESP_LOGI(TAG, "Upload cancelled: %u", transferId);
@@ -510,6 +508,4 @@ socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
     return response;
 }
 
-void FileSystemHandler::processPendingDownloads() {}
-
 } // namespace FileSystemWS

esp32/src/idf_component.yml

@@ -1,36 +0,0 @@
-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"
-    rules:
-      - if: "idf_version >=5.0.0"
-      - if: "target not in [esp32p4]"
-      
-  espressif/esp_wifi_remote:
-    version: ">=0.3.0"
-    rules:
-      - if: "target in [esp32p4]"
-      
-  espressif/esp_hosted:
-    version: ">=0.0.6"
-    rules:
-      - if: "target in [esp32p4]"
-
-  espressif/esp_cam_sensor:
-    version: ">=0.5.0"
-    rules:
-      - if: "target in [esp32p4]"

esp32/src/main.cpp

@@ -1,9 +1,6 @@
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-#include <esp_log.h>
-#include <nvs_flash.h>
-#include <wifi/wifi_idf.h>
-#include <mdns.h>
+#include <Arduino.h>
+#include <ESPmDNS.h>
+#include <WiFi.h>
 #include <map>
 
 #include <filesystem.h>
@@ -20,18 +17,10 @@
 #include <ap_service.h>
 #include <mdns_service.h>
 #include <system_service.h>
-#include <eventbus.hpp>
-#include <event_storage_manager.hpp>
-#include <event_types.h>
-#include <settings/camera_settings.h>
-
-#if CONFIG_IDF_TARGET_ESP32P4
-#include <esp_hosted.h>
-#endif
 
 #include <www_mount.hpp>
 
-Websocket wsSocket {server, "/api/ws"};
+Websocket socket {server, "/api/ws"};
 
 Peripherals peripherals;
 ServoController servoController;
@@ -48,40 +37,78 @@ MDNSService mdnsService;
 
 WiFiService wifiService;
 APService apService;
-EventStorageManager storageManager;
-
-static SubscriptionHandle modeHandle;
 
 void setupServer() {
-    server.config(50 + WWW_ASSETS_COUNT, 16384);
+    server.config(50 + WWW_ASSETS_COUNT, 32768);
     server.listen(80);
 
-    PROTO_ROUTE(server, "/api/servo/config", servo_settings, ServoSettings);
-    PROTO_ROUTE(server, "/api/wifi/sta/settings", wifi_settings, WiFiSettings);
-    PROTO_ROUTE(server, "/api/ap/settings", ap_settings, APSettings);
-    PROTO_ROUTE(server, "/api/peripherals/settings", peripheral_settings, PeripheralsConfiguration);
-#if FT_ENABLED(USE_MDNS)
-    PROTO_ROUTE(server, "/api/mdns/settings", mdns_settings, MDNSSettings);
-#endif
-#if FT_ENABLED(USE_CAMERA) && USE_DVP_CAMERA
-    PROTO_ROUTE(server, "/api/camera/settings", camera_settings, Camera::CameraSettings);
+    server.on("/api/system/reset", HTTP_POST,
+              [&](httpd_req_t *request, api_Request *protoReq) { return system_service::handleReset(request); });
+    server.on("/api/system/restart", HTTP_POST,
+              [&](httpd_req_t *request, api_Request *protoReq) { return system_service::handleRestart(request); });
+    server.on("/api/system/sleep", HTTP_POST,
+              [&](httpd_req_t *request, api_Request *protoReq) { return system_service::handleSleep(request); });
+#if USE_CAMERA
+    server.on("/api/camera/still", HTTP_GET, [&](httpd_req_t *request) { return cameraService.cameraStill(request); });
+    server.on("/api/camera/stream", HTTP_GET,
+              [&](httpd_req_t *request) { return cameraService.cameraStream(request); });
+    server.on("/api/camera/settings", HTTP_GET,
+              [&](httpd_req_t *request) { return cameraService.protoEndpoint.getState(request); });
+    server.on("/api/camera/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
+        return cameraService.protoEndpoint.handleStateUpdate(request, protoReq);
+    });
 #endif
+    server.on("/api/servo/config", HTTP_GET,
+              [&](httpd_req_t *request) { return servoController.protoEndpoint.getState(request); });
+    server.on("/api/servo/config", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
+        return servoController.protoEndpoint.handleStateUpdate(request, protoReq);
+    });
 
-    system_service::registerRoutes(server);
-    wifiService.registerRoutes(server);
-    apService.registerRoutes(server);
-#if FT_ENABLED(USE_MDNS)
-    mdnsService.registerRoutes(server);
-#endif
-#if FT_ENABLED(USE_CAMERA)
-    cameraService.registerRoutes(server);
-#endif
-    FileSystem::registerRoutes(server);
+    server.on("/api/wifi/sta/settings", HTTP_GET,
+              [&](httpd_req_t *request) { return wifiService.protoEndpoint.getState(request); });
+    server.on("/api/wifi/sta/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
+        return wifiService.protoEndpoint.handleStateUpdate(request, protoReq);
+    });
+    server.on("/api/wifi/scan", HTTP_GET, [&](httpd_req_t *request) { return wifiService.handleScan(request); });
+    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);
+                         });
+    
+    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);
+                   });
 
-    wsSocket.begin();
+#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/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);
+                   });
+#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);
 #if EMBED_WEBAPP
     mountStaticAssets(server);
-    mountSpaFallback(server);
 #endif
     server.on("/*", HTTP_OPTIONS, [](httpd_req_t *request) {
         httpd_resp_set_status(request, "200 OK");
@@ -96,26 +123,36 @@ void setupServer() {
 
 void setupEventSocket() {
     FileSystemWS::fsHandler.setSendCallbacks(
-        [](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); });
+        [](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); });
 
-    wsSocket.forward<socket_message_ControllerData>();
-    wsSocket.forward<socket_message_ModeData>();
-    wsSocket.forward<socket_message_WalkGaitData>();
-    wsSocket.forward<socket_message_AnglesData>();
-    wsSocket.forward<socket_message_ServoPWMData>();
-    wsSocket.forward<socket_message_ServoStateData>();
-    wsSocket.forward<socket_message_FSUploadData>();
+    socket.on<socket_message_ControllerData>(
+        [&](const socket_message_ControllerData &data, int clientId) { motionService.handleInput(data); });
 
-    modeHandle = EventBus::instance().subscribe<socket_message_ModeData>([&](const socket_message_ModeData &data) {
+    socket.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();
     });
 
-    FileSystemWS::fsHandler.begin();
+    socket.on<socket_message_WalkGaitData>(
+        [&](const socket_message_WalkGaitData &data, int clientId) { motionService.handleWalkGait(data); });
+
+    socket.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) {
+        servoController.setServoPWM(data.servo_id, data.servo_pwm);
+    });
+
+    socket.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); });
 
     using CorrelationHandler =
         std::function<void(const socket_message_CorrelationRequest &, socket_message_CorrelationResponse &, int)>;
@@ -188,7 +225,7 @@ void setupEventSocket() {
          }},
     };
 
-    wsSocket.on<socket_message_CorrelationRequest>([&](const socket_message_CorrelationRequest &data, int clientId) {
+    socket.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;
@@ -198,7 +235,7 @@ void setupEventSocket() {
         if (it != correlationHandlers.end()) {
             it->second(data, *res, clientId);
             if (res->status_code != 0) {
-                wsSocket.emit(*res, clientId);
+                socket.emit(*res, clientId);
             }
         } else {
             printf("WARNING: no handler for correlation request: %d\n", data.which_request);
@@ -211,18 +248,15 @@ void setupEventSocket() {
 void IRAM_ATTR SpotControlLoopEntry(void *) {
     ESP_LOGI("main", "Control task starting");
     TickType_t xLastWakeTime = xTaskGetTickCount();
-    const TickType_t xFrequency = pdMS_TO_TICKS(10);
+    const TickType_t xFrequency = 5 / portTICK_PERIOD_MS;
 
     peripherals.begin();
     servoController.begin();
     motionService.begin();
-#if FT_ENABLED(USE_WS2812)
-    ledService.begin();
-#endif
     peripherals.calibrateIMU();
 
     for (;;) {
-        WARN_IF_SLOW(SpotControlLoopEntry, 10);
+        WARN_IF_SLOW(SpotControlLoopEntry, 5);
         peripherals.update();
         motionService.update(&peripherals);
         servoController.setAngles(motionService.getAngles());
@@ -230,33 +264,22 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
 #if FT_ENABLED(USE_WS2812)
         ledService.loop();
 #endif
-        vTaskDelayUntil(&xLastWakeTime, xFrequency);
+        // CALLS_PER_SECOND_TIMED(SpotControlLoopEntry,
+        //     CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, peripherals_update)
+        //     CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, motionService_update)
+        //     CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, servoController_setAngles)
+        //     CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, servoController_update)
+        // );
+        // vTaskDelayUntil(&xLastWakeTime, xFrequency);
     }
 }
 
 void IRAM_ATTR serviceLoopEntry(void *) {
     ESP_LOGI("main", "Service task starting");
-#if CONFIG_IDF_TARGET_ESP32P4
-    ESP_LOGI("main", "Initializing ESP-Hosted for C6 coprocessor WiFi...");
-    int ret = esp_hosted_init();
-    if (ret != 0) {
-        ESP_LOGE("main", "ESP-Hosted init failed: %d", ret);
-    } else {
-        ESP_LOGI("main", "ESP-Hosted initialized, connecting to C6...");
-        ret = esp_hosted_connect_to_slave();
-        if (ret != 0) {
-            ESP_LOGW("main", "ESP-Hosted connect failed: %d - WiFi may not work", ret);
-        } else {
-            ESP_LOGI("main", "ESP-Hosted link established with C6");
-        }
-    }
-#endif
 
-    WiFi.init();
     wifiService.begin();
-    mdns_init();
-    mdns_hostname_set(APP_NAME);
-    mdns_instance_name_set(APP_NAME);
+    MDNS.begin(APP_NAME);
+    MDNS.setInstanceName(APP_NAME);
     apService.begin();
 
 #if FT_ENABLED(USE_CAMERA)
@@ -264,32 +287,33 @@ void IRAM_ATTR serviceLoopEntry(void *) {
 #endif
 
     setupServer();
+
+    socket.begin();
     setupEventSocket();
 
     ESP_LOGI("main", "Service task started");
-
     for (;;) {
         wifiService.loop();
         apService.loop();
 
         EXECUTE_EVERY_N_MS(2000, {
-            if (wsSocket.hasSubscribers(socket_message_Message_analytics_tag)) {
+            if (socket.hasSubscribers(socket_message_Message_analytics_tag)) {
                 socket_message_AnalyticsData analytics = socket_message_AnalyticsData_init_zero;
                 system_service::getAnalytics(analytics);
-                wsSocket.emit(analytics);
+                socket.emit(analytics);
             }
         });
 
         EXECUTE_EVERY_N_MS(100, {
-            if (wsSocket.hasSubscribers(socket_message_Message_imu_tag)) {
+            if (socket.hasSubscribers(socket_message_Message_imu_tag)) {
                 socket_message_IMUData imu = socket_message_IMUData_init_zero;
                 peripherals.getIMUProto(imu);
-                wsSocket.emit(imu);
+                socket.emit(imu);
             }
 
-            if (wsSocket.hasSubscribers(socket_message_Message_rssi_tag)) {
+            if (socket.hasSubscribers(socket_message_Message_rssi_tag)) {
                 socket_message_RSSIData rssi = {.rssi = WiFi.RSSI()};
-                wsSocket.emit(rssi);
+                socket.emit(rssi);
             }
         });
 
@@ -299,26 +323,18 @@ void IRAM_ATTR serviceLoopEntry(void *) {
     }
 }
 
-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();
-    storageManager.initialize();
+void setup() {
+    ESP_FS.begin();
 
     ESP_LOGI("main", "Booting robot");
 
     feature_service::printFeatureConfiguration();
 
-    xTaskCreate(serviceLoopEntry, "Service task", 8192, nullptr, 2, nullptr);
+    xTaskCreate(serviceLoopEntry, "Service task", 4096, nullptr, 2, nullptr);
 
-    xTaskCreatePinnedToCore(SpotControlLoopEntry, "Control task", 8192, nullptr, 5, nullptr, 1);
-
-    EventBus::instance().publish(SystemReadyEvent {});
+    xTaskCreatePinnedToCore(SpotControlLoopEntry, "Control task", 4096, nullptr, 5, nullptr, 1);
 
     ESP_LOGI("main", "Finished booting");
 }
+
+void loop() { vTaskDelete(nullptr); }

esp32/src/mdns_service.cpp

@@ -1,10 +1,17 @@
 #include <mdns_service.h>
 #include <communication/webserver.h>
-#include <esp_netif.h>
 
 static const char *TAG = "MDNSService";
 
-MDNSService::MDNSService() {}
+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()) {
+    addUpdateHandler([&](const std::string &originId) { reconfigureMDNS(); }, false);
+}
 
 MDNSService::~MDNSService() {
     if (_started) {
@@ -12,18 +19,8 @@ MDNSService::~MDNSService() {
     }
 }
 
-void MDNSService::registerRoutes(WebServer &s) {
-    s.on("/api/mdns/status", HTTP_GET, [this](httpd_req_t *request) { return getStatus(request); });
-    s.on("/api/mdns/query", HTTP_POST,
-         [this](httpd_req_t *request, api_Request *protoReq) { return queryServices(request, protoReq); });
-}
-
 void MDNSService::begin() {
-    _settings = EventBus::instance().peek<MDNSSettings>();
-    _settingsHandle = EventBus::instance().subscribe<MDNSSettings>([this](const MDNSSettings &s) {
-        _settings = s;
-        reconfigureMDNS();
-    });
+    _persistence.readFromFS();
     startMDNS();
 }
 
@@ -35,60 +32,43 @@ void MDNSService::reconfigureMDNS() {
 }
 
 void MDNSService::startMDNS() {
-    ESP_LOGV(TAG, "Starting MDNS with hostname: %s", _settings.hostname);
+    ESP_LOGV(TAG, "Starting MDNS with hostname: %s", state().hostname);
 
-    esp_err_t err = mdns_init();
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "Failed to initialize MDNS: %s", esp_err_to_name(err));
+    if (MDNS.begin(state().hostname)) {
+        _started = true;
+        MDNS.setInstanceName(state().instance);
+
+        addServices();
+
+        ESP_LOGI(TAG, "MDNS started successfully with hostname: %s", state().hostname);
+    } else {
         _started = false;
-        return;
+        ESP_LOGE(TAG, "Failed to start MDNS");
     }
-
-    err = mdns_hostname_set(_settings.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(_settings.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", _settings.hostname);
 }
 
 void MDNSService::stopMDNS() {
     ESP_LOGV(TAG, "Stopping MDNS");
-    mdns_free();
+    MDNS.end();
     _started = false;
 }
 
 void MDNSService::addServices() {
-    for (size_t i = 0; i < _settings.services_count; i++) {
-        const auto &service = _settings.services[i];
-        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 i = 0; i < state().services_count; i++) {
+        const auto &service = state().services[i];
+        MDNS.addService(service.service, service.protocol, service.port);
 
         for (size_t j = 0; j < service.txt_records_count; j++) {
             const auto &txt = service.txt_records[j];
-            mdns_service_txt_item_set(service.service, service.protocol, txt.key, txt.value);
+            MDNS.addServiceTxt(service.service, service.protocol, txt.key, txt.value);
         }
     }
 
-    for (size_t i = 0; i < _settings.global_txt_records_count; i++) {
-        const auto &txt = _settings.global_txt_records[i];
-        for (size_t j = 0; j < _settings.services_count; j++) {
-            const auto &service = _settings.services[j];
-            mdns_service_txt_item_set(service.service, service.protocol, txt.key, txt.value);
+    for (size_t i = 0; i < state().global_txt_records_count; i++) {
+        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);
         }
     }
 }
@@ -99,17 +79,17 @@ esp_err_t MDNSService::getStatus(httpd_req_t *request) {
 
     MDNSStatus &status = response.payload.mdns_status;
     status.started = _started;
-    strncpy(status.hostname, _settings.hostname, sizeof(status.hostname) - 1);
-    strncpy(status.instance, _settings.instance, sizeof(status.instance) - 1);
+    strncpy(status.hostname, state().hostname, sizeof(status.hostname) - 1);
+    strncpy(status.instance, state().instance, sizeof(status.instance) - 1);
 
-    status.services_count = _settings.services_count;
-    for (size_t i = 0; i < _settings.services_count; i++) {
-        status.services[i] = _settings.services[i];
+    status.services_count = state().services_count;
+    for (size_t i = 0; i < state().services_count; i++) {
+        status.services[i] = state().services[i];
     }
 
-    status.global_txt_records_count = _settings.global_txt_records_count;
-    for (size_t i = 0; i < _settings.global_txt_records_count; i++) {
-        status.global_txt_records[i] = _settings.global_txt_records[i];
+    status.global_txt_records_count = state().global_txt_records_count;
+    for (size_t i = 0; i < state().global_txt_records_count; i++) {
+        status.global_txt_records[i] = state().global_txt_records[i];
     }
 
     return WebServer::send(request, 200, response, api_Response_fields);
@@ -123,46 +103,22 @@ 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);
 
-    mdns_result_t *results = nullptr;
-    esp_err_t err = mdns_query_ptr(queryReq.service, queryReq.protocol, 3000, 20, &results);
+    int n = MDNS.queryService(queryReq.service, queryReq.protocol);
+    ESP_LOGI(TAG, "Found %d services", n);
 
     api_Response response = api_Response_init_zero;
     response.which_payload = api_Response_mdns_query_response_tag;
     api_MDNSQueryResponse &queryResp = response.payload.mdns_query_response;
 
-    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);
-
+    // Limit to max_count from options file (16)
+    size_t count = (n > 16) ? 16 : static_cast<size_t>(n);
     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);
+    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);
+    }
 
     return WebServer::send(request, 200, response, api_Response_fields);
 }

esp32/src/motion.cpp

@@ -1,15 +1,6 @@
 #include <motion.h>
 
-void MotionService::begin() {
-    body_state.updateFeet(KinConfig::default_feet_positions);
-
-    controllerHandle_ = EventBus::instance().subscribe<socket_message_ControllerData>(
-        [this](const socket_message_ControllerData& data) { handleInput(data); });
-    walkGaitHandle_ = EventBus::instance().subscribe<socket_message_WalkGaitData>(
-        [this](const socket_message_WalkGaitData& data) { handleWalkGait(data); });
-    anglesHandle_ = EventBus::instance().subscribe<socket_message_AnglesData>(
-        [this](const socket_message_AnglesData& data) { handleAngles(data); });
-}
+void MotionService::begin() { body_state.updateFeet(KinConfig::default_feet_positions); }
 
 void MotionService::handleAngles(const socket_message_AnglesData& data) {
     for (int i = 0; i < 12 && i < data.angles_count; i++) {

esp32/src/peripherals/camera_service.cpp

@@ -1,18 +1,13 @@
 #include <peripherals/camera_service.h>
 #include <communication/webserver.h>
-#include <esp_heap_caps.h>
 
 namespace Camera {
 
 static const char *const TAG = "CameraService";
 
-#if USE_DVP_CAMERA || USE_CSI_CAMERA
 static constexpr const char *_STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
 static constexpr const char *_STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
 static constexpr const char *_STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";
-#endif
-
-#if USE_DVP_CAMERA
 
 SemaphoreHandle_t cameraMutex = xSemaphoreCreateMutex();
 
@@ -35,17 +30,22 @@ sensor_t *safe_sensor_get() {
 
 void safe_sensor_return() { xSemaphoreGiveRecursive(cameraMutex); }
 
-CameraService::CameraService() {}
+CameraService::CameraService()
+    : protoEndpoint(CameraSettings_read, CameraSettings_update, this,
+                    API_REQUEST_EXTRACTOR(camera_settings, api_CameraSettings),
+                    API_RESPONSE_ASSIGNER(camera_settings, api_CameraSettings)),
+      _persistence(CameraSettings_read, CameraSettings_update, this,
+                   CAMERA_SETTINGS_FILE, api_CameraSettings_fields, api_CameraSettings_size,
+                   CameraSettings_defaults()) {
+    addUpdateHandler([&](const std::string &originId) { updateCamera(); }, false);
+}
 
 esp_err_t CameraService::begin() {
-    _settings = EventBus::instance().peek<CameraSettings>();
-    _settingsHandle = EventBus::instance().subscribe<CameraSettings>([this](const CameraSettings &s) {
-        _settings = s;
-        updateCamera();
-    });
+    _persistence.readFromFS();
     camera_config_t camera_config;
     camera_config.ledc_channel = LEDC_CHANNEL_0;
     camera_config.ledc_timer = LEDC_TIMER_0;
+#if FT_ENABLED(USE_CAMERA)
     camera_config.pin_d0 = Y2_GPIO_NUM;
     camera_config.pin_d1 = Y3_GPIO_NUM;
     camera_config.pin_d2 = Y4_GPIO_NUM;
@@ -62,10 +62,11 @@ esp_err_t CameraService::begin() {
     camera_config.pin_sccb_scl = SIOC_GPIO_NUM;
     camera_config.pin_pwdn = PWDN_GPIO_NUM;
     camera_config.pin_reset = RESET_GPIO_NUM;
+#endif
     camera_config.xclk_freq_hz = 20000000;
     camera_config.pixel_format = PIXFORMAT_JPEG;
 
-    if (heap_caps_get_total_size(MALLOC_CAP_SPIRAM) > 0) {
+    if (psramFound()) {
         camera_config.frame_size = FRAMESIZE_SVGA;
         camera_config.jpeg_quality = 10;
         camera_config.fb_location = CAMERA_FB_IN_PSRAM;
@@ -77,7 +78,7 @@ esp_err_t CameraService::begin() {
         camera_config.fb_count = 1;
     }
 
-    ESP_LOGI(TAG, "Initializing camera");
+    log_i("Initializing camera");
     esp_err_t err = esp_camera_init(&camera_config);
     if (err == ESP_OK)
         ESP_LOGI(TAG, "Camera probe successful");
@@ -152,500 +153,31 @@ void CameraService::updateCamera() {
         safe_sensor_return();
         return;
     }
-    s->set_pixformat(s, static_cast<pixformat_t>(_settings.pixformat));
-    s->set_framesize(s, static_cast<framesize_t>(_settings.framesize));
-    s->set_brightness(s, _settings.brightness);
-    s->set_contrast(s, _settings.contrast);
-    s->set_saturation(s, _settings.saturation);
-    s->set_sharpness(s, _settings.sharpness);
-    s->set_denoise(s, _settings.denoise);
-    s->set_gainceiling(s, static_cast<gainceiling_t>(_settings.gainceiling));
-    s->set_quality(s, _settings.quality);
-    s->set_colorbar(s, _settings.colorbar);
-    s->set_awb_gain(s, _settings.awb_gain);
-    s->set_wb_mode(s, _settings.wb_mode);
-    s->set_aec2(s, _settings.aec2);
-    s->set_ae_level(s, _settings.ae_level);
-    s->set_aec_value(s, _settings.aec_value);
-    s->set_agc_gain(s, _settings.agc_gain);
-    s->set_bpc(s, _settings.bpc);
-    s->set_wpc(s, _settings.wpc);
-    s->set_special_effect(s, _settings.special_effect);
-    s->set_raw_gma(s, _settings.raw_gma);
-    s->set_lenc(s, _settings.lenc);
-    s->set_hmirror(s, _settings.hmirror);
-    s->set_vflip(s, _settings.vflip);
-    s->set_dcw(s, _settings.dcw);
+    s->set_pixformat(s, static_cast<pixformat_t>(state().pixformat));
+    s->set_framesize(s, static_cast<framesize_t>(state().framesize));
+    s->set_brightness(s, state().brightness);
+    s->set_contrast(s, state().contrast);
+    s->set_saturation(s, state().saturation);
+    s->set_sharpness(s, state().sharpness);
+    s->set_denoise(s, state().denoise);
+    s->set_gainceiling(s, static_cast<gainceiling_t>(state().gainceiling));
+    s->set_quality(s, state().quality);
+    s->set_colorbar(s, state().colorbar);
+    s->set_awb_gain(s, state().awb_gain);
+    s->set_wb_mode(s, state().wb_mode);
+    s->set_aec2(s, state().aec2);
+    s->set_ae_level(s, state().ae_level);
+    s->set_aec_value(s, state().aec_value);
+    s->set_agc_gain(s, state().agc_gain);
+    s->set_bpc(s, state().bpc);
+    s->set_wpc(s, state().wpc);
+    s->set_special_effect(s, state().special_effect);
+    s->set_raw_gma(s, state().raw_gma);
+    s->set_lenc(s, state().lenc);
+    s->set_hmirror(s, state().hmirror);
+    s->set_vflip(s, state().vflip);
+    s->set_dcw(s, state().dcw);
     safe_sensor_return();
 }
 
-#elif USE_CSI_CAMERA
-}
-
-extern "C" {
-#include "esp_cam_ctlr.h"
-#include "esp_cam_ctlr_csi.h"
-#include "esp_cam_ctlr_types.h"
-#include "driver/isp.h"
-#include "driver/jpeg_encode.h"
-#include "esp_sccb_intf.h"
-#include "esp_sccb_i2c.h"
-#include "esp_cam_sensor.h"
-#include "ov5647.h"
-#include "esp_ldo_regulator.h"
-#include "driver/isp_demosaic.h"
-#include "driver/isp_bf.h"
-#include "driver/isp_sharpen.h"
-}
-
-#include <peripherals/i2c_bus.h>
-
-namespace Camera {
-
-#ifndef MIPI_CSI_HRES
-#define MIPI_CSI_HRES 640
-#endif
-#ifndef MIPI_CSI_VRES
-#define MIPI_CSI_VRES 480
-#endif
-#ifndef MIPI_CSI_LANE_BITRATE_MBPS
-#define MIPI_CSI_LANE_BITRATE_MBPS 200
-#endif
-#ifndef MIPI_CSI_DATA_LANES
-#define MIPI_CSI_DATA_LANES 2
-#endif
-#ifndef CAM_SCCB_FREQ_HZ
-#define CAM_SCCB_FREQ_HZ 100000
-#endif
-#ifndef CAM_SENSOR_ADDR
-#define CAM_SENSOR_ADDR 0x36
-#endif
-#ifndef CAM_XCLK_PIN
-#define CAM_XCLK_PIN -1
-#endif
-#ifndef CAM_XCLK_FREQ_HZ
-#define CAM_XCLK_FREQ_HZ 25000000
-#endif
-#ifndef CAM_RESET_PIN
-#define CAM_RESET_PIN -1
-#endif
-#ifndef CAM_PWDN_PIN
-#define CAM_PWDN_PIN -1
-#endif
-#ifndef CSI_JPEG_QUALITY
-#define CSI_JPEG_QUALITY 80
-#endif
-
-#define NUM_FRAME_BUFS 2
-static constexpr size_t CACHE_LINE_SIZE = 64;
-#define ALIGN_UP(n, a) (((n) + ((a) - 1)) & ~((a) - 1))
-
-static esp_cam_ctlr_handle_t s_cam_handle = NULL;
-static isp_proc_handle_t s_isp_proc = NULL;
-static jpeg_encoder_handle_t s_jpeg_enc = NULL;
-
-static uint8_t *s_frame_bufs[NUM_FRAME_BUFS] = {};
-static size_t s_frame_buf_size = 0;
-static uint8_t *s_jpeg_bufs[NUM_FRAME_BUFS] = {};
-static size_t s_jpeg_buf_alloc = 0;
-
-static bool s_cam_initialized = false;
-static uint16_t s_frame_hres = MIPI_CSI_HRES;
-static uint16_t s_frame_vres = MIPI_CSI_VRES;
-
-static SemaphoreHandle_t s_frame_done = NULL;
-static SemaphoreHandle_t s_jpeg_lock = NULL;
-static SemaphoreHandle_t s_jpeg_ready = NULL;
-static TaskHandle_t s_capture_task = NULL;
-static volatile bool s_capture_running = false;
-
-static int s_write_idx = 0;
-static int s_ready_idx = -1;
-static size_t s_ready_jpeg_len = 0;
-
-static uint8_t *s_send_buf = NULL;
-static size_t s_send_buf_size = 0;
-
-static bool on_trans_finished(esp_cam_ctlr_handle_t handle, esp_cam_ctlr_trans_t *trans, void *user_data) {
-    BaseType_t woken = pdFALSE;
-    xSemaphoreGiveFromISR(s_frame_done, &woken);
-    return (woken == pdTRUE);
-}
-
-static void capture_task_fn(void *arg) {
-    while (s_capture_running) {
-        int idx = s_write_idx;
-
-        esp_cam_ctlr_trans_t trans = {};
-        trans.buffer = s_frame_bufs[idx];
-        trans.buflen = s_frame_buf_size;
-
-        if (esp_cam_ctlr_receive(s_cam_handle, &trans, 2000) != ESP_OK) {
-            vTaskDelay(pdMS_TO_TICKS(5));
-            continue;
-        }
-
-        if (xSemaphoreTake(s_frame_done, pdMS_TO_TICKS(2000)) != pdTRUE) {
-            continue;
-        }
-
-        jpeg_encode_cfg_t enc_cfg = {};
-        enc_cfg.src_type = JPEG_ENCODE_IN_FORMAT_RGB565;
-        enc_cfg.sub_sample = JPEG_DOWN_SAMPLING_YUV420;
-        enc_cfg.image_quality = CSI_JPEG_QUALITY;
-        enc_cfg.width = s_frame_hres;
-        enc_cfg.height = s_frame_vres;
-
-        uint32_t out_size = 0;
-        esp_err_t err = jpeg_encoder_process(s_jpeg_enc, &enc_cfg, s_frame_bufs[idx], trans.received_size,
-                                             s_jpeg_bufs[idx], s_jpeg_buf_alloc, &out_size);
-        if (err != ESP_OK) {
-            continue;
-        }
-
-        xSemaphoreTake(s_jpeg_lock, portMAX_DELAY);
-        s_ready_idx = idx;
-        s_ready_jpeg_len = out_size;
-        xSemaphoreGive(s_jpeg_lock);
-
-        s_write_idx = (idx + 1) % NUM_FRAME_BUFS;
-
-        xSemaphoreGive(s_jpeg_ready);
-    }
-    vTaskDelete(NULL);
-}
-
-CameraService::CameraService() {
-    s_frame_done = xSemaphoreCreateBinary();
-    s_jpeg_lock = xSemaphoreCreateMutex();
-    s_jpeg_ready = xSemaphoreCreateBinary();
-}
-
-esp_err_t CameraService::begin() {
-    ESP_LOGI(TAG, "Initializing MIPI-CSI camera for ESP32-P4");
-
-    esp_ldo_channel_handle_t ldo_mipi_phy = NULL;
-    esp_ldo_channel_config_t ldo_cfg = {};
-    ldo_cfg.chan_id = 3;
-    ldo_cfg.voltage_mv = 2500;
-    esp_err_t ldo_err = esp_ldo_acquire_channel(&ldo_cfg, &ldo_mipi_phy);
-    if (ldo_err != ESP_OK) {
-        ESP_LOGE(TAG, "Failed to acquire MIPI PHY LDO: %s", esp_err_to_name(ldo_err));
-        return ldo_err;
-    }
-
-    i2c_master_bus_handle_t i2c_bus = I2CBus::instance().busHandle();
-    if (!i2c_bus) {
-        ESP_LOGE(TAG, "I2C bus not initialized, cannot init camera SCCB");
-        return ESP_ERR_INVALID_STATE;
-    }
-
-    esp_sccb_io_handle_t sccb_io = NULL;
-    sccb_i2c_config_t sccb_cfg = {};
-    sccb_cfg.scl_speed_hz = CAM_SCCB_FREQ_HZ;
-    sccb_cfg.device_address = CAM_SENSOR_ADDR;
-    sccb_cfg.dev_addr_length = I2C_ADDR_BIT_LEN_7;
-
-    esp_err_t err = sccb_new_i2c_io(i2c_bus, &sccb_cfg, &sccb_io);
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "Failed to create SCCB I/O handle: %s", esp_err_to_name(err));
-        return err;
-    }
-
-    esp_cam_sensor_config_t cam_sensor_cfg = {};
-    cam_sensor_cfg.sccb_handle = sccb_io;
-    cam_sensor_cfg.reset_pin = static_cast<gpio_num_t>(CAM_RESET_PIN);
-    cam_sensor_cfg.pwdn_pin = static_cast<gpio_num_t>(CAM_PWDN_PIN);
-    cam_sensor_cfg.xclk_pin = static_cast<gpio_num_t>(CAM_XCLK_PIN);
-    cam_sensor_cfg.xclk_freq_hz = CAM_XCLK_FREQ_HZ;
-    cam_sensor_cfg.sensor_port = ESP_CAM_SENSOR_MIPI_CSI;
-
-    esp_cam_sensor_device_t *cam_sensor = ov5647_detect(&cam_sensor_cfg);
-    if (!cam_sensor) {
-        ESP_LOGE(TAG, "OV5647 detection failed");
-        return ESP_FAIL;
-    }
-    ESP_LOGI(TAG, "OV5647 camera sensor detected");
-
-    esp_cam_sensor_format_array_t fmt_array = {};
-    err = esp_cam_sensor_query_format(cam_sensor, &fmt_array);
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "Failed to query sensor formats: %s", esp_err_to_name(err));
-        return err;
-    }
-
-    const esp_cam_sensor_format_t *selected_format = NULL;
-    uint32_t best_area = 0;
-    for (uint32_t i = 0; i < fmt_array.count; i++) {
-        const auto &f = fmt_array.format_array[i];
-        ESP_LOGI(TAG, "Sensor format[%u]: %dx%d mipi_clk=%uHz lanes=%d", (unsigned)i, f.width, f.height,
-                 (unsigned)f.mipi_info.mipi_clk, f.mipi_info.lane_num);
-    }
-    for (uint32_t i = 0; i < fmt_array.count; i++) {
-        const uint16_t w = fmt_array.format_array[i].width;
-        const uint16_t h = fmt_array.format_array[i].height;
-        if (w <= MIPI_CSI_HRES && h <= MIPI_CSI_VRES) {
-            const uint32_t area = (uint32_t)w * (uint32_t)h;
-            if (!selected_format || area > best_area) {
-                selected_format = &fmt_array.format_array[i];
-                best_area = area;
-            }
-        }
-    }
-    if (!selected_format && fmt_array.count > 0) {
-        uint32_t min_area = UINT32_MAX;
-        for (uint32_t i = 0; i < fmt_array.count; i++) {
-            const uint32_t area =
-                (uint32_t)fmt_array.format_array[i].width * (uint32_t)fmt_array.format_array[i].height;
-            if (area < min_area) {
-                selected_format = &fmt_array.format_array[i];
-                min_area = area;
-            }
-        }
-    }
-    if (!selected_format) {
-        ESP_LOGE(TAG, "No sensor formats available");
-        return ESP_FAIL;
-    }
-
-    err = esp_cam_sensor_set_format(cam_sensor, selected_format);
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "Failed to set sensor format: %s", esp_err_to_name(err));
-        return err;
-    }
-
-    s_frame_hres = selected_format->width;
-    s_frame_vres = selected_format->height;
-    ESP_LOGI(TAG, "Sensor format set: %dx%d", s_frame_hres, s_frame_vres);
-
-    esp_cam_sensor_format_t cur_fmt = {};
-    if (esp_cam_sensor_get_format(cam_sensor, &cur_fmt) == ESP_OK) {
-        ESP_LOGI(TAG, "Active format: %dx%d, mipi_clk=%uHz, lanes=%d", cur_fmt.width, cur_fmt.height,
-                 (unsigned)cur_fmt.mipi_info.mipi_clk, cur_fmt.mipi_info.lane_num);
-    }
-
-    int stream_on = 1;
-    err = esp_cam_sensor_ioctl(cam_sensor, ESP_CAM_SENSOR_IOC_S_STREAM, &stream_on);
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "Failed to start sensor stream: %s", esp_err_to_name(err));
-        return err;
-    }
-
-    esp_isp_processor_cfg_t isp_cfg = {};
-    isp_cfg.clk_src = static_cast<isp_clk_src_t>(0);
-    isp_cfg.clk_hz = 80 * 1000 * 1000;
-    isp_cfg.input_data_source = ISP_INPUT_DATA_SOURCE_CSI;
-    isp_cfg.input_data_color_type = ISP_COLOR_RAW8;
-    isp_cfg.output_data_color_type = ISP_COLOR_RGB565;
-    isp_cfg.has_line_start_packet = false;
-    isp_cfg.has_line_end_packet = false;
-    isp_cfg.h_res = s_frame_hres;
-    isp_cfg.v_res = s_frame_vres;
-    isp_cfg.bayer_order = COLOR_RAW_ELEMENT_ORDER_GBRG;
-
-    err = esp_isp_new_processor(&isp_cfg, &s_isp_proc);
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "ISP processor init failed: %s", esp_err_to_name(err));
-        return err;
-    }
-
-    err = esp_isp_enable(s_isp_proc);
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "ISP enable failed: %s", esp_err_to_name(err));
-        return err;
-    }
-
-    esp_isp_demosaic_config_t demosaic_cfg = {};
-    demosaic_cfg.grad_ratio.val = 16;
-    demosaic_cfg.padding_mode = ISP_DEMOSAIC_EDGE_PADDING_MODE_SRND_DATA;
-    esp_isp_demosaic_configure(s_isp_proc, &demosaic_cfg);
-    esp_isp_demosaic_enable(s_isp_proc);
-
-    esp_isp_bf_config_t bf_cfg = {};
-    bf_cfg.denoising_level = 10;
-    bf_cfg.padding_mode = ISP_BF_EDGE_PADDING_MODE_SRND_DATA;
-    uint8_t bf_tpl[ISP_BF_TEMPLATE_X_NUMS][ISP_BF_TEMPLATE_Y_NUMS] = {{1, 2, 1}, {2, 4, 2}, {1, 2, 1}};
-    memcpy(bf_cfg.bf_template, bf_tpl, sizeof(bf_tpl));
-    esp_isp_bf_configure(s_isp_proc, &bf_cfg);
-    esp_isp_bf_enable(s_isp_proc);
-
-    esp_isp_sharpen_config_t sharp_cfg = {};
-    sharp_cfg.h_thresh = 255;
-    sharp_cfg.l_thresh = 20;
-    sharp_cfg.padding_mode = ISP_SHARPEN_EDGE_PADDING_MODE_SRND_DATA;
-    uint8_t sharp_m[ISP_SHARPEN_TEMPLATE_X_NUMS][ISP_SHARPEN_TEMPLATE_Y_NUMS] = {{1, 2, 1}, {2, 4, 2}, {1, 2, 1}};
-    memcpy(sharp_cfg.sharpen_template, sharp_m, sizeof(sharp_m));
-    sharp_cfg.h_freq_coeff.integer = 1;
-    sharp_cfg.h_freq_coeff.decimal = 0;
-    sharp_cfg.m_freq_coeff.integer = 1;
-    sharp_cfg.m_freq_coeff.decimal = 0;
-    esp_isp_sharpen_configure(s_isp_proc, &sharp_cfg);
-    esp_isp_sharpen_enable(s_isp_proc);
-
-    esp_cam_ctlr_csi_config_t csi_cfg = {};
-    csi_cfg.ctlr_id = 0;
-    csi_cfg.h_res = s_frame_hres;
-    csi_cfg.v_res = s_frame_vres;
-    csi_cfg.lane_bit_rate_mbps = MIPI_CSI_LANE_BITRATE_MBPS;
-    csi_cfg.input_data_color_type = CAM_CTLR_COLOR_RAW8;
-    csi_cfg.output_data_color_type = CAM_CTLR_COLOR_RGB565;
-    csi_cfg.data_lane_num = MIPI_CSI_DATA_LANES;
-    csi_cfg.byte_swap_en = false;
-    csi_cfg.queue_items = NUM_FRAME_BUFS;
-
-    err = esp_cam_new_csi_ctlr(&csi_cfg, &s_cam_handle);
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "CSI controller init failed: %s", esp_err_to_name(err));
-        return err;
-    }
-
-    esp_cam_ctlr_evt_cbs_t cbs = {};
-    cbs.on_trans_finished = on_trans_finished;
-    err = esp_cam_ctlr_register_event_callbacks(s_cam_handle, &cbs, NULL);
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "CSI register callbacks failed: %s", esp_err_to_name(err));
-        return err;
-    }
-
-    s_frame_buf_size = ALIGN_UP((size_t)s_frame_hres * s_frame_vres * 2, CACHE_LINE_SIZE);
-    for (int i = 0; i < NUM_FRAME_BUFS; i++) {
-        s_frame_bufs[i] = (uint8_t *)heap_caps_aligned_alloc(CACHE_LINE_SIZE, s_frame_buf_size, MALLOC_CAP_SPIRAM);
-        if (!s_frame_bufs[i]) {
-            ESP_LOGE(TAG, "Failed to allocate frame buffer %d (%d bytes)", i, (int)s_frame_buf_size);
-            return ESP_ERR_NO_MEM;
-        }
-    }
-
-    jpeg_encode_memory_alloc_cfg_t jpeg_mem_cfg = {};
-    jpeg_mem_cfg.buffer_direction = JPEG_ENC_ALLOC_OUTPUT_BUFFER;
-    for (int i = 0; i < NUM_FRAME_BUFS; i++) {
-        size_t alloc_sz = 0;
-        s_jpeg_bufs[i] = (uint8_t *)jpeg_alloc_encoder_mem(s_frame_hres * s_frame_vres, &jpeg_mem_cfg, &alloc_sz);
-        if (!s_jpeg_bufs[i]) {
-            ESP_LOGE(TAG, "Failed to allocate JPEG buffer %d", i);
-            return ESP_ERR_NO_MEM;
-        }
-        if (i == 0) s_jpeg_buf_alloc = alloc_sz;
-    }
-
-    s_send_buf_size = s_jpeg_buf_alloc;
-    s_send_buf = (uint8_t *)heap_caps_aligned_alloc(CACHE_LINE_SIZE, s_send_buf_size, MALLOC_CAP_SPIRAM);
-    if (!s_send_buf) {
-        ESP_LOGE(TAG, "Failed to allocate send buffer");
-        return ESP_ERR_NO_MEM;
-    }
-
-    jpeg_encode_engine_cfg_t enc_eng_cfg = {};
-    enc_eng_cfg.timeout_ms = 500;
-    err = jpeg_new_encoder_engine(&enc_eng_cfg, &s_jpeg_enc);
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "JPEG encoder init failed: %s", esp_err_to_name(err));
-        return err;
-    }
-
-    err = esp_cam_ctlr_enable(s_cam_handle);
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "CSI controller enable failed: %s", esp_err_to_name(err));
-        return err;
-    }
-
-    err = esp_cam_ctlr_start(s_cam_handle);
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "CSI controller start failed: %s", esp_err_to_name(err));
-        return err;
-    }
-
-    s_cam_initialized = true;
-
-    s_capture_running = true;
-    xTaskCreatePinnedToCore(capture_task_fn, "csi_cap", 4096, NULL, 6, &s_capture_task, 1);
-
-    ESP_LOGI(TAG, "MIPI-CSI camera initialized (%dx%d, %d-lane, %d Mbps)", s_frame_hres, s_frame_vres,
-             MIPI_CSI_DATA_LANES, MIPI_CSI_LANE_BITRATE_MBPS);
-    return ESP_OK;
-}
-
-esp_err_t CameraService::cameraStill(httpd_req_t *request) {
-    if (!s_cam_initialized) {
-        return WebServer::sendError(request, 503, "Camera not initialized");
-    }
-
-    if (xSemaphoreTake(s_jpeg_ready, pdMS_TO_TICKS(3000)) != pdTRUE) {
-        return WebServer::sendError(request, 500, "Camera capture timed out");
-    }
-
-    xSemaphoreTake(s_jpeg_lock, portMAX_DELAY);
-    size_t len = s_ready_jpeg_len;
-    if (s_ready_idx >= 0 && len > 0) {
-        memcpy(s_send_buf, s_jpeg_bufs[s_ready_idx], len);
-    }
-    xSemaphoreGive(s_jpeg_lock);
-
-    if (len == 0) {
-        return WebServer::sendError(request, 500, "No frame available");
-    }
-
-    httpd_resp_set_type(request, "image/jpeg");
-    httpd_resp_set_hdr(request, "Content-Disposition", "inline; filename=capture.jpg");
-    return httpd_resp_send(request, (const char *)s_send_buf, len);
-}
-
-esp_err_t CameraService::cameraStream(httpd_req_t *request) {
-    if (!s_cam_initialized) {
-        return WebServer::sendError(request, 503, "Camera not initialized");
-    }
-
-    httpd_resp_set_type(request, _STREAM_CONTENT_TYPE);
-
-    char part_buf[64];
-    esp_err_t res = ESP_OK;
-
-    while (res == ESP_OK) {
-        if (xSemaphoreTake(s_jpeg_ready, pdMS_TO_TICKS(3000)) != pdTRUE) {
-            break;
-        }
-
-        xSemaphoreTake(s_jpeg_lock, portMAX_DELAY);
-        size_t jpeg_len = s_ready_jpeg_len;
-        if (s_ready_idx >= 0 && jpeg_len > 0) {
-            memcpy(s_send_buf, s_jpeg_bufs[s_ready_idx], jpeg_len);
-        }
-        xSemaphoreGive(s_jpeg_lock);
-
-        if (jpeg_len == 0) continue;
-
-        size_t hlen = snprintf(part_buf, 64, _STREAM_PART, (unsigned int)jpeg_len);
-        res = httpd_resp_send_chunk(request, part_buf, hlen);
-        if (res == ESP_OK) res = httpd_resp_send_chunk(request, (const char *)s_send_buf, jpeg_len);
-        if (res == ESP_OK) res = httpd_resp_send_chunk(request, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
-    }
-
-    ESP_LOGI(TAG, "Stream ended");
-    httpd_resp_send_chunk(request, NULL, 0);
-    return ESP_OK;
-}
-
-void CameraService::registerRoutes(WebServer &s) {
-    s.on("/api/camera/still", HTTP_GET, [this](httpd_req_t *request) { return cameraStill(request); });
-    s.on("/api/camera/stream", HTTP_GET, [this](httpd_req_t *request) { return cameraStream(request); });
-}
-
-#else
-
-CameraService::CameraService() {}
-esp_err_t CameraService::begin() { return ESP_ERR_NOT_SUPPORTED; }
-esp_err_t CameraService::cameraStill(httpd_req_t *request) {
-    return WebServer::sendError(request, 501, "Camera not supported on this platform");
-}
-esp_err_t CameraService::cameraStream(httpd_req_t *request) {
-    return WebServer::sendError(request, 501, "Camera not supported on this platform");
-}
-
-void CameraService::registerRoutes(WebServer &s) {
-    s.on("/api/camera/still", HTTP_GET, [this](httpd_req_t *request) { return cameraStill(request); });
-    s.on("/api/camera/stream", HTTP_GET, [this](httpd_req_t *request) { return cameraStream(request); });
-}
-
-#endif
-
 } // namespace Camera

esp32/src/peripherals/peripherals.cpp

@@ -1,29 +1,55 @@
 #include <peripherals/peripherals.h>
 
-Peripherals::Peripherals() { _accessMutex = xSemaphoreCreateMutex(); }
+Peripherals::Peripherals()
+    : protoEndpoint(PeripheralsConfiguration_read, PeripheralsConfiguration_update, this,
+                    API_REQUEST_EXTRACTOR(peripheral_settings, api_PeripheralSettings),
+                    API_RESPONSE_ASSIGNER(peripheral_settings, api_PeripheralSettings)),
+      _persistence(PeripheralsConfiguration_read, PeripheralsConfiguration_update, this,
+                   PERIPHERAL_SETTINGS_FILE, api_PeripheralSettings_fields, api_PeripheralSettings_size,
+                   PeripheralsConfiguration_defaults()) {
+    _accessMutex = xSemaphoreCreateMutex();
+    addUpdateHandler([&](const std::string &originId) { updatePins(); }, false);
+}
 
 void Peripherals::begin() {
-    _settings = EventBus::instance().peek<PeripheralsConfiguration>();
-    _settingsHandle =
-        EventBus::instance().subscribe<PeripheralsConfiguration>([this](const PeripheralsConfiguration &s) {
-            _settings = s;
-            updatePins();
-        });
+    _persistence.readFromFS();
 
     updatePins();
 
+#if FT_ENABLED(USE_ICM20948)
+    #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
+        ICM_20948_SPI* icm20948 = new ICM_20948_SPI;
+    #else
+        ICM_20948_I2C* icm20948 = new ICM_20948_I2C;
+    #endif
+#endif
+
+// --- IMU ---
 #if FT_ENABLED(USE_MPU6050 || USE_BNO055)
-    if (!_imu.initialize()) ESP_LOGE("IMUService", "IMU initialize failed");
+    if (!_imu.initialize(nullptr)) ESP_LOGE("Peripherals", "IMU initialize failed");
+#elif FT_ENABLED(USE_ICM20948)
+    if (!_imu.initialize(icm20948)) ESP_LOGE("Peripherals", "IMU initialize failed (ICM20948)");
 #endif
+
+// --- MAGNETOMETER ---
 #if FT_ENABLED(USE_HMC5883)
-    if (!_mag.initialize()) ESP_LOGE("IMUService", "MAG initialize failed");
+    if (!_mag.initialize(nullptr)) ESP_LOGE("Peripherals", "MAG initialize failed");
+#elif FT_ENABLED(USE_ICM20948)
+    if (!_mag.initialize(icm20948)) ESP_LOGE("Peripherals", "MAG initialize failed (ICM20948)");
 #endif
+
+// --- BMP ---
 #if FT_ENABLED(USE_BMP180)
-    if (!_bmp.initialize()) ESP_LOGE("IMUService", "BMP initialize failed");
+    if (!_bmp.initialize(nullptr)) ESP_LOGE("Peripherals", "BMP initialize failed");
 #endif
+
+
+// --- GESTURE ---
 #if FT_ENABLED(USE_PAJ7620U2)
-    if (!_gesture.initialize()) ESP_LOGE("IMUService", "Gesture initialize failed");
+    if (!_gesture.initialize(nullptr)) ESP_LOGE("Peripherals", "Gesture initialize failed");
 #endif
+
+// --- SONAR ---
 #if FT_ENABLED(USE_USS)
     _left_sonar = std::make_unique<NewPing>(USS_LEFT_PIN, USS_LEFT_PIN, MAX_DISTANCE);
     _right_sonar = std::make_unique<NewPing>(USS_RIGHT_PIN, USS_RIGHT_PIN, MAX_DISTANCE);
@@ -43,9 +69,9 @@ void Peripherals::updatePins() {
         I2CBus::instance().end();
     }
 
-    if (_settings.sda != -1 && _settings.scl != -1) {
-        esp_err_t err = I2CBus::instance().begin(static_cast<gpio_num_t>(_settings.sda),
-                                                 static_cast<gpio_num_t>(_settings.scl), _settings.frequency);
+    if (state().sda != -1 && state().scl != -1) {
+        esp_err_t err = I2CBus::instance().begin(static_cast<gpio_num_t>(state().sda),
+                                                 static_cast<gpio_num_t>(state().scl), state().frequency);
         i2c_active = (err == ESP_OK);
     }
 }
@@ -70,7 +96,7 @@ void Peripherals::scanI2C(uint8_t lower, uint8_t higher) {
 }
 
 void Peripherals::getIMUProto(socket_message_IMUData &data) {
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
     data.x = _imu.getAngleX();
     data.y = _imu.getAngleY();
     data.z = _imu.getAngleZ();
@@ -88,15 +114,16 @@ void Peripherals::getIMUProto(socket_message_IMUData &data) {
 }
 
 void Peripherals::getSettingsProto(socket_message_PeripheralSettingsData &data) {
-    data.sda = _settings.sda;
-    data.scl = _settings.scl;
-    data.frequency = _settings.frequency;
+    data.sda = state().sda;
+    data.scl = state().scl;
+    data.frequency = state().frequency;
     data.pins_count = 0;
 }
 
+/* IMU FUNCTIONS */
 bool Peripherals::readImu() {
     bool updated = false;
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
     beginTransaction();
     updated = _imu.update();
     endTransaction();
@@ -106,7 +133,7 @@ bool Peripherals::readImu() {
 
 bool Peripherals::readMag() {
     bool updated = false;
-#if FT_ENABLED(USE_HMC5883)
+#if FT_ENABLED(USE_HMC5883 || USE_ICM20948)
     beginTransaction();
     updated = _mag.update();
     endTransaction();
@@ -144,7 +171,7 @@ void Peripherals::readSonar() {
 
 float Peripherals::angleX() {
     return
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
         _imu.getAngleX();
 #else
         0;
@@ -153,7 +180,7 @@ float Peripherals::angleX() {
 
 float Peripherals::angleY() {
     return
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
         _imu.getAngleY();
 #else
         0;
@@ -162,7 +189,7 @@ float Peripherals::angleY() {
 
 float Peripherals::angleZ() {
     return
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
         _imu.getAngleZ();
 #else
         0;
@@ -182,7 +209,7 @@ float Peripherals::leftDistance() { return _left_distance; }
 float Peripherals::rightDistance() { return _right_distance; }
 
 bool Peripherals::calibrateIMU() {
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
     beginTransaction();
     bool result = _imu.calibrate();
     endTransaction();
@@ -190,4 +217,4 @@ bool Peripherals::calibrateIMU() {
 #else
     return false;
 #endif
-}
+}

esp32/src/system_service.cpp

@@ -1,44 +1,5 @@
 #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 || CONFIG_IDF_TARGET_ESP32P4
-#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 {
 
@@ -59,26 +20,14 @@ esp_err_t handleSleep(httpd_req_t *request) {
     return WebServer::sendOk(request);
 }
 
-void registerRoutes(WebServer &s) {
-    s.on("/api/system/reset", HTTP_POST,
-         [](httpd_req_t *request, api_Request *protoReq) { return handleReset(request); });
-    s.on("/api/system/restart", HTTP_POST,
-         [](httpd_req_t *request, api_Request *protoReq) { return handleRestart(request); });
-    s.on("/api/system/sleep", HTTP_POST,
-         [](httpd_req_t *request, api_Request *protoReq) { return handleSleep(request); });
-}
-
 void reset() {
     ESP_LOGI(TAG, "Resetting device");
-    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);
+    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());
     }
     restart();
 }
@@ -88,11 +37,11 @@ void restart() {
         [](void *pvParameters) {
             for (;;) {
                 vTaskDelay(250 / portTICK_PERIOD_MS);
-                mdns_free();
+                MDNS.end();
                 vTaskDelay(100 / portTICK_PERIOD_MS);
                 WiFi.disconnect(true);
                 vTaskDelay(500 / portTICK_PERIOD_MS);
-                esp_restart();
+                ESP.restart();
             }
         },
         "Restart task", 4096, nullptr, 10, nullptr);
@@ -103,14 +52,14 @@ void sleep() {
         [](void *pvParameters) {
             for (;;) {
                 vTaskDelay(250 / portTICK_PERIOD_MS);
-                mdns_free();
+                MDNS.end();
                 vTaskDelay(100 / portTICK_PERIOD_MS);
                 WiFi.disconnect(true);
                 vTaskDelay(500 / portTICK_PERIOD_MS);
 
                 uint64_t bitmask = (uint64_t)1 << (WAKEUP_PIN_NUMBER);
 
-#if CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32P4
+#ifdef CONFIG_IDF_TARGET_ESP32C3
                 esp_deep_sleep_enable_gpio_wakeup(bitmask, (esp_deepsleep_gpio_wake_up_mode_t)WAKEUP_SIGNAL);
 #else
                 esp_sleep_enable_ext1_wakeup(bitmask, (esp_sleep_ext1_wakeup_mode_t)WAKEUP_SIGNAL);
@@ -123,98 +72,22 @@ 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";
-        case CHIP_ESP32P4: return "ESP32-P4";
-        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 = 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_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_reset_reason = (char *)resetReason(esp_reset_reason());
 }
 

esp32/src/wifi/wifi_idf.cpp

@@ -1,571 +0,0 @@
-#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

@@ -1,52 +1,43 @@
 #include <wifi_service.h>
 #include <communication/webserver.h>
 
-static const char *TAG = "WiFiService";
-
-void WiFiService::registerRoutes(WebServer &s) {
-    s.on("/api/wifi/scan", HTTP_GET, [](httpd_req_t *request) { return handleScan(request); });
-    s.on("/api/wifi/networks", HTTP_GET, [](httpd_req_t *request) { return getNetworks(request); });
-    s.on("/api/wifi/sta/status", HTTP_GET, [](httpd_req_t *request) { return getNetworkStatus(request); });
+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,
+                    API_REQUEST_EXTRACTOR(wifi_settings, api_WifiSettings),
+                    API_RESPONSE_ASSIGNER(wifi_settings, api_WifiSettings)) {
+    addUpdateHandler([&](const std::string &originId) { reconfigureWiFiConnection(); }, false);
 }
 
-WiFiService::WiFiService() : _lastConnectionAttempt(0), _stopping(false) {}
-
 WiFiService::~WiFiService() {}
 
 void WiFiService::begin() {
+    WiFi.mode(WIFI_MODE_STA);
+
     WiFi.persistent(false);
     WiFi.setAutoReconnect(false);
 
-    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);
+    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);
 
-    _settings = EventBus::instance().peek<WiFiSettings>();
-    _settingsHandle = EventBus::instance().subscribe<WiFiSettings>([this](const WiFiSettings &s) {
-        _settings = s;
-        reconfigureWiFiConnection();
-    });
-    _lastConnectionAttempt = 0;
+    WiFi.onEvent(onStationModeGotIP, WiFiEvent_t::ARDUINO_EVENT_WIFI_STA_GOT_IP);
 
-    if (_settings.wifi_networks_count >= 1) {
-        WiFi.mode(WIFI_MODE_STA);
-        vTaskDelay(100 / portTICK_PERIOD_MS);
-        uint32_t idx = _settings.selected_network;
-        if (idx >= _settings.wifi_networks_count) idx = 0;
-        configureNetwork(_settings.wifi_networks[idx]);
+    _persistence.readFromFS();
+    reconfigureWiFiConnection();
+
+    if (state().wifi_networks_count == 1) {
+        configureNetwork(state().wifi_networks[0]);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
     }
 }
 
 void WiFiService::reconfigureWiFiConnection() {
     _lastConnectionAttempt = 0;
-    if (WiFi.disconnect(true)) _stopping = true;
-}
 
-void WiFiService::selectNetwork(uint32_t index) {
-    if (index >= _settings.wifi_networks_count) return;
-    _settings.selected_network = index;
-    EventBus::instance().publish(_settings);
+    if (WiFi.disconnect(true)) _stopping = true;
 }
 
 void WiFiService::loop() { EXECUTE_EVERY_N_MS(reconnectDelay, manageSTA()); }
@@ -56,6 +47,7 @@ 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;
@@ -65,6 +57,7 @@ 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;
@@ -73,8 +66,10 @@ 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++) {
@@ -95,13 +90,11 @@ esp_err_t WiFiService::getNetworks(httpd_req_t *request) {
 }
 
 void WiFiService::setupMDNS(const char *hostname) {
-    mdns_init();
-    mdns_hostname_set(_settings.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);
+    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);
 }
 
 esp_err_t WiFiService::getNetworkStatus(httpd_req_t *request) {
@@ -121,6 +114,7 @@ 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)) {
@@ -135,59 +129,99 @@ esp_err_t WiFiService::getNetworkStatus(httpd_req_t *request) {
 }
 
 void WiFiService::manageSTA() {
-    if (WiFi.isConnected() || _settings.wifi_networks_count == 0) return;
-    wifi_mode_t mode = WiFi.getMode();
-    if (mode == WIFI_MODE_NULL || mode == WIFI_MODE_AP) return;
+    if (WiFi.isConnected() || state().wifi_networks_count == 0) return;
+    if ((WiFi.getMode() & WIFI_STA) == 0) connectToWiFi();
+}
 
-    static uint32_t startTime = 0;
-    static bool attempted = false;
+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);
 
-    if (startTime == 0) {
-        startTime = esp_timer_get_time() / 1000;
-        return;
-    }
+        WiFiNetwork *bestNetwork = nullptr;
+        int32_t bestNetworkDb = FACTORY_WIFI_RSSI_THRESHOLD;
 
-    uint32_t now = esp_timer_get_time() / 1000;
-    if (now - startTime < 3000) 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;
 
-    if (!attempted && _settings.wifi_networks_count > 0) {
-        attempted = true;
-        uint32_t idx = _settings.selected_network;
-        if (idx >= _settings.wifi_networks_count) idx = 0;
-        ESP_LOGI(TAG, "Connecting to: %s", _settings.wifi_networks[idx].ssid);
-        configureNetwork(_settings.wifi_networks[idx]);
+            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();
     }
 }
 
 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(_settings.hostname);
+    WiFi.setHostname(state().hostname);
+
     WiFi.begin(network.ssid, network.password);
 
 #if CONFIG_IDF_TARGET_ESP32C3
-    WiFi.setTxPower(8);
+    WiFi.setTxPower(WIFI_POWER_8_5dBm);
 #endif
 }
 
-void WiFiService::onStationModeDisconnected(int32_t event, void *event_data) {
+void WiFiService::onStationModeDisconnected(WiFiEvent_t event, WiFiEventInfo_t info) {
     WiFi.disconnect(true);
-    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);
+    ESP_LOGI("WiFiStatus", "WiFi Disconnected. Reason code=%d", info.wifi_sta_disconnected.reason);
 }
 
-void WiFiService::onStationModeStop(int32_t event, void *event_data) {
+void WiFiService::onStationModeStop(WiFiEvent_t event, WiFiEventInfo_t info) {
     if (_stopping) {
         _lastConnectionAttempt = 0;
         _stopping = false;
     }
-    ESP_LOGI(TAG, "WiFi STA stopped.");
+    ESP_LOGI("WiFiStatus", "WiFi Connected.");
 }
 
-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());
+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());
 }

esp32/src/www_mount.cpp

@@ -1,14 +1,4 @@
 #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");
@@ -17,11 +7,11 @@ 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=%lu", (unsigned long)WWW_OPT.max_age);
+    snprintf(cc, sizeof(cc), "public, immutable, max-age=%u", WWW_OPT.max_age);
     httpd_resp_set_hdr(req, "Cache-Control", cc);
 
     char et[34];
-    snprintf(et, sizeof(et), "\"%08lx\"", (unsigned long)asset.etag);
+    snprintf(et, sizeof(et), "\"%08x\"", asset.etag);
     httpd_resp_set_hdr(req, "ETag", et);
 
     return httpd_resp_send(req, (const char*)asset.data, asset.len);
@@ -33,16 +23,3 @@ 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

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

platformio.ini

@@ -15,7 +15,6 @@ src_dir = esp32/src
 include_dir = esp32/include
 lib_dir = esp32/lib
 test_dir = esp32/test
-boards_dir = boards
 extra_configs = 
 	esp32/factory_settings.ini
 	esp32/features.ini
@@ -41,13 +40,14 @@ build_flags=
 
 [env:esp32-wroom-camera]
 board = esp32-s3-devkitc-1
-board_build.flash_mode = qio
+board_build.arduino.memory_type = qio_opi 
 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 +55,10 @@ build_flags =
 	-D USS_RIGHT_PIN=14
 	-D SDA_PIN=47
 	-D SCL_PIN=21
+    -D SPI_SCK=41
+    -D SPI_MISO=19
+    -D SPI_MOSI=20
+    -D ICM20948_SPI_CS=2 # Only needed if ICM20948 is in SPI mode
 
 [env:seeed-xiao-esp32s3]
 platform = espressif32
@@ -74,60 +78,23 @@ board_build.partitions = esp32/partition_table/min_spiffs.csv
 build_flags =
     ${env.build_flags}
 
-[env:esp32-p4]
-platform = https://github.com/pioarduino/platform-espressif32.git
-framework = espidf
-board = esp32p4_dev
-board_build.mcu = esp32p4
-board_build.f_cpu = 360000000L
-board_build.f_flash = 80000000L
-board_build.f_psram = 200000000L
-board_build.flash_mode = qio
-board_upload.flash_size = 32MB
-board_build.partitions = esp32/partition_table/default_32MB.csv
-board_build.filesystem = littlefs
-board_build.sdkconfig_defaults =
-    esp32/sdkconfig.defaults
-    esp32/sdkconfig.defaults.esp32p4
-upload_speed = 921600
-monitor_speed = 115200
-monitor_filters =
-    direct
-    esp32_exception_decoder
-extra_scripts =
-    pre:esp32/scripts/pre_build.py
-    pre:esp32/scripts/build_app.py
-build_flags =
-    ${env.build_flags}
-    -D USE_CAMERA=1
-    -D CAM_XCLK_PIN=-1
-    -D CAM_RESET_PIN=-1
-    -D CAM_PWDN_PIN=-1
-    -D MIPI_CSI_HRES=800
-    -D MIPI_CSI_VRES=640
-    -D MIPI_CSI_LANE_BITRATE_MBPS=400
-    -D MIPI_CSI_DATA_LANES=2
-    -D CSI_JPEG_QUALITY=65
-    -D BOARD_HAS_PSRAM
-    -D SDA_PIN=7
-    -D SCL_PIN=8
-    -D WS2812_PIN=27
-
 
 ; ================================================================
 ; General environment section
 
 [env]
 platform = espressif32 @ 6.8.1
-framework = espidf
+framework = arduino
 monitor_speed = 115200
-monitor_filters =
-    direct
-    esp32_exception_decoder
+monitor_filters = 
+	esp32_exception_decoder
+	default
+	colorize
 build_flags =
 	${factory_settings.build_flags}
     ${features.build_flags}
 	${build_settings.build_flags}
+    -D SPI_PORT=SPI # Define which spi port to use for external components
 	-D CORE_DEBUG_LEVEL=4
 	-D register=
 	-std=gnu++2a
@@ -136,25 +103,26 @@ build_flags =
     -fdata-sections
     -Wl,--gc-sections
     -I submodules/nanopb
-    -Wno-missing-braces
-    -Wno-format
-    -D CONFIG_HTTPD_WS_SUPPORT=1
+    -Wno-missing-braces ; Added to suppress protobufs extra nested braces causing warning
 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 = 
-lib_ldf_mode = deep
-lib_compat_mode = strict
+	ArduinoJson@>=7.0.0
+	teckel12/NewPing@^1.9.7
+	FastLED@3.5.0
+    sparkfun/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library@^1.3.2
 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

@@ -1,40 +0,0 @@
-# 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